Abstract: A robotic device and mobility module for navigating through a passageway whose diameter may vary comprises a central support member, a first casing coupled to the elongate support member via a first expandable and collapsible linkage, the first casing having an external surface including a first movable track, and a second casing coupled to an opposite side of the elongate support member from the first casing, the second casing coupled to the elongate support member via a second expandable and collapsible linkage and including an external surface including a second movable track.

Abstract: A sensor system for measuring and locating parameters of a structure includes a robot configured to move between a first position and a second position along the structure. An inspection sensor is coupled to the robot and configured to measure a parameter associated with the structure. A localization sensor suite includes an inertial measurement unit and is configured to capture data associated with translational degrees of freedom and a rotational degree of freedom of the robot determined by the structure and an image capture system mounted to the robot. The image capture system acquires images of the structure. One or more processors is operatively connected to the localization sensor suite. The one or more processors is responsive to non-transitory executable computer instructions for generating a map of the route including features of the structure, the measured parameters, and a position of the robot relative to the structure.

Abstract: A dual aerial-drop penetrometer system includes a high-velocity (>30 m/s) penetrometer aerial unit combined with a low-velocity (<10 m/s) penetrometer aerial unit. The primary penetrometer is formed as an outer shell having the secondary penetrometer received in telescoping fashion within, which is ejected by a spring ejection mechanism upon impact of the outer shell. Both penetrometers provide deceleration information as they penetrate the soil of interest. The data from the two penetrometers, after analysis, can be used to assess soil strength as well as trafficability for the deployment of remotely-controlled vehicles, for example.

Abstract: An electrical grounding system has a frame containing one or more line component subassemblies supporting multiple lines of conductive material traveling linearly in parallel in a horizontal direction, and one or more preload subassemblies positioned in a vertical direction above the respective line component subassemblies. The line component subassembly has an array of grounding contact rollers positioned below and supporting the respective lines of conductive material traveling in electrical contact thereon. The preload subassembly has an array of preload rollers positioned above and applying a preload force to the respective lines of conductive material in electrical contact with the rollers of the line component subassembly below.

Abstract: A high temperature motor has a stator with poles formed by wire windings, and a rotor with magnetic poles on a rotor shaft positioned coaxially within the stator. The stator and rotor are built up from stacks of magnetic-alloy laminations. The stator windings are made of high temperature magnet wire insulated with a vitreous enamel film, and the wire windings are bonded together with ceramic binder. A thin-walled cylinder is positioned coaxially between the rotor and the stator to prevent debris from the stator windings from reaching the rotor. The stator windings are wound on wire spools made of ceramic, thereby avoiding need for mica insulation and epoxy/adhesive. The stator and rotor are encased in a stator housing with rear and front end caps, and rear and front bearings for the rotor shaft are mounted on external sides of the end caps to keep debris from the motor migrating into the bearings' races.

Abstract: A door breaching robotic manipulator comprises: two fingers, each finger comprising a gripper surface at a distal end thereof, the gripper surfaces being spaced from each other by a predetermined distance; a cable configured to be actuated to drive the gripper surfaces toward each other; and a selectively compliant wrist comprising a U-joint and a magnetic coupling having a predetermined magnetic force strength. The magnetic coupling comprises a metal member and a magnetic element attracted thereto. When a force overcomes the predetermined magnetic force strength of the selectively compliant wrist, the wrist becomes compliant.

Abstract: A miniature rotating transmissive optical scanner system employs a drum of small size having an interior defined by a circumferential wall rotatable on a drum axis, an optical element positioned within the interior of the drum, and a light-transmissive lens aperture provided at an angular position in the circumferential wall of the drum for scanning a light beam to or from the optical element in the drum along a beam azimuth angle as the drum is rotated. The miniature optical drum scanner configuration obtains a wide scanning field-of-view (FOV) and large effective aperture is achieved within a physically small size.

Abstract: A percussive digging tool attachment for a small robotic platform employs a percussor module for applying percussive impulses of relatively low impact at relatively high frequency to an attached digging tool to dig into or break up soil and rocks. By using low-impact, high-frequency percussive forces, it reduces the reaction loads on the small robotic platform while providing increased capability.

Abstract: A connector assembly includes releasably mateable plug and receptacle units. At least one socket is enclosed within the receptacle unit and is aligned with at least one permeable membrane disposed in the front end of the receptacle unit. The plug unit includes a body slidably mounted within a longitudinal bore therein. At least one pin extends from the front end of the body and is aligned with at least one permeable membrane disposed in the front end of the plug unit. The plug unit is biased toward a first, de-mate position in which the body is extended rearwardly such that the pin is enclosed with the plug unit and is slidable to a second, mate position in which the body is compressed forwardly such that the pin projects through the permeable membranes of the plug and receptacle units to electrically connect with the socket.

Abstract: A connector assembly includes releasably mateable plug and receptacle units. At least one socket is enclosed within the receptacle unit and is aligned with at least one permeable membrane disposed in the front end of the receptacle unit. The plug unit includes a body slidably mounted within a longitudinal bore therein. At least one pin extends from the front end of the body and is aligned with at least one permeable membrane disposed in the front end of the plug unit. The plug unit is biased toward a first, de-mate position in which the body is extended rearwardly such that the pin is enclosed with the plug unit and is slidable to a second, mate position in which the body is compressed forwardly such that the pin projects through the permeable membranes of the plug and receptacle units to electrically connect with the socket.

Abstract: A quick-change system for changing a collet or bit on a tool has a base member to be attached to the body of the tool, an input member to be selectively latched to or unlatched from the tool body, an output member coupled to the input member via a torque multiplication device and having splines that are engageable and disengageable with a collet nut for the tool having a splined member when the two parts are moved relative to each other a given axial distance. When the input member is latched to the tool's body, the output member and the collet nut are disengaged so as to allow the collet nut to rotate with the tool's spindle during operation of the tool. When the input member is unlatched from the tool's body, it can rotate freely and is spring biased to cause the collet nut and output member to move into engagement such that torquing the input member loosens or tightens the collet nut to release or clamp the bit, respectively.

Abstract: A roll-ring conductive wheel is used to conduct electricity between the inner and outer races of rotating or moving parts. The conductive wheel is a thin-walled metal cylinder with a plurality of spokes connecting the outer cylindrical wall to a central hub. The preferred spokes are arcuate and the wheel is made flexible so that it can be compressed to an elliptical shape between the inner and outer conductive races for good electrical contact and to absorb slight deflections or gap variations between the races. The conductive wheel can have other shapes depending on the configuration of moving parts, such as a truncated cone shape for conical or wedge-shaped races.

Abstract: An autonomous subsurface drilling device has spaced-apart forward and rearward “feet” sections coupled to an axial thruster mechanism between them to operate using an inchworm method of mobility. In one embodiment, forward and rearward drill sections are carried on forward and rearward “feet” sections for drilling into material in the borehole in both forward and rearward directions, to allow the device to maneuver in any direction underground. In another embodiment, a front drill section has a drill head for cutting into the borehole and conveying cuttings through a center spine tube to an on-board depository for the cuttings. The feet sections of the device employ a foot scroll drive unit to provide radial thrust and synchronous motion to the feet for gripping the borehole wall. The axial thrust mechanism has a tandem set of thrusters in which the second thruster is used to provide the thrust needed for drilling, but not walking.

Abstract: A mechanism for breaking off and retaining a core sample of a drill drilled into a ground substrate has an outer drill tube and an inner core break-off tube sleeved inside the drill tube. The break-off tube breaks off and retains the core sample by a varying geometric relationship of inner and outer diameters with the drill tube. The inside diameter (ID) of the drill tube is offset by a given amount with respect to its outer diameter (OD). Similarly, the outside diameter (OD) of the break-off tube is offset by the same amount with respect to its inner diameter (ID). When the break-off tube and drill tube are in one rotational alignment, the two offsets cancel each other such that the drill can operate the two tubes together in alignment with the drill axis. When the tubes are rotated 180 degrees to another positional alignment, the two offsets add together causing the core sample in the break-off tube to be displaced from the drill axis and applying shear forces to break off the core sample.

Abstract: A split locking sprag is used as a locking element between an inner race portion and an outer race portion which are moved or driven relative to each other, and has a release linkage that allows the sprag halves to be moved relative to each other to change the combined dimensions of the sprag halves and allow their displacement out of engagement with the inner and outer races. The sprag is divided into two or more sections that pivot about a main pivot pin between locked and unlocked positions. A linkage and tripper mechanism allows the sprag sections to be unlocked in a controlled manner by applying a small external force to the tripper. Alternatively, the sprag can be configured in any manner that allows their combined dimensions to be changed when triggered to release a torque while under load.

Abstract: A system for capturing and docking an active craft to a passive craft has a first docking assembly on the active craft with a first contact member and a spike projecting outwardly, a second docking assembly on the passive craft having a second contact member and a flexible net deployed over a target area with an open mesh for capturing the end of the spike of the active craft, and a motorized net drive for reeling in the net and active craft to mate with the passive craft's docking assembly. The spike has extendable tabs to allow it to become engaged with the net. The net's center is coupled to a net spool for reeling in. An alignment funnel has inclined walls to guide the net and captured spike towards the net spool. The passive craft's docking assembly includes circumferentially spaced preload wedges which are driven to lock the wedges against the contact member of the active craft.