Abstract: Methods and structures for improving alignment contrast for patterning a metal layer generally includes depositing a metal layer having a plurality of grains, wherein grain boundaries between the grains forms grooves at a surface of the metal layer. The metal layer is subjected to surface treatment to form an oxide or a nitride layer and fill the surface grooves. The metal layer can be patterned using alignment marks in the metal layer and/or underlying layers. Filling the grooves with the oxide or nitride increases alignment contrast relative to patterning the metal layer without the surface treating.

Abstract: A system and method of object manipulation and training including providing at least one robotic hand including a plurality of grippers connected to a body and providing a plurality of cameras disposed in a periphery surface of the grippers. The method also includes providing a plurality of tactile sensors disposed in the periphery surface of the grippers and actuating the grippers to grasp an object. The method further includes detecting a position of the object with respect to the robotic hand via a first image feed from the tactile sensors and detecting a position of the object with respect to the robotic hand via a second image feed from the cameras. The method also includes generating instructions to grip and manipulate an orientation of the object based on the first and the second image feeds for a visualization of the object relative to the robotic hand.

Abstract: A method of automated in-hand calibration including providing at least one robotic hand including a plurality of grippers connected to a body and providing at least one camera disposed on a periphery surface of the plurality of grippers. The method also includes providing at least one tactile sensor disposed in the at least one illumination surface and actuating the plurality of grippers to grasp an object. The method further includes locating a position of the object with respect to the at least one robotic hand and calibrating a distance parameter via the at least one camera. The method also includes calibrating the at least one tactile sensor with the at least one camera and generating instructions to grip and manipulate an orientation of the object via an image feed from the at least one camera for a visualization of the object.

Abstract: An in-hand object location system including at least one robotic hand including a plurality of grippers and a body and at least one camera disposed on a periphery surface of the plurality of grippers. The system also includes at least one illumination surface disposed on a periphery surface of the plurality of grippers and at least one tactile sensor disposed in the at least one illumination surface. The at least one robotic hand, the plurality of grippers, the at least one camera, the at least one illumination surface and the at least one tactile sensor are electrically connected to a controller.

Abstract: A deployment system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The deployment system includes a mount connectable to the housing through an aperture formed in a wall thereof. An extendable arm is connected to the mount and positioned within the housing. A tether is slidably coupled to the extendable arm and adapted to connect with the inspection vehicle. A control mechanism is operable to control deployment of the tether and the position of the extendable arm.

Abstract: Methods, electrodes, and electrochemical devices using surface-modified pseudo-graphite are disclosed. In one illustrative embodiment, a method may include depositing a pseudo-graphite material onto a surface of an electrode substrate to produce a pseudo-graphite material surface. The method may also include modifying the pseudo-graphite material surface to alter electrochemical characteristics of the electrode.

Abstract: A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.

Abstract: A plurality of sensors of the same composition or different compositions are provided on a substrate or in a bundle and are sensitive to a plurality of constituent species in a mixed species medium being measured. The sensors of the same composition may each be maintained at different temperatures. The sensors of different compositions may each be maintained at the same temperature or different temperatures. The intersection of measurement values from the plurality of sensors may be used to determine the actual concentrations of the constituent species (e.g., hydrogen and oxygen) in the mixed species medium.

Abstract: An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

Abstract: A method and system for acquiring, manipulating and displaying inspection data obtained by sensors associated with submersible inspection vehicle within a housing having a liquid medium is disclosed in the present application. A control system including an electronic controller is operably coupled with the inspection vehicle and is configured to display data transmitted from the sensor and overlay input data from an operator on the display to facilitate real time analysis during the inspection event.

Abstract: A light emitting diode (LED) sensor including a first LED device disposed on a support and configured to emit a radiation, and a second LED device disposed on the support and configured to receive the emitted radiation. A structure is formed on the support, the first LED device, and the second LED device. The structure defines a contoured surface. A material is located adjacently to the contoured surface, wherein the material includes a property adapted to reflect the emitted radiation from the first LED to the second LED. The structure includes an ellipsoid and the contoured surface defines an ellipsoidal surface. First and second foci are defined by the ellipsoid, wherein emitted radiation from the first LED device converges at the first foci and the second foci and is reflected to the second LED device. The device is configured to determine a temperature or a chemical property of an analyte.

Abstract: A deployment system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The deployment system includes a mount connectable to the housing through an aperture formed in a wall thereof. An extendable arm is connected to the mount and positioned within the housing. A tether is slidably coupled to the extendable arm and adapted to connect with the inspection vehicle. A control mechanism is operable to control deployment of the tether and the position of the extendable arm.

Abstract: A submersible inspection system for inspection of liquid cooled electrical transformers having a wirelessly controlled submersible inspective device. A submersion depth of the submersible can be controlled using a ballast system. The system can also include an input/output selector to switch between camera images from the submersible. A heartbeat signal indicative of a health of the transmitted signal can be transmitted to the submersible, and redundant channel selection logic can facilitate switching to a channel that includes a current heartbeat. A plurality of status interrogation systems disposed on the submersible can capture data regarding inspection procedures performed on the transformer, and the submersible can include tools for repair procedures. Data transmitted from the submersible, and overlayed with input data from an operator, can facilitate real time inspection analysis. The system can also form a model of an internal in the transformer, as well as produce a three-dimensional field of view.

Abstract: An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.

Abstract: A submersible remotely operable vehicle used for inspection of liquid cooled electrical transformers can include a number of separate cameras and sensors for mapping and navigating the internal structure of the transformer with liquid coolant remaining in the transformer. The remotely operable vehicle can be wirelessly controlled to perform various inspection functions while the number of cameras provide video streams for processing to produce a three dimensional field of view based on an observation position of the remotely operable vehicle.

Abstract: A plurality of sensors of the same composition or different compositions are provided on a substrate or in a bundle and are sensitive to a plurality of constituent species in a mixed species medium being measured. The sensors of the same composition may each be maintained at different temperatures. The sensors of different compositions may each be maintained at the same temperature or different temperatures. The intersection of measurement values from the plurality of sensors may be used to determine the actual concentrations of the constituent species (e.g., hydrogen and oxygen) in the mixed species medium.

Abstract: A light emitting diode (LED) sensor including a first LED device disposed on a support and configured to emit a radiation, and a second LED device disposed on the support and configured to receive the emitted radiation. A structure is formed on the support, the first LED device, and the second LED device. The structure defines a contoured surface. A material is located adjacently to the contoured surface, wherein the material includes a property adapted to reflect the emitted radiation from the first LED to the second LED. The structure includes an ellipsoid and the contoured surface defines an ellipsoidal surface. First and second foci are defined by the ellipsoid, wherein emitted radiation from the first LED device converges at the first foci and the second foci and is reflected to the second LED device. The device is configured to determine a temperature or a chemical property of an analyte.

Abstract: A submersible vehicle which includes a plurality of cameras can be used to collect visual images of an object of interest submerged in a liquid environment, such as in a tank (e.g. transformer tank). In one form the submersible vehicle is remotely operated such as an ROV or an autonomous vehicle. Image information from the submersible along with inertial measurements in some embodiments is used with a vision based modelling system to form a model of an internal object of interest in the tank. The vision based modelling system can include a number of processes to form the model such as but not limited to tracking, sparse and dense reconstruction, model generation, and rectification.