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.

Aspects of the disclosure provide solutions for determining a position of an object in a video frame. Examples include: receiving a segmentation mask of an identified object in a video frame; adjusting a 3D representation of a moveable part of the object based on constraints for the moveable part; comparing the 3D model of the object to the segmentation mask of the object; determining a match between the 3D model of the object to the segmentation mask of the object is above a threshold; and based on the match being above the threshold, determining a position of the object.

Aspects of the disclosure provide solutions for determining a position of an object in a video frame. Examples include: receiving a segmentation mask of an identified object in a video frame; adjusting a 3D representation of a moveable part of the object based on constraints for the moveable part; comparing the 3D model of the object to the segmentation mask of the object; determining a match between the 3D model of the object to the segmentation mask of the object is above a threshold; and based on the match being above the threshold, determining a position of the object.

An aerial resupply system (ARS) including a supply aircraft. The supply aircraft includes at least one of supply fuel, an ordinance, and data. The supply aircraft also includes a retractable boom system (RBS) configured for selective stowage within a fuselage of the supply aircraft and configured to supply at least one of supply fuel, the ordinance, and data to a location external to the fuselage.

An aerial resupply system (ARS) including a supply aircraft. The supply aircraft includes at least one of supply fuel, an ordinance, and data. The supply aircraft also includes a retractable boom system (RBS) configured for selective stowage within a fuselage of the supply aircraft and configured to supply at least one of supply fuel, the ordinance, and data to a location external to the fuselage.

Cameras and lights positioning system for hose inspection during air-to-air refueling, which comprises a substructure that can be attached to a container or capsule or Pod, one or two guidance-substructures (13) that enclose the hose, a toroid volume, to house the cameras (22) and lights (23) and a cameras and lights control subsystem. The system allows for the cameras (22) and lights (23) to maintain a fixed relative position with respect to the hose (1) during moments of imagery acquisition, despite the inclination and the five different movements that the hose has and makes, at the same time allowing protuberances (38) to pass through the system.

A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.

A Wireless Communication and Sensor System (WSCC) serving a refueled entity and a refueling entity, the system comprising nozzle load sensing functionality for a nozzle Boom Tip Unit; and apparatus for wirelessly transmitting loads sensed by the nozzle load sensing functionality to at least one of a boom operator and a boom flight control computer.

A Wireless Communication and Sensor System (WSCC) serving a refueled entity and a refueling entity, the system comprising nozzle load sensing functionality for a nozzle Boom Tip Unit; and apparatus for wirelessly transmitting loads sensed by the nozzle load sensing functionality to at least one of a boom operator and a boom flight control computer.