Abstract: A system and method for identifying a shape and pose of an object is provided. The system includes a controller and a grasping device. The grasping device includes a plurality of fingers that are moveable relative to a base. The fingers include one or more tactile sensors attached thereto. The tactile sensors are configured to collect data, such as a 2D image or 3D point cloud, based on points of contact with the object when the object is grasped. The grasping device is configured to roll the object within the fingers and collect additional data. The controller may combine the data and determine the shape and pose of the object based on the combined data.

Abstract: A control system for an automatic drilling tool changer apparatus for use with a drilling rig includes a drilling control device programmed with a control scheme for controlling the automatic drilling tool changer apparatus, and a user interface coupled to the drilling control device for initiating actions of the automatic drilling tool changer apparatus and for interactively monitoring a status of the automatic drilling tool changer apparatus. The control scheme includes steps for an automatic drilling tool change-out operation, and the drilling control device and the user interface are configured to communicate with the automatic drilling tool changer apparatus over a network.

Abstract: A drilling rig carousel assembly includes a drilling rig carousel comprising a plurality of slots for holding drill components, a first actuator coupled to the drilling rig carousel and configured to axially rotate the drilling rig carousel, a second actuator coupled to the drilling rig carousel and configured to move the drilling rig carousel between a first position and a second position, and a sensor assembly. The sensor assembly includes a rotation sensor configured to monitor an axial rotation of the drilling rig carousel, and a position sensor configured to provide a signal representative of whether the drilling rig carousel is in the first position or the second position.

Abstract: A control system for an automatic drilling tool changer apparatus for use with a drilling rig includes a drilling control device programmed with a control scheme for controlling the automatic drilling tool changer apparatus, and a user interface coupled to the drilling control device for initiating actions of the automatic drilling tool changer apparatus and for interactively monitoring a status of the automatic drilling tool changer apparatus. The control scheme includes steps for an automatic drilling tool change-out operation, and the drilling control device and the user interface are configured to communicate with the automatic drilling tool changer apparatus over a network.