Patent Publication Number: US-2023151632-A1

Title: Self-deploying shelter

Description:
FIELD 
     The aspects of the disclosed embodiments generally relate to portable shelters and in particular to a fully autonomous self-deploying shelter system. 
     BACKGROUND 
     Portable shelters, also referred to as portable tents, typically require significant manpower and time to install. Historically, portable shelters are set up and torn down utilising multiple persons folding, unfold, erecting and lifting, all using manual power. These portable shelter typically include a frame and fabric. The frame has orientations that can fold, expand, telescope, or bend. The fabric is attached to the frame or can be independent. The set up generally requires knowledge of the complex setup sequence and the ability to open, erect and close or disassemble the shelter. This requires significant manpower capability. 
     Attempts at simplifying the process of tent installation have been made by using complex joints, scissor truss folding systems, pin joints, and inflatables. Generally, these will have a very large number of folding frame members that are subject to frequent parts damage and failure. There are typically many ground contact points that must travel across irregular ground surfaces to reach final geometry. 
     Thus, there is a need for improved systems, apparatus and methods for portable shelters. Accordingly, it would be desirable to a portable shelter assembly that addresses at least some of the problems described above. 
     SUMMARY 
     The aspects of the disclosed embodiments are directed to a self-deploying shelter or tent. By motorizing and remote-controlling the installation the manpower and time requirements can be significantly reduced. The Self-Deploying Shelter of the disclosed embodiments utilizes actuators in the joints and linkages that are able to be controlled by the simple push of a button. Automatic erection and takedown of the Self-Deploying Shelter of the disclosed embodiments allows the physical strength and skill level of the operator otherwise required to be reduced dramatically, saving both time and manpower. The shelter of the disclosed embodiments system does not drag its feet or legs and is configured to lift itself up with a secure base when or as the feet are in their final position, minimizing challenges on rough terrain. The shelter of the disclosed embodiments has a small number of frame members. There are no ground contact points that must travel across irregular ground. The shelter is motorized and remote-controlled. 
     According to a first aspect, the above and further implementations and advantages are obtained by a self-deploying shelter assembly that is configured to deploy to and from a folded state from an and to an unfolded state in an automated manner. In one embodiment, the shelter assembly includes a plurality of leg members and a hub, the hub being configured to be coupled to one end of respective leg member of the plurality of leg members. A leg member of the plurality of leg members has a first leg element, a second leg element and a third leg element. A second end of the third leg element is movably coupled to the hub. A foot member is coupled to a first end of the first leg element. A second end of the first leg element is movably coupled to a first end of the second leg element and a second end of the second leg element is movably coupled to the first end of the third leg element. A roller member is coupled to one or more of the second end of the second leg element and the first end of the third leg element. The roller element is configured to contact a ground surface when the self-deploying shelter assembly is in the folded, non-deployed state. 
     In a possible implementation form, the hub is configured to cause a movement of the plurality of legs outward, away from the hub, when the shelter assembly is deploying from the folded state to the unfolded state, and cause a movement of the plurality of legs inward, toward the hub, when the shelter assembly is deploying from the unfolded state to the folded state. 
     In a possible implementation form, the roller member comprises a curved member that extends from a bottom of the shelter assembly to make contact with the ground surface when the shelter assembly is in the folded state. 
     In a possible implementation form, the foot member is away from the ground surface, or not in contact with the ground surface, in the folded state of the shelter assembly. The foot member is configured to only make contact with the ground surface once the leg members are deployed, and the hub is ready to move upward to expand the tent portion of the assembly. This way, the foot member does not drag on the ground surface and can be more accurately positioned. 
     In a possible implementation form, the hub member causes the plurality of leg members to extend outwards. The first leg element and the second leg element extend outwards a pre-determined distance until the foot member comes in contact with the ground surface. 
     In a possible implementation form, the contact of the foot member with the ground surface while the hub is extending the plurality of leg members causes the hub to move in an upwards direction, away from the ground surface. The hub moves upwards with the leg members which cause the fabric to expand over the leg members as the shelter deploys. 
     In a possible implementation form, the foot member is disposed closer to the hub than the roller member in the folded state of the assembly. The foot member is away from the ground surface while the roller member is in contact with the ground surface, in the folded state. 
     In a possible implementation form, the first leg member is pivotally connected to the foot member and the second leg member. The different elements are coupled to each other in a pivotal manner, which enables movement of the elements relative to one another. 
     In a possible implementation form, the second leg member is pivotally connected to the third leg member. 
     In a possible implementation form, the roller member comprises a bracket that is pivotally connected to a bracket on the third leg member and an arm element connected to the second leg member. The arced portion of the roller member can extend from, or be part of, the roller member. 
     In a possible implementation form, the foot member moves along an arced path when moving to and from the folded state and unfolded state of the shelter assembly. The movement of the foot member follows a curved path until it is moved to make contact with the ground surface. 
     In a possible implementation form, when the shelter assembly deploys from the folded state to the unfolded state, the hub is configured to cause the first end of the first leg member to move in an upward direction away from the ground surface, wherein the first end of the first leg member is moving along the arc path; the first end of the second leg member to move away from a centerline of the hub and third leg member; cause the foot member to come in contact with the ground surface when the first leg member and the second leg member reach pre-determined positions; cause the roller member to move away from the ground surface after the foot member comes in contact with the ground surface and the third leg member extends and cause the shelter assembly to reach the unfolded state once the third leg member is fully extended. 
     In a possible implementation form, when the shelter assembly deploys from the unfolded state to the folded state, the hub is configured to cause the third leg member to retract from a fully extended position until the roller member comes in contact with the ground surface; the foot member to lift off the ground surface after the roller member comes in contact with the ground surface; and cause the second leg member and the first leg member to retract to the folded state of the shelter assembly, while the foot member moves along the arc path, without further contact with the ground surface. 
     In a possible implementation form, the third leg member comprises a first leg element spaced apart from a second leg element, a first end of the first leg element and a first end of the second leg element pivotally connected to the hub, and a second end of the first leg element coupled to the roller arm bracket. 
     In a possible implementation form, an actuator or cable assembly is connected to and between the hub and the plurality of leg members. The actuator or cable assembly is configured to cause movement of one or more of the first leg element, the second leg element and the third leg element when a cable member of the cable assembly is extended and retracted by a cable spool assembly on the hub. 
     In a possible implementation form a drive motor is connected to the hub and the cable spool assembly, the drive motor configured to cause the cable spool assembly to extend and retract the cable member. 
     In a possible implementation form, a linkage system is coupled to the plurality of leg members and leg elements, the linkage system configured to cause individual leg members to open to the unfolded state and close to the folded state along a prescribed path. 
     In a possible implementation form, the linkage system is connected between the hub and the individual leg member of the plurality of leg members. 
     In a possible implementation form, the linkage system is connected to the actuator or cable assembly. 
     These and other aspects, implementation forms, and advantages of the exemplary embodiments will become apparent from the embodiments described herein considered in conjunction with the accompanying drawings. It is to be understood, however, that the description and drawings are designed solely for purposes of illustration and not as a definition of the limits of the disclosed invention, for which reference should be made to the appended claims. Additional aspects and advantages of the invention will be set forth in the description that follows, and in part will be obvious from the description, or may be learned by practice of the invention. Moreover, the aspects and advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the following detailed portion of the present disclosure, the aspects of the disclosed embodiments will be explained in more detail with reference to the example embodiments shown in the drawings, in which like references indicate like elements and: 
         FIG.  1    is a perspective view of an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  2    illustrates the unfolding and folding of an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIGS.  3 A and  3 B  are side views of an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments, with different roller members. In  FIG.  3 B  the roller member is a wheel. 
         FIG.  4    illustrates a partially unfolded or folded exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  5    illustrates an exemplary path of the foot member during folding and unfolding of an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  6    illustrates a partially extended leg member for an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  7 A  illustrates the use of a strut with leg elements for an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  7 B  illustrates the use of a linear actuator with leg elements for an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  8    illustrates another example of the folded state of an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  9    illustrates one example of a cable assembly for an exemplary self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  10 A  illustrates the use of a drive motor with a cable assembly for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  10 B  illustrates the use of a linear actuator rather than a drive motor. 
         FIG.  11    illustrates the use of a spring tensioner with a cable assembly for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  12    illustrates another example of the folded state of a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  13    illustrates a partially unfolded state of the frame of a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  14    illustrates an unfolded state of the frame of a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  15    illustrates an example of a partially extended leg member of a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  16    illustrates an exemplary leg member and connection elements for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  17    is a view of the underside of a hub for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  18    illustrates an exemplary roller member for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  19    illustrates an exemplary connection of leg elements for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIGS.  20 - 27    illustrates an exemplary series of movements and states from the unfolded state to the folded state for a self-deploying shelter assembly incorporating aspects of the disclosed embodiments; 
         FIG.  28    illustrates an exemplary implementation of a plurality of self-deploying shelter assemblies incorporating aspects of the disclosed embodiments; 
         FIGS.  29 - 32    illustrate exemplary implementations of one or more self-deploying shelter assemblies incorporating aspects of the disclosed embodiments. 
     
    
    
     These and other aspects, implementation forms, and advantages of the exemplary embodiments will become apparent from the embodiments described herein considered in conjunction with the accompanying drawings. It is to be understood, however, that the description and drawings are designed solely for purposes of illustration and not as a definition of the limits of the disclosed invention, for which reference should be made to the appended claims. Additional aspects and advantages of the invention will be set forth in the description that follows, and in part will be obvious from the description, or may be learned by practice of the invention. Moreover, the aspects and advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the appended claims. 
     DESCRIPTION OF THE DISCLOSED EMBODIMENTS 
     The aspects of the disclosed embodiments are directed to a rapidly deployable shelter assembly or system, also referred to herein as a hands-off expeditionary tent (HEXT). One example of a shelter assembly  100  incorporating aspects of the disclosed embodiments is illustrated in  FIG.  1   . The shelter assembly  100  shown in  FIG.  1    is configured to be a fully autonomous self-deploying shelter. One advantage of the shelter assembly  100  is that the foot members travel to from closed to open position without dragging along ground. According to the aspects of the disclosed embodiments as will be described herein, the foot members  106  lift up over the ground, an only make contact when the leg  102  is partially extended. 
     The self-deploying shelter assembly  100  of the disclosed embodiments is configured to automatically, without manual intervention, deploy to and from a folded state from an and to an unfolded state. In one embodiment, the shelter assembly  100  includes a plurality of leg members  102  and a hub  104 . The hub  104  is configured to be coupled to one end of respective leg member  102  of the plurality of leg members. 
     A leg member  102  of the plurality of leg members has a first leg element, a second leg element and a third leg element. A second end of the third leg element is movably coupled to the hub  104 . The foot member  106  is coupled to a first end of the first leg element. A second end of the first leg element is movably coupled to a first end of the second leg element. A second end of the second leg element is movably coupled to the first end of the third leg element. 
     A roller member  108  is coupled to one or more the second end of the second leg element and the first end of the third leg element. The roller element  108  is configured to contact a ground surface when the self-deploying shelter  100  is in the folded or non deployed state. 
     As is illustrated in  FIG.  1   , the assembly  100  is generally in the form of a cross-arched frame structure, with four (4) or more legs  102 . The individual legs  102  are generally comprised of three (3) segments that are configured to be folded in a zigzag pattern. Although the assembly  100  is generally described herein with respect to four legs, the aspects of the disclosed embodiments are not so limited. In alternate embodiments any suitable number of legs can be used other than including four. For example, the assembly  100  can include three or five legs. The number of legs  102  can be dependent upon a variety of factors such as, for example, the size of the assembly  100  and the particular implementation. The legs  102  shown in the example of  FIG.  1    can comprise multiple structural elements, also referred to herein as arms. The legs  102  are made up of structural elements, pins, and linkages that move the assembly  100  through a prescribed motion path. 
     As shown in the example of  FIG.  1   , in one embodiment, the assembly  100  includes a hub  104 . The hub  104  will generally include the components and devices that will allow the assembly  100  to transition from an unfolded state to a folded state, and back to the unfolded state. One example of the transition from the folded state to the unfolded state is shown in  FIG.  2   . 
     As is shown in  FIG.  2   , the legs  102  are configured to open from the middle and reach their final position before lifting. The legs  102  do not drag on the ground surface during the opening and closing process. 
       FIG.  2    illustrates five (5) autonomous stages of the deployment of the assembly  100 . In  202 , the assembly  100  is in the folded state. The ends of the legs  102 , also referred to as a foot  106  in  FIG.  3   , are not in contact with the ground surface in the folded state. 
     In  204 , roller members  108 , more clearly illustrated in  FIGS.  3  and  4   , are shown in contact with the ground or floor as the hub  104  causes the legs  102  begin to extend outwards. The roller members  108  are attached to the frame of the assembly  100  using, for example, structural pins to allow for rotation of roller member  108 . In one embodiment, the roller member  108  can comprise a wheel or roller. 
     As illustrated in the example of  FIGS.  3 A and  3 B , examples of the roller member  108  are shown. The roller member  108  can comprise a cam shape or an actual rotating wheel. In alternate embodiments, the roller member  108  can comprise any suitable device that can come into contact with the ground surface as the assembly  100  expands, and provide certain capabilities for movement of the assembly  100  while in contact with the ground surface. 
     As is also shown in  204  of  FIG.  2   , the legs  102  are configured to move outward and upward, away from the ground surface. Once the legs  102  reach a predetermined position during the outward and upward movement, the legs  102  are configured to be moved towards the ground surface until they come in contact with the ground surface. 
     In one embodiment the assembly  100  includes an integrated four-bar and six-bar linkage system. As the angle between linkages changes through opening, it causes the rest of the assembly, mainly the leg members  102 , to move in relation to the progress of that four-bar and six-bar linkage. 
     In  206 , the legs  102  are moved towards the ground surface and the feet  106  come in contact with the ground surface. The continued movement of the legs  102  causes the assembly  100  in this example to lift upwards in the direction of arrow X1 and further away from the ground surface. 
     In  210 , the assembly  100  is in the fully expanded state. The legs  102  are fully extended and the hub  104  is at the final position of its movement cycle. 
       FIGS.  3 A and  3 B  illustrates an example of a leg  102  in a fully closed position or state. For the purposes of the description below, only one leg  102  will be described. Each leg  102  is configured to connect to the hub  104  at two locations. In one embodiment, there can be a rotating structural pin connection at the upper connection point of the leg  102 , and a rotating structural pin connection at the lower connection point of the leg  102 . 
     As shown in  FIG.  3 A , in the folded state of the assembly  100 , the leg  102  is folded inwards, in a direction toward the hub  104 . The rollers  108  can be configured to support the assembly  100  in the folded state and as the assembly  100  transitions from the folded to unfolded state. 
       FIG.  4    illustrates a more detailed example of a leg  102  in a partially extended state. In this example, the foot  106  is extended away from the hub  104 . The roller  108  is attached to a middle leg element of the frame. The arrow  402  indicates the movement of the portion of the leg  102  to which the roller  108  is attached as the foot  106  comes into contact with the ground surface as the leg  102  continues to extend outward and downward. The force from the actuation cable or linear actuator causes motion in the four-bar and six-bar linkage which raises the entire assembly. 
       FIG.  5    illustrates the path of the foot  106  of leg  102  as it moves away from the hub  104  towards the unfolded state. As is illustrated in the example of  FIG.  5   , the foot  106  of the leg  102  is never below the roller  108  until it extends to its furthermost position as shown in  206  of  FIG.  2   . In this manner, the foot  106  does not scrape against the ground surface during the transition of the assembly  100  from the folded state to the unfolded state. 
       FIG.  6    illustrates the final foot position where the foot  106  comes in contact with the ground. The leg  102  continues to move and as the leg  102  expands, the hub  104  will start moving upwards in a vertical direction. 
     Once the legs  102  are in the position shown in  FIG.  6   , also referred to as a solid outrigger position, in one embodiment, the feet  106  can be staked. Staking the feet  106  can provide a mechanical advantage during the lift process. Additionally, the fabric that will be put over the assembly  100  can act as lateral stabilizer. In one embodiment, the fabric is typically installed on the frame before the installation or transition sequence. The fabric, including the top, liner, and floor, is able to remain over the frame at all times of the packing, transportation, unpacking, and lifting sequence. 
     Referring to  FIGS.  7 A and  7 B , a strut, such as gas strut or linear actuator, can be connected between the different elements of the leg  102  to assist in the lifting process by providing force to the outer leg element. This strut can either be attached to the assembly  100  via an integrated mounting location or through an additional bracket that is fastened to the member. 
       FIG.  8    illustrates the nested geometry of the assembly  100  in the folded state. This represents the most packed state of the assembly  100  for storage and shipping. As discussed herein, additional legs are connected to each available point in the hub  104  using fasteners to create the full assembly. 
       FIG.  9    illustrates one embodiment of a possible actuation system using linear actuators or cables  902  that can be connected to and between the different elements of the legs  102 . By either expanding or contracting, it causes the six bar linkage system to change geometry and lift the assembly. For purposes of the description herein, the cables  902  can also be referred to as ropes or rope paths. In one embodiment, the cables  902  can be connected to an actuator device  906  to control the deployment (folding and unfolding) of the assembly  100 .  FIG.  9    shows two actuator devices  906 . Generally, there will be one actuator device  906  per leg  102  of the assembly  100 . 
     In one embodiment there is one or more sensors on each leg that are configured to provide or sense the angles of each leg  102  relative to the hub  104 . Each leg  102  can be synchronized by keeping the angle of each leg  102  within tolerance of the other legs  102  throughout the opening sequence. Although synchronization is preferred, it is not required. The assembly  100  is configured to be flexible enough to move without full synchronization. 
     Examples an actuator devices or assemblies  906  are shown in  FIGS.  10 A and  10 B . In  FIG.  10 A , the actuator device  906  includes a rope winch  916  and a drive motor  926 . The rope winch  916  is connected to the cables  902  and are driven by the drive motor  926  to control the folding and unfolding of the assembly  100 . 
       FIG.  10 B  shows a linear actuator that elongates or shortens to control the folding and unfolding. The actuator device  906  in both examples is disposed between the elements inner member and long link of a leg  102 . 
     In one embodiment, as shown in  FIG.  11   , the cables  902  can include integrated spring tensioners or actively controller linear actuators. The string tensioners can be integrated in line with the cable between the winch and the connection point on the inner member. 
       FIG.  12    illustrates another example of the assembly  100  incorporating aspects of the disclosed embodiments. In this example, the assembly  100  is in the fully closed state. The illustrated elements of the assembly  100  include the hub  1204 , leg  1210 , leg  1212 , leg  1214  and leg  1216 . The feet  1224  and  1226 , shown in this example, in contact with the ground surface 
       FIG.  13    illustrates the assembly  100  in the ready to lift state. In this example, the legs 2-5 are extended, and the corresponding feet are in contact with ground. The hub 1 is configured to move in an upward direction. 
       FIG.  14    illustrates the fully open state. The legs 2-5 are fully extended and the hub 1 is has reach its final position. 
       FIG.  15    illustrates a view of the assembly of a single leg incorporating aspects of the disclosed embodiments. In this example, the assembly includes the rope or cable system  110 , an inner element or member  112 , a long link member  114 , a medium link member  116 , a short link member  118 , and middle member  120 , a roller member  108 , an outer member control linkage system  124 , and outer member  122 , and a foot  106 . 
       FIG.  16    illustrate an example of an outer member control linkage incorporating aspects of the disclosed embodiments. In this example, the outer member control linkage system  124  includes a crank  1602 , crank  1604 , crank puller  1606 , connector  1608 , brace  1610 , brace  1612 , and brace  1614 . 
       FIG.  17    illustrates one example of a hub and drive system assembly incorporating aspects of the disclosed embodiments. In this example, the hub and drive system assembly includes drive motor  926 , cable winch  916 , motor shaft coupling  936 , cable pulley  946 , and a High Modulus Polyethylene (HMPE) Rope  902 . 
       FIG.  18    illustrates an example of a roller incorporating aspects of the disclosed embodiments. In this example, the roller is a pivoting roller assembly. In one embodiment, the roller can include a roller pivot  1802 , a hard stop  1804 , a cam surface  1806 , and a spacer support  1808 . 
       FIG.  19    illustrates an example of an outer member deployment system assembly incorporating aspects of the disclosed embodiments. In this example, the outer member deployment system assembly includes middle member  120 , connector  1608 , brace 1,  1610 , another brace  1612 . which is a mirror of brace 1, second brace  1614 , gas spring  1616 , a mounting bracket  1618 , and an outer member  122 . 
       FIGS.  20 - 28    illustrate one example of the opening of a rapidly deployable shelter assembly incorporating aspects of the disclosed embodiments. In  FIG.  21   , the assembly is in the fully nested state. The rollers are in contact with the ground. 
     In  FIG.  22   , the assembly is shown beginning to open or unfold. The legs start to go outward, away from the center. The roller helps prevent the feet from scraping the ground during the opening. 
     In  FIG.  23   , the assembly is halfway open. The feet do not come in contact with the ground until the assembly is in the ready to lift state. 
     In  FIG.  24   , the ready to lift state is reached. The feet are now in contact with the ground. The hub will start to move upwards and the legs will extend or straighten.  FIG.  25    is a side view of  FIG.  24   . In one embodiment, the feet can be staked at this point and will no longer move. 
       FIG.  26    illustrates how the rollers have lifted away from the ground. In  FIG.  27   , the assembly is in the halfway open state. In  FIG.  28   , the assembly is in the fully open state. 
     Enhancements to the HEXT structure can include, but are not limited to, hardening for protection and integrating self-powering solar cells to achieve autonomy, power for lighting and electronics, and climate control. 
       FIGS.  29 - 33    illustrate various exemplary implementations of a rapidly deployable shelter assembly incorporating aspects of the disclosed embodiments. 
       FIG.  32    illustrates an exemplary deployment of the assembly  100 . 
     Features of the fully autonomous self-deploying shelter assembly  100  of the disclosed embodiments include, but are not limited to: 
     1. Crossed-arch scheme with 4 or more legs  102  made of 3 segments folding in a zigzag pattern.   2. Legs open from the middle and reach their final position before lifting.   3. Legs do not drag ever.   4. Legs are in solid outrigger position (and staked) for lift with mechanical advantage   5. Fabric over the structure can act as a lateral stabilizer. Main fabric and floor fabric act as primary structural stabilizers for the frame structure during the installation, the use of the shelter and the dismantling of the shelter, and are an integral part of the structural mechanism and structural load bearing. The stabilization of the structural frame by the fabric during installation allows the frame to be lighter in weight and less rigid at the joints - more flexible and deflect from higher stresses. Aspects of the fabric, such as stiffened areas of fabric, or bungee cords embedded in the fabric membrane are configured to help control the frame folding and are part of the mechanisms.   6. Linear actuator on each leg creates 4 degrees of freedom.   7. Self-righting capability if system is on side initially   8. Self-balancing, accelerometer-integration   9. Fully integrated with fabric, floor, and liner   10. Remotely operated or operated in person   11. The assembly  100  is configured to walk and move itself to an optimal position, find level ground using integrating angle sensors. Each leg  102  has the ability to move independently. Therefore, one leg can close partially at a time, creating a sequence where the system closes partially, leans to one side, and extends out for movement.   12. Multiple units can walk to each other to automatically connect and sync up   13. Modular actuation system for 1 or multiple degrees of freedom   14. Minimal frame, minimum weight, there is no more minimal configuration   15. Made of folded aluminium panels or extruded metals or composites, folded legs nest within one another with structural stability.   16. Lightweight efficient structural design leads to that   17. Unique ornamental design.   18. 6-bar combined with 7-bar linkage   19. Control logic for opening and closing, error control, system integration   20. Self-powering solar integration, fully self-powered   21. For rigid flooring, also integrated folded floor concept   22. Control of the fabric folding when closing, unique way of embedded elastic members.   23. Integration of Teflon washers and unique pin joints.   24. Cable actuation to control deployment system.   25. Integrated pull-bar springs to support stability and allow continuous opening for self-balancing.   26. Larger-scale truck/trailer mounted hydraulic system   27. Airdrop deployment, autonomous vehicle dropping these off, parachute   28. Auto-build of forward operating base or deployable tent city without human intervention   29. Also self-closes.   30. Links connected using driftpin shoulder bolt attachment   31. Passive gas spring stabilization during opening and closing of legs   32. Mobile power unit and control box with weatherproof receptacles   33. Stop start quick disconnect controller   34. E-stop button for safety during building   

     While there have been shown, described and pointed out, fundamental novel features of the invention as applied to the exemplary embodiments thereof, it will be understood that various omissions, substitutions and changes in the form and details of devices and methods illustrated, and in their operation, may be made by those skilled in the art without departing from the spirit and scope of the presently disclosed invention. Further, it is expressly intended that all combinations of those elements, which perform substantially the same function in substantially the same way to achieve the same results, are within the scope of the invention. Moreover, it should be recognized that structures and/or elements shown and/or described in connection with any disclosed form or embodiment of the invention may be incorporated in any other disclosed or described or suggested form or embodiment as a general matter of design choice.