Abstract: A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.

Abstract: A method and apparatus for managing a rework of a composite structure. Boundary geometries are identified for the layer boundaries in an image of a rework area. The image includes layer boundaries for exposed layers in the rework area. Layer orientations are identified for the exposed layers. A description of a patch for installation in the rework area is generated using the boundary geometries and layer orientations. The patch has plies having ply boundaries with the boundary geometries corresponding to the layer boundaries and ply orientations corresponding to the layer orientations. An operation of a ply cutting system is controlled using the group of files describing the patch, enabling fabricating the patch for the rework area using the group of files describing the patch.

Abstract: Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Abstract: A method and apparatus for customizing tool paths. A reference tool path is identified for a tool based on an expected shape for a surface of an object. Offset data is generated for a plurality of sample points identified for use in evaluating the surface of the object. The offset data identifies a difference between the expected shape for the surface of the object and an actual shape of the surface of the object. The reference tool path is modified using the offset data to form a modified tool path for the tool.

Abstract: A method and apparatus for managing a rework of a composite structure. Boundary geometries are identified for the layer boundaries in an image of a rework area. The image includes layer boundaries for exposed layers in the rework area. Layer orientations are identified for the exposed layers. A description of a patch for installation in the rework area is generated using the boundary geometries and layer orientations. The patch has plies having ply boundaries with the boundary geometries corresponding to the layer boundaries and ply orientations corresponding to the layer orientations. An operation of a ply cutting system is controlled using the group of files describing the patch, enabling fabricating the patch for the rework area using the group of files describing the patch.

Abstract: A method and apparatus for laying composite tape. The method may comprise driving a plurality of robots, each having a respective movement system across a movement surface, in which the movement surface faces a workpiece, and laying composite tape from the plurality of robots in a coordinated manner on the workpiece.

Abstract: A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.

Abstract: A base assembly for coupling an end effector to a structure includes a first side and an opposite second side. The first side configured to couple to the end effector. The base assembly also includes at least one cavity disposed on the second side, and at least one pneumatic generator coupled in flow communication with the at least one cavity. The at least one pneumatic generator is operable in a suction mode and a blower mode. The second side having the at least one cavity is securely coupleable to a surface of the structure via a vacuum force induced by the at least one pneumatic generator in the suction mode, and the second side having the at least one cavity is movable substantially frictionlessly across the surface via an air cushion induced by the at least one pneumatic generator in the blower mode.

Abstract: A method of repairing a structure is provided. The method includes inspecting the structure with a robotic device to identify a structural defect in the structure, generating a tool path for repairing the structural defect, and transmitting the tool path to the robotic device from a location remote from the robotic device.

Abstract: A system includes a robotic device for moving an inspection tool, a scanner coupleable to the robotic device such that the robotic device is configured to automatically move the scanner to collect data associated with a surface of the object, and a computer system configured to determine a surface profile associated with the surface of the object based on the data, and generate a tool path for inspecting the object using the inspection tool based on the surface profile.

Abstract: A method and apparatus for customizing tool paths. A reference tool path is identified for a tool based on an expected shape for a surface of an object. Offset data is generated for a plurality of sample points identified for use in evaluating the surface of the object. The offset data identifies a difference between the expected shape for the surface of the object and an actual shape of the surface of the object. The reference tool path is modified using the offset data to form a modified tool path for the tool.

Abstract: A network monitoring architecture and methodology enabling performance detection and diagnostics in storage area networks or other networks. The network monitoring is performed using a three-tiered distributed computing system architecture, including a data source tier, a portal tier and a client tier. The data source tier monitors the physical data on the network medium using multiple data collection sources, or data probes, connected to the network. The probes analyze network data and generate metrics that describe attributes of the network data. The metrics are synchronized in time by virtue of time stamps associated with the data monitored by the data probes. The time-synchronized metrics are used by the data portal tier, which is the second tier of the system. The portal tier encapsulates the metrics into data containers. The data containers may be requested by the client tier, which is the third tier in the network monitoring system.

Abstract: A network monitoring architecture and methodology enabling performance detection and diagnostics in storage area networks or other networks. The network monitoring is performed using a three-tiered distributed computing system architecture, including a data source tier, a portal tier and a client tier. The data source tier monitors the physical data on the network medium using multiple data collection sources, or data probes, connected to the network. The probes analyze network data and generate metrics that describe attributes of the network data. The metrics are used by the data portal tier, which is the second tier of the system. The portal tier encapsulates the metrics into data containers. The data containers may be requested by the client tier, which is the third tier in the network monitoring system. The client tier provides a user interface for displaying various types of network information derived from the contents of data containers.

Abstract: A reentry vehicle includes a nose section, a modular section comprised of two or more connected modules, a flared section. The nose section is connected to a first end of the modular section, and the flared section is positioned proximate a second end of the modular cylindrical section.

Abstract: Lightweight synthetic gravel is comprised of glass particles made from recycled glass and plastic particles made from recycled plastic is formed by mixing the glass and plastic particles and heating the plastic particles to a softened state to allow the glass and plastic particles to be pressed into and retain a desired form. The method of producing the gravel includes grading glass into glass particles, grading plastic into plastic particles, mixing the glass particles and the plastic particles, heating the plastic particles such that the plastic particles soften and become moldable, molding the heated mixture of glass and plastic particles into a desired form, and allowing the desired form to harden.

Abstract: A clean check is performed on a gearbox by flushing an oil-based fluid through the gearbox and then through a filter. The filter is then weighed to determine the weight of contaminants collected in the filter. The contaminant weight is compared to a predetermined level, wherein the gearbox is acceptable if the contaminant weight is below the predetermined level. This method is carried out on a system that includes a source of the oil-based fluid fluidly connected to an inlet of the gearbox and a filter fluidly connected to an outlet of the gearbox. A device such as a pump is provided for causing the oil-based fluid to flow through the gearbox and the filter.

Abstract: An apparatus for drying scuba diving gear is provided having a support member and first, second and third hanger sub-assemblies removably, slidably engageable with respect to the support member. The sub-assemblies are in vertical alignment with one another at their point of engagement with the support member. Each sub-assembly is adapted for specific pieces of scuba gear. Preferably, the support member is a vertically disposed shaft telescopically secured to an erectable/collapsible tripod assembly. An apparatus is also disclosed where the support member is a chain assembly having an attachment hook for attachment with respect to an overhead support at one end and a support bar to hold the hanger sub-assemblies upright in engagement with the chain assembly at the other end.

Abstract: A clean check is performed on a gearbox by flushing an oil-based fluid through the gearbox and then through a filter. The filter is then weighed to determine the weight of contaminants collected in the filter. The contaminant weight is compared to a predetermined level, wherein the gearbox is acceptable if the contaminant weight is below the predetermined level. This method is carried out on a system that includes a source of the oil-based fluid fluidly connected to an inlet of the gearbox and a filter fluidly connected to an outlet of the gearbox. A device such as a pump is provided for causing the oil-based fluid to flow through the gearbox and the filter.