Expander apparatus including onboard reservoir

Abstract

An expander apparatus includes a reservoir containing pressurized fluid and a bladder coupled to the reservoir. The expander apparatus is selectively expandable between a first configuration and a second configuration. The bladder is configured to transition the expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to the bladder from the reservoir, and transition the expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from the bladder and delivered to the reservoir. The bladder defines a cavity. The reservoir is housed at least partly within the cavity defined by the bladder.

Description

EXPANDER APPARATUS INCLUDING ONBOARDRESERVOIRSTATEMENT REGARDING FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT

[0001] This invention was made with Government support under contract number D19AC00018 awarded by the Department of Defense (DOD). The Government has certain rights in this invention.BACKGROUND

[0002] The field of the disclosure relates to expander apparatus, and more particularly to expander apparatus including an onboard reservoir.

[0003] Expander apparatus are configured to change size (e.g., selectively expand) and are used in many applications for which changing size is advantageous. For example, expander apparatus may be used in tunneling, aerospace, and robotics applications. During operation of the expander apparatus, a stimulant, e.g., an electrical signal, a fluid, or a mechanical trigger, may be provided to the expander apparatus to cause the expander apparatus to change size. The stimulant is usually provided by an external source located at a distance from the expander apparatus. For example, expander apparatus may be connected to at least one fluid line that is connected to an external supply of pressurized fluid and pressurized fluid may be delivered to the expander apparatus through the fluid line for the expander apparatus to change size. However, the fluid line and the external supply may restrict operation of the expander apparatus and limit the travel of the expander apparatus. In addition, the fluid line and external supply connected to the expander apparatus may require valves, regulation components and controls that increase the complexity and cost of the apparatus.

[0004] Accordingly, it is desirable to provide an expander apparatus that has improved performance and is able to change sizes without relying on external supplies.BRIEF DESCRIPTION

[0005] In one aspect, an expander apparatus includes a reservoir containing pressurized fluid, and a bladder coupled to the reservoir. The expander apparatus is selectively expandable between a first configuration and a second configuration. The bladder is configured to transition the expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to the bladder from the reservoir, and transition the expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from the bladder and delivered to the reservoir. The bladder defines a cavity. The reservoir is housed at least partly within the cavity defined by the bladder.

[0006] In another aspect, a system includes an expander apparatus extending along a longitudinal axis. The expander apparatus is selectively expandable between a first configuration and a second configuration. The expander apparatus includes a reservoir containing pressurized fluid, and a bladder coupled to the reservoir. The bladder is configured to transition the expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to the bladder from the reservoir, and transition the expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from the bladder and delivered to the reservoir. The bladder defines a cavity. The reservoir is housed at least partly within the cavity defined by the bladder. The system also includes a controller communicatively coupled to the expander apparatus. The controller is configured to operate the expander apparatus and cause the expander apparatus to transition between the first configuration and the second configuration.

[0007] In yet another aspect, a method for assembling an expander apparatus that is selectively expandable between a first configuration and a second configuration includes coupling a bladder to a reservoir containing pressurized fluid. The bladder is configured to transition the expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to the bladder from the reservoir, and transition the expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from the bladder and delivered to the reservoir. The bladder defines a cavity. The reservoir is housed at least partly within the cavity defined by the bladder. The method also includes transitioning the expander apparatus between the firstconfiguration and the second configuration by delivering the pressurized fluid to the bladder from the reservoir or removing the pressurized fluid from the bladder.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed descnption is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0009] FIG. 1 is a perspective view of one embodiment of an expander apparatus; and

[0010] FIG. 2 is a schematic diagram of a system including one embodiment of a tunneling device traveling underground, the tunneling device including at least one of the expander apparatus shown in FIG. 1.

[0011] Unless otherwise indicated, the drawings provided herein are meant to illustrate features of embodiments of this disclosure. These features are believed to be applicable in a wide variety of systems including one or more embodiments of this disclosure. As such, the drawings are not meant to include all conventional features known by those of ordinary skill in the art to be required for the practice of the embodiments disclosed herein.DETAILED DESCRIPTION

[0012] In the following specification and the claims, reference will be made to a number of terms, which shall be defined to have the following meanings.

[0013] The singular forms “a”, "an", and “the’' include plural references unless the context clearly dictates otherwise.

[0014] “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

[0015] Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about”, “approximately”, and"‘substantially”, are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and / or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise.

[0016] As used herein, the terms “processor” and “computer,” and related terms, e.g., “processing device,” “computing device,” and “controller” are not limited to just those integrated circuits referred to in the art as a computer, but broadly refers to a microcontroller, a microcomputer, an analog computer, a programmable logic controller (PLC), and application specific integrated circuit (ASIC), and other programmable circuits, and these terms are used interchangeably herein. In the embodiments described herein, “memory” may include, but is not limited to. a computer-readable medium, such as a random access memory (RAM), a computer-readable non-volatile medium, such as a flash memory. Alternatively, a floppy disk, a compact disc - read only memory (CD-ROM), a magnetooptical disk (MOD), and / or a digital versatile disc (DVD) may also be used. Also, in the embodiments described herein, additional input channels may be, but are not limited to, computer peripherals associated with an operator interface such as a touchscreen, a mouse, and a keyboard. Alternatively, other computer peripherals may also be used that may include, for example, but not be limited to, a scanner. Furthermore, in the example embodiment, additional output channels may include, but not be limited to. an operator interface monitor or heads-up display. Some embodiments involve the use of one or more electronic or computing devices. Such devices typically include a processor, processing device, or controller, such as a general purpose central processing unit (CPU), a graphics processing unit (GPU), a microcontroller, a reduced instruction set computer (RISC) processor, an ASIC, a PLC, a field programmable gate array (FPGA), a digital signal processing (DSP) device, and / or any other circuit or processing device capable of executing the functions described herein. The methods described herein may be encoded as executable instructions embodied in a computer readable medium, including, without limitation, a storage device and / or a memory device. Such instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein. The above examples are exemplary' only, and thus are not intended to limit in any way the definition and / or meaning of the term processor and processing device.

[0017] Embodiments described herein relate to a system including an expander apparatus. For example, the expander apparatus includes a reservoir and a bladder. The bladder is configured to transition the expander apparatus from a first configuration to a second configuration when pressurized fluid is delivered to the bladder from the reservoir, and transition the expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from the bladder and delivered to the reservoir. The reservoir is included onboard the expander apparatus and the expander apparatus does not need to be connected to an external source of pressurized fluid. For example, the reservoir may be housed within a cavity defined by the bladder. As a result, the expander apparatus may have improved performance and may be used in a greater number of applications. For example, the expander apparatus has a compact form factor and is lightweight. Also, the expander apparatus provides an increased force when transitioning between configurations in comparison to other systems. In addition, the expander apparatus is able to quickly transition between configurations. Moreover, the expander apparatus is modular and is able to interface with a range of standard and / or non-standard connectors.

[0018] FIG. 1 is a perspective view of one embodiment of an expander apparatus 136. Expander apparatus 136 extends along a longitudinal axis 140. Expander apparatus 136 is configured to switch between a first configuration and a second configuration. For example, expander apparatus 136 is selectively expandable in a direction perpendicular to longitudinal axis 140 between a first configuration having a first width measured perpendicular to longitudinal axis 140 and a second configuration having a second width measured perpendicular to longitudinal axis 140. In alternative embodiments, expander apparatus 136 has any configuration that enables expander apparatus 136 to operate as described herein. For example, in some embodiments, expander apparatus 136 has a third configuration different from the first and second configurations. In further embodiments, expander apparatus 136 includes a graduated adjustment between the first and second configurations. In further embodiments, expander apparatus 136 changes its length when expander apparatus 136 transitions between the first and second configurations.

[0019] In the example embodiment, expander apparatus 136 includes a bladder 158 having an elastomeric material that is configured to expand / collapse when pressurized fluid is delivered / removed from bladder 158. In addition in some embodiments,reinforcement muscles (e.g.. fibers) extend around bladder 158 and are connected to radial and axial actuators. The muscles may be reinforced with a fiber mesh pattern that constrains the direction and amount of expansion of bladder 158 based on a fiber reinforcement angle determined by the design of the muscle. For example, the fiber reinforcement may form a first arrangement (e.g., a tight mesh grid around the circumference of bladder) that allows bladder 158 to expand in an axial direction but not in a radial direction when bladder 158 is pressurized. Conversely, the fiber reinforcement may form a second arrangement (e.g., a looser mesh grid around the circumference of bladder 158 allowing radial expansion or stretching of the mesh) that allows bladder 158 to expand in the radial direction but not the axial direction when bladder 158 is pressurized. In addition, the fiber reinforcement angle is designed to arrest the deformation of bladder 158 at a pre-defined setpoint in the radial and / or axial direction when bladder 158 is pressurized. In some embodiments, the fiber reinforcement angle of the muscles is between 10 degrees and 50 degrees with respect to the circumferential axis of the bladder. In alternative embodiments, expander apparatus 136 includes any bladder 158 that enables expander apparatus 136 to operate as described herein.

[0020] In the example embodiment, expander apparatus 136 includes a reservoir 160 coupled to bladder 158 and configured to contain pressurized fluid. Reservoir 160 includes a sidewall 164 defining a cavity 166 for receiving the pressurized fluid. For example, reservoir 160 is a cylinder. In the example embodiment, sidewall 164 is rigid and reservoir 160 does not change size or shape as fluid is delivered to or removed from reservoir 160. In addition, in the example embodiment, bladder 158 defines a cavity 162 and reservoir 160 is housed entirely within cavity 162. Accordingly, reservoir 160 is compact and facilitates expander apparatus 136 operating as a compact independent unit. For example, reservoir 160 utilizes unoccupied space within bladder 158, e.g., reservoir 160 fits entirely within the form factor of bladder 158 in the first configuration. As a result, expander apparatus 136 has a simpler construction and is more compact than other systems. Moreover, a number of valves and fluid lines required for expander apparatus 136 is reduced or eliminated. In alternative embodiments, expander apparatus 136 includes any reservoir 160 that enables expander apparatus 136 to operate as described herein. For example, in some embodiments, reservoir 160 extends at least partly on an exterior of bladder 158.

[0021] Bladder 158 is configured to transition expander apparatus 136 from the first configuration to the second configuration when pressurized fluid is delivered to bladder 158 from reservoir 160, and transition expander apparatus 136 from the second configuration to the first configuration when the pressurized fluid is removed from bladder 158 and delivered to reservoir 160. For example, because bladder 158 is flexible and accommodates volume changes of the pressurized fluid, expander apparatus 136 expands as the pressurized fluid is delivered to cavity 162 of bladder 158 and expander apparatus 136 contracts as pressurized fluid is removed from cavity 162 of bladder 158. In contrast, pressurized fluid may reach a higher pressure within cavity 166 of reservoir 160 than within cavity 162 of bladder 158 and reservoir 160 will not change shape as pressurized fluid is delivered to or removed from reservoir 160. Accordingly, bladder 158 and reservoir 160 facilitate expander apparatus 136 switching between the first and second configurations without an external fluid source. In some embodiments, reservoir 160 or a separate component within cavity 162 of bladder 158 maintains a minimum pressure of pressurized fluid within expander apparatus 136. For example, pressurized fluid within reservoir 160 may have a minimum pressure of at least 0.5 pounds per square inch (psi).

[0022] Also, in the example embodiment, expander apparatus 136 includes a pump 168 coupled in fluid communication with reservoir 160 and bladder 158 and configured to regulate fluid flow between reservoir 160 and bladder 158. For example, pump 168 is a reversible flow pump and is operated to selectively cause fluid to flow out of reserv oir 160 and into bladder 158 or out of bladder 158 and into reservoir 160. For example, pump 168 may be a micro axial piston pump. In the example embodiment, pump 168 is coupled to an end of bladder 158 such that pump 168 delivers pressurized fluid into bladder 158 adjacent the end of bladder 158. In addition, in the example embodiment, pump 168 is positioned at least partly within cavity 162 of bladder 158. In alternative embodiments, expander apparatus 136 includes any pump 168 that enables expander apparatus 136 to operate as described herein.

[0023] In addition, expander apparatus 136 includes a motor 170 coupled to pump 168 and configured to drivingly operate pump 168 when power is delivered to motor 170 from a power supply. For example, in some embodiments, motor 170 is a servomotor or a stepper motor. Motor 170 provides precise control of fluid flow and therefore expanderapparatus 136 transitioning between the first and second configurations. Also, motor 170 may include coupling devices on an end opposite bladder 158 and facilitate expander apparatus 136 interfacing w ith a range of electrical or other connections. In addition, motor 170 facilitates expander apparatus 136 operating using electrical power, e.g., expander apparatus 136 is electrically actuated. In the example embodiment, expander apparatus 136 is arranged to provide improved force typically associated with a hydraulic actuator with the advantages of an electrical actuator because of the arrangement of reservoir 160, pump 168, and motor 170.

[0024] Moreover, in the example embodiment, expander apparatus 136 is a self-contained unit and includes all operating units required to switch between configurations. For example, expander apparatus 136 may operate independently from other expander apparatus 136 or other external components because expander apparatus 136 includes reservoir 160. In further embodiments, expander apparatus 136 may be coupled to other expander apparatus 136 and the plurality of expander apparatus 136 may operate in coordination. For example, a plurality' of bladders 158 may be coupled to one reservoir 160 and configured to switch configurations simultaneously or in an alternating pattern when pressurized fluid is delivered to or removed from reservoir 160. For example, in some embodiments, second expander apparatus 136 includes a second bladder 158 coupled to reservoir 160 of first expander apparatus 136 and configured to receive pressurized fluid from reservoir 160.

[0025] A controller 116 is communicatively coupled to expander apparatus 136. Controller 116 is configured to provide instructions to transition expander apparatus 136 between configurations and / or regulate an operating parameter of one or more components of expander apparatus 136. Controller 116 includes a transceiver 124, a processor 126, and a memory' 128. In some embodiments, controller 1 16 is positioned remotely from expander apparatus 136, and / or controller 116 can be at least partly incorporated into and located on board expander apparatus 136. In embodiments, expander apparatus 136 and controller 116 communicate in any manner that enables expander apparatus 136 to operate as described herein. For example, in some embodiments, transceiver 124 and expander apparatus 136 communicate wirelessly or through a wareextending between controller 116 and expander apparatus 136. In some embodiments, controller 116 is coupled to and / or incorporated into motor 170.

[0026] Also, in some embodiments, an operator interface 130 may be included on a remote computing device (not shown) and / or may be incorporated with controller 1 16. Operator interface 130 may include, among other possibilities, a web brow ser and / or a client application. For example, in some embodiments, operator interface 130 displays images of bladder 158 and / or an operating state of bladder 158. In some embodiments, operator interface 130 allows an operator to input and / or view information relating to control of expander apparatus 136. In the example embodiment, operator interface 130 is configured to display information relating to the state of one or more of motor 170 and a pow er source for interpretation by the operator. For example, state information may also include a pressure of pressurized fluid, a charge status of a power source, and / or a current draw for motor 170. In various embodiments, processor 126 translates operator inputs into commands for transitioning expander apparatus 136 between configurations. In some embodiments, operator control of expander apparatus 136 is in real time, such as through a joystick, a keyboard, a touchscreen, a remote motion capture system, and / or a wearable motion capture system or other interface having similar function. In other embodiments, expander apparatus 136 is controlled partially or wholly according to a pre-programmed routine. In further embodiments, expander apparatus 136 is at least partially automated. In some embodiments, an operator inputs information such as operation goals or conditional directions. In further embodiments, information, such as information received by controller 116 from expander apparatus 136, control data sent to expander apparatus 136, and additional operator inputs or state information (e.g., location, time, orientation, datalink quality, battery levels, repair material levels, failure mode indicators), is logged into memory 128.

[0027] During operation, expander apparatus 136 is transitioned between the first configuration and the second configuration by delivering pressurized fluid to bladder 158 from reservoir 160 or removing the pressurized fluid from bladder 158. For example, expander apparatus 136 is switched from the first configuration to the second configuration by delivering pressurized fluid from reservoir 160 to bladder 158. Pressurized fluid is removed from bladder 158 and delivered to reservoir 160 to switch expander apparatus 136 from the second configuration to the first configuration. For example, in some embodiments,controller 116 regulates the fluid flow between reservoir 160 and bladder 158 by operating pump 168 to selectively cause fluid to flow out of reservoir 160 and into bladder 158 or out of bladder 158 and into reservoir 160.

[0028] In the example embodiment, during operation, controller 116 provides instructions to direct operation of expander apparatus 136. For example, controller 116 generates instructions that cause expander apparatus 136 to switch between the first configuration and the second configuration. For example, controller 116 operates motor 170 to cause pump 168 to direct fluid flow between bladder 158 and reservoir 160. In some embodiments, controller 116 may generate instructions to cause expander apparatus 136 to change shape or bend. For example, controller 116 may send instructions that cause muscles in sections of bladder 158 to adjust and bend as sections are selectively switched between configurations.

[0029] In addition, controller 116 may provide instructions that determine the amount of force that expander apparatus 136 transitions with and / or provides to objects. For example, controller 116 may provide instructions that determine the amount and timing of pressurized fluid that is delivered to or removed from expander apparatus 136 when expander apparatus 136 switches configurations.

[0030] An example method for assembling expander apparatus 136 includes coupling bladder 158 of expander apparatus 136 to reservoir 160 containing pressurized fluid. For example, reservoir 160 is housed at least partly within cavity 166 defined by bladder 158. In some embodiments, reservoir 1 0 is housed entirely within cavity 166 defined by bladder 158. In some embodiments, reservoir 160 is coupled to bladder 158 by one or more valves, manifolds, or connectors configured to facilitate and / or regulate fluid flow between reservoir 160 and bladder 158.

[0031] The method also includes transitioning expander apparatus 136 between the first configuration and the second configuration by delivering the pressurized fluid to bladder 158 from reservoir 160 or removing the pressurized fluid from bladder 158. For example, pressurized fluid may be supplied to bladder 158 of expander apparatus 136 from reservoir 160 of expander apparatus 136 to transition expander apparatus 136 to the second configuration. Pressurized fluid may be removed from bladder 158 of expander apparatus 136 and delivered to reservoir 160 of expander apparatus 136 to transitionexpander apparatus 136 back to the first configuration. In the example embodiment, pump 168 is coupled to the reservoir 160 and configured to regulate fluid flow between reservoir 160 and bladder 158. For example, pump 168 is operated to selectively cause fluid to flow between reservoir 160 and bladder 158. In the example embodiment, reservoir 160 does not change size or shape as fluid is delivered to or removed from reservoir 160.

[0001] FIG. 2 is a schematic diagram of a system 100 including expander apparatus 136 shown in FIG. 1. For example, system 100 includes a device, e.g., a tunneling device 102, that utilizes expander apparatus 136 to perform one or more functions during operation. For example, tunneling device 102 is configured to travel through a tunnel 104 and / or displace material to form tunnel 104. In the illustrated embodiment, tunneling device 102 travels in a travel direction 115. Tunnel 104 includes a sidewall 106 having an interior surface 108 extending around a central axis 110 and defining an interior cavity 1 12. Tunneling device 102 is configured to fit within interior cavity 112 and travel along the length of tunnel 104. Accordingly, tunneling device 102 facilitates construction of tunnel 104 and / or inspection and repair of tunnel 104. Moreover, tunneling device 102 is self- propelled, meaning that tunneling device 102 moves within interior cavity 112 without an external force acting on tunneling device 102. In other embodiments, system 100 includes other devices 102 such as maintenance apparatus, aerospace devices, and / or any other suitable devices.

[0002] Tunneling device 102 includes at least one expander apparatus 136 and a tip 138 coupled to expander apparatus 136. In the example embodiment, expander apparatus 136 and tip 138 of tunneling device 102 extend along a longitudinal axis 140. Expander apparatus 136 and tip 138 are modular and are detachably coupled together. Tip 138 is configured to move tunneling device 102 through underground locations. For example, tip 138 includes a tunneling tool 142 and a force transmitter 148 coupled to and extending between expander apparatus 136 and tunneling tool 142. Force transmitter 148 is configured to deliver a force to move tip 138 in a direction parallel to longitudinal axis 140. For example, force transmitter 148 may include a reciprocating impact device having an actuator that is operated using pneumatics, hydraulics, and / or any suitable system. Force transmitter 148 is configured to induce movement of tip 138 based on instructions from controller 116 and / or when force transmitter 148 receives power from a power source. For example, forcetransmitter 148 is configured to move tip 138 in a direction parallel to longitudinal axis 140 and / or rotate tip 138 about longitudinal axis 140.

[0003] Expander apparatus 136 are coupled to tip 138 and extend along longitudinal axis 140. In the example embodiment, tunneling device 102 includes a plurality of expander apparatus 136 including a first expander apparatus 136 that is coupled behind tip 138 and is arranged to follow tip 138 as tunneling device 102 moves through the underground location in a forward direction. Tunneling device includes a second expander apparatus 136 that is coupled behind first expander apparatus 136 and a third expander apparatus 136 that is coupled behind second expander apparatus 136. In the example embodiment, each expander apparatus 136 is configured to switch between a first configuration and a second configuration. For example, each expander apparatus 136 is selectively expandable in a direction perpendicular to longitudinal axis 140 between a first configuration having a first width measured perpendicular to longitudinal axis 140 and a second configuration having a second width measured perpendicular to longitudinal axis 140. In some embodiments, expander apparatus 136 are configured to cause movement of tunneling device 102. In further embodiments, at least one of expander apparatus 136 is configured to engage a sidewall 106 of tunnel 104 and expand tunnel 104. In alternative embodiments, expander apparatus 136 has any configuration that enables tunneling device 102 to operate as described herein. For example, in some embodiments, at least one expander apparatus 136 has a third configuration different from the first and second configurations. In further embodiments, at least one expander apparatus 136 includes a graduated adjustment between the first and second configurations. In further embodiments, at least one expander apparatus 136 changes its length when expander apparatus 136 transitions between the first and second configurations.

[0004] In the example embodiment, expander apparatus 136 is configured to fit into tunnel 104 and follow tip 138 as tip 138 displaces material. For example, during movement of tunneling device 102, expander apparatus 136 stays in the first configuration or transitions from the second configuration to the first configuration to facilitate tunneling device 102 traveling through tunnel 104. While expander apparatus 136 is illustrated with a tunneling device 102 in FIG. 2, expander apparatus 136 may be used with other devices without departing from aspects of the disclosure.

[0005] An example technical effect of the methods, systems, and apparatus described herein includes at least one of: (a) increasing the force provided by expander apparatus; (b) decreasing weight of expander apparatus; (c) reducing the power requirements for expander apparatus; and (d) facilitating expander apparatus having standardized connectors to interface with a larger number of components.

[0006] Example embodiments of systems and methods are described above in detail. The methods and systems are not limited to the specific embodiments described herein, but rather, components of systems and / or steps of the methods may be utilized independently and separately from other components and / or steps described herein. For example, the method may also be used in combination with other components, and are not limited to practice only with applications as described herein. Rather, the example embodiment can be implemented and utilized in connection with many other applications.

[0007] Although specific features of various embodiments of the disclosure may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the disclosure, any feature of a drawing may be referenced and / or claimed in combination with any feature of any other drawing.

[0008] This written description uses examples to disclose the embodiments, including the best mode, and also to enable any person skilled in the art to practice the embodiments, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

WHAT IS CLAIMED IS:

1. An expander apparatus comprising: a reservoir containing pressurized fluid; and a bladder coupled to said reservoir, wherein said expander apparatus is selectively expandable between a first configuration and a second configuration, wherein said bladder is configured to transition said expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to said bladder from said reservoir, and transition said expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from said bladder and delivered to said reservoir, wherein said bladder defines a cavity, and wherein said reservoir is housed at least partly within the cavity defined by said bladder.

2. The expander apparatus in accordance with Claim 1, further comprising a pump coupled to said reservoir and configured to regulate fluid flow between said reservoir and said bladder.

3. The expander apparatus in accordance with Claim 2, further comprising a motor coupled to said pump, wherein said pump is a reversible flow pump and said motor is configured to operate said pump to selectively cause fluid to flow between said reservoir and said bladder.

4. The expander apparatus in accordance with Claim 3, wherein said motor is a servomotor or a stepper motor.

5. The expander apparatus in accordance with Claim 1, wherein said reservoir is housed entirety within the cavity defined by said bladder.

6. The expander apparatus in accordance with Claim 1, wherein said reservoir comprises a sidewall defining a cavity, and wherein said sidewall is rigid and said reserv oir does not change size or shape as fluid is delivered to or removed from said reservoir.

7. The expander apparatus in accordance with Claim 1, in combination with a second expander apparatus coupled to said expander apparatus, said second expander apparatus comprising a second reservoir containing pressurized fluid, and a second bladder coupled to said second reservoir.

8. The expander apparatus in accordance with Claim 1 , further comprising a second bladder coupled to said reservoir of said expander apparatus and configured to receive pressurized fluid from said reservoir.

9. The expander apparatus in accordance with Claim 1, wherein said bladder is constrained by reinforcement fibers having a reinforcement angle that is selected to arrest deformation of said bladder at a pre-defined setpoint.

10. A system comprising: an expander apparatus extending along a longitudinal axis, wherein said expander apparatus is selectively expandable between a first configuration and a second configuration, said expander apparatus including: a reservoir containing pressurized fluid; and a bladder coupled to said reservoir, wherein said bladder is configured to transition said expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to said bladder from said reservoir, and transition said expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from said bladder and delivered to said reservoir, wherein said bladder defines a cavity, and wherein said reservoir is housed at least partly within the cavity defined by said bladder; and a controller communicatively coupled to said expander apparatus, wherein said controller is configured to operate said expander apparatus and cause said expander apparatus to transition between the first configuration and the second configuration.

11. The system in accordance with Claim 10, further comprising a pump coupled to said reservoir and configured to regulate fluid flow between said reservoir andsaid bladder.

12. The system in accordance with Claim 11, further comprising a motor coupled to said pump, wherein said pump is a reversible flow pump and said motor is configured to operate said pump to selectively cause fluid to flow between said reservoir and said bladder.

13. The system in accordance with Claim 12, wherein said controller is configured to control operation of said motor to cause said expander apparatus to transition between the first configuration and the second configuration.

14. The system in accordance with Claim 10, wherein said reservoir is housed entirely within the cavity defined by said bladder.

15. The system in accordance with Claim 10, wherein said controller is located on board said expander apparatus.

16. A method for assembling an expander apparatus, wherein the expander apparatus is selectively expandable between a first configuration and a second configuration, the method comprising: coupling a bladder to a reservoir containing pressurized fluid, wherein the bladder is configured to transition the expander apparatus from the first configuration to the second configuration when pressurized fluid is delivered to the bladder from the reservoir, and transition the expander apparatus from the second configuration to the first configuration when the pressurized fluid is removed from the bladder and delivered to the reservoir, wherein the bladder defines a cavity, and wherein the reservoir is housed at least partly within the cavity defined by the bladder; and transitioning the expander apparatus between the first configuration and the second configuration by delivering the pressurized fluid to the bladder from the reservoir or removing the pressurized fluid from the bladder.

17. The method in accordance with Claim 16, further comprising regulating, using a pump coupled to the reservoir, fluid flow between the reservoir and thebladder.

18. The method in accordance with Claim 17, wherein regulating the fluid flow between the reservoir and the bladder comprises operating the pump to selectively cause fluid to flow between the reservoir and the bladder.

19. The method in accordance with Claim 16, wherein the reservoir is housed entirely within the cavity defined by the bladder.

20. The method in accordance with Claim 16, wherein the reservoir does not change size or shape as fluid is delivered to or removed from the reservoir.

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