Abstract: Methods and apparatus for UAV-enabled marking of surfaces during manufacture, inspection, or repair of limited-access structures and objects. A UAV is equipped with a marking module that is configured to apply marking patterns (e.g., alignment features) of known dimensions to surfaces. The marking module may include a 2-D plotter that enables free-form drawing capability. The marking process may involve depositing material on the surface. The marking material may be either permanent or removable. A “clean-up” module may be attached to the UAV platform instead of the marking module, and may include solvents and oscillating or vibrating pads to remove the marks via scrubbing. The clean-up module can also be used for initial surface preparation.

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: An articulating transport assembly for a movable platform includes a plurality of arm segments connected to each other. The arm segments are movable to a retracted state and an extended state to define an articulating arm. The articulating transport assembly also includes a plurality of joints, and each of the joints include a first connector and a second connector disposed between a respective pair of the arm segments to join the arm segments such that the arm segments move relative to each other with a single degree-of-freedom between the retracted state and the extended state. A transport system for moving a flexible structure includes an aircraft including a port configured to connect to the flexible structure and the articulating transport assembly to move the flexible structure.

Abstract: An apparatus may include: a support base; and two or more roller wheels, each adjustable in orientation, position, or orientation and position, mounted on the support base and configured to engage with an object in a passive locking configuration. The apparatus may be further configured to disengage from the object in the passive locking configuration. The apparatus may be further configured to lock the object to the apparatus in an active locking configuration. Orientations, positions, or the orientations and positions of the at least two of the two or more roller wheels may be adjustable.

Abstract: A method, apparatus, system, and computer program product for inspecting an aircraft. A computer system receives captured data associated with a flight path flown by an unmanned aircraft system to acquire the captured data for the aircraft. The computer system compares the captured data with reference data for the aircraft to form a comparison. The computer system determines whether the captured data is within a set of tolerances for valid captured data using a result of the comparison. Prior to detecting anomalies for the aircraft using the captured data, the computer system determines a set of corrective actions in response to the captured data being outside of the set of tolerances for the valid captured data in which the set of corrective actions is performed.

Abstract: A method includes obtaining, at an unmanned aerial vehicle, a flight plan for the unmanned aerial vehicle. The flight plan is based on an aircraft type of an aircraft to be inspected. The method also includes coordinating, with a control device onboard the aircraft, an operation of a particular device of the aircraft based on the flight plan such that a state of the particular device changes when a particular sensor of the one or more sensors is located (i.e., positioned and oriented) to perform a sensing operation on the particular exterior light. The method further includes performing the sensing operation on the particular device using the particular sensor. The method also includes determining a functionality metric associated with the particular device based on the sensing operation.

Abstract: A system and method for detecting an anomaly of an optically transparent or translucent object are disclosed. The system and method include a light source configured to emit light, a light transmission element having a textured surface, and an optical couplant configured to be disposed between the light transmission element and the object. At least a portion of the light emitted by the light source is configured to pass into the light transmission element through the textured surface and pass into the object through the optical couplant. At least a portion of the light that passes into the object internally reflects within the object and impinges on the anomaly to provide an illumination that indicates the location of the anomaly.

Abstract: Methods and devices that determine a position on the ground of a laser that emits a laser beam that strikes an aircraft. The process includes determining a strike position from a camera that is located on the aircraft. A relative direction vector of the laser beam is computed with respect to the camera. The relative direction vector is converted into a global coordinate direction vector. The position on the ground of the laser is determined based on a point where the global coordinate direction vector intersects with the ground representation.

Abstract: An apparatus for retaining a fastener is described. The apparatus includes a base, including a first aperture including a central axis; and a sidewall extending outward from the base and surrounding the central axis, where the sidewall is configured to hold on to a socket; an arm extending outward from the base, including a biasing mechanism connecting a first end of the arm to the base, where the biasing mechanism configured to relieve stress between the base and the arm when the arm is actuated; and a lip disposed at a second end of the arm, where the second end is at an opposite end of the arm than the first end, and where the lip is configured to retain the fastener or a wrenching element of the fastener; and a finger flange configured to actuate the arm, where the finger flange is attached to the arm.

Abstract: A method for wirelessly coupling respective transducers of an automated motion platform and a sub-surface sensor node through a skin of a limited-access structure for the purpose of wireless power and data transfer. Coordinates of an as-designed position of the transducer of the sensor node in a local coordinate system of the limited-access structure are retrieved from a non-transitory tangible computer-readable storage medium. Then coordinates of a target position on an external surface of the skin of the limited-access structure are estimated. The target position is calculated to be aligned with the as-designed position of the transducer of the sensor node. The motion platform is moved under computer control so that the transducer onboard the motion platform moves toward the target position. Movement ceases when the transducer onboard the motion platform is at the target position. Then wave energy is transferred between the aligned transducers.

Abstract: An equirectangular image of a three-dimensional (3D) virtual environment is generated in a computer-automated fashion. In one example, a 3D virtual position of a virtual camera in a 3D virtual environment is specified. For each of a plurality of different yaw angles rotated about an axis extending through the 3D virtual position, the virtual camera is used to acquire an image strip of pixels parallel to the axis of rotation. Image strips of pixels of the 3D environment acquired at the different yaw angles are assembled to form an equirectangular image of the 3D virtual environment from the specified 3D virtual position.

Abstract: A computer-automated separation rules compliance method is disclosed. Separation rules that establish separation distance requirements between objects in a three-dimensional (3D) virtual environment are defined. Sample locations associated with at least some of the objects in the 3D virtual environment are specified. One or more of proximity and/or collision analysis is performed on the sample locations to determine separation distances between the objects. The determined separation distances are compared to the separation distance requirements. Objects in the 3D virtual environment that violate the separation rules based on said comparing are identified.

Abstract: A method includes obtaining, at an unmanned aerial vehicle, a flight plan for the unmanned aerial vehicle. The flight plan is based on an aircraft type of an aircraft to be inspected. The method also includes coordinating, with a control device onboard the aircraft, an operation of a particular device of the aircraft based on the flight plan such that a state of the particular device changes when a particular sensor of the one or more sensors is located (i.e., positioned and oriented) to perform a sensing operation on the particular exterior light. The method further includes performing the sensing operation on the particular device using the particular sensor. The method also includes determining a functionality metric associated with the particular device based on the sensing operation.

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: Methods and devices that determine a position on the ground of a laser that emits a laser beam that strikes an aircraft. The process includes determining a strike position from a camera that is located on the aircraft. A relative direction vector of the laser beam is computed with respect to the camera. The relative direction vector is converted into a global coordinate direction vector. The position on the ground of the laser is determined based on a point where the global coordinate direction vector intersects with the ground representation.

Abstract: Examples of the present disclosure provide localization systems and methods that detect a plurality of landmarks in scan data acquired by a scanning sensor disposed onboard a mobile inspection platform. The localization systems and methods determine, via one or more processors, centers of the landmarks based on scan points in the scan data that impinge perimeter surfaces of the landmarks, and determine a location of the mobile inspection platform in relation to the centers of the landmarks.

Abstract: A method includes obtaining, at an unmanned aerial vehicle, a flight plan for the unmanned aerial vehicle. The flight plan is based on an aircraft type of an aircraft to be inspected. The method also includes coordinating, with a lighting control device onboard the aircraft, activation of a particular exterior light of the aircraft based on the flight plan such that the particular exterior light activates or deactivates when a particular sensor of the one or more sensors is located (i.e., positioned and oriented) to perform a sensing operation on the particular exterior light. The method further includes performing the sensing operation on the particular exterior light using the particular sensor. The method also includes determining a functionality metric associated with the particular exterior light based on the sensing operation.

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.