Abstract: A system for servicing a data center using an autonomous vehicle (AV) is provided. The system comprises the AV and the AV is configured to: receive a task to perform within the data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigate from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing a procedure to bypass the movable barrier such that the AV can continue navigating along the path.

Abstract: A charging device autonomously charges an electric vehicle. The charging device includes: a main body and an arm coupled to the main body. The main body is controllably moveable, and the arm is controllably extendable and retractable in a longitudinal direction. A charging plug is included at a distal end of the arm. The charging plug is controllably moveable and insertable into a charging portal of the electric vehicle. The arm comprises: a rigid chain, the rigid chain being compliant in a first direction from a neutral axis and resistant in an opposite second direction past the neutral axis, or at least one scissor arm.

Abstract: Devices, methods and software for automated electrical connector positioning for electric vehicle (EV) charging are provided. Using, for example, the disclosed automatic charging device, a method for charging an EV includes determining receipt of an EV-side electrical connector to a charging zone of an EV charging environment. The method includes actuating a charger-side electrical connector from an initial position outside of the charging zone to a final position inside of the charging zone. The final position corresponds to the charger-side electrical connector matingly engaged with the EV-side electrical connector.

Abstract: A protective arrangement for an electric vehicle charging system includes a floor unit forming a recess and a linkage disposed in the recess. The linkage is extendable from the recess from a stowed position to an extended position. A cleaning device is disposed to discourage accumulation of debris into the recess and on the linkage when the linkage is in the stowed position.

Abstract: A submersible inspection drone used for inspection of liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The cameras on the submersible can be fixed in place and can be either static or motion picture cameras. The submersible can include an input/output selector capable of switching between the camera images, either through commanded action of a user or through computer based switching. In one form the input/output selector is a multiplexer. The base station can be configured to display images from the cameras one at a time, or can include a number of separate viewing portals in which real time images are displayed. The base station can include a demultiplexer synchronized to the multiplexer of the submersible.

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 system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.

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: 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 system for servicing a data center using an autonomous vehicle (AV) is provided. The system comprises the AV and the AV is configured to: receive a task to perform within the data center, wherein the data center comprises a plurality of servers associated with a plurality of enterprise organizations; navigate from an initial location within the data center to a new location within the data center along a path extending through a portion of the data center, the path being determined automatically; and while navigating the path and in response to encountering a movable barrier disposed along the path, performing a procedure to bypass the movable barrier such that the AV can continue navigating along the path.

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 plug connection system that autonomously charges an electric vehicle (EV) is provided. The method includes: adjusting configuration settings of an image capturing device; capturing an image using the image capturing device, wherein a portion of the image comprises an optically distinctive object associated with a charging portal of the EV, and wherein the image comprises a plurality of pixels; applying a pixel value threshold associated with a pixel metric to the image to filter the plurality of pixels of the image to a first subset of pixels; determining, based on filtering the plurality of pixels to the first subset of pixels, a location of the optically distinctive object associated with the charging portal of the EV within the image; and providing information to maneuver a robotic arm to a physical position associated with the location of the optically distinctive object within the image.

Abstract: A charging device autonomously charges an electric vehicle. The charging device includes: a main body and an arm coupled to the main body. The main body is controllably moveable, and the arm is controllably extendable and retractable in a longitudinal direction. A charging plug is included at a distal end of the arm. The charging plug is controllably moveable and insertable into a charging portal of the electric vehicle. The arm comprises: a rigid chain, the rigid chain being compliant in a first direction from a neutral axis and resistant in an opposite second direction past the neutral axis, or at least one scissor arm.

Abstract: A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

Abstract: Devices, systems, and methods for electric vehicle (EV) charging are disclosed. Devices include a base and at least one vertical rail coupled to the base and extending upward therefrom, and at least one slide engaged with the rail(s). Single rail devices include at least two slides engaged with the rail. Devices having at least two rails include at least one slide engaged with each of the rails. A connector unit having a first end and a second end is pivotably coupled to a plurality of elongate support arms at portions of the second end. An opposite end of each support arm is pivotably coupled to individual slide(s). The disclosed devices, systems and methods enable precise positioning of charger electrical connectors for mating engagement with vehicle electrical connectors for EV charging. Automation features are integratable for hands-free operation in a variety of residential and commercial EV charging environments.

Abstract: A protective arrangement for an electric vehicle charging system includes a floor unit forming a recess and a linkage disposed in the recess. The linkage is extendable from the recess from a stowed position to an extended position. A cleaning device is disposed to discourage accumulation of debris into the recess and on the linkage when the linkage is in the stowed position.

Abstract: A method and apparatus for automatic charging of electric vehicles in which a plug head of a charging unit is automatically received in a receiving compartment of a vehicle charger actuation device. A push wall of the vehicle charger actuation device is displaced into contact the plug head in a manner that facilitates rotation of the plug head into angular alignment with the plug head receptacle. The charging unit can align a position of the plug head with the plug head receptacle such that continued displacement of the push wall displaces the plug head to a position at which the plug head is electrically coupled to the plug head receptacle. After a charging event, the push wall moves away from the plug head receptacle and engages a pull rod that is coupled to a pin skirt such that the pin skirt is displaced in a direction that ejects the plug head from the plug head receptacle.

Abstract: An automatic charging device and method is described that is positionable to access an underside of an electrical vehicle that facilitates hands-free connection of a vehicle-side electrical connector with a floor unit electrical connector. The automatic charging device includes a floor unit, a first slidable carriage disposed in the floor unit, a second slidable carriage disposed in the floor unit, a pivotal link coupled to the floor unit electrical connector, and a lift mechanism connected to the second slidable carriage and the pivotal link. The floor unit electrical connector is arranged to rise away from the floor unit in a direction of the vehicle-side electrical connector to facilitate a mating of the vehicle-side electrical connector and the floor unit electrical connector. The first and the second slidable carriages are configured to move in a linear xy-direction, respectively, and the lift mechanism is configured to move in a linear z-direction.

Abstract: A method and apparatus for automatic charging of electric vehicles in which a plug head of a charging unit is automatically received in a receiving compartment of a vehicle charger actuation device. A push wall of the vehicle charger actuation device is displaced into contact the plug head in a manner that facilitates rotation of the plug head into angular alignment with the plug head receptacle. The charging unit can align a position of the plug head with the plug head receptacle such that continued displacement of the push wall displaces the plug head to a position at which the plug head is electrically coupled to the plug head receptacle. After a charging event, the push wall moves away from the plug head receptacle and engages a pull rod that is coupled to a pin skirt such that the pin skirt is displaced in a direction that ejects the plug head from the plug head receptacle.

Abstract: A vehicle-side receptacle unit is described that is positionable on an underside of an electrical vehicle (EV) and a method for operating such unit. The vehicle-side receptacle facilitates hands-free connection of an automatic charging device including a charger electrical connector of a floor-positioned recharging unit. The automatic charging device includes a plurality of movable links including a distal link and a proximal link and a pivotal lift arm connected to the distal link coupled to the plurality of movable links and to the charger electrical connector. The plurality of movable links include rounded edges and the rounded edges are configured to minimize rotational interference between links during motion. The plurality of movable links include spring loaded casters. The plurality of movable links are coplanar when in a non-operational position and when in an operational position.