A device (1) for automatically performing an activity, in particular for cleaning dirty surfaces, having at least one sensor (3) and at least one drive element (4). The drive element (4) divides the device (1) into a rear region (11) and a front region (12), on the basis of the intended direction of movement (B). The sensor (3) is a mechanical sensor which is arranged in the front region (12) of the device (1) and is used to determine, by contact with the floor, a change in the height of the floor.

A device (1) for automatically performing an activity, in particular for cleaning dirty surfaces, having at least one sensor (3) and at least one drive element (4). The drive element (4) divides the device (1) into a rear region (11) and a front region (12), on the basis of the intended direction of movement (B). The sensor (3) is a mechanical sensor which is arranged in the front region (12) of the device (1) and is used to determine, by contact with the floor, a change in the height of the floor.

A countersink go/no-go gauge is configured to aid a determination of whether a countersink aperture for a rivet is formed to a desired depth. The countersink go/no-go gauge includes a head having a depth defined between a top surface and a bottom surface and a shaft extending from the top surface of the head. The depth of the head is substantially equal to a desired depth of a countersink aperture. In some embodiments the go/no-go gauge includes tolerance features to provide a range for an acceptable countersink depth.

A soil extraction and measurement tool is described. In one example, the tool has a guide having a sleeve and a plate. The sleeve is attached to the plate, extending substantially horizontally from the plate, and having an opening to receive a probe. A probe has a point at an end configured to be inserted into the sleeve of the guide and to extend through the sleeve past the plate. The point is configured to pierce through soil below the plate. The probe has an inner cavity that is open at the point and configured to receive soil when the point pierces through soil, and a window through the probe to the inner cavity configured to allow the soil in the inner cavity to be viewed through the probe.

A soil extraction and measurement tool is described. In one example, the tool has a guide having a sleeve and a plate. The sleeve is attached to the plate, extending substantially horizontally from the plate, and having an opening to receive a probe. A probe has a point at an end configured to be inserted into the sleeve of the guide and to extend through the sleeve past the plate. The point is configured to pierce through soil below the plate. The probe has an inner cavity that is open at the point and configured to receive soil when the point pierces through soil, and a window through the probe to the inner cavity configured to allow the soil in the inner cavity to be viewed through the probe.

Systems, methods, and apparatus for acquiring surface profile information (e.g., depths at multiple points) from limited-access structures and objects using an autonomous or remotely operated flying platform (such as an unmanned aerial vehicle). The systems proposed herein use a profilometer to measure the profile of an area on a surface where visual inspection has indicated that the surface has a potential anomaly. After the system has gathered data representing the surface profile in the area containing the potential anomaly, a determination may be made whether the collected image data indicates that the structure or object should be repaired or may be used as is.

Systems, methods, and apparatus for acquiring surface profile information (e.g., depths at multiple points) from limited-access structures and objects using an autonomous or remotely operated flying platform (such as an unmanned aerial vehicle). The systems proposed herein use a profilometer to measure the profile of an area on a surface where visual inspection has indicated that the surface has a potential anomaly. After the system has gathered data representing the surface profile in the area containing the potential anomaly, a determination may be made whether the collected image data indicates that the structure or object should be repaired or may be used as is.

A method for determining along-hole well depth of a wellbore. A value for a calibrated drill string length is calculated, by determining length of drill pipe sections which form a drill string, prior to insertion of the drill pipe sections in the wellbore as part of the drill string. A correction which is calculated based upon one or more physical characteristics of the drill string. At least one of the physical characteristics is derived from measurements made at defined locations in the wellbore when the drill string is under tension whilst being pulled out of the wellbore. The correction to the calibrated drill string length is applied to obtain a value for a corrected drill string length as a measure of along hole depth. Advantageously, by calculating the correction based upon physical characteristics of the drill string associated with the process of pulling the drill string out of the well, the present invention reduces the number of physical characteristics which affect the correction.

A method for determining along-hole well depth of a wellbore. A value for a calibrated drill string length is calculated, by determining length of drill pipe sections which form a drill string, prior to insertion of the drill pipe sections in the wellbore as part of the drill string. A correction which is calculated based upon one or more physical characteristics of the drill string. At least one of the physical characteristics is derived from measurements made at defined locations in the wellbore when the drill string is under tension whilst being pulled out of the wellbore. The correction to the calibrated drill string length is applied to obtain a value for a corrected drill string length as a measure of along hole depth. Advantageously, by calculating the correction based upon physical characteristics of the drill string associated with the process of pulling the drill string out of the well, the present invention reduces the number of physical characteristics which affect the correction.

The present invention concerns a pulse wave image reconstruction method to be used for example in ultrasound imaging. The proposed method is based on an image measurement model and its adjoint operator. The proposed method introduces matrix-free formulations of the measurement model and its adjoint operator. The proposed method has the advantage that the reconstructed image has a very high quality and that it can be reconstructed quickly.