The Boeing Company

Steven A Dorris

Anthony Wayne Baker

Luke Charles Ingram

David E Corman

Eric John Martens

Hugh L Taylor

Thomas S Herm

Christopher P Bellavia

Arun Ayyagari

Shane Edward Arthur

Jonathan Blake Vance

John Eric Miller

Douglas Alan Stuart

Kjersta Larson-smith

Mark Jonathan Handel

Matt Christner

Ryan Petz

Jesse Castleberry

Travis King

Kenny P Bowers

Jonathan Schwedhelm

Roger W Engelbart

Philip Lawrence Freeman

Matthew H Mellin

James William Fonda

Douglas Duane Trimble

Carl Joseph Hanks

Mark S Bunker

James Louis Paunicka

Josiah Brubaker

Brett Michael Wilson

Al Salour

Ryan Siok

Wendy Zaballos

James W Fonda

Douglas D Trimble

An end effector and associated systems and methods for printing ink on a surface is disclosed. The end effector comprises a main block including a back plate. The end effector also includes a plurality of slice assemblies slidably coupled to the back plate. Each one of the plurality of slice assemblies includes a printhead and a y-actuator. The y-actuator is selectively operable to extend and retract the printhead, parallel to a y-axis in first directions, and relative to the back plate. The end effector further includes a plurality of z-actuators coupled to the back plate. Each one of the plurality of z-actuators is selectively operable to extend and retract a corresponding one of the plurality of slice assemblies, parallel to a z-axis in second directions, which is perpendicular to the y-axis and relative to the back plate.

Multi-printhead end effector and associated system and method

A computing system includes an input sensor, a processor, and a memory storing executable instructions that, in response to execution by the processor, cause the processor to collect input data related to at least a portion of an object from the input sensor, generate a UV coordinate map based on the input data, use a predetermined process ink density lookup table to produce an ink density bitmap corresponding to the UV coordinate map, the ink density bitmap including process ink densities for each bit in the ink density bitmap, produce and output a dithering of bits of the ink density bitmap to thereby generate dithered image pixel data, and compile and output a control plan, based on the dithered image pixel data, to control a printing array to print an image on a contoured surface of the object.

System and methods for controlling a printing array

An end effector for printing ink on a surface is disclosed. The end effector comprises a primary block comprises a primary-block body. A plurality of primary-printing modules are coupled to the primary-block body and translationally moveable, via a corresponding first actuator. Each one of the primary-printing modules includes at least one printhead which is adjustable, relative to the primary-block body. The printhead may be adjusted by at least one of a second actuator, configured to rotate the printhead about a first axis, or a third actuator, configured to rotate the printhead about a second axis. In some examples, a fourth actuator is configured to rotate at least one printhead, relative to at least one other printhead, about a third axis. Additionally, at least one trailing block can be coupled to the primary block so that the at least one trailing block is movable relative to the primary block.

One embodiment comprises a method of operating a robotic system. The method comprises defining a Tool Center Point (TCP) for an end effector of the robotic system, providing a primary control plan that defines a tool path for the end effector, where the tool path has a plurality of pre-defined TCP positions. The method further comprises providing a secondary control plan that defines operation of the end effector at the plurality of pre-defined TCP positions, and determining a deviation between a pre-defined TCP position of the end effector and an actual TCP position of the end effector during implementation of the primary control plan by the robotic system. The method further comprises modifying the secondary control plan for the end effector based on the deviation during the implementation of the primary control plan by the robotic system.

End effector compensation of a robotic system

Systems and methods are provided for verifying the placement of tows by a robot. One embodiment includes a robot that includes an end effector that lays up tows, actuators that reposition the end effector, a memory storing a Numerical Control (NC) program, and a robot controller that directs the actuators to reposition the end effector based on the NC program, and instructs the end effector to lay up tows based on the NC program. The system also includes a sensor system comprising an imaging device that acquires images of the tows as the tows are laid-up, a measuring device that generates input as tows are laid-up by the end effector, and a sensor controller that receives images from the imaging device and the input from the measuring device, and updates stored data to correlate the images with instructions in the NC program, based on the input.

Verification of tow placement by a robot

Provided are methods and systems for inspecting surfaces of various components, such as evaluating height deviations on these surfaces. A method involves aggregating inspection data from multiple line scanners into a combined data set. This combined data set represents a portion of the surface that is larger than the field of measurement any one of the scanners. Furthermore, each pair of adjacent scanners operate at different periods of time to avoid interference. Because operating periods are offset, surface portions scanned by the pair of adjacent scanners can overlap without interference. This overlap of the scanned portions ensures that the entire surface is analyzed. The position of scanners relative to the inspection surface may be changed in between the scans and, in some embodiments, even during the scan. This approach allows precise scanning of large surfaces.

Combined surface inspection using multiple scanners

An elevated platform system comprises a platform, a vision system configured to detect a number of people on the platform, and a plurality of restraining systems onboard the platform. Each restraining system includes a passive RFID tag secured to the platform and a reader configured to perform near field detection of the tag.

Elevated platform system including restraining systems and vision system

Artificial Immune Systems (AIS) including the Dendritic Cell Algorithm (DCA) are an emerging method to detect malware in computer systems. An implementation of the DCA may detect anomalous behavior in various processes of a device or devices. Unlike previous approaches, the DCA implementation may use an inflammation signal to communicate information among the processes of device or a network, where the inflammatory signal indicates a likelihood that a process has been attacked by malicious software.

Process level locality and specialization for threat detection in the dendritic cell algorithm

Provided are methods, systems, and computer program products for inspecting composite items. Specifically, a method involves analyzing an image of or, more generally, data characterizing condition of a top layer, which is disposed over a bottom layer. The method also involves performing a structural integrity check based on any anomalies detected in the top layer during this analysis as well as based on any anomalies previously detected in the bottom layer. As such, this structural integrity check accounts for characteristics of multiple layers, in some embodiments, all layers applied up to point of this inspection. In addition to the detected anomalies, the structural integrity check may account for previously performed repairs. The structural integrity check may be performed on individual portions of a composite item while, for example, other portions continue receiving a new composite layer, which may be referred to as an inline inspection.

Composite inspection and structural check of multiple layers

Artificial Immune Systems (AIS) including the Dendritic Cell Algorithm (DCA) are an emerging method to detect malware in computer systems. The DCA implementation may use an inflammation signal to communicate information among the processes of device or a network or among nodes of a network, where the inflammatory signal indicates a likelihood that a process or a node has been attacked by malicious software. The DCA implementation may dynamically change the malware sensitivity and responsiveness based on the inflammation signals without requiring user intervention. The inflammatory signal includes one or more inflammatory tuples, which may include multiple components such as a strength, a PrimeIndicator, and an optional third element, p. The strength component may be an indication of the magnitude of an attack and provide a degree of certainty of the attack. The PrimeIndicator may be an identifier of the indicator type that is the source of the inflammation tuple.

Dynamic loading and configuation of threat detectors based on feedback from other nodes

Methods and apparatus for use in identifying abnormal behavior in a control system. Operating events associated with a control system are received, and an actual behavior of the control system is determined based on the received operating events. The actual behavior is compared to expected behavior to determine whether the actual behavior differs from the expected behavior. The expected behavior includes a correlation between a plurality of operating events associated with the control system. The expected behavior is updated based on an indication of whether the actual behavior is abnormal from a user.

Methods and systems for use in identifying abnormal behavior in a control system including independent comparisons to user policies and an event correlation model

A method of coordinating communications between a plurality of Unmanned Air Vehicles (UAVs) operating in connection with differing communication languages. A common language is provided which includes common language commands and common language data objects. Common language commands are communicated from a user to a plurality of UAVs through a UAV Interoperability Agent (UIA), which converts the common language commands to UAV-specific commands which can be understood by the specific UAV. Additionally, UAVs send data in a native platform format to the UIA, which converts the native platform data to common language format for collection and interpretation by the user.

Unmanned air vehicle interoperability agent

A method and system are provided for executing a protocol for tunneling of transmission control protocol/internet protocol (TCP/IP) packets over a tactical link. The tunneling protocol includes interfacing to a host software on a node of a tactical network using a TAP interface; breaking up ethernet packets from the TAP interface into J16.0 messages that include payload data from the ethernet packet and header information that uniquely identifies the J16.0 message for deterministic reassembly of the ethernet packet from the stream of J16.0 messages in which it is included. The J16.0 messages may be transmitted using a fighter data link over a tactical network link. At the destination node of the link, the J16.0 messages may be reassembled into ethernet packets, allowing the tactical network to be implemented as virtual private network having (internet protocol) IP addresses for each node.

TCP/IP tunneling protocol for link 16

A method and system for executing a protocol for tunneling of transmission control protocol/internet protocol (TCP/IP) packets over a tactical link. The tunneling protocol includes interfacing to a host software on a node of a tactical network using a TAP interface; breaking up ethernet packets from the TAP interface into J16.0 messages that include payload data from the ethernet packet and header information that uniquely identifies the J16.0 message for deterministic reassembly of the ethernet packet from the stream of J16.0 messages in which it is included. The J16.0 messages may be transmitted using a fighter data link over a tactical network link. At the destination node of the link, the J16.0 messages may be reassembled into ethernet packets, allowing the tactical network to be implemented as virtual private network having (internet protocol) IP addresses for each node.

Growing community of inventors

St. Peters, MO, United States of America

Steven A Dorris