Abstract: A non-destructive inspection system is presented. The non-destructive inspection system comprises a robotic end effector having an extendable actuator and a flange-mounted roller containing an ultrasonic sensor, the flange-mounted roller connected to the extendable actuator by a pivot connection, the extendable actuator configured to extend the flange-mounted roller until the flange-mounted roller contacts an inspection surface.

Abstract: A non-destructive inspection system is presented. The non-destructive inspection system comprises a robotic end effector having an extendable actuator and a flange-mounted roller containing an ultrasonic sensor, the flange-mounted roller connected to the extendable actuator by a pivot connection, the extendable actuator configured to extend the flange-mounted roller until the flange-mounted roller contacts an inspection surface.

Abstract: Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

Abstract: Systems and methods for non-destructive inspection (NDI) of target objects having non-planar surfaces (such as aircraft components having internal stiffeners). A robotic NDI platform is equipped with an NDI sensor and a laser-based alignment system. The laser-based alignment system is operated in a manner to acquire surface profile information in an area of interest on a non-planar surface of the target object. Then the acquired surface profile data is processed by a computer to generate a motion plan for automatically guiding the robotic NDI platform and the NDI sensor to the correct locations, where images of the area of interest may be captured.

Abstract: Systems and methods for automating robotic end effector alignment using real-time data from multiple distance sensors to control relative translational and rotational motion. In accordance with one embodiment, the alignment process involves computation of offset distance and rotational angles to guide a robotic end effector to a desired location relative to a target object. The relative alignment process enables the development of robotic motion path planning applications that minimize on-line and off-line motion path script creation, resulting in an easier-to-use robotic application. A relative alignment process with an independent (off-board) method for target object coordinate system registration can be used. One example implementation uses a finite-state machine configuration to control a holonomic motion robotic platform with rotational end effector used for grid-based scan acquisition for non-destructive inspection.

Abstract: Systems and methods for non-destructive inspection (NDI) of target objects having non-planar surfaces (such as aircraft components having internal stiffeners). A robotic NDI platform is equipped with an NDI sensor and a laser-based alignment system. The laser-based alignment system is operated in a manner to acquire surface profile information in an area of interest on a non-planar surface of the target object. Then the acquired surface profile data is processed by a computer to generate a motion plan for automatically guiding the robotic NDI platform and the NDI sensor to the correct locations, where images of the area of interest may be captured.

Abstract: Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

Abstract: Systems and methods for automating robotic end effector alignment using real-time data from multiple distance sensors to control relative translational and rotational motion. In accordance with one embodiment, the alignment process involves computation of offset distance and rotational angles to guide a robotic end effector to a desired location relative to a target object. The relative alignment process enables the development of robotic motion path planning applications that minimize on-line and off-line motion path script creation, resulting in an easier-to-use robotic application. A relative alignment process with an independent (off-board) method for target object coordinate system registration can be used. One example implementation uses a finite-state machine configuration to control a holonomic motion robotic platform with rotational end effector used for grid-based scan acquisition for non-destructive inspection.

Abstract: A self-contained, holonomic motion tracking solution for supplementing the acquisition of inspection information on the surface of a structure, thereby enabling the real-time production of two-dimensional images from hand-held and automated scanning by holonomic-motion of non-destructive inspection (NDI) sensor units (e.g., NDI probes). The systems and methods disclosed enable precise tracking of the position and orientation of a holonomic-motion NDI sensor unit (hand-held or automated) and conversion of the acquired tracking data into encoder pulse signals for processing by a NDI scanning system.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.

Abstract: A system is disclosed comprising a tractor vehicle, at least one trailer vehicle and a skin between and in contact with the tractor and trailer vehicles. One of the tractor and trailer vehicles is disposed in a non-inverted position above the skin and the other is disposed in an inverted position below the skin. The trailer vehicle comprises one or more magnets, while the tractor vehicle comprises one or more magnets magnetically coupled to each opposing magnet on the trailer vehicle. For example, the tractor and trailer vehicles may have mutually opposing permanent magnets in one-to-one relationship. Alternatively, each permanent magnet on the trailer vehicle could be opposed by one or more electro-permanent magnets on the tractor vehicle. The magnetic coupling between the magnets on the tractor and trailer vehicles produces an attraction force.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.

Abstract: An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.

Abstract: A system and method that allow inspection of hollow structures made of composite material, such as an integrally stiffened wing box of an aircraft. A wing box comprises top and bottom skins connected by a plurality of spaced spars. The system employs a plurality of scanners for inspecting different portions of each spar. The system uses dynamically controlled magnetic coupling to connect an external drive tractor to computer-controlled scanners that carry respective sensors, e.g., linear ultrasonic transducer arrays. A system operator can control the various components by means of a graphical user interface comprising multiple interaction regions that represent the individual scanner motion paths and are associated with respective motion script files.

Abstract: An automated process uses a local positioning system to acquire location (i.e., position and orientation) data for one or more movable target objects. In cases where the target objects have the capability to move under computer control, this automated process can use the measured location data to control the position and orientation of such target objects. The system leverages the measurement and image capture capability of the local positioning system, and integrates controllable marker lights, image processing, and coordinate transformation computation to provide tracking information for vehicle location control. The resulting system enables position and orientation tracking of objects in a reference coordinate system.

Abstract: A system is disclosed comprising a tractor vehicle, at least one trailer vehicle and a skin between and in contact with the tractor and trailer vehicles. One of the tractor and trailer vehicles is disposed in a non-inverted position above the skin and the other is disposed in an inverted position below the skin. The trailer vehicle comprises one or more magnets, while the tractor vehicle comprises one or more magnets magnetically coupled to each opposing magnet on the trailer vehicle. For example, the tractor and trailer vehicles may have mutually opposing permanent magnets in one-to-one relationship. Alternatively, each permanent magnet on the trailer vehicle could be opposed by one or more electro-permanent magnets on the tractor vehicle. The magnetic coupling between the magnets on the tractor and trailer vehicles produces an attraction force.