Abstract: An unmanned aerial vehicle (UAV) for landing and perching on a curved ferromagnetic surface is provided. The UAV includes a plurality of articulated legs. Each articulated leg includes: a magnet configured to magnetically attach to the curved ferromagnetic surface; and a magnetic foot for housing the magnet and configured to magnetically articulate towards and attach to the curved ferromagnetic surface using the magnet in a perpendicular orientation with respect to the curved ferromagnetic surface, in response to the UAV approaching the curved ferromagnetic surface, in order to land the UAV on the curved ferromagnetic surface and for the UAV to perch on the curved ferromagnetic surface after the landing. The magnetic foot is configured to remain magnetically attached to the curved ferromagnetic surface while the UAV is perched on the curved ferromagnetic surface.

Abstract: An in-pipe apparatus for pipe inspection or maintenance is provided. The apparatus includes: a rotational deployment mechanism to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation; a radial deployment mechanism to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference of the pipe; and a passive centering mechanism to passively align the axis of rotation with the axis of the pipe. In some embodiments, the rotational deployment mechanism includes a motor to rotate the radial deployment mechanism about the axis of rotation. In some embodiments, the apparatus further includes a longitudinal deployment mechanism to longitudinally deploy the probe or tool along the axis of the pipe, with the passive centering mechanism passively maintaining alignment of the axis of rotation with the pipe axis during the longitudinal deployment.

Abstract: A mobile or wearable computing device comprises a camera, a processor coupled to the camera and configured with computer-executable instructions that cause the processor to activate the camera to capture an image and process the image so as to identify measurement data being displayed on an analog measurement instrument which is within the image captured by the camera, wherein the processing includes: identifying a type of the analog measurement instrument, identifying features of the analog measurement instrument, extract the measurement data displayed on the analog instrument based on the identified type and features of the analog instrument measurement, convert the extracted data into converted digital information, and obtain supplemental information from a database related to the analog instrument. The device also includes a display coupled to the processor upon which the digital information and supplemental information is displayed to a wearer of the smart glasses.

Abstract: A digital retrofit device comprises a camera, a processor coupled to the camera and configured with computer-executable instructions that cause the processor to activate the camera to capture an image and process the image so as to identify measurement data being displayed on an analog measurement instrument which is within the image captured by the camera, wherein the processing includes: identifying a type of the analog measurement instrument, identifying features of the analog measurement instrument, extract the measurement data displayed on the analog instrument based on the identified type and features of the analog instrument measurement, convert the extracted data into converted digital information, and obtain supplemental information from a database related to the analog instrument.

Abstract: A method for treating an interior weld joint located along an inner surface of a pipe includes the steps of: (a) advancing an internal grinder device within the pipe to the interior weld joint, wherein the internal grinder device includes a hollow housing that has a first open end and a first grinding implement that is disposed within the hollow housing and coupled thereto with a first biasing member; and (b) controllably rotating the hollow housing to at least a threshold speed at which time and under centrifugal force, the first grinding implement moves from an at rest retracted position to a deployed position in which the first grinding implement extends radially beyond the first open end for contacting and grinding the interior weld joint as the hollow housing and the first grinding implement are rotated.

Abstract: A system for performing multiple operations on one or more weld joints of a pipe string includes a robotic scanning device that is configured to controllably travel inside of the pipe string and detect, scan and uniquely identify each weld joint within the pipe string. The system further includes a plurality of secondary robotic devices that are each configured to controllably travel inside of the pipe string and perform one or more specific operations on the one or more weld joints of the pipe string. The robotic scanning device includes a processor that is configured to generate a work plan for the plurality of secondary robotic devices. The robotic scanning device transmits work plan commands to each of the plurality of secondary robotic devices and receive transmissions from the plurality of secondary robotic devices.

Abstract: An in-pipe apparatus for pipe inspection or maintenance using a probe or tool includes: a lateral deployment mechanism including a perpendicular deployment mechanism and a linear actuator configured to deploy the perpendicular deployment mechanism in a lateral direction toward a target point to contact an inner wall of the pipe and passively deploy a probe or tool perpendicularly on or at the target point; and a rotational deployment mechanism coupled to the lateral deployment mechanism and including a motor configured to rotationally deploy the lateral deployment mechanism about the inner circumference with respect to a rotation axis that differs from the pipe axis, to align the lateral deployment mechanism in the lateral direction. The perpendicular deployment mechanism includes: a pivot member to pivot the perpendicular deployment mechanism about a pivot axis parallel to the rotation axis; and a probe or tool holder coupled to the pivot member.

Abstract: An apparatus for automated inspection or maintenance is provided. The apparatus includes a dual slider mechanism for deploying a probe. The dual slider mechanism comprises: a frame; a probe slider configured to attach the probe; a probe linear guide coupled to the frame and configured to guide the probe slider and attached probe in a linear direction; a spring having one end attached to the probe slider; a spring slider attached to another end of the spring; and a spring linear guide coupled to the frame and configured to guide the spring slider and attached spring in the linear direction, in order to guide the probe slider and attached probe in the linear direction along the probe linear guide using the guided spring.

Abstract: An in-pipe apparatus for pipe inspection or maintenance is provided. The apparatus includes: a rotational deployment mechanism to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation; a radial deployment mechanism to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference of the pipe; and a passive centering mechanism to passively align the axis of rotation with the axis of the pipe. In some embodiments, the rotational deployment mechanism includes a motor to rotate the radial deployment mechanism about the axis of rotation. In some embodiments, the apparatus further includes a longitudinal deployment mechanism to longitudinally deploy the probe or tool along the axis of the pipe, with the passive centering mechanism passively maintaining alignment of the axis of rotation with the pipe axis during the longitudinal deployment.

Abstract: A computer comprising one or more processors and memory may implement multiple threads performing mutually exclusive lock acquisition operations on disjoint ranges of a shared resource each using atomic compare and swap (CAS) operations. A linked list of currently locked ranges is maintained and, upon entry to a lock acquisition operation, a thread waits for all locked ranges overlapping the desired range to be released then inserts a descriptor for the desired range into the linked list using a single CAS operation. To release a locked range, a thread executes a single fetch and add (FAA) operation. The operation may be extended to support simultaneous exclusive and non-exclusive access by allowing overlapping ranges to be locked for non-exclusive access and by performing an additional validation after locking to provide conflict resolution should a conflict be detected.

Abstract: An in-pipe inspection or maintenance apparatus comprises: a single rotational and radial deployment mechanism to both rotationally deploy a probe or tool about an inner circumference of a pipe with respect to the axis of the pipe and radially deploy the probe or tool to first and second target points on the inner circumference; and a single actuator to automatically actuate the rotational and radial deployment mechanism to perform both the rotational and radial deployments of the probe or tool. The rotational and radial deployment mechanism is further configured to: rotate the probe or tool and radially extend the probe or tool to the first target point in response to the single actuator actuating the rotational and radial deployment mechanism; and rotate the probe or tool from the first target point to the second target point in response to the single actuator further actuating the rotational and radial deployment mechanism.

Abstract: An unmanned aerial vehicle (UAV) for landing and perching on a curved ferromagnetic surface is provided. The UAV includes a plurality of articulated legs. Each articulated leg includes: a magnet configured to magnetically attach to the curved ferromagnetic surface; and a magnetic foot for housing the magnet and configured to magnetically articulate towards and attach to the curved ferromagnetic surface using the magnet in a perpendicular orientation with respect to the curved ferromagnetic surface, in response to the UAV approaching the curved ferromagnetic surface, in order to land the UAV on the curved ferromagnetic surface and for the UAV to perch on the curved ferromagnetic surface after the landing. The magnetic foot is configured to remain magnetically attached to the curved ferromagnetic surface while the UAV is perched on the curved ferromagnetic surface.

Abstract: A method of inspection or maintenance of a curved ferromagnetic surface using an unmanned aerial vehicle (UAV) having a releasable crawler is provided. The method includes: flying the UAV from an initial position to a pre-perching position in a vicinity of the ferromagnetic surface; autonomously perching the UAV on the ferromagnetic surface; maintaining magnetic attachment of the perched UAV to the ferromagnetic surface; releasing the crawler from the magnetically attached UAV onto the ferromagnetic surface; moving the crawler over the curved ferromagnetic surface while maintaining magnetic attachment of the released crawler to the ferromagnetic surface; inspecting or maintaining the ferromagnetic surface using the magnetically attached crawler; and re-docking the released crawler with the perched UAV.

Abstract: An unmanned aerial vehicle (UAV) autonomously perching on a curved surface from a starting position is provided. The UAV includes: a 3D depth camera configured to capture and output 3D point clouds of scenes from the UAV including the curved surface; a 2D LIDAR system configured to capture and output 2D slices of the scenes; and a control circuit. The control circuit is configured to: control the depth camera and the LIDAR system to capture the 3D point clouds and the 2D slices, respectively, of the scenes; input the captured 3D point clouds from the depth camera and the captured 2D slices from the LIDAR system; autonomously detect and localize the curved surface using the captured 3D point clouds and 2D slices; and autonomously direct the UAV from the starting position to a landing position on the curved surface based on the autonomous detection and localization of the curved surface.

Abstract: A robotic vehicle for traversing surfaces comprises a chassis having a plurality of wheels mounted thereto. Two magnetic drive wheels are spaced apart in a lateral direction and rotate about a rotational axis while a stabilizing wheel is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.

Abstract: The tree harvesting tool is a tool adapted for attachment to a conventional lifter or lifting device for performing harvesting and pre-harvesting operations on a fruit tree. The tree harvesting tool includes a cylindrical shell, having an upper end and a lower end, at least one portion of the cylindrical shell defining a door. The cylindrical shell is adapted for encircling the trunk of the tree. A plurality of panels are pivotally secured to the lower end of the cylindrical shell to define an openable floor having a central opening for receiving the trunk of the tree. A circular track is mounted on the upper end of the cylindrical shell, such that a movable platform may be mounted thereon. A robotic arm is mounted on the movable platform for selectively operating and manipulating a tool for performing tree harvesting and pre-harvesting operations.

Abstract: A grasp and release mechanism for carrying a load. The grasp and release mechanism includes a frame; a grasp mechanism attached to the frame and including plural permanent magnets configured to magnetically attach to a ferrous load; a release mechanism attached to the frame, wherein the release mechanism includes a drop plate; and an actuator mechanism attached to the frame and configured to apply a force F to the drop plate. The drop plate is configured to suddenly move relative to the frame to apply the force F to the load.

Abstract: The portable robot for two-way communication with the hearing-impaired provides for translation of audio into hand movements, hand shapes, hand orientations; the location of the hands around the body, the movements of the body and the head, facial expressions and lip movements to provide communication from a non-hearing-impaired individual(s) to hearing-impaired individual(s). The robot also translates hand movements, hand shapes, hand orientations; the location of the hands around the body, the movements of the body and the head, facial expressions and lip movements into audio to provide communication from hearing-impaired individual(s) to non-hearing-impaired individual(s). A communication system is provided to allow remote communication with non-hearing-impaired individual(s).

Abstract: A weather measurement system can include an aerial vehicle. An array of accelerometers can be disposed across the surface of the aerial vehicle. The accelerometers can be configured to measure raindrops impacting the surface. The measurements can include number per unit time and intensity. The system can include a processing unit configured to receive measurement data from the array and to process the measurement data into preprocessed data.

Abstract: A process of producing graphene and/or graphite nanoplatelet structures by the electrochemical reduction of carbon oxide in an electrochemical cell is provided, wherein the cell includes (a) a negative electrode including a transition metal, transition metal-containing alloy, transition metal-containing oxide, transition metal containing ceramic, or a combination thereof; (b) a positive electrode; and (c) an electrolyte; wherein the process includes the step of passing a current between the electrodes in the presence of the carbon oxide.