Abstract: A frame body may be parallel to and proximate with an external surface of a structure and extend substantially horizontally from a first side to a second side. A connecting portion may be provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm may be affixed proximate to a bottom of the frame body and be able to move horizontally during treatment of the external surface. Moreover, the robotic arm may extend to an end proximate with the external surface, and a cleaning portion may be attached to the robotic arm near the end proximate with the external surface. The robotic arm may rotate, vertically moving the cleaning portion during treatment of the external surface. In addition, the cleaning portion may be separately rotated to remain substantially parallel to and proximate with the external surface during rotation of the robotic arm.

Abstract: A frame body may be parallel to and proximate with a surface of a structure and extend substantially horizontally from a first side to a second side. At least one first connecting portion may be attached to a first cable to provide for vertical movement of the frame body, and at least one second connection portion may be attached to a second cable to limit undesired movement of the frame body and/or provide constant tension. At least one buffer portion may be located proximate the first side to move vertically on the surface, and at least one buffer portion may be located proximate the second side to move vertically on the surface. A surface imaging device attached to the frame body may let the system image a structure's substantially vertical surface (e.g., an optical camera may photograph an exterior wall of a building as the frame body is moved).

Abstract: A frame body is provided parallel to and proximate with a surface of a structure and extends substantially horizontally from a first side to a second side. A connecting portion is provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm is affixed proximate to a bottom of the frame body and is able to move horizontally during penetrative imaging of the surface. Moreover, the robotic arm extends to an end proximate with the surface, and a penetrative imaging portion is attached to the robotic arm near the end proximate with the surface. The robotic arm rotates, vertically moving the penetrative imaging portion during penetrative imaging of the surface. In addition, the penetrative imaging portion can be separately rotated about three orthogonal axes of rotation (yaw, pitch, roll) to achieve various angles of approach and orientation to the surface.