Abstract: Computerized system and method are provided. A robotic manipulator (12) is arranged to grasp objects (20). A gripper (16) is attached to robotic manipulator (12), which includes an imaging sensor (14). During motion of robotic manipulator (12), imaging sensor (14) is arranged to capture images providing different views of objects in the environment of the robotic manipulator. A processor (18) is configured to find, based on the different views, candidate grasp locations and trajectories to perform a grasp of a respective object in the environment of the robotic manipulator. Processor (18) is configured to calculate respective values indicative of grasp quality for the candidate grasp locations, and, based on the calculated respective values indicative of grasp quality for the candidate grasp locations, processor (18) is configured to select a grasp location likely to result in a successful grasp of the respective object.

Abstract: A system includes a robot device that comprises a non-transitory computer readable medium and a robot controller. The non-transitory computer readable medium stores one or more machine-specific modules comprising base neural network layers. The robot controller receives a task-specific module comprising information corresponding to one or more task-specific neural network layers enabling performance of a task. The robot controller collects one or more values from an operating environment, and uses the values as input to a neural network comprising the base neural network layers and the task-specific neural network layers to generate an output value. The robot controller may then perform the task based on the output value.

Abstract: A robot operable within a 3-D volume includes a gripper movable between an open position and a closed position to grasp any one of a plurality of objects, an articulatable portion coupled to the gripper and operable to move the gripper to a desired position within the 3-D volume, and an object detection system operable to capture information indicative of the shape of a first object of the plurality of objects positioned to be grasped by the gripper. A computer is coupled to the object detection system. The computer is operable to identify a plurality of possible grasp locations on the first object and to generate a numerical parameter indicative of the desirability of each grasp location, wherein the numerical parameter is at least partially defined by the next task to be performed by the robot.

Abstract: A method for estimating a time of flight of an acoustic signal in a hot gas flow path having background noise wherein a plurality of transceivers each generate an acoustic signal. The method includes providing an acoustic signal of interest that travels in a direction opposite a reference acoustic signal on a first acoustic path between a pair of transceivers. The method also includes identifying at least one minimum peak height in the acoustic signal of interest having a peak height that is greater than the background noise. Further, the method includes obtaining time of flight information of other acoustic paths having substantially the same path length as the first path to provide a range of time of flights wherein a time of flight that falls within the time of flight range and is associated with a minimum peak height forms the estimated time of flight.

Abstract: Systems and methods for volumetrically fabricating 3D objects. The system includes at least a controller operably connected to a build volume and one or more energy sources. The build volume defines a volumetric buildable size of the object to be fabricated and includes media for fabricating the object therein. The energy source(s) is configured to emit at least a first and second energy beam therefrom. The controller is configured to direct the first and second emitted energy beams towards an intersecting point in the build volume to begin fabricating the media therein. The energy from each of the first and second beams is not sufficient to fabricate the object out of the media. The object is fabricated once multiple beams intersect, as collectively, the energy of the intersecting beams is sufficient to fabricate the object.

Abstract: A method of calibrating transceiver positions inside an acoustic pyrometry measuring vessel that contains a plurality of transceivers, includes determining (40) a speed of sound in the acoustic pyrometry measuring vessel from a temperature and gas composition of a gas inside the acoustic pyrometry measuring vessel, acquiring (41) time-of-flight (TOFs) ?ti,j measurements from a plurality of pairs i,j of transceivers inside the acoustic pyrometry measuring vessel, estimating (42) a radius of the acoustic pyrometry measuring vessel from an average of the acquired TOF measurements, and using (43) an estimated radius of the acoustic pyrometry measuring vessel to estimate errors ??j of displacement angles of the transceivers.

Abstract: Systems and methods for volumetrically fabricating 3D objects. The system includes at least a controller operably connected to a build volume and one or more energy sources. The build volume defines a volumetric buildable size of the object to be fabricated and includes media for fabricating the object therein. The energy source(s) is configured to emit at least a first and second energy beam therefrom. The controller is configured to direct the first and second emitted energy beams towards an intersecting point in the build volume to begin fabricating the media therein. The energy from each of the first and second beams is not sufficient to fabricate the object out of the media. The object is fabricated once multiple beams intersect, as collectively, the energy of the intersecting beams is sufficient to fabricate the object.

Abstract: A profile map of parameter values in a region is determined based on average values along linear paths through the region. In one example, a temperature map of a region of a gas turbine engine is created based on time-of-flight measurements from acoustic transceiver pairs arranged circumferentially around the region. A speed of sound for each transceiver pair is determined based on the time-of-flight measurements. An average temperature along each path is estimated from the time of flight, and the profile map is computed from the average temperatures. The profile map may be computed using a polynomial approximation technique, a grid optimization technique or a basis function technique.

Abstract: A gas turbine engine including a hybrid waveguide for placement adjacent a flow path for hot combustion gases in the engine is presented. The waveguide includes first and second opposing ends and a first section formed of a first material extending from a transition region to the first end and a second section formed of a second material extending from the transition region to the second end. The first material is a metal or a ceramic and the second material is an electrically isolating material having a lower thermal conductivity than the material of the first section. A membrane may be used to isolate a cavity of the waveguide from combustion gas.

Abstract: Techniques for monitoring health of an igniter (202) in a gas turbine engine (201) include a sensor (270) mounted to detect signals in a combustor (260) and a processor (180) in electrical communication with the sensor. The processor is configured to receive (601) from the sensor first data that indicates signal changes in each of a plurality of time bins during operation of the igniter in the combustor. Information characteristics of the first data are determined (603). A value is determined (615) of a similarity measure that indicates similarity of the information characteristics to target information characteristics. Based on the value of the similarity measure, a condition of the igniter is determined (633) and a device is operated (635) based on the conditions, for example the condition is presented on a display (714).

Abstract: A method for optimizing base points each used in a corresponding basis function utilized in generating a parameter map for a hot gas flow path constrained by a boundary. The method includes providing a plurality of transceivers, wherein each transceiver generates an acoustic signal that travels through a measurement space in the hot gas flow path and wherein each acoustic signal defines an acoustic path. The method also includes locating the transceivers such that the acoustic paths travel through a region of interest in the measurement space. In addition, an average temperature for each acoustic path is determined. Next, at least one base point in the measurement space is determined. Further, the method includes providing a basis function for each base point and generating a weight of each basis function.

Abstract: A method for determining waveguide temperature for at least one waveguide of a transceiver utilized for generating a temperature map. The transceiver generates an acoustic signal that travels through a measurement space in a hot gas flow path defined by a wall such as in a combustor. The method includes calculating a total time of flight for the acoustic signal and subtracting a waveguide travel time from the total time of flight to obtain a measurement space travel time. A temperature map is calculated based on the measurement space travel time. An estimated wall temperature is obtained from the temperature map. An estimated waveguide temperature is then calculated based on the estimated wall temperature wherein the estimated waveguide temperature is determined without the use of a temperature sensing device.

Abstract: A method for measuring air mass flow into a compressor section of a gas turbine engine is provided. Air is introduced into a chamber upstream from an inlet of the compressor section. The chamber includes filter packages with at least some of the filter packages including a flow sensor and a filter structure, the filter structure filtering the air. The flow sensors measure the velocity of the air flowing through the corresponding filter package. A controller uses the air flow sensor signal data to characterize a two dimensional flow field through the chamber. Additionally, a plurality of temperature, humidity, and static pressure sensors are disposed throughout the filter packages. The controller uses the temperature, humidity, and static pressure sensor signal data to characterize a two dimensional density field through the chamber. The controller combines the flow field with the density field to calculate a two dimensional air mass flow field.

Abstract: A vehicle braking unit comprises an operating braking pressure inlet which receives an inlet braking pressure built up by a braking cylinder, and at least one operating brake pressure outlet at which an outlet braking pressure is provided for an operating brake modulator, which is upstream of the operating brake and provides anti-lock functionality. At least one connecting channel hydraulically connects the operating brake pressure inlet to the outlet. Brake fluid is supplied from a storage unit through the brake cylinder, the connecting channel and the operating brake modulator. The braking unit has a brake fluid inlet, through which the brake fluid is received from the storage unit, a brake fluid pump, by which the brake fluid is suctioned through the brake fluid inlet and a supply pressure is built up, and a valve unit that controls the outlet braking pressure and/or a parking brake release pressure by the supply pressure.

Abstract: Techniques for determining temperature and velocity in a space inside a gas turbine engine (100) include mounting acoustic sensors (150) in the engine. The sensors are mounted to detect acoustic signals in a space (108) of fluid flow without extending into the space. A first sensor (350a) is displaced a first distance (351) from a different second sensor (350b) in a first direction parallel to fluid flow through the space. First and second signals are detected at the first and second sensors, respectively. A travel time difference between the first and the second sensors is determined by control system (170) module (180) based on the first and second signals. Velocity of fluid flow in the space is determined by the module based on the travel time difference. Temperature of fluid flow in the space is determined by the module based on either the first or the second signals or both.

Abstract: The state of a flame in a gas turbine engine combustor is acoustically monitored using a dynamic pressure sensor within the combustor. A spectral pattern of a dynamic pressure sensor output signal from the sensor is compared with a characteristic frequency pattern that includes information about an acoustic pattern of the flame and information about acoustic signal canceling due to reflections within the combustor. The spectral pattern may also be compared with a characteristic frequency pattern including information about a flame-out condition in the combustor.

Abstract: An acoustic transceiver is implemented for measuring acoustic properties of a gas in a turbine engine combustor. The transceiver housing defines a measurement chamber and has an opening adapted for attachment to a turbine engine combustor wall. The opening permits propagation of acoustic signals between the gas in the turbine engine combustor and gas in the measurement chamber. An acoustic sensor mounted to the housing receives acoustic signals propagating in the measurement chamber, and an acoustic transmitter mounted to the housing creates acoustic signals within the measurement chamber. An acoustic measurement system includes at least two such transceivers attached to a turbine engine combustor wall and connected to a controller.

Abstract: Performance of a gas turbine engine is monitored by computing a mass flow rate through the engine. Acoustic time-of-flight measurements are taken between acoustic transmitters and receivers in the flow path of the engine. The measurements are processed to determine average speeds of sound and gas flow velocities along those lines-of-sound. A volumetric flow rate in the flow path is computed using the gas flow velocities together with a representation of the flow path geometry. A gas density in the flow path is computed using the speeds of sound and a measured static pressure. The mass flow rate is calculated from the gas density and the volumetric flow rate.

Abstract: A microphone array for detecting acoustic emissions generated by equipment. The array includes at least one grid having a plurality of sensors each including a compact arrangement of optical fiber having first and second optical fiber ends wherein the first optical fiber end of a first sensor is terminated. The array also includes an optoelectronic device coupled to a second optical fiber end of a second sensor, wherein the optoelectronic device generates laser light that is transmitted through the plurality of sensors in the grid and is reflected back to the optoelectronic device to enable detection of acoustic emissions.

Abstract: A microphone array for detecting acoustic emissions generated by equipment. The array includes at least one grid having a plurality of sensors each including a compact arrangement of optical fiber having first and second optical fiber ends wherein the first optical fiber end of a first sensor is terminated. The array also includes an optoelectronic device coupled to a second optical fiber end of a second sensor, wherein the optoelectronic device generates laser light that is transmitted through the plurality of sensors in the grid and is reflected back to the optoelectronic device to enable detection of acoustic emissions.