Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Abstract: A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing.

Abstract: A system and method is disclosed for configuring a group of mobile field devices using a configuration device (an HMI) is provided. In particular, the HMI is programmed to configure identically programmed field devices that are arbitrarily arranged in an application-dependent formation by defining and providing configuration parameters to the devices via wired and/or wireless communication. In particular, the HMI assigns a unique identifier to respective robots as a function of the position of the robot within the formation or the layout of the environment. Accordingly each robot can be efficiently configured by the HMI to operate independently yet as a coordinated member of the group and without requiring the robots to be placed in specific positions during the initial deployment. This obviates the need for constant independent control commands for each robot by a central controller or providing a customized control program to each robot during deployment.

Abstract: A method and device for cleaning and pretreating solar panels is provided. The device comprises a brush having cleaning elements made from silicone foam rubber material. The cleaning elements can be flaps of silicone foam rubber material. A sheet of silicone foam rubber material having two free ends can be attached to a core member such that the two free ends extend away from the core member to form flaps. The solar panels can be cleaned by brushing the solar panel surfaces with the flaps of silicone foam rubber material. The solar panels can also be pretreated by brushing the solar panel surfaces with silicone foam rubber material.

Abstract: A method and device for cleaning and pretreating solar panels is provided. The device comprises a brush having cleaning elements made from silicone foam rubber material. The cleaning elements can be flaps of silicone foam rubber material. A sheet of silicone foam rubber material having two free ends can be attached to a core member such that the two free ends extend away from the core member to form flaps. The solar panels can be cleaned by brushing the solar panel surfaces with the flaps of silicone foam rubber material. The solar panels can also be pretreated by brushing the solar panel surfaces with silicone foam rubber material.

Abstract: The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.

Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Abstract: A method and device for cleaning and pretreating solar panels is provided. The device comprises a brush having cleaning elements made from silicone foam rubber material. The cleaning elements can be flaps of silicone foam rubber material. A sheet of silicone foam rubber material having two free ends can be attached to a core member such that the two free ends extend away from the core member to form flaps. The solar panels can be cleaned by brushing the solar panel surfaces with the flaps of silicone foam rubber material. The solar panels can also be pretreated by brushing the solar panel surfaces with silicone foam rubber material.

Abstract: The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.

Abstract: A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing.

Abstract: A system and method is disclosed for configuring a group of mobile field devices using a configuration device (an HMI) is provided. In particular, the HMI is programmed to configure identically programmed field devices that are arbitrarily arranged in an application-dependent formation by defining and providing configuration parameters to the devices via wired and/or wireless communication. In particular, the HMI assigns a unique identifier to respective robots as a function of the position of the robot within the formation or the layout of the environment. Accordingly each robot can be efficiently configured by the HMI to operate independently yet as a coordinated member of the group and without requiring the robots to be placed in specific positions during the initial deployment. This obviates the need for constant independent control commands for each robot by a central controller or providing a customized control program to each robot during deployment.

Abstract: A modular inspection vehicle having at least first and second motion modules is provided. The first and second motion modules are connected to a chassis. The first motion module includes a first wheel mounted to the chassis. The second motion module includes second wheel mounted to the chassis, the second wheel being at an angle to the first wheel. The vehicle further includes a navigation module configured to collect position data related to the position of the vehicle, an inspection module configured to collect inspection data related to the vehicle's environment, and a communication module configured to transmit and receive data. The vehicle can also include a control module configured to receive the inspection data and associate the inspection data with received position data that corresponds to the inspection data collect at a corresponding position for transmission via the communication module.

Abstract: A system and method for determining orientation of a vehicle is provided. The method includes the steps of providing a vehicle having a hinge joint such that sections of the chassis are capable of rotation with respect to each other. A first and second wheel is mounted to one and the other of the chassis sections, respectively. Vehicle geometric data defining a distance between the hinge joint and the centers of the first and second wheels, respectively, and the diameter of the wheels is provided. Surface geometric data defining the curvature of the surface can be provided. The angle of rotation about the hinge joint is measured. An orientation of the vehicle relative to the surface based on the vehicle geometric date, the surface geometric data, and the measured angle of rotation can be determined. A system and method for determining the orientation of an object is also provided.

Abstract: A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing.

Abstract: A multidirectional wheel for traversing a surface that includes a hub having a first axial direction of rotation. A plurality of rollers are disposed around an outer periphery of the hub. The rollers are mounted for rotation in a second axial direction that is at an angle to the first axial direction. The wheel includes at least one magnet that is mounted to the hub. The hub is made of a magnetically inducible material that concentrates the flux of the at least one magnet toward the surface being traversed. A method for traversing a magnetically inducible surface using the multidirectional wheel is further provided.

Abstract: A method for traversing a magnetically inducible surface using a multidirectional wheel is provided. The method includes providing a vehicle having the multidirectional wheel, rotating a hub of the wheel along a first axial direction of rotation, continuing rotation of the hub of the wheel so as to cause a first roller disposed about a periphery of the hub to move out of contact with a first portion of the magnetically inducible surface and to cause a second roller disposed about the periphery of the hub in a plurality of rollers to contact a second portion of the magnetically inducible surface, wherein at least one roller among the plurality of rollers is in contact with the magnetically inducible surface throughout rotation of the wheel, and wherein the flux of the at least one magnet is concentrated toward portions of the surface being traversed adjacent to one or more of the plurality of rollers throughout rotation of the wheel.

Abstract: A method and device for cleaning and pretreating solar panels is provided. The device comprises a brush having cleaning elements made from silicone foam rubber material. The cleaning elements can be flaps of silicone foam rubber material. A sheet of silicone foam rubber material having two free ends can be attached to a core member such that the two free ends extend away from the core member to form flaps. The solar panels can be cleaned by brushing the solar panel surfaces with the flaps of silicone foam rubber material. The solar panels can also be pretreated by brushing the solar panel surfaces with silicone foam rubber material.

Abstract: A method and device for attaching and detaching material to a c-channel groove without requiring tools and without needing to access an end of the c-channel. The device comprises a coil-shaped element that is resiliently compressible and connected to a desired material. Through biasing or twisting the coil-shaped element, it is insertable at any point along a c-channel groove. The coil-shaped element is secured within the c-channel groove against separation therefrom through friction. A portion of the coil-shaped element can be extended outside of the c-channel groove for easy removal.

Abstract: A multidirectional wheel for traversing a surface that includes a hub having a first axial direction of rotation. A plurality of rollers are disposed around an outer periphery of the hub. The rollers are mounted for rotation in a second axial direction that is at an angle to the first axial direction. The wheel includes at least one magnet that is mounted to the hub. The hub is made of a magnetically inducible material that concentrates the flux of the at least one magnet toward the surface being traversed. A method for traversing a magnetically inducible surface using the multidirectional wheel is further provided.

Abstract: In one embodiment, a cleaning vehicle for cleaning a surface of an object includes first and second carriages (that define a frame). The vehicle also includes first and second wheels coupled to the first and second carriages to form a drive assembly and at least one motor is operatively coupled to at least one of the first and second wheels. A cleaning element extends between and is supported by the first and second carriages at a location forward of the first and second wheels. The vehicle also includes third and fourth wheels. The third wheel is adjustably mounted relative to the first wheel and the second traveler wheel is adjustably mounted relative to the second wheel. The third and fourth wheels are configured such that the object is received between the third and fourth wheels and the respective first and second carriages.