Abstract: A system for servicing a data center using an autonomous vehicle (AV) is provided. The system comprises the AV and the AV is configured to: receive a task to perform within the data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigate from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing a procedure to bypass the movable barrier such that the AV can continue navigating along the path.

Abstract: An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.

Abstract: Devices, methods and software for automated electrical connector positioning for electric vehicle (EV) charging are provided. Using, for example, the disclosed automatic charging device, a method for charging an EV includes determining receipt of an EV-side electrical connector to a charging zone of an EV charging environment. The method includes actuating a charger-side electrical connector from an initial position outside of the charging zone to a final position inside of the charging zone. The final position corresponds to the charger-side electrical connector matingly engaged with the EV-side electrical connector.

Abstract: A method of operating a static transfer switch is provided. The method includes monitoring a voltage waveform for each phase of first and second power sources, and calculating flux for each phase of the power sources. The method also includes determining (i) a first flux difference between the respective flux of the first phases of the first and second power sources, (ii) a second flux difference between the respective flux of the second phases of the first and second power sources, and (iii) a third flux difference between the respective flux of the third phases of the first and second power sources. The method further includes turning off a third solid-state switch to disconnect the third phase of the first power source from a load, in response to the controller determining that the third flux difference is greater the first and second flux differences.

Abstract: A method of operating a static transfer switch is provided. The method includes monitoring a voltage waveform for each phase of first and second power sources, and calculating flux for each phase of the power sources. The method also includes determining (i) a first flux difference between the respective flux of the first phases of the first and second power sources, (ii) a second flux difference between the respective flux of the second phases of the first and second power sources, and (iii) a third flux difference between the respective flux of the third phases of the first and second power sources. The method further includes turning off a third solid-state switch to disconnect the third phase of the first power source from a load, in response to the controller determining that the third flux difference is greater the first and second flux differences.

Abstract: A submersible inspection drone used for inspection of liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The cameras on the submersible can be fixed in place and can be either static or motion picture cameras. The submersible can include an input/output selector capable of switching between the camera images, either through commanded action of a user or through computer based switching. In one form the input/output selector is a multiplexer. The base station can be configured to display images from the cameras one at a time, or can include a number of separate viewing portals in which real time images are displayed. The base station can include a demultiplexer synchronized to the multiplexer of the submersible.

Abstract: A charge head is connected to a charge inlet of an electric vehicle to supply an electric charge to recharge the battery of the vehicle. The charge head is attached to a connecting device that moves the charge head to the charge inlet. Multiple light detectors are provided on the charge head to sense light emitted from the vehicle. The system then uses a difference in the amount of light received by different light detectors to determine a direction to move the charge head toward the charge inlet.

Abstract: In one aspect, a quasi-resonant turn-off circuit is provided. The quasi-resonant turn-off circuit is couplable in parallel with a pair of anti-parallel thyristors. The quasi-resonant turn-off circuit includes a resonant capacitor and an energy recovery circuit. The resonant capacitor is configured to supply a charge to the pair of anti-parallel thyristors to decrease a turn-off time of the pair of anti-parallel thyristors. The energy recovery circuit is configured to recharge the resonant capacitor using remnant energy left in parasitic inductances coupled to the quasi-resonant turn-off circuit after the pair of anti-parallel thyristors is off.

Abstract: A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.

Abstract: A submersible remotely operable vehicle used for inspection of liquid cooled electrical transformers can include a number of separate cameras and sensors for mapping and navigating the internal structure of the transformer with liquid coolant remaining in the transformer. The remotely operable vehicle can be wirelessly controlled to perform various inspection functions while the number of cameras provide video streams for processing to produce a three dimensional field of view based on an observation position of the remotely operable vehicle.

Abstract: A submersible vehicle which includes a plurality of cameras can be used to collect visual images of an object of interest submerged in a liquid environment, such as in a tank (e.g. transformer tank). In one form the submersible vehicle is remotely operated such as an ROV or an autonomous vehicle. Image information from the submersible along with inertial measurements in some embodiments is used with a vision based modelling system to form a model of an internal object of interest in the tank. The vision based modelling system can include a number of processes to form the model such as but not limited to tracking, sparse and dense reconstruction, model generation, and rectification.

Abstract: An unmanned rail vehicle for surveillance, inspection, and/or maintenance of an industrial site is provided. The rail vehicle includes at least two carry rollers adapted for engaging on an upper rail side of a rail, wherein the center of gravity of the rail vehicle is vertically below the upper rail side; and at least one support roller connected to the chassis and adapted for rolling against a lateral rail side of the rail to laterally displace the center of gravity of the rail vehicle with respect to the upper rail side.

Abstract: An unmanned rail vehicle for surveillance, inspection and/or maintenance of an infrastructure, the infrastructure including a rail structure with a rail, the unmanned rail vehicle being movable along the rail and the unmanned rail vehicle including a first position sensor system configured for measuring, by interaction with the rail structure, first position data indicative of a position of the unmanned rail vehicle along the rail, a second position sensor system configured for measuring, by interaction with the rail structure, second position data indicative of a position of the unmanned rail vehicle along the rail, a position determining unit configured for receiving and combining first and second position data to determine the position of the unmanned rail vehicle along the rail.

Abstract: An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

Abstract: A system for servicing a data center using an autonomous vehicle (AV) is provided. The system comprises the AV and the AV is configured to: receive a task to perform within the data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigate from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing a procedure to bypass the movable barrier such that the AV can continue navigating along the path.

Abstract: A method and system for acquiring, manipulating and displaying inspection data obtained by sensors associated with submersible inspection vehicle within a housing having a liquid medium is disclosed in the present application. A control system including an electronic controller is operably coupled with the inspection vehicle and is configured to display data transmitted from the sensor and overlay input data from an operator on the display to facilitate real time analysis during the inspection event.

Abstract: A charge head is connected to a charge inlet of an electric vehicle to supply an electric charge to recharge the battery of the vehicle. The charge head is attached to a connecting device that moves the charge head to the charge inlet. A sensor is provided to sense the locations of the tires of the vehicle. The system then uses the relative location of the charge inlet to the tires to determine the location of the charge inlet in order to move the charge head.

Abstract: A charge head is connected to a charge inlet of an electric vehicle to supply an electric charge to recharge the battery of the vehicle. The charge head is attached to a connecting device that moves the charge head to the charge inlet. Multiple light detectors are provided on the charge head to sense light emitted from the vehicle. The system then uses a difference in the amount of light received by different light detectors to determine a direction to move the charge head toward the charge inlet.

Abstract: A static transfer switch is provided for supplying power to a load alternately from two different power sources. Switching between the two power sources may occur within a fraction of one electrical cycle. In response to sensing degraded performance in the power source supplying the load, a main circuit is turned off with a resonant turn off circuit. The resonant turn off circuit is shared between the main circuits of two different power sources such that the resonant turn off circuit is connected to the main circuit of whichever power source is currently supply power to the load.

Abstract: A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.