Abstract: Robotic systems, methods, and devices for grappling and actuating a pay load are provided. A robotic end effector device includes a grapple mechanism for capturing and rigidizing a pay load through a grapple fixture. The grapple mechanism grapples a probe of the grapple fixture and retracts the probe to bring a first coupling element of the grapple fixture into mating connection with a second coupling element on the grapple mechanism. Each coupling element includes a plurality of radially-disposed teeth and notches which are configured to mate with the notches of the other coupling element. The grapple mechanism includes a pay load present sensor for sensing the probe is present in the grapple mechanism to initiate grappling and a calibration sensor for tracking position of a moving component of the grapple mechanism. Retraction of the moving component is stopped at a target preload position based on the position tracking.

Abstract: Systems, methods, and devices for robotic capture of an object are provided. A system for robotic-based capture of a free flyer object includes a grapple fixture for mounting to the free flyer object and an end effector for capturing the free flyer object by interfacing with the grapple fixture. The grapple fixture includes a base and a deflectable probe. The end effector includes a probe guiding surface for deflecting and guiding a probe tip of the probe through an opening in the probe guiding surface and into a grappling position. The end effector includes a probe sensing element for sensing when the probe tip is in the grappling position and triggering a capture mechanism. The capture mechanism grapples the probe tip and an actuator retracts the capture mechanism to a predetermined position to establish a load-bearing interface between the free flyer object and the end effector.

Abstract: Machine vision markers and systems and methods for using and manufacturing machine vision markers are provided. The marker includes a first black target element comprising a black square; a square encoding stripe that extends around a perimeter of and encloses the black square and that is composed of a plurality of square encoding elements collectively encoding a binary data bit sequence encoding identification information about the target object, wherein each respective one of the plurality of square encoding elements is either a black square or a white square representing a data bit of 0 or 1 in the binary data bit sequence, respectively; a white target element comprising a white square ring that extends around a perimeter of and encloses the square encoding stripe; a second black target element comprising a black square ring that extends around a perimeter of the white square ring; and an out of plane white dot post disposed above or below a plane of the marker and positioned centrally on the marker.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: Embodiments of the present disclosure may include a nail removal system with a tube having an open end and a bore with an inner surface, a spring, and a gripping portion with a plurality of fingers. The tube may have a first position and second position. The gripping portion may have an opened position and closed position. The gripping portion may be in the opened position when the tube is in the first position. The plurality of fingers may be in the closed position when the tube is in the second position allowing the fingers to grip the head of a nail. The nail removal system may be operated manually, operated by a drill, or operated automatically using a robot. Advantageously, the nail removal system effectively removes a nail in a surface. A method of removing a nail from a surface using the nail removal system is also provided.

Abstract: A container for dispensing a liquid can include a housing. The housing can have a top wall, a base, and side walls, which form a substantially cuboid shape and a substantially uniform rectangular cross-section. The housing further includes a reservoir forming a portion of an interior of the housing. The reservoir can be configured to store the liquid. An outlet can be formed in the housing and fluidly coupled to the reservoir. A pump can be disposed in the interior of the housing. The pump can be operable to transfer the liquid between the reservoir and the outlet. A method of operating the container for dispensing a liquid includes providing the container. The liquid reservoir portion can be filled. The container can be transported to a predetermined location. The hose can be positioned and the pump can be actuated. The container can then be stored.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool.

Abstract: A container for dispensing a liquid can include a housing. The housing can have a top wall, a base, and side walls, which form a substantially cuboid shape and a substantially uniform rectangular cross-section. The housing further includes a reservoir forming a portion of an interior of the housing. The reservoir can be configured to store the liquid. An outlet can be formed in the housing and fluidly coupled to the reservoir. A pump can be disposed in the interior of the housing. The pump can be operable to transfer the liquid between the reservoir and the outlet. A method of operating the container for dispensing a liquid includes providing the container. The liquid reservoir portion can be filled. The container can be transported to a predetermined location. The hose can be positioned and the pump can be actuated. The container can then be stored.

Abstract: A sharing model enables users to easily and conveniently create and share standard and custom database objects, and applications, among users or groups of users. The sharing model includes systems and methods that allow users to conveniently create and customize tabs and tab sets that define relationships between custom objects and fields, standard objects and fields, and applications. A tab visually represents a user interface into an element of an application or into a database object. Selection of a tab provides a user access to the object or element of the application represented by the tab. A tab set is a group of related tabs that work as a unit to provide application functionality. New tabs and tab sets may be defined and tab set views may be customized so that an end user can easily and conveniently switch between the various objects and application elements represented by the displayed tabs and tab set views.

Abstract: Tool mount adaptors for interfacing a medical instrument with a medical insertion device are provided. The tool mount adaptor includes a collar for holding a medical instrument wherein the tool mount adaptor is releasably attachable to the medical insertion device. Cannula holder assemblies for a medical insertion device are also provided. The cannula holder assembly includes: (a) a cannula track; and (b) a cannula carriage slideably mounted on the cannula track comprising a cannula holder mount and a demobilizer. Medical insertion devices comprising the tool mount adaptors and/or cannula holder assemblies are also provided together with methods of using the medical insertion devices in diagnostic and/or therapeutic applications.