Abstract: Calibrated spatial reference devices (SRDs) of known dimensions having targets at known relative locations are attached to a large structure to be measured. A design device employs a digital camera to acquire digital images of `islands` of the structure including the SRDs and employs photogrammetry techniques to determine relative locations of `islands` within a large structure. A highly accurate coordinate measurement device provides absolute 3D measured locations of the targets used to convert the relative photogrammetry locations into absolute 3D locations. A monitor displays the digital images, measured 3D locations, photogrammetry locations in a superimposed manner to a user and a user interface allows the user to select objects to be measured. Image detection techniques are used to identify objects selected by a user and dimensions, and distances between selected objects are automatically calculated.

Abstract: An inspection system for imaging and analyzing anisotropically reflecting surface flaws uses a side-looking borescope-type optical probe device for acquiring images of a region on the surface of an object and a computer for analyzing the images. The head of the probe includes a special integral lighting arrangement for illuminating the surface of the object in a manner that assures detection of anisotropically reflecting surface flaws. The borescope configuration of the optical probe along with its integral lighting and imaging arrangement allows it to be used in spatially confined environments where conventional methods and equipment for viewing anisotropically reflecting surface flaws would not be feasible. The special lighting arrangement employs multiple single light sources arranged in a circular array around a central image receiving device.

Abstract: An enhanced reality maintenance system for operating in a hazardous environment employs an environment modeler which creates a computer model of the environment. An environment renderer creates a plurality of images, each corresponding to a viewing location and orientation, `viewpoint`. A remotely operated manipulator arm is attached at a fixed end to a stationary structure, has a utility package, such as a video camera, attached to a distal end, and actuators which move the manipulator arm to desired locations within the environment. The position and orientation of the manipulator arm, are determined by a position and attitude (P&A) sensing unit. This information is passed to an manipulator arm renderer which creates an image from a prestored model of the manipulator arm, viewed from several different viewpoints. The may be interactively determined as an offset from the current position and orientation of the utility package.

Abstract: An enhanced reality maintenance system operates one or more remotely operated vehicles (ROVs) in a hazardous or inaccessible environment. A computer model of the environment is created from spatial parameters provided to the system. Positions and orientations of moving objects are monitored. The projected course of the moving objects is extrapolated and constantly updated. An automated flight planner, receives desired destinations from an operator, analyzes the environment, the projected courses of moving objects and planned trajectories of other ROVs, and selects a planned trajectory of a selected ROV through the environment without collision.

Abstract: A group visualization system allowing users of a group, either at a local site or a remote site to view images personalized to each users specific needs. Each user of the team interactively selects personalize viewing parameters, such as portions of the model to be displayed and the angle to view the model. Each user may select an overlay map to be superimposed on the model and displayed in the same manner which the model is displayed. A user who is an electrical engineer may select a voltage overlay, which a mechanical engineer may select a stress/strain overlay of the same model. Each user may select the parameters specified by another user or users, either at the local site or a remote sites, to see what they are viewing. Each user has access to a pointer which allows each user to specify a location which a symbol is superimposed and is visible to selected users. This results in a tool allowing users of a group at various sites to act as a team interact with each other.