An auxiliary quasi-resonant DC tank power converter with fast current charging, voltage balancing, and voltage clamping circuits is provided for achieving soft-switched power conversion. Content included in the graphical user interface can be generated for presentation to a user. of about 20 Pa\xb7s to about 400 Pa\xb7s. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. To provide a fluid mechanical converter, which improves overall efficiency using the simplest components, it is proposed according to the invention that the displacement of the driven energy accumulator-mass system is overlaid with a displacement that is caused by at least one inertial force.