Navigation and Planning in an Unknown Environment Using Vision and a Cognitive Map

An improved device for tuning a string of a musical instrument includes a rotatable shaft having one end connected with the string. A pinion gear is connected with the opposite end of the shaft and is disposed in meshing engagement with a worm. The worm is rotatable about its central axis to effect rotation of the pinion gear and shaft with a resulting loosening or tightening of the string. The shaft is held against axial motion by deforming a portion of a housing into an annular groove in the shaft. The shaft is held against sidewise movement by engagement of a cylindrical surface area of the housing with the outside of the shaft.

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