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.

A mobile vehicle is used to place, compact and inspect composite plies at selected locations on a tool. The vehicle includes an on-board supply of composite plies, a transfer platen for transferring plies to the tool, a compactor for compacting plies on the tool, and an inspection device for inspecting plies on the tool, each operated and manipulated by an on-board manipulator such as a robot.

An electric machine such as for example, an electric generator, is provided having a lock system which enables a monitoring device to be housed in the machine such that the generator is not required to be purged. The machine, which can be filled with a gas, with a housing, wherein a first chamber is arranged on the housing, wherein a first flap valve is arranged between the housing and the first chamber, creating a fluidic connection between said housing and first chamber, and a second chamber which is arranged on the first chamber, wherein a second flap valve is arranged between the first and the second chambers, creating a fluidic connection between said first chamber and second chamber, wherein a monitoring device for inspection purposes is provided in the housing.

A modular inspection vehicle having at least first and second motion modules is provided. The first and second motion modules are connected to a chassis. The first motion module includes a first wheel mounted to the chassis. The second motion module includes second wheel mounted to the chassis, the second wheel being at an angle to the first wheel. The vehicle further includes a navigation module configured to collect position data related to the position of the vehicle, an inspection module configured to collect inspection data related to the vehicle's environment, and a communication module configured to transmit and receive data. The vehicle can also include a control module configured to receive the inspection data and associate the inspection data with received position data that corresponds to the inspection data collect at a corresponding position for transmission via the communication module.

Apparatus and methods that can be used to stabilize a portion of an extended-reach tool assembly to enable the dimensional mapping, non-destructive inspection and/or simple repair of elongated and serpentine structures used in aerospace and military platforms. In some embodiments, a jointed (i.e., articulated) arm of the extended-reach tool assembly, which is mounted and manipulated at the entrance to a limited-access space (e.g., a cavity), is equipped with actuatable contact pads or bladders to stabilize the distal end of the arm to which a tool-carrying end effector is coupled. The end effector is capable of holding and orienting a probe or sensor (e.g., NDI sensor unit, laser scanner, camera, etc.) or other tool (e.g., drill, sander, vacuum, grabber, coating sprayer, etc.).

A method includes receiving, via at least one sensor of a robot, sensor data indicating one or more characteristics of an asset. The method includes detecting, based on the sensor data, an existing or imminent defect of the asset. The method includes fabricating a part suitable for use in correcting the defect. The structure of the part is derived using one or both of a digital representation of the asset generated using the sensor data or stored reference data related to the asset.

A robotic system includes a processing system comprising at least one processor. The processor generates a plan to monitor the asset. The plan comprises one or more tasks to be performed by the at least one robot. The processor receives sensor data from at least one sensor indicating one or more characteristics of the asset. The processor adjusts the plan to monitor the asset by adjusting or adding one or more tasks to the plan based on one or both of the quality of the acquired data or a potential defect of the asset. The adjusted plan causes the at least one robot to acquire additional data related to the asset when executed.

A system for inspecting a turbomachine is provided. The system includes a traverse actuator system and a pressure isolation system connected to the traverse actuator system. The pressure isolation system is configured to maintain a pressure resistant seal around a probe. A gimbal mount is connected to the pressure isolation system. The system is configured to move the probe into and out of the turbomachine.

The invention disclosed herein describes a supervised autonomy system designed to precisely model, inspect and process the surfaces of complex three-dimensional objects. The current application context for this system is laser coating removal of aircraft, but this invention is suitable for use in a wide variety of applications that require close, precise positioning and maneuvering of an inspection or processing tool over the entire surface of a physical object. For example, this system, in addition to laser coating removal, could also apply new coatings, perform fine-grained or gross inspection tasks, deliver and/or use manufacturing process tools or instruments, and/or verify the results of other manufacturing processes such as but not limited to welding, riveting, or the placement of various surface markings or fixtures.

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.