Abstract: A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.

Abstract: A system for use in servicing a machine. The system includes a tubular body including a longitudinal axis, a tip end, a dispensing nozzle defined at the tip end, and an interior channel in flow communication with the dispensing nozzle. The tubular body is configured to be flexible. An actuator is configured to selectively modify an orientation of the tubular body, and a reservoir is in flow communication with the interior channel. The reservoir is configured to supply a maintenance fluid to the tubular body for discharge from the dispensing nozzle.

Abstract: A robotic access system including a robotic fan crawler configured to traverse a surface of a wind turbine and perform one or more tasks. The robotic fan crawler includes one or more fans to adhere the robotic fan crawler to the surface of the wind turbine and one or more driving components to drive the robotic fan crawler along the surface of the wind turbine. The robotic fan crawler further includes one or more omnidirectional cameras operable to capture images of the surface from multiple perspectives during an inspection activity and data collection period. One or more steering components provide directional changes of the robotic fan crawler during operation. A tether cable is coupled to the robotic fan crawler and a tether management system to provide one or more of power, communications, grounding, supplies and distance calculations.

Abstract: A cable tensioning system including: a body defining a balance point; a cable receiving area having gripping elements configured to grip and bias a cable relative to the cable tensioning system; and a sensor configured to sense changes to a balance of the body about the balance point, wherein the cable tensioning system is configured to maintain the cable within a preset range of tensions

Abstract: A tool system for inserting into a cavity, the tool system including a first continuum having a flexible body defining a connection interface; and a second continuum having a flexible body defining a connection interface; and an engagement mechanism configured to couple the connection interfaces of the first and second continua together to form the tool.

Abstract: The present invention is directed to in situ methods for maintaining turbine assemblies. One such method includes: disposing a maintenance apparatus on the rotor; positioning the maintenance apparatus proximate to the damaged region by rotating the rotor; and repairing the damaged region by operating a repair tool disposed on the apparatus. Another method includes: disposing a maintenance apparatus on the stator; positioning the damaged region proximate to the maintenance apparatus by rotating the rotor; and repairing the damaged region by operating a repair tool disposed on the apparatus.

Abstract: A system and method for performing a task on a LPS of a wind turbine includes a robotic testing device having a plurality of clamping arms and a LPS test probe coupled to a robotic end effector. The robotic testing device can be positioned around an outer perimeter of a rotor blade of the wind turbine. A cable, coupled to an up-tower anchor point, is attached to the robotic testing device and extends between the anchor point and a support surface. A lightning receptor of the LPS is between the up-tower anchor point and the tower support surface. As the cable is displaced, the robotic testing device moves to a position at which it is clamped to the rotor blade, adjacent the lightning receptor. The end effector moves to position the test probe in contact with the lightning receptor to conduct the test on the LPS.

Abstract: A motorized apparatus includes an articulated body assembly, a plurality of wheels coupled to the articulated body assembly, and at least one maintenance device coupled to the articulated body assembly. The articulated body assembly includes a first body and a second body. The articulated body assembly includes a joint coupling the first body to the second body. The first body is pivotable relative to the second body about a pivot axis extending through the joint. At least one wheel is transitionable between a first position and a second position. The motorized apparatus also includes a motor drivingly coupled to the plurality of wheels and configured to move the articulated body assembly relative to a surface. The motorized apparatus further includes at least one magnet coupled to the at least one wheel.

Abstract: A reconfigurable maintenance apparatus includes a body configured to operate within a cavity. The body has a first shape in a first configuration and a second shape in a second configuration. The first configuration facilitates the body entering the cavity. The reconfigurable apparatus also includes at least one maintenance device operably coupled to the body. The second configuration facilitates the at least one maintenance device of the reconfigurable apparatus performing a maintenance operation.

Abstract: An insertion tool is provided for an engine defining an access opening and including a component defining at least in part a cavity. The insertion tool includes: an insertion tool arm having a plurality of segments, the insertion tool arm configured for insertion through the access opening into the cavity and the plurality of segments configured to be in a fixed position relative to one another within the cavity; and a base coupled to the insertion tool arm and configured to be positioned outside the cavity and to move the insertion tool arm along at least two degrees of freedom.

Abstract: A method for inspecting and repairing a surface of a component of a gas turbine engine, the method including: inserting an inspection and repair tool into an interior of the gas turbine engine; inspecting the surface of the component with the inspection and repair tool; performing a repair of the surface of the component with the inspection and repair tool from within the interior of the gas turbine engine, the inspection and repair tool remaining within the interior of the gas turbine engine between inspecting the component and performing the repair of the surface of the component.

Abstract: A method including positioning a modular robotic component proximate an area of interest on a surface of a wind turbine. The modular robotic component including a plurality of modules that perform a plurality of tasks. The method further including inspecting the area of interest with the modular robotic component for an indication requiring at least one of repair or upgrade and operating the modular robotic component to perform the plurality of tasks sequentially as the modular robotic component moves along the surface of the wind turbine. A modular robotic component and system including the modular robotic component are disclosed.

Abstract: A service apparatus for use in maintaining a turbine assembly (100) includes a carriage (132, 304) configured to move through a cavity of the turbine assembly (100), a motorized system (218, 500, 600, 700, 800) coupled to the carriage (132, 304), and a maintenance device (128, 400) coupled to the motorized system (218, 500, 600, 700, 800). The motorized system (218, 500, 600, 700, 800) is configured to move the maintenance device (128, 400) relative to the carriage (132, 304). The motorized system (218, 500, 600, 700, 800) includes a first motor (710, 720, 805) configured to move the maintenance device (128, 400) in a first direction (324) and a second motor (710, 720, 805) configured to move the maintenance device (128, 400) in a second direction (324).

Abstract: A system and method for performing one or more tasks on a LPS of a wind turbine are disclosed. The system generally includes a robotic testing device including a plurality of clamping arms and a LPS test probe coupled to a robotic end effector. The robotic testing device is configured to be positioned around at least a portion of an outer perimeter of a rotor blade of the wind turbine. A cable, coupled to an up-tower anchor point, is attached to the robotic testing device and extends between the up-tower anchor point and a support surface. A lightning receptor of the LPS is disposed between the up-tower anchor point and the tower support surface. As the cable is displaced, the robotic testing device is moved to a position at which it is clamped to the rotor blade, adjacent the lightning receptor. The end effector is moveable to position the LPS test probe in contact with the lightning receptor to conduct the one or more tests on the LPS.

Abstract: A system for use in maintaining a turbine assembly includes a plurality of blades and a plurality of vanes. The system includes an insertion apparatus including an insertion end, a steering end opposite the insertion end, and a body extending from the insertion end to the steering end. The insertion end is positionable proximate at least one blade of the plurality of blades using a steering interface. The system also includes a service apparatus for use in maintaining the turbine assembly. The service apparatus includes at least one maintenance device and an anchoring feature. The service apparatus is proximate the insertion end of the insertion apparatus and is positionable in a plurality of orientations via the steering interface. The anchoring feature is configured to releasably couple the service apparatus to at least one blade of the plurality of blades.

Abstract: A system for use in maintaining a wind turbine blade includes a motorized apparatus sized to fit within an interior cavity of the wind turbine blade and configured to travel along a length of the wind turbine blade on an interior surface when the wind turbine blade is in a substantially horizontal position. The motorized apparatus includes a body, a drive system configured to move the body, and a camera coupled to the body. The camera is configured to capture at least one image of the interior surface. The system also includes a controller configured to map the at least one image onto a model of the interior surface. The system also includes an operator interface including a display device. The operator interface is configured to display the model on the display device and receive user input allowing an operator to interact with the model.

Abstract: The present approach relates to streaming data derived from inspection data acquired using one or more robots performing inspections of an asset or assets. Such inspections may be fully or partially automated, such as being controlled by one or more computer-based routines, and may be planned or dynamically altered in response to inputs or requirements associated with an end-user of the inspection data, such as a subscriber to the data in a publication/subscription distribution scheme. Thus, an inspection may be planned or altered based on the data needs or subscription levels of the user or customers.

Abstract: The present invention is directed to in situ methods for maintaining turbine assemblies. One such method includes: disposing a maintenance apparatus on the rotor; positioning the maintenance apparatus proximate to the damaged region by rotating the rotor; and repairing the damaged region by operating a repair tool disposed on the apparatus. Another method includes: disposing a maintenance apparatus on the stator; positioning the damaged region proximate to the maintenance apparatus by rotating the rotor; and repairing the damaged region by operating a repair tool disposed on the apparatus.

Abstract: A sensor calibration system includes a plurality of sensors and a user interface configured to receive user-provided locations of at least two sensors of the plurality of sensors. The sensor calibration system further includes a motorized apparatus including a drive system, at least one detector, and a localization system. The sensor calibration system further includes a controller communicatively coupled to the user interface and the motorized apparatus. The controller is configured to determine a whether each of at least two sensors is a key sensor based on the user-provided locations. The controller is configured to determine a path for the motorized apparatus based on the user-provided locations. The controller is further configured to determine a position of each sensor based on the location of the motorized apparatus when each sensor is detected by the at least one detector.

Abstract: A system for use in servicing a machine. The system includes a tubular body including a longitudinal axis, a tip end, a dispensing nozzle defined at the tip end, and an interior channel in flow communication with the dispensing nozzle. The tubular body is configured to be flexible. An actuator is configured to selectively modify an orientation of the tubular body, and a reservoir is in flow communication with the interior channel. The reservoir is configured to supply a maintenance fluid to the tubular body for discharge from the dispensing nozzle.