Abstract: A grasp and release mechanism for carrying a load. The grasp and release mechanism includes a frame; a grasp mechanism attached to the frame and including plural permanent magnets configured to magnetically attach to a ferrous load; a release mechanism attached to the frame, wherein the release mechanism includes a drop plate; and an actuator mechanism attached to the frame and configured to apply a force F to the drop plate. The drop plate is configured to suddenly move relative to the frame to apply the force F to the load.

Abstract: An unmanned aerial vehicle (UAV) for landing and perching on a curved ferromagnetic surface is provided. The UAV includes a plurality of articulated legs. Each articulated leg includes: a magnet configured to magnetically attach to the curved ferromagnetic surface; and a magnetic foot for housing the magnet and configured to magnetically articulate towards and attach to the curved ferromagnetic surface using the magnet in a perpendicular orientation with respect to the curved ferromagnetic surface, in response to the UAV approaching the curved ferromagnetic surface, in order to land the UAV on the curved ferromagnetic surface and for the UAV to perch on the curved ferromagnetic surface after the landing. The magnetic foot is configured to remain magnetically attached to the curved ferromagnetic surface while the UAV is perched on the curved ferromagnetic surface.

Abstract: A vehicle is guided from an initial position to a target position using a projection of a laser beam on a target. A set of waypoints from the initial position of the vehicle to a position proximate to the target position is determined using an orientation of a laser pointer that projects the laser beam and based on projection of the UAV initial position onto the laser beam pointing at the target. The vehicle is guided along the set of determined waypoints to the position proximate to the target position. The vehicle is guided from the position proximate to the target position using the optical system of the vehicle responsive to detection of a dot of the laser beam on the target by an optical system of the vehicle.

Abstract: A magnetic latching mechanism including a servo-motor configured to rotate an axle; a latching rotor attached to the axle and configured to rotate; and a pair of latching permanent magnets attached to the latching rotor. A north pole of a permanent magnet and a south pole of another permanent magnet of the pair are facing along a same direction.

Abstract: A vehicle is guided from an initial position to a target position using a projection of a laser beam on a target. A set of waypoints from the initial position of the vehicle to a position proximate to the target position is determined using an orientation of a laser pointer that projects the laser beam and based on projection of the UAV initial position onto the laser beam pointing at the target. The vehicle is guided along the set of determined waypoints to the position proximate to the target position. The vehicle is guided from the position proximate to the target position using the optical system of the vehicle responsive to detection of a dot of the laser beam on the target by an optical system of the vehicle.

Abstract: A gripper mechanism for gripping a load, the gripper mechanism including a body, a first actuator mechanism attached to the body and configured to linearly move a first gripping device; and a second actuator mechanism attached to the body and configured to rotate a second gripping device. A translation of the first gripping device and a rotation of the second gripping device result in gripping the load.

Abstract: A robotic vehicle for traversing surfaces comprises a chassis having a plurality of wheels mounted thereto. Two magnetic drive wheels are spaced apart in a lateral direction and rotate about a rotational axis while a stabilizing wheel is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.

Abstract: A method of inspection or maintenance of a curved ferromagnetic surface using an unmanned aerial vehicle (UAV) having a releasable crawler is provided. The method includes: flying the UAV from an initial position to a pre-perching position in a vicinity of the ferromagnetic surface; autonomously perching the UAV on the ferromagnetic surface; maintaining magnetic attachment of the perched UAV to the ferromagnetic surface; releasing the crawler from the magnetically attached UAV onto the ferromagnetic surface; moving the crawler over the curved ferromagnetic surface while maintaining magnetic attachment of the released crawler to the ferromagnetic surface; inspecting or maintaining the ferromagnetic surface using the magnetically attached crawler; and re-docking the released crawler with the perched UAV.

Abstract: An unmanned aerial vehicle (UAV) includes a body constructed to enable the UAV to fly and three or more legs connected to the body and configured to land and perch the UAV on a curved ferromagnetic surface. Each leg includes a first portion connected to the body, a second portion including a magnet and configured to magnetically attach and maintain the magnetic attachment of the leg to the ferromagnetic surface during the landing and perching, and a passive articulation joint connecting the first and second portions and configured to passively articulate the second portion with respect to the first portion in response to the second portion approaching the ferromagnetic surface. The UAV further includes a releasable crawler including magnetic wheels which detach the crawler from the body during the perching and maneuver the crawler on the ferromagnetic surface while magnetically attaching the crawler to the ferromagnetic surface after detachment.

Abstract: An unmanned aerial vehicle (UAV) autonomously perching on a curved surface from a starting position is provided. The UAV includes: a 3D depth camera configured to capture and output 3D point clouds of scenes from the UAV including the curved surface; a 2D LIDAR system configured to capture and output 2D slices of the scenes; and a control circuit. The control circuit is configured to: control the depth camera and the LIDAR system to capture the 3D point clouds and the 2D slices, respectively, of the scenes; input the captured 3D point clouds from the depth camera and the captured 2D slices from the LIDAR system; autonomously detect and localize the curved surface using the captured 3D point clouds and 2D slices; and autonomously direct the UAV from the starting position to a landing position on the curved surface based on the autonomous detection and localization of the curved surface.

Abstract: An unmanned aerial vehicle (UAV) for landing and perching on a curved ferromagnetic surface is provided. The UAV includes a plurality of articulated legs. Each articulated leg includes: a magnet configured to magnetically attach to the curved ferromagnetic surface; and a magnetic foot for housing the magnet and configured to magnetically articulate towards and attach to the curved ferromagnetic surface using the magnet in a perpendicular orientation with respect to the curved ferromagnetic surface, in response to the UAV approaching the curved ferromagnetic surface, in order to land the UAV on the curved ferromagnetic surface and for the UAV to perch on the curved ferromagnetic surface after the landing. The magnetic foot is configured to remain magnetically attached to the curved ferromagnetic surface while the UAV is perched on the curved ferromagnetic surface.

Abstract: A grasp and release mechanism for carrying a load. The grasp and release mechanism includes a frame; a grasp mechanism attached to the frame and including plural permanent magnets configured to magnetically attach to a ferrous load; a release mechanism attached to the frame, wherein the release mechanism includes a drop plate; and an actuator mechanism attached to the frame and configured to apply a force F to the drop plate. The drop plate is configured to suddenly move relative to the frame to apply the force F to the load.

Abstract: A gripper mechanism for gripping a load, the gripper mechanism including a body, a first actuator mechanism attached to the body and configured to linearly move a first gripping device; and a second actuator mechanism attached to the body and configured to rotate a second gripping device. A translation of the first gripping device and a rotation of the second gripping device result in gripping the load.