Axial flow turbines designed to generate power from underwater currents (tidal and riverine) are similar to the commonly observed wind turbines. With support from U.S. Naval Sea Systems Command, engineers at the Applied Physical Laboratory of the University of Washington (APL-UW) have designed and fabricated a one-meter diameter axial flow turbine for use in APL-UW’s marine energy research program. The system, referred to as the AFT (axial flow turbine), is designed for deployment from R/V Russell Davis Light, where the vessel, under propulsion, is used to simulate naturally occurring currents for power generation. This report summarizes the AFT’s mechanical and electrical design and is intended as a reference to support research efforts performed using the system. Encoders and six-axis load cells installed on the driveshaft and at the root of one of the rotor’s three blades, allow for characterization of the forces and torques generated during operation. The system was designed for reliability and to acquire scientific-quality data to advance studies of axial flow turbines. Thus, system components selected in the design process are not intended to maximize system efficiency and power extraction.

Minimally Invasive Surgery (MIS) can reduce iatrogenic injury and decrease the possibility of surgical complications. This paper presents a novel flexible and bendable endoscopic device, "Roboscope", which delivers two instruments, two miniature scanning fiber endoscopes, and a suction/irrigation port to the operation site through a single portal. Compared with existing bendable and steerable robotic surgical systems, Roboscope provides two bending degrees of freedom for its outer sheath and two insertion degrees of freedom, while simultaneously delivering two instruments and two endoscopes to the surgical site. Each bending axis and insertion freedom of Roboscope is independently controllable via an external actuation pack. Surgical tools can be changed without retracting the robot arm. This paper presents the design of the Roboscope mechanical system, electrical system, and control and software systems, design requirements and prototyping validation as well as analysis of Roboscope workspece.