Abstract: Systems and methods for tracking the location of a non-destructive inspection (NDI) scanner using scan data converted into images of a target object. Scan images are formed by aggregating successive scan strips acquired using one or two one-dimensional sensor arrays. An image processor computes a change in location of the NDI scanner relative to a previous location based on the respective positions of common features in partially overlapping scan images. The performance of the NDI scanner tracking system is enhanced by: (1) using depth and intensity filtering of the scan image data to differentiate features for improved landmark identification during real-time motion control; and (2) applying a loop-closure technique using scan image data to correct for drift in computed location. The enhancements are used to improve localization, which enables better motion control and coordinate accuracy for NDI scan data.

Abstract: End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object. Said end effectors are tolerant of positional and rotational misalignment of the target object, and include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. A first roller wheel configured to rotate in a first plane, a second roller wheel configured to rotate in a second plane, and a third roller wheel configured to rotate in a third plane may be arranged such that the end effector is configured to engage a passive receptacle of the target object, to capture the target object. Rotating the roller wheels in the opposite direction may cause the target object to be released or launched, by urging the passive receptacle off of or away from the roller wheels.

Abstract: Methods and apparatus for performing repair operations using an unmanned aerial vehicle. The methods are enabled by equipping the UAV with tools for rapidly repairing a large structure or object (e.g., an aircraft or a wind turbine blade) that is not easily accessible to maintenance personnel. In accordance with various embodiments disclosed below, the unmanned aerial vehicle may be equipped with an easily attachable/removable module that includes an additive repair tool. The additive repair tool is configured to add material to a body of material. For example, the additive repair tool may be configured to apply a sealant or other coating material in liquid form to a damage site on a surface of a structure or object (e.g., by spraying liquid or launching liquid-filled capsules onto the surface). In alternative embodiments, the additive repair tool is configured to adhere a tape to the damage site.

Abstract: Embodiments described herein utilize Non-Destructive Inspection (NDI) scan data obtained during a process performed on a surface of a structure to update a location of an NDI scanner on the surface. A subsurface feature within the structure is detected based on the NDI scan data, which are correlated with pre-defined position data for the subsurface feature. A measured location of the NDI scanner on the surface is corrected based on the pre-defined position data for the subsurface feature.

Abstract: A footwear structure including an outsole, an upper and a midsole, each including a shank interlock portion. The midsole may include multiply layers of differing rigidity.

Abstract: A footwear structure including an outsole, an upper and a midsole, each including a shank interlock portion. The midsole may include multiply layers of differing rigidity.

Abstract: A footwear structure including an outsole, an upper and a midsole, each including a shank interlock portion. The midsole may include a base portion including at least one receptacle and an insert disposed in the receptacle.

Abstract: A footwear structure including an outsole, an upper and a midsole, each including a shank interlock portion. The midsole may include a base portion including at least one receptacle and an insert disposed in the receptacle.

Abstract: A footwear structure including an outsole, an upper and a midsole, each including a shank interlock portion. The upper may include separate top and bottom portions. The bottom portion upper may be disposed between the midsole and outsole and may include separate first and second sections.

Abstract: A footwear structure including an outsole, an upper and a midsole. The outsole may include at least one stretch zone for allowing expansion and contraction of the outsole, e.g. corresponding to expansion and contraction of a user's foot during wear. The upper may include stretch zones for allowing expansion of the upper, and the midsole may include varying regions of rigidity.

Abstract: A footwear structure including an outsole, an upper and a midsole. The outsole may include at least one stretch zone for allowing expansion and contraction of the outsole, e.g. corresponding to expansion and contraction of a user's foot during wear. The upper may include stretch zones for allowing expansion of the upper, and the midsole may include varying regions of rigidity.

Abstract: A footwear structure including an upper and a separate midsole having interlocking shank portions. The upper has an upward extending arc in the shank area which defines a shank interlock portion therein. The midsole has a corresponding arc which defines a shank interlock portion on a bottom surface thereof which mates with the arc in the upper for resisting motion of the midsole relative to the outsole in the case where the midsole is unsecured within the structure to allow for removal of the midsole. The structure may include an outsole having a shank interlock area that mates with the shank interlock of the midsole, with or without an upper disposed between the midsole and the outsole. The shank interlock areas may include a continuous arc or an abruptly changing arc, and the midsole may be removable or non-removable from the structure. A rigid shank insert may be provided between the midsole and outsole, and the midsole may include a variety of layers.

Abstract: A footwear structure including an upper and a separate midsole having interlocking shank portions. The upper has an upward extending arc in the shank area which defines a shank interlock portion therein. The midsole has a corresponding arc which defines a shank interlock portion on a bottom surface thereof which mates with the arc in the upper for resisting motion of the midsole relative to the outsole in the case where the midsole is unsecured within the structure to allow for removal of the midsole. The structure may include an outsole having a shank interlock area that mates with the shank interlock of the midsole, with or without an upper disposed between the midsole and the outsole. The shank interlock areas may include a continuous arc or an abruptly changing arc, and the midsole may be removable or non-removable from the structure. A rigid shank insert may be provided between the midsole and outsole, and the midsole may include a variety of layers.

Abstract: A footwear structure including an upper and a separate midsole having interlocking shank portions. The upper has an upward extending arc in the shank area which defines a shank interlock portion therein. The midsole has a corresponding arc which defines a shank interlock portion on a bottom surface thereof which mates with the arc in the upper for resisting motion of the midsole relative to the outsole in the case where the midsole is unsecured within the structure to allow for removal of the midsole. The structure may include an outsole having a shank interlock area that mates with the shank interlock of the midsole, with or without an upper disposed between the midsole and the outsole. The shank interlock areas may include a continuous arc or an abruptly changing arc, and the midsole may be removable or non-removable from the structure. A rigid shank insert may be provided between the midsole and outsole, and the midsole may include a variety of layers.

Abstract: A footwear structure including an outsole and a separate midsole having interlocking shank portions. The outsole has an upward extending arc in the shank area which defines a shank interlock portion on the top surface of the outsole. The midsole has a corresponding arc which defines a shank interlock portion on a bottom surface thereof which mates with the arc in the outsole for resisting motion of the midsole relative to the outsole in the case where the midsole is unsecured within the structure to allow for removal of the midsole. A rigid shank insert may be provided between the midsole and outsole. The midsole further includes a plurality of cushioning pads on a bottom surface of the midsole which are separated by air channels. The air channels extend along the length of the midsole and intersect with a heel cavity. A plurality of thru holes are formed in the midsole to extend from the top surface thereof to the air channels in the bottom surface.

Abstract: A shoe construction having an energy return system together with features providing cushioning and stability. The energy return system includes a rigid frame having a torsional rigidity bar in the midfoot area integrally connecting annular walls in the forefoot and heel areas of the midsole. A net of monofilaments or fibers is secured under tension in the areas defined by the annular walls with the net positioned over an open area in the midsole. A cantilevered system of support pads is positioned in the arch area to support the medial side of the midfoot.The energy return system also includes a rigid frame having annular walls in the heel area. A net of fibers is secured under tension in the area defined by the heel annular walls. The open areas can have inserted within them a variety of inserts to view the components of the energy return system from outside the shoe.

Abstract: A printer-support stand which comprises a pair of first and second support legs adapted to be placed in a spaced-apart relationship to provide a printer-support stand. Each leg is comprised of an integrally molded plastic material, and comprises upward front and back sections, a base element extending between the front and back leg sections and characterized by an elongated, internal open space, and an elongated support-bar element having a generally flat top surface extending between the front and back sections, to provide an upper support surface for the printer. Each of the legs is characterized by an open internal space which mimics the shape of the leg, so that the first and second support legs may be stacked nestably within each other for convenience in shipping and displaying, with the support-stand element within the internal open space of the base in the nestable, stacked condition.