Abstract: Apparatuses and methods determine the three-dimensional position and orientation of a fiducial marker and tracking the three-dimensional position and orientation across different fields-of-view. Methods include: capturing an image of a first space in which the fiducial marker is disposed with a first sensor having a first field-of-view; determining the three-dimensional location and orientation of the fiducial marker within the first space based on the image of the first space in which the fiducial marker is disposed; capturing an image of a second space in which the fiducial marker is disposed with a second sensor having a second field-of-view; calculating pan and tilt information for the second sensor to move the second field-of-view of the second sensor to acquire an image of the fiducial marker; and determining the three-dimensional location and orientation of the fiducial marker within the second space based on the image of the second space.

Abstract: An ultrasonic injection device and methods of use are presented. The ultrasonic injection device comprises a housing, an injection nozzle attached to the housing, an ultrasonic vibration generator attached to the housing, and a pressure applicator. The injection nozzle has a number of openings configured to dispense a fluid. The ultrasonic vibration generator is configured to apply ultrasonic energy to fluid within the injection nozzle. The pressure application is configured to propel the fluid towards and out of the number of openings.

Abstract: A fastener includes a sleeve, a pin, and a visual indicator. The sleeve includes a tubular body. The pin includes a shank. At least a portion of the shank of the pin is configured to extend through the tubular body of the sleeve and to facilitate deformation of a portion of the tubular body into a bulb in response to a force applied to the tubular body of the sleeve by the shank of the pin. The visual indicator is configured to provide a visual verification of correct formation of the bulb.

Abstract: Apparatuses and methods determine the three-dimensional position and orientation of a fiducial marker and tracking the three-dimensional position and orientation across different fields-of-view. Methods include: capturing an image of a first space in which the fiducial marker is disposed with a first sensor having a first field-of-view; determining the three-dimensional location and orientation of the fiducial marker within the first space based on the image of the first space in which the fiducial marker is disposed; capturing an image of a second space in which the fiducial marker is disposed with a second sensor having a second field-of-view; calculating pan and tilt information for the second sensor to move the second field-of-view of the second sensor to acquire an image of the fiducial marker; and determining the three-dimensional location and orientation of the fiducial marker within the second space based on the image of the second space.

Abstract: A multi-axis gantry system comprising a multi-axis gantry apparatus and vacuum system, and method for repositioning is disclosed. The multi-axis gantry system comprises a frame. The frame includes a plurality of curved base members, a first rail, a second rail, a bridge slidably moveable along the first rail and the second rail, a carriage including an end effector, and a first plurality of pucks and a second plurality of pucks. The vacuum system comprises a vacuum controller, a first vacuum source and a second vacuum source. Each of the first and second vacuum sources is in fluid communication with one or more pucks of the first and second pluralities of pucks. The frame is reconfigurable from a first configuration mountable on a first work surface to a second configuration mountable on a second work surface that may be different from the first work surface.

Abstract: A multi-axis gantry system comprising a multi-axis gantry apparatus and vacuum system, and method for repositioning is disclosed. The multi-axis gantry system comprises a frame. The frame includes a plurality of curved base members, a first rail, a second rail, a bridge slidably moveable along the first rail and the second rail, a carriage including an end effector, and a first plurality of pucks and a second plurality of pucks. The vacuum system comprises a vacuum controller, a first vacuum source and a second vacuum source. Each of the first and second vacuum sources is in fluid communication with one or more pucks of the first and second pluralities of pucks. The frame is reconfigurable from a first configuration mountable on a first work surface to a second configuration mountable on a second work surface that may be different from the first work surface.

Abstract: Surface treatment of a tubular surface defining an axis extending from a first surface end to a second surface end includes partially surrounding the tubular surface, at a first position, with a first set of treating units, with the treating units arranged in a first arcuate array. Furthermore, each treating unit is configured to include a plurality of first applicator heads. In some examples, a position of each of the plurality of first applicator heads is determined relative to the tubular surface. The first set of treating units is moved from the first position towards a second position. In one non-limiting example, each of the plurality of first applicator heads is independently controlled to selectively apply a first treatment as the first set of treating units moves from the first position towards the second position.

Abstract: A surface treatment assembly for treating a contoured surface includes a surface treatment array formed from a plurality of base structures, each base structure operably coupled to a first phalange structure and a first phalange structure first end. A second phalange structure operatively coupled to each first phalange structure and a phalange joint disposed between each first phalange structure and each second phalange, thereby forming a finger structure. Moreover, at least one applicator head is coupled to a second phalange structure second end of each finger structure and configured to treat the contoured surface. A base structure actuator and a phalange joint actuator operatively coupled to and configured to manipulate the first phalange structure and the second phalange of each finger structure to adjust the surface treatment array relative to the contoured surface.

Abstract: A tooling assembly is provided, for use with a panel defining a tool-side surface and the tool-side surface defining a profile. The tooling assembly includes a base, a plurality of support members fixedly attached to the base, a plurality of frames, and a securing system. The frames each define an upper surface, where each support member is releasably coupled to a corresponding frame by a fastening system. The upper surfaces of the frames are each shaped to correspond with a portion of the profile of the tool-side surface of the panel. The securing system is for providing a suction force configured to releasably secure the panel against the upper surface of the frames.

Abstract: A surface treatment support structure assembly for treating a contoured surface includes a support structure array formed from a plurality of base structures, each base structure being operably coupled with respect to one another and configured to slide along a longitudinal axis and rotate about a laterally translating axis which is perpendicular to the longitudinal axis. The support structure array further includes at least one applicator head coupled to each base structure of the support structure array, each of the at least one applicator head being configured to treat the contoured surface. Additionally, a base structure actuator is operatively coupled to and configured to manipulate each base structure along the longitudinal axis and the laterally translating axis such that the support structure array is adjusted relative to the contoured surface.

Abstract: A method of applying a surface treatment on a contoured surface includes attaching a surface treatment repair assembly to the contoured surface that includes a robotic unit and an array of applicator heads, each applicator head being configured to apply a repair treatment to the contoured surface. A location of the surface treatment relative to the surface treatment repair assembly is determined using an optical sensor configured to scan the contoured surface and generate an image data set of the contoured surface. A damaged portion of the surface treatment is identified and a target area for surface treatment repair is defined based on comparing the image data set generated by the optical sensor and a pristine image data set. The surface treatment repair assembly is positioned with the array of applicator heads adjacent to the surface treatment, and each applicator head is selectively operated to repair the surface treatment.

Abstract: A surface treatment assembly for treating a contoured surface includes a surface treatment array formed from a plurality of base structures, each base structure operably coupled to a first phalange structure and a first phalange structure first end. A second phalange structure operatively coupled to each first phalange structure and a phalange joint disposed between each first phalange structure and each second phalange, thereby forming a finger structure. Moreover, at least one applicator head is coupled to a second phalange structure second end of each finger structure and configured to treat the contoured surface. A base structure actuator and a phalange joint actuator operatively coupled to and configured to manipulate the first phalange structure and the second phalange of each finger structure to adjust the surface treatment array relative to the contoured surface.

Abstract: An applicator assembly for treating a contoured surface including an attachment frame configured to secure and position an applicator head. In some embodiments, the applicator head is configured to apply a surface treatment to the contoured surface. The applicator assembly further includes, at least one sensor operatively coupled to the attachment frame and configured to scan the contoured surface and produce a contoured data set. Additionally, the applicator assembly includes an applicator actuator operatively coupled to the attachment frame and configured to manipulate the attachment frame such that the applicator assembly maintains an orientation of the applicator assembly relative to the contoured surface.

Abstract: A surface treatment assembly for treating a contoured surface includes a surface treatment array formed from a plurality of base structures, each base structure operably coupled to a first phalange structure and a first phalange structure first end. A second phalange structure operatively coupled to each first phalange structure and a phalange joint disposed between each first phalange structure and each second phalange, thereby forming a finger structure. Moreover, at least one applicator head is coupled to a second phalange structure second end of each finger structure and configured to treat the contoured surface. A base structure actuator and a phalange joint actuator operatively coupled to and configured to manipulate the first phalange structure and the second phalange of each finger structure to adjust the surface treatment array relative to the contoured surface.

Abstract: Surface treatment of a tubular surface defining an axis extending from a first surface end to a second surface end includes partially surrounding the tubular surface, at a first position, with a first set of treating units, with the treating units arranged in a first arcuate array. Furthermore, each treating unit is configured to include a plurality of first applicator heads. In some examples, a position of each of the plurality of first applicator heads is determined relative to the tubular surface. The first set of treating units is moved from the first position towards a second position. In one non-limiting example, each of the plurality of first applicator heads is independently controlled to selectively apply a first treatment as the first set of treating units moves from the first position towards the second position.

Abstract: A finishing apparatus for performing an automated finishing operation on a surface of a workpiece is disclosed. The finishing apparatus may include a platen fabricated from a magnetic material and having a platen surface, and a finishing module disposed on the platen surface and having a finishing operation end effector. The finishing module may generate a magnetic field that biases the finishing module toward the platen, and may be operable to generate a magnetic flux to control movement of the finishing module over the platen surface to perform the automated finishing operation on the surface of the workpiece.

Abstract: A method of applying a surface treatment on a contoured surface includes attaching a surface treatment repair assembly to the contoured surface that includes a robotic unit and an array of applicator heads, each applicator head being configured to apply a repair treatment to the contoured surface. A location of the surface treatment relative to the surface treatment repair assembly is determined using an optical sensor configured to scan the contoured surface and generate an image data set of the contoured surface. A damaged portion of the surface treatment is identified and a target area for surface treatment repair is defined based on comparing the image data set generated by the optical sensor and a pristine image data set. The surface treatment repair assembly is positioned with the array of applicator heads adjacent to the surface treatment, and each applicator head is selectively operated to repair the surface treatment.

Abstract: A method of treating a tubular surface which defines an axis extending from a first surface end to a second surface end includes partially surrounding the tubular surface, at a first position, with a first set of treating units, with the treating units arranged in a first arcuate array. Furthermore, each treating unit is configured to include a plurality of first applicator heads. Additionally, an embodiment of the method includes determining a position of each of the plurality of first applicator heads relative to the tubular surface and moving the first set of treating units from the first position towards a second position. In one non-limiting example, the method further includes independently controlling each of the plurality of first applicator heads to selectively apply a first treatment as the first set of treating units moves from the first position towards the second position.

Abstract: An inkjet printing system includes an ink reservoir defining an ink-receiving chamber and a control chamber, a control fluid source fluidly communicating with the control chamber, and an orientation sensor configured to determine an orientation of the ink reservoir and generate an orientation signal. A processor is operably coupled to the control fluid source and the orientation sensor, the processor programmed to determine a desired pressure for the control chamber based, at least in part, on the orientation signal, and control the control fluid source to adjust an actual pressure level in the control chamber to the desired pressure for the control chamber.

Abstract: A surface treatment repair assembly for applying a surface treatment to a contoured surface includes an attachment device configured to removably attach to the contoured surface and a robotic unit is coupled to the attachment device. Furthermore, a treating unit is operably mounted on the robotic unit and including a plurality of applicator heads forming a treatment array and each applicator head is configured to apply a surface repair treatment. At least one sensor is mounted on the treating unit and configured to identify a target area for the surface repair treatment and a controller is operably coupled to the robotic unit and the treating unit. The controller is programmed to control a movement of the robotic unit to position the treatment array adjacent to the target area and to selectively operate the treatment array to apply the surface repair treatment on the target area of the contoured surface.