SurRender Umbra: A Visibility Determi-nation Framework for Dynamic Environments

A tape transport unit with a main deck plate that accommodates a magnetic tape cassette against two vertically disposed support pins. A tape head for the cassette is mounted on a spring loaded head plate that is slidably received by the main deck plate on two horizontally disposed support pins. The tape of the cassette is driven by being sandwiched between a drive capstan and a roller wheel of a pinch roller assembly that is pivotally mounted on the head plate and brought into engagement with the tape by a solenoid operated cantilever spring. The capstan is directly driven by a brushless motor for which the speed of operation is controlled electrically. The various constituents of the unit, including forward motion and rewind motors and solenoids for controlling the pinch roller assembly and the position of the main deck plate, are operated from motion control circuitry and accompanying circuitry that is used to sense the beginning and the end positions of the cassette tape.

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