Bob was what we used to call a "rounder." He was unquestionably a major figure in the history of the preservation and operation of narrow gauge steam railroads.
I knew him when I was volunteering as a car attendant in the early '70's, wrestling with the drop doors and chains on the old converted boxcars and pointing out the sights to the tourists. I don't think Bob cared much for volunteers. With those steps, they were a necessary evil.
I had some success with his Onboard system in G scale many years ago - PFM wouldn't work with the amperage generated by the big trains. The sounds were just OK but the command control portion of it was fine, until R/C and Sierra sound came to be.