Abstract: A method for controlling a robotic system includes determining a location and/or a pose of a power system component based on data received from one or more sensors, and determining a mapping of a location of a robotic system within a model of an external environment of the robotic system based on the data. The model of the external environment provides locations of objects external to the robotic system. A sequence of movements of components of the robotic system is determined to perform maintenance on the power system component based on the locations of the objects external to the robotic system and/or the location or pose of the power system component. One or more control signals are communicated to remotely control movement of the components of the robotic system based on the sequence or movements of the components to perform maintenance on the power system component.

Abstract: A system includes a first robotic machine having a first set of capabilities for interacting with a target object on stationary equipment; a second robotic machine having a second set of capabilities for interacting with the target object; and a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks. The task manager can assign a first sequence of sub-tasks for performance by the first robotic machine based on the first set of capabilities and a second sequence of sub-tasks for performance by the second robotic machine based on the second set of capabilities. The first and second robotic machines can coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.

Abstract: A fastener system and method includes a controller having one or more processors that obtain image information associated with a tie plate. The tie plate includes one or more holes, and each hole is configured to receive a fastener. A fastener driving unit drives the fastener into at least one of the one or more holes. The controller controls movement of the fastener driving unit to move the fastener driving unit to a location corresponding to the at least one hole, and the controller controls movement of the fastener driving unit to drive the fastener into the at least one hole.

Abstract: A system includes a first robotic machine having a first set of capabilities for interacting with a target object on stationary equipment; a second robotic machine having a second set of capabilities for interacting with the target object; and a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks. The task manager can assign a first sequence of sub-tasks for performance by the first robotic machine based on the first set of capabilities and a second sequence of sub-tasks for performance by the second robotic machine based on the second set of capabilities. The first and second robotic machines can coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A system includes a first robotic machine having a first set of capabilities for interacting with a target object on stationary equipment; a second robotic machine having a second set of capabilities for interacting with the target object; and a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks. The task manager can assign a first sequence of sub-tasks for performance by the first robotic machine based on the first set of capabilities and a second sequence of sub-tasks for performance by the second robotic machine based on the second set of capabilities. The first and second robotic machines can coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A mechanical arm assembly including a bendable arm. In some embodiments, the bendable arm includes a body including a plurality of links and a plurality of joints movably coupling the plurality of links; and a plurality of wires including one or more control wires. For example, the body encloses at least a portion of each of the plurality of wires and defines a plurality of openings with each wire in the plurality of wires extending through at least one respective opening of the plurality of openings. The one or more control wires may be moveably positioned within at least a portion of the body enclosing the one or more control wires. In some embodiments, each control wire terminates at a corresponding link. For example, a first control wire terminates at a first link and a second control wire terminates at a second link of the plurality of links.

Abstract: A control system includes a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks, with the sub-tasks having one or more capability requirements. The task manager selects and assigns a first sequence of sub-tasks to a first robotic machine that has a first set of capabilities and operates according to a first mode of operation. The task manager selects and assigns a second sequence of sub-tasks to a second robotic machine that has a second set of capabilities and operates according to a second mode of operation. The task manager selects the first robotic machine based on the first set of capabilities and the first mode of operation of the first robotic machine, and selects the second robotic machine based on the second set of capabilities and the second mode of operation.

Abstract: A system includes a first robotic machine having a first set of capabilities for interacting with a target object; a second robotic machine having a second set of capabilities for interacting with the target object; and a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks. The task manager can assign a first sequence of sub-tasks for performance by the first robotic machine based on the first set of capabilities and a second sequence of sub-tasks for performance by the second robotic machine based on the second set of capabilities. The first and second robotic machines can coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A method including positioning a modular robotic component proximate an area of interest on a surface of a wind turbine. The modular robotic component including a plurality of modules that perform a plurality of tasks. The method further including inspecting the area of interest with the modular robotic component for an indication requiring at least one of repair or upgrade and operating the modular robotic component to perform the plurality of tasks sequentially as the modular robotic component moves along the surface of the wind turbine. A modular robotic component and system including the modular robotic component are disclosed.

Abstract: A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.

Abstract: The present approach relates to streaming data derived from inspection data acquired using one or more robots performing inspections of an asset or assets. Such inspections may be fully or partially automated, such as being controlled by one or more computer-based routines, and may be planned or dynamically altered in response to inputs or requirements associated with an end-user of the inspection data, such as a subscriber to the data in a publication/subscription distribution scheme. Thus, an inspection may be planned or altered based on the data needs or subscription levels of the user or customers.

Abstract: Methods, apparatus, systems and articles of manufacture are disclosed to facilitate proximity detection and location tracking. An example method includes receiving messages collected by a badge in an environment, the messages including signal strength and a timestamp. The example method also includes assigning a location in the environment to the badge based on a first subset of the messages. The example method also includes identifying an asset in a second subset of the messages. The example method also includes updating a current location associated with the asset based on a relative proximity of the asset to the badge, wherein the current location corresponds to a first time and the updated location corresponds to a second time, and wherein a change in location between the current location and the updated location indicates movement of the asset in the environment.

Abstract: A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.

Abstract: A sensor calibration system includes a plurality of sensors and a user interface configured to receive user-provided locations of at least two sensors of the plurality of sensors. The sensor calibration system further includes a motorized apparatus including a drive system, at least one detector, and a localization system. The sensor calibration system further includes a controller communicatively coupled to the user interface and the motorized apparatus. The controller is configured to determine a whether each of at least two sensors is a key sensor based on the user-provided locations. The controller is configured to determine a path for the motorized apparatus based on the user-provided locations. The controller is further configured to determine a position of each sensor based on the location of the motorized apparatus when each sensor is detected by the at least one detector.

Abstract: A system and method for inspecting, repairing and upgrading wind turbine rotor blades of a wind turbine. The system including deploying one or more cables via an unmanned aerial vehicle (UAV), a balloon, a ballistic mechanism or a catapult to position the one or more cables in draping engagement with a portion of the wind turbine. A climbing robot is positioned to ascend the one or more cables and perform a task related to inspecting for indications, repair of indications or upgrading the rotor blade. A slave robot system, disposed at the base location and anchored to the one or more cables, provides modulation of the cables for positioning of the climbing robot relative to the wind turbine as it ascends and descends the one or more cables. After completion of the task, the climbing robot descends the one or more cables and the cables are removed from the wind turbine.

Abstract: An insertion apparatus includes an insertion end positionable within a cavity and configured to travel through the cavity, a steering end opposite the insertion end, and a body extending from the insertion end to the steering end and sized to fit within the cavity. The body includes a plurality of members flexibly coupled together and individually actuated. Each member of the plurality of members includes at least one actuator strand. At least one member of the plurality of members has a first configuration in which the at least one member of the plurality of members has a first stiffness and a second configuration in which the at least one member of the plurality of members has a second stiffness greater than the first stiffness. At least a portion of the body is flexible to facilitate travel of the body through the cavity when the at least one member of the plurality of members is in the first configuration.

Abstract: An asset inspection system includes a robot and a server. The server receives a request for data from the robot, wherein the requested data comprises an algorithm, locates the requested data in a database stored on the server, encrypts the requested data, and transmits the requested data to the robot. The robot is configured to collect inspection data corresponding to an asset based at least in part on the requested data and transmit the collected inspection data to the server.

Abstract: A sensor calibration system includes a plurality of sensors and a user interface configured to receive user-provided locations of at least two sensors of the plurality of sensors. The sensor calibration system further includes a motorized apparatus including a drive system, at least one detector, and a localization system. The sensor calibration system further includes a controller communicatively coupled to the user interface and the motorized apparatus. The controller is configured to determine a whether each of at least two sensors is a key sensor based on the user-provided locations. The controller is configured to determine a path for the motorized apparatus based on the user-provided locations. The controller is further configured to determine a position of each sensor based on the location of the motorized apparatus when each sensor is detected by the at least one detector.

Abstract: Methods, apparatus, systems and articles of manufacture are disclosed to facilitate proximity detection and location tracking. An example method includes receiving messages collected by a badge in an environment, the messages including signal strength and a timestamp. The example method also includes assigning a location in the environment to the badge based on a first subset of the messages. The example method also includes identifying an asset in a second subset of the messages. The example method also includes updating a current location associated with the asset based on a relative proximity of the asset to the badge, wherein the current location corresponds to a first time and the updated location corresponds to a second time, and wherein a change in location between the current location and the updated location indicates movement of the asset in the environment.