A variety of refueling devices, systems and methods are disclosed for use in in-flight refueling. In one example one such device is towed by a tanker aircraft via a fuel hose at least during in-flight refueling, and has a boom member with a boom axis. The boom member enables fuel to be transferred from the fuel hose to a receiver aircraft along the boom axis during in-flight refueling. The device maintains a desired non-zero angular disposition between the boom axis and a forward direction at least when the refueling device is towed by the tanker aircraft in the forward direction via the fuel hose.

The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool. Each of these tools includes a common base structure which is interfaced to the end effector of the robotic arm for transmitting rotation and torque to the various tools.

The present disclosure relates to a robotically controlled satellite refueling tool and associated robotically controlled support and site preparation tools which facilitates on-orbit refueling by teleoperation of fill/drain valves of various designs and dimensions on satellites not originally prepared for on-orbit servicing, through the installation of quick connect safety valves, using vision-based feedback as well as feedback from sensors embedded in the refueling tool to operate a suite of adaptable and adjustable mechanisms. The refueling tool has an open architecture to allow a refueling tool vision system to see the fill/drain valve and the section of the refueling tool that is engaged with the fill/drain valve. The support tools include a blanket cutter tool, a blanket handler tool, a wire cutter tool, a gripper tool, and the site preparation tools include a B-nut removal tool and a crush seal removal tool. Each of these tools includes a common base structure which is interfaced to the end effector of the robotic arm for transmitting rotation and torque to the various tools.

A method in the field of flight control laws (CLAWs) used to control a flexible structure, for example an air to air refueling flying boom system, the method detecting the physical status determined by exogenous boundary conditions acting on the flexible structure. A computer program is provided which carries out the method for detecting the physical status of a flexible structure. A system and aircraft comprising such a flexible structure are also provided.

A method in the field of flight control laws (CLAWs) used to control a flexible structure, for example an air to air refueling flying boom system, the method detecting the physical status determined by exogenous boundary conditions acting on the flexible structure. A computer program is provided which carries out the method for detecting the physical status of a flexible structure. A system and aircraft comprising such a flexible structure are also provided.

A variety of refueling devices, systems and methods are disclosed for use in in-flight refueling. In one example one such device is towed by a tanker aircraft via a fuel hose at least during in-flight refueling, and has a boom member with a boom axis. The boom member enables fuel to be transferred from the fuel hose to a receiver aircraft along the boom axis during in-flight refueling. The device maintains a desired non-zero angular disposition between the boom axis and a forward direction at least when the refueling device is towed by the tanker aircraft in the forward direction via the fuel hose.

A variety of refueling devices, systems and methods are disclosed for use in in-flight refueling. In one example one such device is towed by a tanker aircraft via a fuel hose at least during in-flight refueling, and has a boom member with a boom axis. The boom member enables fuel to be transferred from the fuel hose to a receiver aircraft along the boom axis during in-flight refueling. The device maintains a desired non-zero angular disposition between the boom axis and a forward direction at least when the refueling device is towed by the tanker aircraft in the forward direction via the fuel hose.

Aspects of the disclosure provide fuel receptacle and boom tip position and pose estimation for aerial refueling. A video frame is received and within the video frame, aircraft keypoints for an aircraft to be refueled are determined. Based on at least the aircraft keypoints, a position and pose of a fuel receptacle on the aircraft is determined. Within the video frame, a boom tip keypoint for a boom tip of an aerial refueling boom is also determined. Based on at least the boom tip keypoint, a position and pose of the boom tip is determined. Based on at least the position and pose of the fuel receptacle and the position and pose of the boom tip, the aerial refueling boom is controlled to engage the fuel receptacle. Some examples overlay projections of an aircraft model on displayed video for a human observer.

Aspects of the disclosure provide fuel receptacle and boom tip position and pose estimation for aerial refueling. A video frame is received and within the video frame, aircraft keypoints for an aircraft to be refueled are determined. Based on at least the aircraft keypoints, a position and pose of a fuel receptacle on the aircraft is determined. Within the video frame, a boom tip keypoint for a boom tip of an aerial refueling boom is also determined. Based on at least the boom tip keypoint, a position and pose of the boom tip is determined. Based on at least the position and pose of the fuel receptacle and the position and pose of the boom tip, the aerial refueling boom is controlled to engage the fuel receptacle. Some examples overlay projections of an aircraft model on displayed video for a human observer.

A work platform includes a frame and a deck. The frame has a plurality of frame members that are interconnected. The frame members define a trough that extends a length of the frame and is configured to accommodate a refueling boom of an aircraft such that the refueling boom extends through the frame within the trough. The deck is mounted to the frame to provide a stand. The deck includes a first deck panel and a second deck panel spaced apart from each other to define an opening to the trough.