Abstract: An inspection system for mounting on a user's hand. The inspection system comprising: an imaging unit comprising two sub-units, the first sub-unit being configured to provide images from a first point of view and the second sub-unit being configured to provide images from a second point of view; and a measuring unit configured to provide data relating to a physical property measured at a measurement location on the user's hand. The imaging unit has a separation sensor configured to measure the separation between the two sub-units of the imaging unit. A method of inspecting and/or servicing a machine is also disclosed.

Abstract: A dielectric gel for use in electro-discharge machining. Aspects of the dielectric gel include a liquid solvent phase entrapped in a three-dimensionally cross-linked fibre network.

Abstract: An apparatus (10) configured to determine reactant purity comprising: a first fuel cell (11) configured to generate electrical current from the electrochemical reaction between two reactants, having a first reactant inlet (13) configured to receive a test reactant comprising one of the two reactants from a first reactant source (7, 5, 16); a second fuel cell (12) configured to generate electrical current from the electrochemical reaction between the two reactants, having a second reactant inlet (14) configured to receive the test reactant from a second reactant source (5); a controller (20) configured to apply an electrical load to each fuel cell and determine an electrical output difference, ODt, between an electrical output of the first fuel cell (11) and an electrical output of the second fuel cell (12), and determine a difference between a predicted output difference and the determined electrical output difference, ODt, the predicted output difference determined based on a historical output of difference

Abstract: An apparatus (10) configured to determine reactant purity comprising: a first fuel cell (11) configured to generate electrical current from the electrochemical reaction between two reactants, having a first reactant inlet (13) configured to receive a test reactant comprising one of the two reactants from a first reactant source (7, 5, 16); a second fuel cell (12) configured to generate electrical current from the electrochemical reaction between the two reactants, having a second reactant inlet (14) configured to receive the test reactant from a second reactant source (5); a controller (20) configured to apply an electrical load to each fuel cell and determine an electrical output difference, ODt, between an electrical output of the first fuel cell (11) and an electrical output of the second fuel cell (12), and determine a difference between a predicted output difference and the determined electrical output difference, ODt, the predicted output difference determined based on a historical output of difference

Abstract: A positioning device for positioning and using a tool within a cavity having a cavity wall. The device comprises a flexible deployment device/arm carrying the tool. The deployment device/arm further comprises a soft robotics fixturing element adjustable between a contracted deployment configuration during positioning of the tool to an expanded bracing configuration for abutment with the cavity wall during use of the tool.

Abstract: A hand-mounted inspection system, configured to be mounted on a user's hand, comprising: an imaging unit, configured to provide images from at least one point of view located on the user's hand; and a measuring unit, configured to provide data relating to a physical property measured at a measurement location on the user's hand. The measuring unit includes a sensor configured to provide a measurement between two measurement locations, each of the two measurement locations being located on a digit of the user's hand, a tip of a digit of the user's hand, on the phalanges of a digit of a user's hand, on the palm of the user's hand or on the back of the user's hand.

Abstract: Apparatus for insertion into a cavity of an object, the apparatus comprising: a first tube comprising a first end, a second end, a first cavity extending between the first end and the second end, and an aperture at the second end; a member positioned within the first cavity of the first tube and adjacent the aperture of the first tube, the member being configured to enable an action to be performed; a plug coupled to the second end of the first tube; and an actuator configured to move the first tube relative to the object between a first position in which the plug seals the member from the cavity of the object, and a second position in which the member is exposed to the cavity of the object.

Abstract: Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more sections.

Abstract: A method of controlling at least one of a first robot and a second robot to collaborate within a system, the first robot and the second robot being physically separate to one another, the method including: receiving sensed data associated with the second robot; determining position and/or orientation of the second robot using the received sensed data; determining an action for the second robot using the determined position and/or orientation of the second robot; and providing a control signal to the second robot to cause the second robot to perform the determined action to collaborate with the first robot.

Abstract: Inspection apparatus for a gas turbine engine, the inspection apparatus comprising: a sensor configured to generate data; a housing having an exterior surface and configured to house the sensor therein; and one or more foam members coupled to the exterior surface of the housing, the one or more foam members being resilient to enable the inspection apparatus to be inserted into a gas turbine engine and secured between at least two surfaces of the gas turbine engine.

Abstract: A tool for machining an object including a first part including a rotatable member that is rotatable to cause rotation of a machine tool, a second part, a joint coupling the first part and the second part to enable relative movement between the first part and the second part, and a sensor to sense an object to be machined.

Abstract: There is provided a method of controlling a robot within an environment comprising: i) receiving, from a 3D scanner, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least a portion of the environment; ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the robot; then iii) determining a movement trajectory for the robot based upon the determined position of the robot. Also provided is a control apparatus and a robot control system.

Abstract: A tool for machining an object comprising: a first part including a rotatable member, the rotatable member being rotatable to cause rotation of a machine tool; a second part; a joint coupling the first part and the second part to enable relative movement between the first part and the second part; and a sensor to sense an object to be machined.

Abstract: A tool holder. The tool holder is mounted to a platform (9) and comprises a plurality of legs (1) extending from respective positions on the platform (9) for connecting the platform (9) to respective positions on the workpiece. Each leg (1) has a first joint system (8a) at its platform end allowing each leg (1) to pivot relative to the platform (9). Each first joint system (8a) has an actuator arrangement (34) having a first operating mode in which the actuator arrangement (34) is configured to apply a load to move the respective leg (1), and a second operating mode in which the actuator arrangement (34) is configured to allow free movement of the respective leg (1).

Abstract: A flexible tool comprising: a plurality of rigid members spaced along a longitudinal axis; a plurality of flexible members extending between the plurality of rigid members and being arranged to enable the plurality of rigid members to diverge from the longitudinal axis and define a work volume for the flexible tool, at least some of the plurality of flexible members being unevenly spaced around the longitudinal axis, and/or a physical characteristic of at least some of the plurality of flexible members varying along the longitudinal axis, to cause the work volume and/or stiffness of the flexible tool to be asymmetric relative to the longitudinal axis.

Abstract: An apparatus for inspecting a turbomachine includes a plurality of boroscopes, a device to rotate the rotor of the turbomachine and a processor having reference measurements of the rotor blades and/or reference measurements between the rotor blades and the boroscopes. A boroscope is inserted in a casing aperture upstream of the blades to view the leading edge and a portion of one of the surfaces of each blade as the rotor is rotated. A boroscope is inserted in a casing aperture downstream of the blades to view the trailing edge and a portion of one of the surfaces of each blade as the rotor is rotated. The boroscopes supply the images of each of the blades to the processor. The processor analyses the images of the blades and uses the reference measurements to determine the position and size of any defect on any of the rotor blades.

Abstract: A method of laser processing a component within an assembled apparatus using a boroscope, which includes a working head having first and second ends. A first optical fiber extends through the boroscope to a position between the first and second ends. A second optical fiber extends through the boroscope to the second end. A laser optical fiber extends through the boroscope. At least one lens is arranged between the first and second ends of the working head and a mirror is gimballed to the second end. The laser optical fiber directs laser light transmitted through the laser optical fiber onto the lens and then onto the mirror. A first LED is arranged at a position between the first and second ends of the working head and a second LED is arranged at the second end and an actuator device adjust the position of the mirror.

Abstract: An apparatus for supporting a tool in an assembled apparatus. The apparatus includes a support structure, the support structure having a central member and a plurality of support members pivotally mounted on the central member. The support members are movable between a non-deployed position in which the support members extend a minimum distance from the central member and a deployed position in which the support members extend a maximum distance from the central member.

Abstract: A machine tool comprising: a first body; a first leg, a second leg, and a third leg coupled to the first body via first joints and configured to support at least the first body; a second body including a tool holder; a fourth leg, a fifth leg, and a sixth leg coupled to the second body via second joints and configured to support at least the second body; and a first actuator coupled to the first body and to the second body, the first actuator being configured to cause rotational motion between the first body and the second body to enable a change in walking direction of the machine tool and/or to enable a change in machining stiffness and a change in work volume of the machine tool.