Abstract: A rotary machine seal assembly includes seal segments configured to circumferentially extend around a rotor between a stator and the rotor of a rotary machine. One or more seal segments include a shoe plate, a seal base, and at least one intermediate member. The shoe plate is disposed along the rotor. The seal base is disposed radially outward of the shoe plate. At least one intermediate member is coupled to and disposed between the seal base and the shoe plate. The at least one intermediate member includes an actuator portion having a first coefficient of thermal expansion and a constrictor portion having a different, second coefficient of thermal expansion. The at least one intermediate member is configured to move the shoe plate from a radially outward position to a radially inward position with respect to the rotor responsive to the at least one intermediate member undergoing a temperature change.

Abstract: A navigation apparatus for use in navigating a pipe having a sidewall defining an interior cavity is provided. The navigation apparatus includes a body assembly having a first end and a second end and configured to move through the interior cavity of the pipe. The navigation apparatus also includes a channel defining a fluid passageway extending at least partly between the first end and the second end of the body assembly, an inlet for fluid from the interior cavity of the pipe to enter the fluid passageway, and an outlet for the fluid to exit the fluid passageway and return to the interior cavity of the pipe. The channel is configured to allow the fluid to flow through the fluid passageway and from the first end of the body assembly to the second end of the body assembly as the body assembly moves through the interior cavity of the pipe.

Abstract: Methods and apparatus to reduce vibration of a radial seal in a gas turbine engine are disclosed. An example apparatus includes a seal segment of a radial seal positioned between a rotor and a stator of a gas turbine engine, the seal segment including a first seal body adjacent the rotor and a first surface of the stator, a second seal body adjacent a second surface of the stator, the second surface opposite the first surface, the second seal body pivotable relative to the first seal body, and a pivot bar extending between the first seal body and the second seal body, and a damper operatively coupled to the pivot bar.

Abstract: An insertion tool for inspection includes a tube with a flexible section having at least two joints for articulating the flexible section into different shapes, the flexible section selectively configurable between an unrigidized state and at least a first rigid state having a first non-linear shape. The tool includes an end effector coupled to the tube with a sensor head to direct a beam toward a target area to perform a profilometry operation. The tool includes a waveguide extending through the tube, to transmit the beam from an electromagnetic source to the end effector and transmit electromagnetic signals from the end effector to a profilometry detecting device, and an end effector actuator to move the beam at the target. The end effector is axially spaced from an insertion axis of the tool when the flexible section is in the first rigid state to obtain off-axis profilometry measurements at the target.

Abstract: An insertion tool for performing an operation on equipment, the insertion tool including: a plurality of segments, each segment of the plurality of segments including a body including: a first hinge; a second hinge, the first and second hinge members pivotally coupling adjacent segments of the plurality of segments together; and a cavity extending along the body of the segment, the cavity exiting the body at a plurality of exit locations, wherein at least one of the plurality of exit locations is disposed adjacent to the first hinge; and a selectively rigidizable strength member disposed within the cavity.

Abstract: A seal monitoring apparatus is provided. The seal monitoring apparatus includes a temperature sensor and a controller in communication with the temperature sensor. The temperature sensor is mounted at a seal of a device. The controller is configured to receive measured temperature data from the temperature sensor and calculate expected temperature data for the seal based at least in part on operating conditions of the device. The controller is configured to determine a condition of the seal based at least in part on a temperature difference of the measured temperature data from the expected temperature data.

Abstract: A sensor system may include a sensor array comprising a plurality of eddy current sensor elements, the sensor array having a contact side and a mounting side opposite the contact side. The sensor system may include a sensor mount coupled to the mounting side of the sensor array. The sensor system may include a biasing element configured to bias the contact side of the sensor array against an inspected surface of a component and secure the sensor array to the component while the inspected surface moves relative to the sensor array during data capture.

Abstract: A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

Abstract: An insertion tool for performing an operation on equipment, the insertion tool including: a plurality of segments, each segment of the plurality of segments including a body comprising: a first hinge; and a second hinge, the first hinge of a first segment being coupled to the second hinge of a second segment adjacent to the first segment through an interface, wherein the interface comprises a powder gap, a multi-modal interface, a compliance feature, a displace-to-lock configuration, an interference fit, or any combination thereof, wherein the insertion tool is configured to be selectively rigidizable using a strength member interfacing with the plurality of segments.

Abstract: An insertion tool is provided. The tool includes a flexible section comprising a plurality of rigidizable links, an end effector actuator, and an end effector coupled to the flexible section. A flexible is shaft inserted through the flexible section, wherein torque is transferred from the end effector actuator to the distal end via the flexible shaft to cause a rotation of the end effector. A tool may include a tool-less disconnect interface between the end effector and the flexible shaft.

Abstract: An insertion tool is provided. The tool includes a flexible section a rigidization actuator configured to actuate the flexible section between a rigidized state and a relaxed state, wherein in the rigidized state, a fluid path is formed within the flexible section, an end effector coupled to the flexible section, and an end effector actuator comprising at least one pneumatic turbine configured to transform fluid force of a fluid from the fluid path into torque to drive a rotation of the end effector.

Abstract: A system includes a tunneling device including a body assembly configured to move through an interior cavity of a tunnel. The system also includes a distributed communication and sensing system and a controller. The distributed communication and sensing system includes a first beacon coupled to the body assembly, and a second beacon positioned outside of the tunnel. The second beacon is communicatively coupled to the first beacon. The controller is configured to compare a first signal transmitted by the first beacon to a second signal transmitted by the second beacon, determine an environmental characteristic of the tunnel based on the first signal and the second signal, and determine an operating parameter for the tunneling device based on the environmental characteristic.

Abstract: A reciprocating motion insertion tool include a flexible section, an end effector actuator, a connector within the flexible section and coupled to the end effector actuator, and an end effector coupled to a distal end of the flexible section, wherein the end effector is configured to move in a reciprocating motion at a select reciprocation rate when driven by the end effector actuator.

Abstract: A system for use in navigating and/or forming a tunnel includes a tunneling device including a body assembly and a fluid line coupled to the body assembly. The body assembly includes a first section and a second section that are configured to selectively adjust their size and move the body assembly through an underground location when a pressurized fluid is delivered to the body assembly through the fluid line. The system further includes at least one sensor coupled to the body assembly and/or the fluid line. The at least one sensor is configured to provide information related to an operating parameter of at least one of the first section of the body assembly or the second section of the body assembly. The system also includes a controller configured to determine an environmental characteristic of the tunnel based on the information provided by the at least one sensor.

Abstract: An insertion tool for performing an operation on equipment, the insertion tool including: a plurality of segments, each segment of the plurality of segments including a body comprising: a first hinge; and a second hinge, the first hinge of a first segment being coupled to the second hinge of a second segment adjacent to the first segment through an interface, wherein the interface comprises a powder gap, a multi-modal interface, a compliance feature, a displace-to-lock configuration, an interference fit, or any combination thereof, wherein the insertion tool is configured to be selectively rigidizable using a strength member interfacing with the plurality of segments.

Abstract: A gas turbine engine includes a compressor section and a turbine section in axial flow arrangement defining an axially extending, longitudinal centerline, and arranged as a rotor and a stator. A floating seal assembly is disposed at an interface of the rotor and the stator to seals at least portions of the rotor and the stator relative to each other. The floating seal assembly includes one or more inertial damping elements tuned to one or more frequencies.

Abstract: An insertion tool is provided. The tool includes an insertion portion, a telescoping link, a joint actuation assembly, and an extension actuator. The telescoping link having a base part and an extension part, the extension part being configured to slide longitudinally relative to the base part from a retracted state to an extended state. The joint actuation assembly is configured to change an angle between the base part of the telescoping link and the insertion portion via a joint. The extension actuator is configured to actuate the extension part of the telescoping link from the retracted state to the extended state.

Abstract: An insertion apparatus for use with a rotary machine includes a body extending from an insertion end to a steering end and sized to fit within an annular cavity. The body has a first stiffness and curves along a circumference of the annular cavity as the insertion end travels through the annular cavity. The insertion apparatus also includes a stiffener coupled to the body and extending from the steering end to the insertion end. The stiffener has a second stiffness greater than the first stiffness. The insertion apparatus further includes at least one maintenance device coupled to the insertion end of the insertion apparatus and a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.

Abstract: This disclosure is directed to seal assemblies for a turbomachine. The seal assemblies include one or more paired rotors and stators and at least one interface between the rotors and the stators. The components of the stator may be axially and radially movable by vibrations and other mechanical interference. The stators comprise a sealing element, a seal housing, and a stator interface connected to the engine housing. In some examples, seal assembly includes a damping element to isolate one or more of the rotating components from vibrations mechanical interference that might misalign the rotating components from the stationary components while the turbomachine is operational. In some examples, the damping element is positioned between the seal housing and the stator interface. In other examples, the damping element is positioned between the stator interface and the engine housing.

Abstract: A rotary machine seal assembly includes seal segments configured to circumferentially extend around a rotor between a stator and the rotor of a rotary machine. One or more seal segments include a shoe plate, a seal base, and at least one intermediate member. The shoe plate is disposed along the rotor. The seal base is disposed radially outward of the shoe plate. At least one intermediate member is coupled to and disposed between the seal base and the shoe plate. The at least one intermediate member includes an actuator portion having a first coefficient of thermal expansion and a constrictor portion having a different, second coefficient of thermal expansion. The at least one intermediate member is configured to move the shoe plate from a radially outward position to a radially inward position with respect to the rotor responsive to the at least one intermediate member undergoing a temperature change.