Abstract: A modular compartment bulkhead assembly is provided that includes a first external body, a bulkhead, and a second external body. The first external body segment may include a first end portion. The first end portion may be coupled to an external seal body and the external seal body may include a first internal channel. The bulkhead may include an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may include a second end portion. The second end portion may include a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

Abstract: A modular compartment bulkhead assembly is provided that includes a first external body, a bulkhead, and a second external body. The first external body segment may include a first end portion. The first end portion may be coupled to an external seal body and the external seal body may include a first internal channel. The bulkhead may include an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may include a second end portion. The second end portion may include a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

Abstract: A mapping and positioning apparatus may include an IMU module for monitoring movement through an environment, a scanner module, and a control unit. The IMU module is configured to monitor movement on the basis of detecting steps taken by a transporter. The scanner module may be configured to employ laser scanning to determine distances to objects or boundaries in the environment as the transporter moves the apparatus through the environment. The control unit may be configured to receive data from at least the IMU module and the scanner module and make an environmental determination to classify the environment. The control unit may be configured to generate map data based on the data received from the IMU module and the scanner module. The control unit may be configured to adaptively adjust processing of the data received from the IMU module and the scanner module based on a classification of the environment.

Abstract: A mapping and positioning apparatus may include an IMU module for monitoring movement through an environment, a scanner module, and a control unit. The IMU module is configured to monitor movement on the basis of detecting steps taken by a transporter. The scanner module may be configured to employ laser scanning to determine distances to objects or boundaries in the environment as the transporter moves the apparatus through the environment. The control unit may be configured to receive data from at least the IMU module and the scanner module and make an environmental determination to classify the environment. The control unit may be configured to generate map data based on the data received from the IMU module and the scanner module. The control unit may be configured to adaptively adjust processing of the data received from the IMU module and the scanner module based on a classification of the environment.