Abstract: A robot for exploring a conduit including a first frame and a second frame. The first frame and the second frame each including a bearing module provided with a plurality of articulated arms. Each articulated arm including a bearing portion that can be applied against a wall of the conduit. Each bearing module is further configured to alternately switch from a bearing portion engaged configuration into a bearing portion disengaged configuration. The articulated arms are disposed in a plane perpendicular to the longitudinal axis x of the robot, and the articulated arms are capable of at least partially moving between said engaged configuration and said disengaged configuration, via a rotational motion about an axis parallel to the longitudinal axis x.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

Abstract: An elevator pit having a waterproof cement floor and method for installing the same. The elevator pit includes a jack casing and a drainage pit installed within the elevator pit. A trench is formed in exposed ground surface and defines a channel having a first end positioned at an area that is susceptible to water accumulation within the elevator pit and a second end terminating at the drainage pit. A perforated conduit extends within the channel with an end terminating at the drainage pit. A layer of gravel is disposed over the exposed ground surface and trench at a predetermined height to cover the perforated conduit. A layer of waterproof cement is provided over the ground surface at a predetermined height to cover the gravel, channel and perforated conduit to form the waterproof cement floor which extends across an entire periphery of the elevator pit.

Abstract: A method is provided for maintaining an aircraft of a type of aircraft. The method includes accessing time series of observations of variables that describe in-service operation of the aircraft, maintenance of the aircraft, and weather and/or terrain in an environment of the aircraft during in-service operation and maintenance. The method includes determining a behavior model that is trained to predict demand for replacement aircraft parts from a training set across a plurality of aircraft of the type of aircraft. The behavior model is implemented as a directed acyclic graph of machine learning models that are connected to one another. The time series are applied to the behavior model to predict the demand for the replacement aircraft parts, a plan is created for acquisition of the replacement aircraft parts and maintenance of the aircraft based on the demand as predicted, and the plan is executed.

Abstract: A polishing tool wear amount prediction device, machine learning device, and system capable of predicting a wear amount of a polishing tool unit of a polishing tool during polishing are provided. The polishing tool wear amount prediction device includes a machine learning device which observes polishing condition data indicating a processing condition of polishing as a state variable indicating a current environment state and performs, based on the state variable, learning or prediction by using a learning model which stores a correlation of the wear amount of the polishing tool with respect to the processing condition of polishing.

Abstract: Provided is the technique that allows an operator or the like to easily grasp in which part of a mold a defect has been detected. A display control device is configured to carry out a display process in which a marker indicating a defect of a mold determined by an inspection result, which is obtained by an inspection of molds, is optically displayed on the mold.

Abstract: A method of inspection or maintenance of a curved ferromagnetic surface using an unmanned aerial vehicle (UAV) having a releasable crawler is provided. The method includes: flying the UAV from an initial position to a pre-perching position in a vicinity of the ferromagnetic surface; autonomously perching the UAV on the ferromagnetic surface; maintaining magnetic attachment of the perched UAV to the ferromagnetic surface; releasing the crawler from the magnetically attached UAV onto the ferromagnetic surface; moving the crawler over the curved ferromagnetic surface while maintaining magnetic attachment of the released crawler to the ferromagnetic surface; inspecting or maintaining the ferromagnetic surface using the magnetically attached crawler; and re-docking the released crawler with the perched UAV.

Abstract: A method of segmentation of a three-dimensional image for generating a model of a myocardial wall includes recording a three-dimensional image of a wall of the myocardium, the wall delimiting at least one cavity of the heart; segmenting a continuous part of the wall into at least a first volume having a thickness less than a first predefined thickness threshold of between 0 and 5 mm and a second volume of a continuous part of the wall having a thickness greater than the first threshold; generating a model of the wall of the myocardium, where the continuous part of the wall of the myocardium is modelled according to at least two volumes that continue each other.

Abstract: A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. The throwable robot includes a pair of torque limiting mechanisms, each torque limiting mechanism being operatively coupled between a motor and a drive wheel. Each torque limiting mechanism comprises a drive flange portion, a driven flange portion and a plurality of rollers. A spring element provides a ring force that biases the rollers toward the driven flange portion.

Abstract: An unmanned aerial vehicle (UAV) includes a body constructed to enable the UAV to fly and three or more legs connected to the body and configured to land and perch the UAV on a curved ferromagnetic surface. Each leg includes a first portion connected to the body, a second portion including a magnet and configured to magnetically attach and maintain the magnetic attachment of the leg to the ferromagnetic surface during the landing and perching, and a passive articulation joint connecting the first and second portions and configured to passively articulate the second portion with respect to the first portion in response to the second portion approaching the ferromagnetic surface. The UAV further includes a releasable crawler including magnetic wheels which detach the crawler from the body during the perching and maneuver the crawler on the ferromagnetic surface while magnetically attaching the crawler to the ferromagnetic surface after detachment.

Abstract: A hull robot is disclosed for operation on a surface of a hull of a vessel. The robot can include a drive subsystem onboard the robot for driving and maneuvering the robot about the hull. A sensor subsystem onboard the robot can sense an attachment state of the robot to the hull. The attachment state can include at least one of attached and detached. A signal generation subsystem onboard the robot can emit a distress signal when the attachment state is detached.

Abstract: Provided is a blade maintenance device for a wind turbine. The blade maintenance device for the wind turbine includes: a body that travels along a leading edge of a blade; support units that extend from the body to both sides of the blade and support the sides of the blade; and a maintenance unit installed at at least one of the body and the support units so as to perform maintenance of an outer side of the blade.

Abstract: A method for managing an airplane fleet is described. The method includes: (i) developing a gold body database for an airplane model for each non-destructive inspection system implemented to detect defects; (ii) inspecting, over a period of time, a plurality of candidate airplanes of the airplane model, using different types of non-destructive inspection systems and the gold body database associated with each of the different types of non-destructive inspection systems, to identify defects present on the plurality of candidate airplanes; (iii) repairing or monitoring defects detected on the plurality of candidate airplanes; (iv) conducting a trend analysis by analyzing collective defect data obtained from inspecting of plurality of candidate airplanes; and (v) maintaining the airplane fleet, which includes plurality of candidate airplanes, by performing predictive analysis using results of trend analysis.

Abstract: A robot system according to an embodiment includes a sensor, an arm, and an instructor. The sensor is configured to detect an interface of a liquid. The arm includes a holding mechanism that holds a container containing the liquid. The instructor instructs the arm to cause the container to enter a sensing region of the sensor while holding the container, so as to cause the sensor to detect the interface.

Abstract: Provided is an in-pipe inspection robot which moves along a path in a pipe to inspect suspected areas such as cracks in the pipe. An in-pipe inspection robot in accordance with an exemplary embodiment of the present invention has a configuration in which two or more operating units having a plurality of arms, which move forward and backward in a radial direction of a pipe, are connected to each other to move in a straight direction or to be bent relative to each other by means of a flexible link mechanism.

Abstract: A low profile stepper robot is described and claimed herein. The robot includes a plurality of foot assemblies. Each foot assembly includes a suction cup, a vacuum generator, and a valve, with the vacuum generator being operationally connected to the suction cup. A conduit connects a source of operational fluid flow to the vacuum generators, and the valves allow or prevent fluid flow to the vacuum generators. Actuators are positioned between the foot assemblies and the robot base. The actuators provide for linear and rotational displacement of the foot assemblies, allowing the robot to walk and turn along an inspection surface.

Abstract: An inspection apparatus for inspecting high voltage insulators is disclosed. The inspection apparatus includes a first platform having first and second linkages, at least one outer gripping mechanism having first and second arms extending outwardly from the first platform, a second slidable platform adapted to slide along the first and second linkages, and at least one inner gripping mechanism having third and fourth arms extending outwardly from the second slidable platform. The outer and inner gripping mechanisms are adapted to move between an open position where the insulator is received by the outer and inner gripping mechanisms and a closed position where the outer and inner gripping mechanisms engage the insulator.

Abstract: A method and apparatus for inspecting an object. In response to a presence of the object in an inspection area, a volume containing the object is identified. The volume has a plurality of portions. A number of sensor systems is assigned to the plurality of portions of the volume. Each sensor system in the number of sensors systems is assigned to a number of portions in the plurality of portions of the volume based on whether each sensor system is able to generate data with a desired level of quality about a surface of the object in a particular portion in the plurality of portions. Data about the surface of the object is generated using the number of sensor systems assigned to the plurality of portions of the volume. A determination is made as to whether a number of inconsistencies is present on the surface of the object using data.

Abstract: A serpentine body includes a first portion, a first wheel coupled to the first portion, a second portion, a second wheel coupled to the second portion, and at least one sensor coupled to the first portion and/or the second portion. The first wheel is rotatable in a first direction. The second wheel is rotatable in a second direction opposite the first direction when the first wheel rotates in the first direction.

Abstract: A drilling system includes a drilling machine, configured to drill a hole in a work piece along a drilling axis, a deployment mechanism, attached to the drilling machine, a measuring probe, attached to the deployment mechanism, and a controller, coupled to the drilling machine, the measuring probe, and the deployment mechanism. The measuring probe is configured to produce a signal indicative of an actual geometric parameter of the hole when inserted therein. The deployment mechanism is configured to selectively align the measuring probe along the drilling axis. The controller is configured to cause insertion of the measuring probe into the hole, and to receive the signal from the measuring probe.

Abstract: In a method for testing signal integrity of an electronic product using a signal integrity test apparatus, each electronic component of the electronic product includes a test label that identifies the electronic component. The signal integrity test apparatus includes a host computer, a robot device, an oscilloscope, a camera device, and a probe. The host computer is installed with a signal integrity test system that controls the signal integrity test apparatus to test signal integrity of the electronic product. The robot device includes a first robot arm and a second robot arm. The first robot arm controls the camera device to capture an image of the test label coupled to each electronic component. The second robot arm controls the probe to touch each electronic component. The oscilloscope measures voltage signals outputted from the electronic components to generate a signal integrity report of the electronic product.

Abstract: Systems and methods for robotic measurement of parts are provided. One system includes one or more omni-directional ground vehicles configured to move within a facility defined work zone to a setup calibration station and an engineering defined work space, wherein the engineering defined work space includes a part to be measured. The system also includes a multi-axis robot removably coupled to each of the omni-direction ground vehicles and configured to move a laser scanner, wherein the laser scanner of each of the multi-axis robots is configured to move in at least two linear directions and one rotational direction. The system further includes a processor configured to automatically generate a surface ready output file from measurement data received from the laser scanners, wherein the surface ready output file is configured to command a machine to manufacture a mating component to the part.

Abstract: A robot system capable of accurately measuring assembly accuracy of a workpiece formed to include a rotation shaft is provided. To implement such a robot system, a robot system according to an aspect of the present embodiment includes a robot and an accuracy measurement device. The robot transfers a workpiece formed to include a rotation shaft. The accuracy measurement device holds the rotation shaft of the workpiece transferred by the robot to be substantially parallel to the vertical direction, and measures assembly accuracy of the workpiece while rotating the rotation shaft to rotate the whole of the workpiece.

Abstract: The present invention is directed to the use and application of robotics in mining and post-mining applications, including smelting and processes associated with electrodeposition, electrorefining, cleaning, and disposal. In addition, the application of robotics includes functions associated with maintenance and operation of equipment used in mining operations.

Abstract: A mechanism for adjusting the orientation of an end effector (e.g., a non-destructive inspection sensor) during movement over a contoured surface, comprising: (1) a pneumatic or spring-loaded plunger shaft that facilitates positioning of an end effector onto a highly contoured surface by allowing a wide range of vertical motion; (2) a rocker pivotably coupled to a distal end of the plunger shaft, the rocker being pivotable about a horizontal axis to allow a pair of follower wheels coupled to distal ends of the rocker arms to follow the contoured surface and keep the end effector oriented correctly relative to the surface without tipping over; and (3) a hozzle (i.e., an end effector holder) attached to the rocker for rotation therewith, the end effector being coupled to the hozzle by an elastomeric gasket or a plurality of springs which allow the orientation of the end effector relative to the hozzle to change in response to contact forces.

Abstract: Force control system. The system includes a first pair of permanent magnets for providing a normal force on the wheel of a robot adapted for n-pipe inspections. A second pair of magnets is provided with opposite polarity so that a rotor containing magnets may be rotated with a minimum of torque required and therefore with a minimum of energy expended.

Abstract: A line bypass system is provided having a guide wire. The line bypass system has a support structure defining a first channel, into which a first wire portion of the guide wire is received. The support structure has a second channel, extending parallel to the first channel, into which a second wire portion of the guide wire is received. The first channel is dimensioned to facilitate engagement of a robot with the first wire portion and the second channel is dimensioned to facilitate engagement of a robot with the second wire portion as the robot traverses the support structure.

Abstract: A method for optimizing a schedule for impulse welding including generating a weld lobe using a preexisting welding schedule, the schedule prescribing a current, a weld time, and a pressure; identifying an operating window on the weld lobe; analyzing the operating window, the analysis including determining a maximum time range of the operating window, and determining a maximum current range of the operating window; until (i) the determined maximum time range of the operating window is greater than a predetermined percentage of the prescribed weld time of the schedule and (ii) the determined maximum current range is greater than the prescribed current of the schedule, creating additional weld lobes by varying the pressure and repeating the identifying an operating window and the analyzing the operating window steps; and selecting, within the operating window satisfying conditions (i) and (ii), a second schedule including a second weld time, a second current, and a second pressure.

Abstract: Provided is a pressed workpiece inspection apparatus. A main body of a finger mounted on a palletizer robot that transports a finished workpiece W to a palette includes the following components: two vacuum cups configured to attract the finished workpiece W, a vibrating mechanism configured to vibrate the finished workpiece W, a vibration detection sensor configured to detect a vibrational state of the finished workpiece W caused by the vibrating mechanism, a data logger configured to store and retain a detected signal from the vibration detection sensor, a transmitter configured to wirelessly transmit the detected signal stored and retained in the data logger to an analyzer, and a rechargeable battery configured to drive the vibration detection sensor, the data logger, and the transmitter. The analyzer determines whether or not the finished workpiece W is non-defective, based on the detected signal from the transmitter.

Abstract: A system for inspecting an aperture is disclosed. The aperture has an axis, a design geometric parameter, an actual geometric parameter, and a depth. The system includes a first measuring probe configured to produce a signal indicative of the actual geometric parameter of the aperture when inserted therein; a deployment mechanism supporting the first measuring probe and attachable to a robotic device, the deployment mechanism configured to selectively orient the first measuring probe along the axis of the aperture; and a controller, couplable to the robotic device, the first measuring probe, and the deployment mechanism. The controller is configured to cause insertion of the first measuring probe into the aperture substantially along the axis and to receive the signal from the probe.

Abstract: A driving wheel of a robot moving along a wire includes an inner wheel in which a rotation axis being driven to rotate by a motor is fitted, an outer wheel formed to surround the inner wheel and seated on the wire, and a shock absorbing support to elastically connect and support the inner wheel and the outer wheel between the inner wheel and the outer wheel, and a shock being transmitted is absorbed by allowing a relative movement of the inner wheel and the outer wheel by the elastic movement of the shock absorbing support. A robot moving includes a robot body, the driving wheel, a motor to drive the driving wheel by rotating the rotation axis, a connecting arm to connect and support the driving wheel and the robot body.

Abstract: A computer determines a first origin of a first coordinate system of a PCB, and controls a robotic arm to position a probe above the first origin. Furthermore, the computer determines a second origin of a second coordinate system of the robotic arm, and determines displacement values from the first origin to a test point in controlling movements of the robotic arm in the second coordinate system. A graph representing the test point is recognized in an image of the PCB, pixel value differences between the graph center and the image center are determined and converted to displacement correction values for controlling the movements of the robotic arm and determining 3D coordinates of the test point. The robotic arm is moved along a Z-axis of the second coordinate system to precisely position the probe on the test point of the PCB.

Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

Abstract: A method for checking the operation of a photovoltaic module of a photovoltaic power station. The module has a positive terminal, a negative terminal and a number of solar cells, in particular thin-layer solar cells. An electric field emitted by the photovoltaic module as a result of solar radiation is measured at an exposed measurement location during the operation of the power station and the electrical voltage present between the positive terminal and the negative terminal is determined from the measured electric field. A corresponding measuring instrument has a sensor to be placed near the photovoltaic module so as to measure the electric field strength. A rod or wand may be used to position the sensor, or a robot may be configured for automatic travel on the photovoltaic module.

Abstract: An underground utility vault inspection system and method includes a pre-defined railway installed in an underground utility vault, and an inspection vehicle adapted to traverse the railway to provide inspection results to inspection personnel. The inspection vehicle includes inspection tools for inspecting underground power lines and equipment, recording inspection results, and transmitting the inspection results to the inspection personnel.

Abstract: A pool cleaning apparatus that may include a filter; a entrapment cell; a first impeller; a first pump motor arranged to rotate the first impeller; a driving unit arranged to move the pool cleaning robot; a structural element; and an external housing that comprises a first inlet and a first outlet; wherein the filter and the structural element define a first space that has a spiral portion; wherein the first impeller is arranged to rotate along a first rotational direction; wherein rotation of the first impeller along a first rotational direction causes fluid be drawn through the first inlet and to follow a spiral path within the first space during which a first portion of the fluid is filtered by the filter to provide filtered fluid that exits through the first outlet of the housing; and a second portion of the fluid follows the spiral path until entering the entrapment cell.

Abstract: A method of autonomous hull cleanliness detection includes positioning an autonomous cleanliness detection system over a portion of a hull of a vessel. A cleanliness parameter of the portion of the hull is detected using a detector. The detected cleanliness parameter is compared with a stored cleanliness parameter to obtain a cleanliness differential upon which a cleaning operation or routine may be based and initiated.

Abstract: A hull inspection robot for autonomously inspecting a hull includes a robot body and a drive subsystem onboard the robot for driving and maneuvering the robot about the hull. An autonomous inspection system non-destructively inspects the hull by detecting a state of or near a portion of the hull and comparing the detected state with a stored state of the portion of the hull.

Abstract: A camera system that can be utilized in robotic surgery is presented. In particular, a method of setting a light level in a camera in a robotic system includes determining a location of at least one instrument end effectors within a field-of-view of the camera; determining a region-of-interest in the field-of-view based on the location of the at least one instrument tip; gathering luminance statistics in the region-of-interest; computing a luminance value from the luminance statistics; and adjusting an exposure in response to a comparison of the luminance value with a target luminance value.

Abstract: In a robotic scanning and processing system, at least one work station includes a pair of passing lanes along which workpieces are passable, a pair of scanners each for one of the passing lanes, and a robot arranged between the passing lanes and downstream of the scanners. The robot processes the workpieces, that have been scanned by the scanners, based on respective scan results provided by the scanners. Each of the scanners scans at least one workpiece on the respective passing lane, while the robot is processing another workpiece on the other passing lane based on the respective scan result outputted by the other scanner.

Abstract: Provided is an in-line hardness inspection apparatus, which can perform total inspection of hardness of work in a non-destructive manner in a manufacture line. Also provided are an in-line hardness inspection method and a robot. An in-line hardness inspection apparatus of the present invention has: a robot having a hardness inspection unit that inspects hardness of work; a work transfer means, which constitutes a part of a manufacture line, and transfers, to the robot, the work to be inspected; and a control means, which makes the robot perform the hardness inspection with respect to the work transferred by means of the work transfer means.

Abstract: Described herein is a robot for testing touch-sensitive displays. The test robot may have a test surface holding a touch-sensitive display. The test robot may also have a first robotic unit that can translate in only two dimensions relative to the touch-sensitive display, where the first robotic unit secures a first plurality of finger units. The test robot may also have a second robotic unit that can translate in only the two dimensions relative to the touch-sensitive display, where the second robotic unit secures a second plurality of finger units. The test robot may also have a control unit controlling the first robotic unit, the second robotic unit, the first plurality of finger units, and the second plurality of finger units.

Abstract: A device is described that includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.

Abstract: A device is described that includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.

Abstract: A method for managing an airplane fleet is described. The method includes: (i) developing a gold body database for an airplane model for each non-destructive inspection system implemented to detect defects; (ii) inspecting, over a period of time, a plurality of candidate airplanes of the airplane model, using different types of non-destructive inspection systems and the gold body database associated with each of the different types of non-destructive inspection systems, to identify defects present on the plurality of candidate airplanes; (iii) repairing or monitoring defects detected on the plurality of candidate airplanes; (iv) conducting a trend analysis by analyzing collective defect data obtained from inspecting of plurality of candidate airplanes; and (v) maintaining the airplane fleet, which includes plurality of candidate airplanes, by performing predictive analysis using results of trend analysis.

Abstract: This disclosure describes embodiments of a robotic inspection system that uses a pair of multi-axis robotic devices to perform an ultrasonic scan of a part. Each of the multi-axis robotic devices can comprise an end effector that can transmit and/or receive an ultrasonic signal to perform the ultrasonic scan. In one embodiment, the robotic inspection system includes a linear slide assembly that can translate the multi-axis robotic devices independently from one another on either side of the part.

Abstract: Provided is an in-pipe inspection robot which moves along a path in a pipe to inspect suspected areas such as cracks in the pipe. An in-pipe inspection robot in accordance with an exemplary embodiment of the present invention has a configuration in which two or more operating units having a plurality of arms, which move forward and backward in a radial direction of a pipe, are connected to each other to move in a straight direction or to be bent relative to each other by means of a flexible link mechanism.

Abstract: There is provided herein an electrical robotic system for locating, cleaning, and repairing holidays within coated pipe that are proximate to a girth weld. In a preferred arrangement, a robotic train will be placed in the pipeline that will perform the functions of holiday location, cleaning/preparation of the surface containing the holiday, and repair thereof, in a single run through the pipeline.

Abstract: A flexible and steerable structure for non-destructive inspection, the structure including a longitudinal body and at least one actuator enabling the curvature of at least a portion of the longitudinal body to be modified, the actuator being carried by a support associated with the longitudinal body and including a distal portion that is spaced apart or that is spaceable apart from the longitudinal body and that is connected to a portion of the longitudinal body by a traction line.

Abstract: An underground utility vault inspection system and method includes a pre-defined railway installed in an underground utility vault, and an inspection vehicle adapted to traverse the railway to provide inspection results to inspection personnel. The inspection vehicle includes inspection tools for inspecting underground power lines and equipment, recording inspection results, and transmitting the inspection results to the inspection personnel.