Abstract: A method and apparatus comprising an energy source, a position system, and a movement system. The energy source is configured to generate a beam of energy directed at an area on a target for a vehicle. The position system is configured to identify a first position of the area on the target at which the beam of energy is directed. The movement system is configured to move the vehicle in a manner that reduces a difference between the first position of the area on the target at which the beam of energy is directed and a reference position on the target.

Abstract: A method, apparatus, and system for adhering a vacuum to a surface is provided. A seal is positioned relative to a surface. The seal is associated with a structure and is in communication with a channel within the structure. The seal is rotated relative to the structure such that the seal at least partially conforms to the surface. Air is drawn into the channel within the structure through the seal such that the seal adheres to the surface.

Abstract: An apparatus comprises an inspection vehicle, a sensor system, a positioning system, a controller, and a support system. The inspection vehicle is configured to move on a surface of an object. The sensor system is associated with the inspection vehicle and is configured to generate information about the object when the inspection vehicle is on the surface of the object. The positioning system is configured to determine a location of the inspection vehicle on the object. The controller is configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system. The support system is connected to the inspection vehicle and is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.

Abstract: Devices for enabling navigation of a crawler vehicle along an airfoil-shaped body, such as a helicopter blade, in a low-cost fashion with high reliability, especially for swept configuration blades. Using the natural tendency of vacuum adherence devices to adhere to changing surface contours, the crawler vehicle can adhere itself to airfoil-shaped structures in a way that allows the crawler vehicle to easily translate along an airfoil-shaped body while accommodating extreme variations along the surface of the airfoil-shaped body. The crawler vehicle can be designed to eliminate any trailing edge follower wheel, which simplifies the crawler's ability to accommodate trailing edge protrusions, such as trim tabs.

Abstract: Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.

Abstract: An apparatus comprises an inspection vehicle, a sensor system, a positioning system, a controller, and a support system. The inspection vehicle is configured to move on a surface of an object. The sensor system is associated with the inspection vehicle and is configured to generate information about the object when the inspection vehicle is on the surface of the object. The positioning system is configured to determine a location of the inspection vehicle on the object. The controller is configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system. The support system is connected to the inspection vehicle and is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.

Abstract: A method and apparatus comprising an energy source, a position system, and a movement system. The energy source is configured to generate a beam of energy directed at an area on a target for a vehicle. The position system is configured to identify a first position of the area on the target at which the beam of energy is directed. The movement system is configured to move the vehicle in a manner that reduces a difference between the first position of the area on the target at which the beam of energy is directed and a reference position on the target.

Abstract: Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.

Abstract: An apparatus comprises an inspection vehicle, a sensor system, a positioning system, a controller, and a support system. The inspection vehicle is configured to move on a surface of an object. The sensor system is associated with the inspection vehicle and is configured to generate information about the object when the inspection vehicle is on the surface of the object. The positioning system is configured to determine a location of the inspection vehicle on the object. The controller is configured to control movement of the inspection vehicle using the positioning system and control operation of the sensor system. The support system is connected to the inspection vehicle and is configured to support the inspection vehicle in response to an undesired release of the inspection vehicle from the surface of the object.

Abstract: An in-situ double vacuum debulk (DVD) composite repair system designed to produce partially or fully cured autoclave-quality hot-bond composite repairs on contoured structures. The system provides vacuum pressure for hot bond repairs to be performed on flat and contoured structures using one set-up capable of debulking (partially curing) and then fully curing composite repairs on composite and metallic aircraft structures. The use of in-situ DVD also eliminates handling of the patch/adhesive when transferring from an off-aircraft DVD chamber to the repair site on the aircraft. This can increase the probability of successful repairs because the possibility of contaminating and misaligning the adhesive and repair patch are eliminated.