Abstract: Systems and methods for determining locations of a device in an environment where features are present. Passive code pattern markers are used as unique location landmarks to provide on-demand location information to the user of the device in an abstract, landmark-based reference system that can then be mapped into an underlying physical 3-D coordinate system to give location coordinates that can be used by other tools to determine a viewpoint. For example, a 3-D visualization system can be configured to set a viewpoint so that an image concurrently generated by a computer system presents a scene which approximates the scene being viewed by the user in the physical world at that moment in time.

Abstract: A method for electronically pairing a plurality of control units with a plurality of objects in an aircraft is provided. The method includes identifying a selected control unit from the plurality of control units that will control a selected object from the plurality of objects, placing a hand-held scanner in close proximity to a first machine-readable tag on the selected control unit to acquire a first unique ID for only the selected control unit, placing the hand-held scanner in close proximity to a second machine-readable tag on the selected object to acquire a second unique ID for only the selected object, and associating the first unique ID with the second unique ID to pair the selected control unit with the selected object.

Abstract: A self-contained, holonomic motion tracking solution for supplementing the acquisition of inspection information on the surface of a structure, thereby enabling the real-time production of two-dimensional images from hand-held and automated scanning by holonomic-motion of non-destructive inspection (NDI) sensor units (e.g., NDI probes). The systems and methods disclosed enable precise tracking of the position and orientation of a holonomic-motion NDI sensor unit (hand-held or automated) and conversion of the acquired tracking data into encoder pulse signals for processing by a NDI scanning system.

Abstract: An improved mechanism for calibrating a local positioning system through the use of passive or retro-reflective markers is described herein. A plurality of imaging targets with the passive or retro-reflective markers may be attached or affixed on a surface of an object. The local positioning system may then capture a first image of the imaging targets in a non-illuminated state and further capture a second image of the imaging targets in an illuminated state. A difference image between the first and second captured images may be computed and then segmented. The local positioning system may then identify the plurality of imaging targets based on the segmented difference image and position itself to extract information. The extracted information may then be used to help calibrate the local positioning system.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: Method and apparatus for enabling ultrasonic inspection of a changing, insufficiently defined or unknown shape (e.g., a variable radius or a noncircular radius caused by the use of soft tooling) at a rate that meets production requirements. The apparatus comprises a linear ultrasonic array (i.e., sensor) incorporated in a toppler, which in turn is slidably supported by an oscillating sensor mechanism carried by a traveling trailer vehicle. As a result of this arrangement, the sensor can undergo a back-and-forth sweeping motion coupled with motion along the spar radius. The sensor is further able to displace radially relative to a sweep pivot axis and rotate (hereinafter “topple”) about a topple pivot axis. In this manner, the orientation of the sensor can adjust to the contour of the inspected surface as the sensor scans.

Abstract: A method for displaying location specific maintenance history for an object is implemented by operating a camera to locate at least one marker tag with fiducial marker-based tracking functionality on the object to provide a reference to a coordinate system associated with the object. An area of the object surrounding the coordinates defined by marker tag is determined from the coordinate system. A repair history for the determined area is then projected onto the object with the projection referenced to the coordinate system associated with the object.

Abstract: A method includes initializing an inertial measurement unit (IMU) at a starting location and gathering acceleration and rotational data as the IMU is moved to an intermediate location. An indication that the IMU is at the intermediate location is received. The method includes gathering acceleration and rotational data as the IMU is moved to an ending location and calculating a position of the ending location based on a known position of the starting location and the acceleration data. The method includes calculating corrected acceleration data based on a difference between the calculated position of the ending location and a known position of the ending location, and calculating a position of the intermediate location based on the corrected acceleration data are provided.

Abstract: An apparatus and method for attaching a crawler vehicle to the surface of an object. The crawler vehicle may comprise a frame, a number of moveable surface-engaging components attached to the frame, a number of actuators, and an electro-permanent magnet. The number of actuators is operable to move the frame with respect to the object when the number of moveable surface-engaging components is in contact with the surface of the object. The electro-permanent magnet is operable to hold the number of moveable surface-engaging components in contact with the surface of the object by a magnetic force between the electro-permanent magnet and the object when the electro-permanent magnet is activated and to remove the magnetic force when the electro-permanent magnet is deactivated to release the number of moveable surface-engaging components from the surface of the object.

Abstract: Systems and methods for calibrating the location of an end effector-carrying apparatus relative to successive workpieces before the start of a production manufacturing operation. The location calibration is performed using a positioning system. These disclosed methodologies allow an operator to program (or teach) the robot motion path once and reuse that path for subsequent structures by using relative location feedback from a measurement system to adjust the position and orientation offset of the robot relative to the workpiece. When each subsequent workpiece comes into the robotic workcell, its location (i.e., position and orientation) relative to the robot may be different than the first workpiece that was used when developing the initial program. The disclosed systems and methods can also be used to compensate for structural differences between workpieces intended to have identical structures.

Abstract: A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e.

Abstract: A method, system, and apparatus for visually presenting a virtual environment relative to a physical workspace. An output device visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace. A mounting structure holds the output device and is movable with at least one degree of freedom relative to the physical workspace. A sensor system measures movement of the output device relative to the physical workspace to generate sensor data. A controller computes a transformation matrix and the set of scale factors to align the virtual environment and the physical workspace. The controller changes the view of virtual environment based on the sensor data to thereby change the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace.

Abstract: Systems and methods for inspecting a surface are disclosed. A source, detector, a base, a controller, and a processing device are used to collect image data related to the surface and information relating to the location of the image data on the surface. The image data and information relating to location are correlated and stored in a processing device to create a map of surface condition.

Abstract: A method for inspecting an object. A support structure physically associated with a first sensor and a second sensor is moved to an area for inspection. The support structure is in a first configuration and the first sensor and the second sensor are positioned about an axis extending through the support structure when the support structure is in the first configuration. The support structure is changed from the first configuration to a second configuration. The first sensor and the second sensor are configured to generate information when the support structure is in the second configuration.

Abstract: A detection system including a target object having a target object coordinate system, a tracking unit configured to monitor a position and/or an orientation of the target object and generate a target object position signal indicative of the position and/or the orientation of the target object, a camera positioned to capture an image of the target object, an orienting mechanism connected to the camera to control an orientation of the camera relative to the target object, and a processor configured to analyze the image to detect a discrepancy in the image and, when the discrepancy is present in the image, determine a location of the discrepancy relative to the target object coordinate system based at least upon the target object position signal and the orientation of the camera, and then orient the camera and laser to aim at and point out the discrepancy.

Abstract: Systems and methods for automated maintenance of the top and bottom surfaces or skins of an integrally stiffened hollow structure (e.g., a horizontal stabilizer) using surface crawling vehicles. Each system uses dynamically controlled magnetic coupling to couple an external drive tractor to a pair of passive trailers disposed in the interior of the hollow structure on opposite sides of a vertical structural element. The external drive tractor is also coupled to an external maintenance tool, which the tractor pushes or pulls across the surface skin to perform a maintenance function. The systems allow maintenance operations to be performed on both surface skins without turning the hollow structure over. Each system is modular and can be transported to and easily set up in a building or factory.

Abstract: A method and apparatus for locating a part in an aircraft. A part is identified in the aircraft. A series of views is generated from a model of the aircraft with graphical indicators in the series of views configured to provide guidance to a position of the part in the aircraft. The series of views is displayed on a display device.

Abstract: A system for stand-off inspection comprising local positioning system hardware and a nondestructive evaluation instrument supported by a pan-tilt mechanism. The system further comprises a computer system that is programmed to perform the following operations: (a) directing the local positioning system hardware toward an area of a surface on a target object by control of the pan-tilt mechanism; (b) activating the local positioning system hardware to acquire an image; (c) processing the image to determine whether an anomaly is present in the area; (d) if an anomaly is present, determining coordinates of a position of the anomaly in a coordinate system of the target object; and (e) directing the nondestructive evaluation instrument toward a position corresponding to the coordinates. Optionally, the computer system is further programmed to measure one or more characteristics of the anomaly.

Abstract: Systems and methods for automated non-destructive inspection scanning of the top and bottom aerodynamic surfaces or skins of an integrally stiffened wing box (e.g., a horizontal stabilizer) using surface crawling vehicles. Each system uses dynamically controlled magnetic coupling to couple an external drive tractor to a pair of passive trailers disposed in the interior of the wing box on opposite sides of a spar. The external drive tractor is also coupled to an external NDI scanner, which the tractor pushes or pulls across the surface skin being inspected. The systems allow scanning of both surface skins without turning the wing box over. Each system is modular and can be transported to and easily set up in a building or factory.