Utility fixture for creating a distributed utility network

This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/022,641, filed Jul. 9, 2014, and entitled “Automated Flexible Manufacturing System for Building a Fuselage.”

This application is related to the following patent applications: entitled “Autonomous Flexible Manufacturing System for Building a Fuselage,” Ser. No. 14/559,518; entitled “Mobile Platforms for Performing Operations along an Exterior of a Fuselage Assembly,” Ser. No. 14/558,933, now U.S. Pat. No. 9,505,051; entitled “Mobile Platforms for Performing Operations inside a Fuselage Assembly,” Ser. No. 14/559 073; entitled “Wheel Mounting System,” Ser. No. 14/559 115, now U.S. Pat. No. 9,782,822; entitled “Dual-Interface Coupler,” Ser. No. 14/559,153; entitled “Metrology-Based System for Operating a Flexible Manufacturing System,” Ser. No. 14/559 855; entitled “Clamping Feet for an End Effector,” Ser. No. 14/559 191; entitled “Towers for Accessing an Interior of a Fuselage Assembly,” Ser. No. 14/559,234; entitled “Assembly Fixture for Supporting a Fuselage Assembly,” Ser. No. 14/559 227; entitled “Adjustable Retaining Structure for a Cradle Fixture,” Ser. No. 14/559,303;and entitled “Two-Stage Riveting,” Ser. No. 14/559,483, filed of even date herewith, each of which claims the benefit of U.S. Provisional Patent Application Ser. No. 62/022,641, filed Jul. 9, 2014 and entitled “Automated Flexible Manufacturing System for Building a Fuselage,” each assigned to the same assignee, and each incorporated herein by reference in its entirety.

1. Field

The present disclosure relates generally to aircraft and, in particular, to building the fuselage of an aircraft. Still more particularly, the present disclosure relates to a method, apparatus, and system for coupling a number of utilities between various systems to establish a distributed utility network.

2. Background

Building a fuselage may include assembling skin panels and a support structure for the fuselage. The skin panels and support structure may be joined together to form a fuselage assembly. For example, without limitation, the skin panels may have support members, such as frames and stringers, attached to the surface of the skin panels that will face the interior of the fuselage assembly. These support members may be used to form the support structure for the fuselage assembly. The skin panels may be positioned relative to each other and the support members may be tied together to form this support structure.

Fastening operations may then be performed to join the skin panels and the support members together to form the fuselage assembly. These fastening operations may include, for example, riveting operations, interference-fit bolting operations, other types of attachment operations, or some combination thereof. The fuselage assembly may need to be assembled in a manner that meets outer mold line (OML) requirements and inner mold line (IML) requirements for the fuselage assembly.

With some currently available methods for building a fuselage assembly, the fastening operations performed to assemble the skin panels and the support members together may be performed manually. For example, without limitation, a first human operator positioned at an exterior of the fuselage assembly and a second human operator positioned at an interior of the fuselage assembly may use handheld tools to perform these fastening operations. In some cases, this type of manual fastening process may be more labor-intensive, time-consuming, ergonomically challenging, or expensive than desired. Further, some current assembly methods used to build fuselages that involve manual fastening processes may not allow fuselages to be built in the desired assembly facilities or factories at desired assembly rates or desired assembly costs.

In some cases, the current assembly methods and systems used to build fuselages may require that these fuselages be built in facilities or factories specifically designated and permanently configured for building fuselages. These current assembly methods and systems may be unable to accommodate different types and shapes of fuselages. For example, without limitation, large and heavy equipment needed for building fuselages may be permanently affixed to a factory and configured for use solely with fuselages of a specific type.

Further, providing utilities, such as power, air, hydraulic fluid, and other types of utilities, to the various systems used in some current assembly methods may be more difficult or cumbersome than desired. For example, without limitation, the various cables and connection devices needed to provide these types of utilities to the different tools being used to assemble a fuselage may impede or restrict the movement of personnel and tools within a manufacturing environment. Therefore, it would be desirable to have a method and apparatus that take into account at least some of the issues discussed above, as well as other possible issues.

In one illustrative embodiment, a method for distributing a number of utilities may be provided. The number of utilities may be coupled between a number of utility sources and a utility fixture. The number of utilities may be coupled between the utility fixture and a mobile system.

In another illustrative embodiment, a coupling unit may comprise a quick-change device, a number of coupling elements, and an alignment system. The alignment system may align the quick-change device with a corresponding quick-change device and the number of coupling elements with a corresponding number of coupling elements.

In yet another illustrative embodiment, a method for mating a coupling unit with a corresponding coupling unit may be provided. The corresponding coupling unit may be driven towards the coupling unit. The corresponding coupling unit may be aligned with the coupling unit autonomously. The corresponding coupling unit may be mated to the coupling unit to couple a number of utilities between the coupling unit and the corresponding coupling unit.

In still another illustrative embodiment, a method for distributing a number of utilities to a tower may be provided. A tower may be driven towards a location of a utility fixture having a set of coupling units. Each of a set of corresponding coupling units associated with the tower may be aligned with the set of coupling units. A quick-change device of each of the set of coupling units may be mated with a corresponding quick-change device of each of the set of corresponding coupling units.

In yet another illustrative embodiment, an apparatus may comprise a set of coupling units associated with a utility fixture, a set of corresponding coupling units associated with a mobile system, and a number of utility cables connected to the set of corresponding coupling units. The set of corresponding coupling units may be coupled to the set of coupling units. The number of utility cables may carry away from the set of corresponding coupling units a number of utilities received at the set of corresponding coupling units from the set of coupling units.

The features and functions can be achieved independently in various embodiments of the present disclosure or may be combined in yet other embodiments in which further details can be seen with reference to the following description and drawings.

The illustrative embodiments recognize and take into account different considerations. For example, the illustrative embodiments recognize and take into account that it may be desirable to automate the process of building a fuselage assembly for an aircraft. Automating the process of building a fuselage assembly for an aircraft may improve build efficiency, improve build quality, and reduce costs associated with building the fuselage assembly. The illustrative embodiments also recognize and take into account that automating the process of building a fuselage assembly may improve the accuracy and precision with which assembly operations are performed, thereby ensuring improved compliance with outer mold line (OML) requirements and inner mold line (IML) requirements for the fuselage assembly.

Further, the illustrative embodiments recognize and take into account that automating the process used to build a fuselage assembly for an aircraft may significantly reduce the amount of time needed for the build cycle. For example, without limitation, automating fastening operations may reduce and, in some cases, eliminate, the need for human operators to perform these fastening operations as well as other types of assembly operations.

Further, this type of automation of the process for building a fuselage assembly for an aircraft may be less labor-intensive, time-consuming, ergonomically challenging, and expensive than performing this process primarily manually. Reduced manual labor may have a desired benefit for the human laborer. Additionally, automating the fuselage assembly process may allow fuselage assemblies to be built in desired assembly facilities and factories at desired assembly rates and desired assembly costs.

The illustrative embodiments also recognize and take into account that it may be desirable to use equipment that can be autonomously driven and operated to automate the process of building a fuselage assembly. In particular, it may be desirable to have an autonomous flexible manufacturing system comprised of mobile systems that may be autonomously driven across a factory floor, autonomously positioned relative to the factory floor as needed for building the fuselage assembly, autonomously operated to build the fuselage assembly, and then autonomously driven away when building of the fuselage assembly has been completed.

As used herein, performing any operation, action, or step autonomously may mean performing that operation substantially without any human input. For example, without limitation, a platform that may be autonomously driven is a platform that may be driven substantially independently of any human input. In this manner, an autonomously drivable platform may be a platform that is capable of driving or being driven substantially independently of human input.

Thus, the illustrative embodiments provide a method, apparatus, and system for building a fuselage assembly for an aircraft. In particular, the illustrative embodiments provide an autonomous flexible manufacturing system that automates most, if not all, of the process of building a fuselage assembly. For example, without limitation, the autonomous flexible manufacturing system may automate the process of installing fasteners to join fuselage skin panels and a fuselage support structure together to build the fuselage assembly.

However, the illustrative embodiments recognize and take into account that automating the process for building a fuselage assembly using an autonomous flexible manufacturing system may present unique technical challenges that require unique technical solutions. For example, the illustrative embodiments recognize and take into account that it may be desirable to provide utilities to all of the various systems within the autonomous flexible manufacturing system. In particular, it may be desirable to provide these utilities in a manner that will not disrupt or delay the process of building the fuselage assembly or restrict the movement of various mobile systems within the autonomous flexible manufacturing system over a factory floor.

For example, without limitation, it may be desirable to provide a set of utilities, such as power, communications, and air, to the autonomous flexible manufacturing system using an infrastructure that includes only a single direct connection to each of a set of utility sources providing the set of utilities. These direct connections may be above-ground, in-ground, or embedded. These direct connections may be established using, for example, without limitation, a utility fixture. Thus, the infrastructure may include a utility fixture that provides a direct connection to each of the set of utility sources and an assembly area with a floor space sufficiently large to allow the various systems of an autonomous flexible manufacturing system to be coupled to the utility fixture and each other in series. In this manner, the set of utilities may flow from the set of utility sources to the utility fixture and then downstream to the various systems of the autonomous flexible manufacturing system within the assembly area.

Thus, the illustrative embodiments provide a distributed utility network that may be used to provide utilities to the various systems of the autonomous flexible manufacturing system. The distributed utility network may provide these utilities in a manner that does not restrict or impede movement of the various mobile systems of the autonomous flexible manufacturing system. The different mobile systems of the autonomous flexible manufacturing system may be autonomously coupled to each other to create this distributed utility network.

1 7 FIGS.- 1 7 FIGS.- Referring now to the figures and, in particular, with reference to, illustrations of a manufacturing environment are depicted in the form of block diagrams in accordance with an illustrative embodiment. In particular, in, a fuselage assembly, a flexible manufacturing system, the various systems within the flexible manufacturing system that may be used to build the fuselage assembly, and a distributed utility network are described.

1 FIG. 100 102 104 Turning now to, an illustration of a manufacturing environment is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, manufacturing environmentmay be an example of one environment in which at least a portion of fuselagemay be manufactured for aircraft.

100 100 100 102 Manufacturing environmentmay take a number of different forms. For example, without limitation, manufacturing environmentmay take the form of a factory, a manufacturing facility, an outdoor factory area, an enclosed manufacturing area, an offshore platform, or some other type of manufacturing environmentsuitable for building at least a portion of fuselage.

102 108 106 108 108 106 108 Fuselagemay be built using manufacturing process. Flexible manufacturing systemmay be used to implement at least a portion of manufacturing process. In one illustrative example, manufacturing processmay be substantially automated using flexible manufacturing system. In other illustrative examples, only one or more stages of manufacturing processmay be substantially automated.

106 108 106 112 106 Flexible manufacturing systemmay be configured to perform at least a portion of manufacturing processautonomously. In this manner, flexible manufacturing systemmay be referred to as autonomous flexible manufacturing system. In other illustrative examples, flexible manufacturing systemmay be referred to as an automated flexible manufacturing system.

108 110 114 106 110 As depicted, manufacturing processmay include assembly processfor building fuselage assembly. Flexible manufacturing systemmay be configured to perform at least a portion of assembly processautonomously.

114 102 108 108 114 102 114 102 114 102 106 114 114 104 106 104 Fuselage assemblymay be fuselageat any stage during manufacturing processprior to the completion of manufacturing process. In some cases, fuselage assemblymay be used to refer to a partially assembled fuselage. Depending on the implementation, one or more other components may need to be attached to fuselage assemblyto fully complete the assembly of fuselage. In other cases, fuselage assemblymay be used to refer to the fully assembled fuselage. Flexible manufacturing systemmay build fuselage assemblyup to the point needed to move fuselage assemblyto a next stage in the manufacturing process for building aircraft. In some cases, at least a portion of flexible manufacturing systemmay be used at one or more later stages in the manufacturing process for building aircraft.

114 102 114 116 102 114 117 102 114 118 102 102 102 In one illustrative example, fuselage assemblymay be an assembly for forming a particular section of fuselage. As one example, fuselage assemblymay take the form of aft fuselage assemblyfor forming an aft section of fuselage. In another example, fuselage assemblymay take the form of forward fuselage assemblyfor forming a forward section of fuselage. In yet another example, fuselage assemblymay take the form of middle fuselage assemblyfor forming a center section of fuselageor some other middle section of fuselagebetween the aft and forward sections of fuselage.

114 120 121 121 122 122 120 120 121 114 As depicted, fuselage assemblymay include plurality of panelsand support structure. Support structuremay be comprised of plurality of members. Plurality of membersmay be used to both support plurality of panelsand connect plurality of panelsto each other. Support structuremay help provide strength, stiffness, and load support for fuselage assembly.

122 120 Plurality of membersmay be associated with plurality of panels. As used herein, when one component or structure is “associated” with another component or structure, the association is a physical association in the depicted examples.

122 120 For example, a first component, such as one of plurality of members, may be considered to be associated with a second component, such as one of plurality of panels, by being at least one of secured to the second component, bonded to the second component, mounted to the second component, attached to the component, coupled to the component, welded to the second component, fastened to the second component, adhered to the second component, glued to the second component, or connected to the second component in some other suitable manner. The first component also may be connected to the second component using one or more other components. For example, the first component may be connected to the second component using a third component. Further, the first component may be considered to be associated with the second component by being formed as part of the second component, an extension of the second component, or both. In another example, the first component may be considered part of the second component by being co-cured with the second component.

As used herein, the phrase “at least one of,” when used with a list of items, means different combinations of one or more of the listed items may be used and only one of the items in the list may be needed. The item may be a particular object, thing, action, process, or category. In other words, “at least one of” means any combination of items or number of items may be used from the list, but not all of the items in the list may be required.

For example, “at least one of item A, item B, and item C” or “at least one of item A, item B, or item C” may mean item A; item A and item B; item B; item A, item B, and item C; or item B and item C. In some cases, “at least one of item A, item B, and item C” may mean, for example, without limitation, two of item A, one of item B, and ten of item C; four of item B and seven of item C; or some other suitable combination.

122 120 122 120 In these illustrative examples, a member of plurality of membersmay be associated with at least one of plurality of panelsin a number of different ways. For example, without limitation, a member of plurality of membersmay be attached directly to a single panel, attached to two or more panels, attached to another member that is directly attached to at least one panel, attached to at least one member that is directly or indirectly attached to at least one panel, or associated with at least one of plurality of panelsin some other way.

122 120 110 114 122 120 120 110 In one illustrative example, substantially all or all of plurality of membersmay be associated with plurality of panelsprior to the beginning of assembly processfor building fuselage assembly. For example, a corresponding portion of plurality of membersmay be associated with each panel of plurality of panelsprior to plurality of panelsbeing joined to each other through assembly process.

122 120 110 110 122 120 120 120 122 120 110 122 120 110 121 In another illustrative example, only a first portion of plurality of membersmay be associated with plurality of panelsprior to the beginning of assembly process. Assembly processmay include attaching a remaining portion of plurality of membersto plurality of panelsfor at least one of providing support to plurality of panelsor connecting plurality of panelstogether. The first portion of plurality of membersattached to plurality of panelsprior to assembly processand the remaining portion of plurality of membersattached to plurality of panelsduring assembly processmay together form support structure.

122 120 110 120 110 110 122 120 In yet another illustrative example, all of plurality of membersmay be associated with plurality of panelsduring assembly process. For example, each of plurality of panelsmay be “naked” without any members attached to or otherwise associated with the panel prior to assembly process. During assembly process, plurality of membersmay then be associated with plurality of panels.

121 114 114 120 121 2 FIG. In this manner, support structurefor fuselage assemblymay be built up in a number of different ways. Fuselage assemblycomprising plurality of panelsand support structureis described in greater detail inbelow.

114 120 120 120 122 120 122 Building fuselage assemblymay include joining plurality of panelstogether. Joining plurality of panelsmay be performed in a number of different ways. Depending on the implementation, joining plurality of panelstogether may include joining one or more of plurality of membersto one or more of plurality of panelsor to other members of plurality of members.

120 In particular, joining plurality of panelsmay include joining at least one panel to at least one other panel, joining at least one member to at least one other member, or joining at least one member to at least one panel, or some combination thereof. As one illustrative example, joining a first panel and a second panel together may include at least one of the following: fastening the first panel directly to the second panel, joining a first member associated with the first panel to a second member associated with the second panel, joining a member associated with the first panel directly to the second panel, joining one member associated with both the first panel and the second panel to another member, joining a selected member to both the first panel and the second panel, or some other type of joining operation.

110 124 120 114 106 124 Assembly processmay include operationsthat may be performed to join plurality of panelstogether to build fuselage assembly. In this illustrative example, flexible manufacturing systemmay be used to perform at least a portion of operationsautonomously.

124 125 126 128 130 132 125 120 125 120 Operationsmay include, for example, but are not limited to, temporary connection operations, drilling operations, fastener insertion operations, fastener installation operations, inspection operations, other types of assembly operations, or some combination thereof. Temporary connection operationsmay be performed to temporarily connect plurality of panelstogether. For example, without limitation, temporary connection operationsmay include temporarily tacking plurality of panelstogether using tack fasteners.

126 120 122 128 126 Drilling operationsmay include drilling holes through one or more of plurality of panelsand, in some cases, through one or more of plurality of members. Fastener insertion operationsmay include inserting fasteners into the holes drilled by drilling operations.

130 130 132 106 124 Fastener installation operationsmay include fully installing each of the fasteners that have been inserted into the holes. Fastener installation operationsmay include, for example, without limitation, riveting operations, interference-fit bolting operations, other types of fastener installation operations, or some combination thereof. Inspection operationsmay include inspecting the fully installed fasteners. Depending on the implementation, flexible manufacturing systemmay be used to perform any number of these different types of operationssubstantially autonomously.

106 134 136 138 134 134 134 100 134 3 FIG. As depicted, flexible manufacturing systemmay include plurality of mobile systems, control system, and utility system. Each of plurality of mobile systemsmay be a drivable mobile system. In some cases, each of plurality of mobile systemsmay be an autonomously drivable mobile system. For example, without limitation, each of plurality of mobile systemsmay include one or more components that may be autonomously driven within manufacturing environmentfrom one location to another location. Plurality of mobile systemsare described in greater detail inbelow.

136 106 136 134 136 134 100 136 134 In this illustrative example, control systemmay be used to control the operation of flexible manufacturing system. For example, without limitation, control systemmay be used to control plurality of mobile systems. In particular, control systemmay be used to direct the movement of each of plurality of mobile systemswithin manufacturing environment. Control systemmay be at least partially associated with plurality of mobile systems.

136 140 140 In one illustrative example, control systemmay include set of controllers. As used herein, a “set of” items may include one or more items. In this manner, set of controllersmay include one or more controllers.

140 140 134 140 134 140 134 Each of set of controllersmay be implemented using hardware, firmware, software, or some combination thereof. In one illustrative example, set of controllersmay be associated with plurality of mobile systems. For example, without limitation, one or more of set of controllersmay be implemented as part of plurality of mobile systems. In other examples, one or more of set of controllersmay be implemented independently of plurality of mobile systems.

140 142 134 106 140 134 140 Set of controllersmay generate commandsto control the operation of plurality of mobile systemsof flexible manufacturing system. Set of controllersmay communicate with plurality of mobile systemsusing at least one of a wireless communications link, a wired communications link, an optical communications link, or other type of communications link. In this manner, any number of different types of communications links may be used for communication with and between set of controllers.

136 134 141 133 133 133 135 137 135 137 In these illustrative examples, control systemmay control the operation of plurality of mobile systemsusing datareceived from sensor system. Sensor systemmay be comprised of any number of individual sensor systems, sensor devices, controllers, other types of components, or combination thereof. In one illustrative example, sensor systemmay include laser tracking systemand radar system. Laser tracking systemmay be comprised of any number of laser tracking devices, laser targets, or combination thereof. Radar systemmay be comprised of any number of radar sensors, radar targets, or combination thereof.

133 134 100 137 135 Sensor systemmay be used to coordinate the movement and operation of the various mobile systems in plurality of mobile systemswithin manufacturing environment. As one illustrative example, radar systemmay be used for macro-positioning mobile systems, systems within mobile systems, components within mobile systems, or some combination thereof. Further, laser tracking systemmay be used for micro-positioning mobile systems, systems within mobile systems, components within mobile systems, or some combination thereof.

134 144 134 144 146 148 134 144 Plurality of mobile systemsmay be used to form distributed utility network. Depending on the implementation, one or more of plurality of mobile systemsmay form distributed utility network. Number of utilitiesmay flow from number of utility sourcesto the various mobile systems of plurality of mobile systemsthat make up distributed utility network.

148 100 148 100 100 In this illustrative example, each of number of utility sourcesmay be located with manufacturing environment. In other illustrative examples, one or more of number of utility sourcesmay be located outside of manufacturing environment. The corresponding utility provided by these one or more utility sources may then be carried into manufacturing environmentusing, for example, without limitation, one or more utility cables.

144 146 148 134 146 134 146 148 In one illustrative example, distributed utility networkmay allow number of utilitiesto flow directly from number of utility sourcesto one mobile system in plurality of mobile systemsover some number of utility cables. This one mobile system may then distribute number of utilitiesto other mobile systems of plurality of mobile systemssuch that these other mobile systems do not need to directly receive number of utilitiesfrom number of utility sources.

144 138 138 150 138 148 146 148 150 150 150 100 As depicted, distributed utility networkmay be formed using utility system. Utility systemmay include utility fixture. Utility systemmay be configured to connect to number of utility sourcessuch that number of utilitiesmay flow from number of utility sourcesto utility fixture. Utility fixturemay be above-ground or in-ground, depending on the implementation. For example, without limitation, utility fixturemay be embedded in a floor within manufacturing environment.

150 146 134 134 150 144 150 146 134 150 Utility fixturemay then distribute number of utilitiesto one or more of plurality of mobile systems. In particular, one autonomous coupling of one of plurality of mobile systemsto utility fixturemay be followed by any number of autonomous couplings of mobile systems to each other in series to form distributed utility network. Utility fixturemay distribute number of utilitiesto each of plurality of mobile systemsdownstream of utility fixturein the series of autonomous couplings of the mobile systems.

144 134 150 144 146 148 150 150 144 146 148 150 150 144 134 5 FIG. Depending on the implementation, distributed utility networkmay have a chain-like configuration or a tree-like configuration. In one illustrative example, plurality of mobile systemsmay include mobile systems A, B, C, and D (not shown in figure) with mobile system A autonomously coupled to utility fixtureand mobile systems B, C, and D autonomously coupled to mobile system A and each other in series. An example of a chain-like configuration for distributed utility networkmay include number of utilitiesflowing from number of utility sourcesover some number of utility cables to utility fixture, from utility fixtureto mobile system A, from mobile system A to mobile system B, from mobile system B to mobile system C, and from mobile system C to mobile system D. An example of a tree-like configuration for distributed utility networkmay include number of utilitiesflowing from number of utility sourcesover some number of utility cables to utility fixture, from utility fixtureto mobile system A, from mobile system A to both mobile system B and mobile system C, and from mobile system C to mobile system D. An example of one manner in which distributed utility networkmay be implemented using plurality of mobile systemsis described in greater detail inbelow.

106 In some illustrative examples, multiple flexible manufacturing systems may be used to build multiple fuselage assemblies concurrently. For example, flexible manufacturing systemmay be a first flexible manufacturing system of many flexible manufacturing systems.

106 152 154 116 118 117 116 118 117 102 106 152 154 158 In one illustrative example, flexible manufacturing system, second flexible manufacturing system, and third flexible manufacturing systemmay be used to build aft fuselage assembly, middle fuselage assembly, and forward fuselage assembly, respectively. Aft fuselage assembly, middle fuselage assembly, and forward fuselage assemblymay then be joined together to form a fully assembled fuselage. In this manner, in this example, flexible manufacturing system, second flexible manufacturing system, and third flexible manufacturing systemmay together form flexible fuselage manufacturing system.

114 100 106 102 100 158 Thus, any number of fuselage assemblies, such as fuselage assembly, may be built within manufacturing environmentusing any number of flexible manufacturing systems implemented in a manner similar to flexible manufacturing system. Similarly, any number of full fuselages, such as fuselage, may be built within manufacturing environmentusing any number of flexible fuselage manufacturing systems implemented in a manner similar to flexible fuselage manufacturing system.

2 FIG. 1 FIG. 114 114 120 121 114 114 114 120 120 With reference now to, an illustration of fuselage assemblyfromis depicted in the form of a block diagram in accordance with an illustrative embodiment. As described above, fuselage assemblymay include plurality of panelsand support structure. Fuselage assemblymay be used to refer to any stage in the building of fuselage assembly. For example, fuselage assemblymay be used to refer to a single one of plurality of panels, multiple ones of plurality of panelsthat have been or are being joined together, a partially built fuselage assembly, or a fully built fuselage assembly.

114 114 205 205 120 205 205 As depicted, fuselage assemblymay be built such that fuselage assemblyhas plurality of fuselage sections. Each of plurality of fuselage sectionsmay include one or more of plurality of panels. In this illustrative example, each of plurality of fuselage sectionsmay take the form of a cylindrically-shaped fuselage section, a barrel-shaped fuselage section, a tapered cylindrical fuselage section, a cone-shaped fuselage section, a dome-shaped fuselage section, or a section having some other type of shape. Depending on the implementation, a fuselage section of plurality of fuselage sectionsmay have a shape that has a substantially circular cross-sectional shape, elliptical cross-sectional shape, oval cross-sectional shape, polygon with rounded corners cross-sectional shape, or otherwise closed-curve cross-sectional shape.

205 114 114 114 205 114 205 As one specific illustrative example, each of plurality of fuselage sectionsmay be a portion of fuselage assemblydefined between two radial cross-sections of fuselage assemblythat are taken substantially perpendicular to a center axis or longitudinal axis through fuselage assembly. In this manner, plurality of fuselage sectionsmay be arranged along the longitudinal axis of fuselage assembly. In other words, plurality of fuselage sectionsmay be arranged longitudinally.

207 205 207 120 207 207 207 207 Fuselage sectionmay be an example of one of plurality of fuselage sections. Fuselage sectionmay be comprised of one or more of plurality of panels. In one illustrative example, multiple panel sections may be arranged circumferentially around fuselage sectionto form the skin of fuselage section. In some cases, multiple rows of two or more longitudinally adjacent panels may be arranged circumferentially around fuselage sectionto form the skin of fuselage section.

114 200 202 204 204 206 208 In one illustrative example, fuselage assemblymay have crown, keel, and sides. Sidesmay include first sideand second side.

200 114 202 114 204 114 114 200 202 200 202 206 208 114 120 205 200 202 206 208 Crownmay be the top portion of fuselage assembly. Keelmay be the bottom portion of fuselage assembly. Sidesof fuselage assemblymay be the portions of fuselage assemblybetween crownand keel. In one illustrative example, each of crown, keel, first side, and second sideof fuselage assemblymay be formed by at least a portion of at least one of plurality of panels. Further, a portion of each of plurality of fuselage sectionsmay form each of crown, keel, first side, and second side.

216 120 216 216 216 216 Panelmay be an example of one of plurality of panels. Panelmay also be referred to as a skin panel, a fuselage panel, or a fuselage skin panel, depending on the implementation. In some illustrative examples, panelmay take the form of a mega-panel comprised of multiple smaller panels, which may be referred to as sub-panels. A mega-panel may also be referred to as a super panel. In these illustrative examples, panelmay be comprised of at least one of a metal, a metal alloy, some other type of metallic material, a composite material, or some other type of material. As one illustrative example, panelmay be comprised of an aluminum alloy, steel, titanium, a ceramic material, a composite material, some other type of material, or some combination thereof.

202 114 216 204 114 216 200 114 216 120 218 200 220 204 222 202 220 224 206 226 208 When used to form keelof fuselage assembly, panelmay be referred to as a keel panel or a bottom panel. When used to form one of sidesof fuselage assembly, panelmay be referred to as a side panel. When used to form crownof fuselage assembly, panelmay be referred to as a crown panel or a top panel. As one illustrative example, plurality of panelsmay include crown panelsfor forming crown, side panelsfor forming sides, and keel panelsfor forming keel. Side panelsmay include first side panelsfor forming first sideand second side panelsfor forming second side.

207 205 114 218 220 222 207 114 In one illustrative example, fuselage sectionof plurality of fuselage sectionsof fuselage assemblymay include one of crown panels, two of side panels, and one of keel panels. In another illustrative example, fuselage sectionmay form an end of fuselage assembly.

207 216 216 228 In some cases, fuselage sectionmay be comprised solely of a single panel, such as panel. For example, without limitation, panelmay take the form of end panel.

228 114 114 116 228 114 114 117 228 114 1 FIG. 1 FIG. End panelmay be used to form one end of fuselage assembly. For example, when fuselage assemblytakes the form of aft fuselage assemblyin, end panelmay form the aftmost end of fuselage assembly. When fuselage assemblytakes the form of forward fuselage assemblyin, end panelmay form the forwardmost end of fuselage assembly.

228 228 114 In one illustrative example, end panelmay take the form of a cylindrically-shaped panel, a cone-shaped panel, a barrel-shaped panel, or a tapered cylindrical panel. For example, end panelmay be a single cylindrically-shaped panel having a substantially circular cross-sectional shape that may change in diameter with respect to a center axis for fuselage assembly.

207 228 207 228 272 228 207 272 228 272 In this manner, as described above, fuselage sectionmay be comprised solely of end panel. In some illustrative examples, fuselage sectionmay be an end fuselage section that is comprised of only a single panel, which may be end panel. In some cases, bulkheadmay be associated with end panelwhen fuselage sectionis an end fuselage section. Bulkhead, which may also be referred to as a pressure bulkhead, may be considered separate from or part of end panel, depending on the implementation. Bulkheadmay have a dome-type shape in these illustrative examples.

114 116 272 207 116 114 117 272 207 117 118 272 118 205 1 FIG. 1 FIG. 1 FIG. When fuselage assemblytakes the form of aft fuselage assemblyin, bulkheadmay be part of fuselage sectionlocated at the aftmost end of aft fuselage assembly. When fuselage assemblytakes the form of forward fuselage assemblyin, bulkheadmay be part of fuselage sectionlocated at forwardmost end of forward fuselage assembly. Middle fuselage assemblyinmay not include a bulkhead, such as bulkhead, at either end of middle fuselage assembly. In this manner, plurality of fuselage sectionsmay be implemented in any number of different ways.

216 230 232 230 230 234 114 232 232 236 114 120 216 Panelmay have first surfaceand second surface. First surfacemay be configured for use as an exterior-facing surface. In other words, first surfacemay be used to form exteriorof fuselage assembly. Second surfacemay be configured for use as an interior-facing surface. In other words, second surfacemay be used to form interiorof fuselage assembly. Each of plurality of panelsmay be implemented in a manner similar to panel.

121 120 121 122 216 240 122 216 240 238 216 238 121 As described earlier, support structuremay be associated with a corresponding one of plurality of panels. Support structuremay be comprised of plurality of membersthat are associated with panel. In one illustrative example, corresponding portionmay be the portion of plurality of membersthat correspond to panel. Corresponding portionmay form support sectioncorresponding to panel. Support sectionmay form a part of support structure.

122 242 242 244 246 248 250 252 254 Plurality of membersmay include support members. Support membersmay include, for example, without limitation, at least one of connecting members, frames, stringers, stiffeners, stanchions, intercostal structural members, or other types of structural members.

244 242 244 242 120 244 256 258 260 262 Connecting membersmay connect other types of support memberstogether. In some cases, connecting membersmay also connect support membersto plurality of panels. Connecting membersmay include, for example, without limitation, shear clips, ties, splices, intercostal connecting members, other types of mechanical connecting members, or some combination thereof.

216 244 246 248 244 120 244 In one illustrative example, when panelis comprised of multiple sub-panels, connecting membersmay be used to, for example, without limitation, connect together complementary frames of framesrunning in the hoop-wise direction on adjacent sub-panels and complementary stringers of stringersrunning in the longitudinal direction on adjacent sub-panels. In other illustrative examples, connecting membersmay be used to connect together complementary frames, stringers, or other types of support members on two or more adjacent panels in plurality of panels. In some cases, connecting membersmay be used to connect together complementary support members on two or more adjacent fuselage sections.

124 120 114 264 120 1 FIG. Operations, as described in, may be performed to join plurality of panelstogether to build fuselage assembly. In one illustrative example, plurality of fastenersmay be used to join plurality of panelstogether.

120 120 120 120 120 122 122 122 120 122 121 114 As described above, joining plurality of panelstogether may be performed in a number of different ways. Joining plurality of panelstogether may include at least one of joining at least one panel in plurality of panelsto another one of plurality of panels, joining at least one panel in plurality of panelsto at least one of plurality of members, joining at least one member in plurality of membersto another one of plurality of members, or some other type of joining operation. Plurality of panelsmay be joined together such that plurality of membersultimately form support structurefor fuselage assembly.

266 114 266 114 266 As depicted, number of floorsmay be associated with fuselage assembly. In this illustrative example, number of floorsmay be part of fuselage assembly. Number of floorsmay include, for example, without limitation, at least one of a passenger floor, a cargo floor, or some other type of floor.

3 FIG. 1 FIG. 134 106 100 106 114 300 100 100 300 302 With reference now to, an illustration of plurality of mobile systemsof flexible manufacturing systemwithin manufacturing environmentfromis depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, flexible manufacturing systemmay be used to build fuselage assemblyon floorof manufacturing environment. When manufacturing environmenttakes the form of a factory, floormay be referred to as factory floor.

300 300 300 In one illustrative example, floormay be substantially smooth and substantially planar. For example, floormay be substantially level. In other illustrative examples, one or more portions of floormay be sloped, ramped, or otherwise uneven.

304 100 110 114 304 304 300 304 300 100 100 1 FIG. Assembly areamay be an area within manufacturing environmentdesignated for performing assembly processinto build a fuselage assembly, such as fuselage assembly. Assembly areamay also be referred to as a cell or a work cell. In this illustrative example, assembly areamay be a designated area on floor. However, in other illustrative examples, assembly areamay include a designated area on flooras well as the area above this designated area. Any number of assembly areas may be present within manufacturing environmentsuch that any number of fuselage assemblies may be built concurrently within manufacturing environment.

134 306 308 310 312 134 300 134 300 315 317 300 As depicted, plurality of mobile systemsmay include plurality of autonomous vehicles, cradle system, tower system, and autonomous tooling system. Each of plurality of mobile systemsmay be drivable across floor. In other words, each of plurality of mobile systemsmay be capable of being autonomously driven across floorfrom one locationto another locationon floor.

306 306 In one illustrative example, each of plurality of autonomous vehiclesmay take the form of an automated guided vehicle (AGV), which may be capable of operating independently without human direction or guidance. In some cases, plurality of autonomous vehiclesmay be referred to as a plurality of automated guided vehicles (AGVs).

308 114 110 308 308 1 FIG. In this illustrative example, cradle systemmay be used to support and hold fuselage assemblyduring assembly processin. In some cases, cradle systemmay be referred to as a drivable cradle system. In still other cases, cradle systemmay be referred to as an autonomously drivable cradle system.

308 313 313 313 313 Cradle systemmay include number of fixtures. As used herein, a “number of” items may include one or more items. In this manner, number of fixturesmay include one or more fixtures. In some illustrative examples, number of fixturesmay be referred to as a number of drivable fixtures. In other illustrative examples, number of fixturesmay be referred to as a number of autonomously drivable fixtures.

313 314 314 314 322 314 Number of fixturesmay include number of cradle fixtures. In some illustrative examples, number of cradle fixturesmay be referred to as a number of drivable cradle fixtures. In other illustrative examples, number of cradle fixturesmay be referred to as a number of autonomously drivable cradle fixtures. Cradle fixturemay be an example of one of number of cradle fixtures.

326 314 326 314 114 326 322 120 Number of retaining structuresmay be associated with each of number of cradle fixtures. Number of retaining structuresassociated with each of number of cradle fixturesmay be engaged with and used to support fuselage assembly. For example, number of retaining structuresassociated with cradle fixturemay be engaged with and used to support one or more of plurality of panels.

314 300 100 304 314 300 306 316 306 314 300 304 Number of cradle fixturesmay be autonomously driven across floorof manufacturing environmentto assembly area. In one illustrative example, each of number of cradle fixturesmay be autonomously driven across floorusing a corresponding one of plurality of autonomous vehicles. In other words, without limitation, number of corresponding autonomous vehiclesin plurality of autonomous vehiclesmay be used to drive number of cradle fixturesacross floorinto assembly area.

316 318 300 304 318 306 308 310 312 136 106 1 FIG. In this illustrative example, number of corresponding autonomous vehiclesmay drive from, for example, without limitation, holding area, across floor, to assembly area. Holding areamay be an area in which at least one of plurality of autonomous vehicles, cradle system, tower system, autonomous tooling system, or control systemfrommay be held when flexible manufacturing systemis not in use or when that particular device or system is not in use.

318 318 100 318 100 Holding areamay be referred to as a home area, a storage area, or a base area, depending on the implementation. Although holding areais depicted as being located within manufacturing environment, holding areamay be located in some other area or environment outside of manufacturing environmentin other illustrative examples.

316 306 314 320 100 Number of corresponding autonomous vehiclesin plurality of autonomous vehiclesmay drive number of cradle fixturesinto number of selected cradle positions. As used herein, a “position” may be comprised of a location, an orientation, or both. The location may be in two-dimensional coordinates or three-dimensional coordinates with respect to a reference coordinate system. The orientation may be a two-dimensional or three-dimensional orientation with respect to a reference coordinate system. This reference coordinate system may be, for example, without limitation, a fuselage coordinate system, an aircraft coordinate system, a coordinate system for manufacturing environment, or some other type of coordinate system.

314 320 314 314 320 When number of cradle fixturesincludes more than one cradle fixture such that number of selected cradle positionsincludes more than one cradle position, these cradle positions may be positions selected relative to each other. In this manner, number of cradle fixturesmay be positioned such that number of cradle fixturesare in number of selected cradle positionsrelative to each other.

316 314 320 304 300 322 300 322 322 In these illustrative examples, number of corresponding autonomous vehiclesmay be used to drive number of cradle fixturesinto number of selected cradle positionswithin assembly area. “Driving” a component or a system across floormay mean, for example, but not limited to, moving substantially the entirety of that component or system from one location to another location. For example, without limitation, driving cradle fixtureacross floormay mean moving the entirety of cradle fixturefrom one location to another location. In other words, all or substantially all components that comprise cradle fixturemay be simultaneously moved together from one location to another location.

314 320 304 314 310 316 314 318 314 320 316 314 320 304 Once number of cradle fixtureshas been driven into number of selected cradle positionsin assembly area, number of cradle fixturesmay be coupled to each other and to tower system. Number of corresponding autonomous vehiclesmay then drive away from number of cradle fixturesto, for example, without limitation, holding area, once number of cradle fixturesis positioned in number of selected cradle positionswithin selected tolerances. In other illustrative examples, number of corresponding autonomous vehiclesmay be comprised of a single autonomous vehicle that is used to drive each of number of cradle fixturesinto a corresponding selected position in number of selected cradle positionswithin assembly areaone at a time.

304 314 324 324 314 320 324 314 314 320 326 314 114 In assembly area, number of cradle fixturesmay be configured to form assembly fixture. Assembly fixturemay be formed when the different cradle fixtures in number of cradle fixtureshave been placed in number of selected cradle positionsrelative to each other. In some cases, assembly fixturemay be formed when number of cradle fixtureshave been coupled to each other while number of cradle fixturesis in number of selected cradle positionsand when number of retaining structuresassociated with each of number of cradle fixtureshas been adjusted to receive fuselage assembly.

314 324 324 114 324 324 324 In this manner, number of cradle fixturesmay form a single fixture entity, such as assembly fixture. Assembly fixturemay be used to support and hold fuselage assembly. In some cases, assembly fixturemay be referred to as an assembly fixture system or a fixture system. In some cases, assembly fixturemay be referred to as a drivable assembly fixture. In other cases, assembly fixturemay be referred to as an autonomously drivable assembly fixture.

324 314 114 205 314 205 326 314 205 314 Once assembly fixturehas been formed, number of cradle fixturesmay receive fuselage assembly. In other words, plurality of fuselage sectionsmay be engaged with number of cradle fixtures. In particular, plurality of fuselage sectionsmay be engaged with number of retaining structuresassociated with each of number of cradle fixtures. Plurality of fuselage sectionsmay be engaged with number of cradle fixturesin any number of ways.

314 114 314 205 When number of cradle fixturesincludes a single cradle fixture, that cradle fixture may be used to support and hold substantially the entire fuselage assembly. When number of cradle fixturesincludes multiple cradle fixtures, each of these cradle fixtures may be used to support and hold at least one corresponding fuselage section of plurality of fuselage sections.

205 314 205 314 205 314 120 314 120 326 314 324 120 314 In one illustrative example, each of plurality of fuselage sectionsmay be engaged with number of cradle fixturesone at a time. For example, without limitation, all of the panels for a particular fuselage section in plurality of fuselage sectionsmay be positioned relative to each other and a corresponding cradle fixture in number of cradle fixturesand then engaged with the corresponding cradle fixture. The remaining fuselage sections in plurality of fuselage sectionsmay then be formed and engaged with number of cradle fixturesin a similar manner. In this manner, plurality of panelsmay be engaged with number of cradle fixturesby engaging at least a portion of plurality of panelswith number of retaining structuresassociated with each of number of cradle fixturesthat makes up assembly fixturesuch that plurality of panelsis supported by number of cradle fixtures.

2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. 120 222 220 218 222 202 114 314 220 204 114 222 218 200 114 220 205 114 As described in, plurality of panelsmay include keel panels, side panels, and crown panels. In one illustrative example, all of keel panelsinused to form keelof fuselage assemblyinmay first be positioned relative to and engaged with number of cradle fixtures. Next, all of side panelsinused to form sidesof fuselage assemblyinmay be positioned relative to and engaged with keel panels. Then, all of crown panelsinused to form crownof fuselage assemblyinmay be positioned relative to and engaged with side panels. In this manner, plurality of fuselage sectionsmay be concurrently assembled to form fuselage assembly.

120 122 314 122 238 216 216 314 120 242 216 244 242 216 314 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. In one illustrative example, each panel in plurality of panelsmay have a corresponding portion of plurality of membersfully formed and associated with the panel prior to the panel being engaged with one of number of cradle fixtures. This corresponding portion of plurality of membersmay be referred to as a support section. For example, support sectioninmay be fully formed and associated with panelinprior to panelbeing engaged with one of number of cradle fixturesor another panel of plurality of panelsin. In other words, a corresponding portion of support membersinmay already be attached to paneland a corresponding portion of connecting membersinalready installed to connect this portion of support membersto each other prior to panelfrombeing engaged with one of number of cradle fixtures.

122 120 120 314 122 120 120 314 122 120 120 314 In other illustrative examples, plurality of membersmay be associated with plurality of panelsafter plurality of panelshave been engaged with each other and number of cradle fixtures. In still other illustrative examples, only a portion of plurality of membersmay be associated with plurality of panelsprior to plurality of panelsbeing engaged with each other and number of cradle fixturesand then a remaining portion of plurality of membersassociated with plurality of panelsonce plurality of panelshave been engaged with each other and number of cradle fixtures.

242 244 216 216 314 120 246 216 216 322 250 216 216 322 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. 2 FIG. In some illustrative examples, one or more of support membersin, one or more of connecting membersin, or both may not be associated with panelwhen panelfromis engaged with one of number of cradle fixturesor with one of the other panels in plurality of panels. For example, without limitation, framesdescribed inmay be added to panelfromafter panelhas been engaged with cradle fixture. In another example, stiffenersdescribed inmay be added to panelfromafter panelhas been engaged with cradle fixture.

114 120 120 314 324 120 Building fuselage assemblymay include engaging plurality of panelswith each other as plurality of panelsare built up on number of cradle fixturesof assembly fixture. For example, adjacent panels in plurality of panelsmay be connected by connecting at least a portion of the support members associated with the panels. Depending on the implementation, at least one of lap splices, butt splices, or other types of splices may be used to connect the adjacent panels in addition to or in place of connecting the corresponding support members of the adjacent panels.

120 As one illustrative example, the support members associated with two adjacent panels in plurality of panelsmay be connected together using connecting members, thereby connecting the two adjacent panels. The two support members associated with these two adjacent panels may be, for example, without limitation, spliced, tied, clipped, tacked, pinned, joined, or fastened together in some other manner. When the two adjacent panels are hoop-wise adjacent, complementary frames may be connected in the hoop-wise direction. When the two adjacent panels are longitudinally adjacent, complementary stringers may be connected in the longitudinal direction.

In some cases, connecting complementary stringers, frames, or other support members on these two adjacent panels may be part of splicing these panels together. Adjacent panels may be connected together using any number of panel splices, stringer splices, frame splices, or other types of splices.

120 120 122 120 120 120 122 120 122 122 120 121 114 2 FIG. In one illustrative example, plurality of panelsmay be temporarily connected to each other by temporarily fastening at least one of plurality of panelsor plurality of memberstogether using temporary fasteners or permanent fasteners. For example, without limitation, temporary clamps may be used to temporarily connect and hold in place two of plurality of panelstogether. Temporarily connecting plurality of panelstogether may be performed by at least one of temporarily connecting at least two plurality of panelstogether, temporarily connecting at least two plurality of memberstogether, or temporarily connecting at least one of plurality of panelsto at least one of plurality of memberssuch that plurality of membersassociated with plurality of panelsforms support structureinfor fuselage assembly.

120 328 264 120 114 120 205 120 264 328 2 FIG. As one illustrative example, plurality of panelsmay be temporarily tacked or pinned together using temporary fastenersuntil plurality of fastenersare installed to join plurality of panelstogether to form fuselage assembly. Temporarily connecting plurality of panelsmay temporarily connect together plurality of fuselage sectionsfromformed by plurality of panels. Once plurality of fastenershave been installed, temporary fastenersmay then be removed.

120 120 122 121 114 120 121 114 120 114 120 114 In this manner, plurality of panelsmay be connected together in a number of different ways. Once plurality of panelshave been connected together, plurality of membersmay be considered as forming support structurefor fuselage assembly. Connecting plurality of panelstogether and forming support structuremay maintain desired compliance with outer mold line requirements and inner mold line requirements for fuselage assembly. In other words, plurality of panelsmay be held together in place relative to each other such that fuselage assemblyformed using plurality of panelsmeets outer mold line requirements and inner mold line requirements for fuselage assemblywithin selected tolerances.

324 120 121 120 114 120 121 120 122 120 114 114 114 In particular, assembly fixturemay support plurality of panelsand support structureassociated with plurality of panelssuch that fuselage assemblybuilt using plurality of panelsand support structurehas a shape and a configuration that is within selected tolerances. In this manner, this shape and configuration may be maintained within selected tolerances while supporting plurality of panelsand plurality of membersassociated with plurality of panelsduring the building of fuselage assembly. This shape may be at least partially determined by, for example, without limitation, the outer mold line requirements and inner mold line requirements for fuselage assembly. In some cases, the shape may be at least partially determined by the location and orientation of the frames and stringers of fuselage assembly.

120 121 114 316 324 304 114 300 100 300 300 In some cases, when the assembly of plurality of panelsand support structurethat comprise fuselage assemblyhas reached a desired point, number of corresponding autonomous vehiclesmay drive assembly fixtureout of assembly area. For example, fuselage assemblymay be driven across floorinto a different area within manufacturing environment, from flooronto another floor in a different manufacturing environment, or from flooronto another floor in some other area or environment.

324 324 116 324 117 324 118 1 FIG. 1 FIG. 1 FIG. In one illustrative example, assembly fixturemay be driven to some other location at which another assembly fixture is located such that the two assembly fixtures may be coupled to form a larger assembly fixture. As one illustrative example, assembly fixturemay be used to hold and support aft fuselage assemblyin, while another assembly fixture implemented in a manner similar to assembly fixturemay be used to hold and support forward fuselage assemblyin. Yet another assembly fixture implemented in a manner similar to assembly fixturemay be used to hold and support middle fuselage assemblyin.

116 118 117 102 116 118 117 102 1 FIG. Once these three fuselage assemblies have been built, the three assembly fixtures may be brought together to form a larger assembly fixture for holding aft fuselage assembly, middle fuselage assembly, and forward fuselage assemblysuch that these three fuselage assemblies may be joined to form fuselagedescribed in. In particular, this larger assembly fixture may hold aft fuselage assembly, middle fuselage assembly, and forward fuselage assemblyin alignment with each other such that fuselagemay be built within selected tolerances.

324 116 117 102 116 117 102 1 FIG. In another illustrative example, a first assembly fixture and a second assembly fixture implemented in a manner similar to assembly fixturemay be used to hold and support aft fuselage assemblyand forward fuselage assembly, respectively, from. Once these two fuselage assemblies have been built, the two assembly fixtures may then be brought together to form a larger assembly fixture for holding the two fuselage assemblies such that these fuselage assemblies may be joined to form fuselage. The larger assembly fixture may hold aft fuselage assemblyand forward fuselage assemblyin alignment with each other such that fuselagemay be built within selected tolerances.

310 330 332 330 332 236 114 332 332 2 FIG. As depicted, tower systemincludes number of towers. Towermay be an example of one implementation for one of number of towers. Towermay be configured to provide access to interiorof fuselage assemblydescribed in. In some illustrative examples, towermay be referred to as a drivable tower. In other illustrative examples, towermay be referred to as an autonomously drivable tower.

332 334 334 332 336 336 330 334 336 In one illustrative example, towermay take the form of first tower. First towermay also be referred to as an operator tower in some cases. In another illustrative example, towermay take the form of second tower. Second towermay also be referred to as a robotics tower in some cases. In this manner, number of towersmay include both first towerand second tower.

334 336 334 236 114 336 236 114 First towermay be configured substantially for use by a human operator, whereas second towermay be configured substantially for use by a mobile platform having at least one robotic device associated with the mobile platform. In other words, first towermay allow a human operator to access and enter interiorof fuselage assembly. Second towermay allow a mobile platform to access and enter interiorof fuselage assembly.

334 336 324 110 306 334 318 338 304 314 316 320 334 338 304 First towerand second towermay be positioned relative to assembly fixtureat different times during assembly process. As one illustrative example, one of plurality of autonomous vehiclesmay be used to move or autonomously drive first towerfrom holding areainto selected tower positionwithin assembly area. Number of cradle fixturesmay then be autonomously driven, using number of corresponding autonomous vehicles, into number of selected cradle positionsrelative to first tower, which is in selected tower positionwithin assembly area.

336 334 110 306 334 304 318 306 336 318 338 304 334 334 336 1 FIG. Second towermay be exchanged for first towerat some later stage during assembly processin. For example, one of plurality of autonomous vehiclesmay be used to autonomously drive first towerout of assembly areaand back into holding area. The same autonomous vehicle or a different autonomous vehicle in plurality of autonomous vehiclesmay then be used to autonomously drive second towerfrom holding areainto selected tower positionwithin assembly areathat was previously occupied by first tower. Depending on the implementation, first towermay be later exchanged for second tower.

334 336 306 306 334 306 336 306 334 334 300 306 336 336 300 In other illustrative examples, first towerand second towermay each have an autonomous vehicle in plurality of autonomous vehiclesfixedly associated with the tower. In other words, one of plurality of autonomous vehiclesmay be integrated with first towerand one of plurality of autonomous vehiclesmay be integrated with second tower. For example, one of plurality of autonomous vehiclesmay be considered part of or built into first tower. First towermay then be considered capable of autonomously driving across floor. In a similar manner, one of plurality of autonomous vehiclesmay be considered part of or built into second tower. Second towermay then be considered capable of autonomously driving across floor.

310 324 340 340 310 324 310 342 138 340 342 Tower systemand assembly fixturemay be configured to form interfacewith each other. Interfacemay be a physical interface between tower systemand assembly fixture. Tower systemmay also be configured to form interfacewith utility system. In one illustrative example, interfaceand interfacemay be autonomously formed.

342 310 138 340 342 340 342 Interfacemay be a physical interface between tower systemand utility system. In these illustrative examples, in addition to being physical interfaces, interfaceand interfacemay also be utility interfaces. For example, with respect to the utility of power, interfaceand interfacemay be considered electrical interfaces.

138 146 310 310 138 342 310 146 324 308 324 310 340 146 Utility systemis configured to distribute number of utilitiesto tower systemwhen tower systemand utility systemare physically and electrically coupled through interface. Tower systemmay then distribute number of utilitiesto assembly fixtureformed by cradle systemwhen assembly fixtureand tower systemare physically and electrically coupled through interface. Number of utilitiesmay include at least one of power, air, hydraulic fluid, communications, water, or some other type of utility.

138 150 150 146 148 148 150 As depicted, utility systemmay include utility fixture. Utility fixturemay be configured to receive number of utilitiesfrom number of utility sources. Number of utility sourcesmay include, for example, without limitation, at least one of a power generator, a battery system, a water system, an electrical line, a communications system, a hydraulic fluid system, an air tank, or some other type of utility source. For example, utility fixturemay receive power from a power generator.

150 304 150 304 304 In one illustrative example, utility fixturemay be positioned relative to assembly area. Depending on the implementation, utility fixturemay be positioned inside assembly areaor outside of assembly area.

150 300 150 300 300 150 100 100 150 300 In some illustrative examples, utility fixturemay be associated with floor. Depending on the implementation, utility fixturemay be permanently associated with flooror temporarily associated with floor. In other illustrative examples, utility fixturemay be associated with some other surface of manufacturing environment, such as a ceiling, or some other structure in manufacturing environment. In some cases, utility fixturemay be embedded within floor.

334 338 300 150 342 334 150 342 146 150 334 324 340 334 334 324 342 340 146 150 150 334 314 324 334 146 324 In one illustrative example, first towermay be autonomously driven into selected tower positionwith respect to floorrelative to utility fixturesuch that interfacemay be formed between first towerand utility fixture. Once interfacehas been formed, number of utilitiesmay flow from utility fixtureto first tower. Assembly fixturemay then autonomously form interfacewith first towerto form a network of utility cables between first towerand assembly fixture. Once both interfaceand interfacehave been formed, number of utilitiesreceived at utility fixturemay flow from utility fixtureto first towerand to each of number of cradle fixturesthat forms assembly fixture. In this manner, first towermay function as a conduit or “middleman” for distributing number of utilitiesto assembly fixture.

340 336 324 342 336 150 146 336 324 150 146 310 324 310 324 148 When interfacehas been formed between second towerand assembly fixtureand interfacehas been formed between second towerand utility fixture, number of utilitiesmay be provided to second towerand assembly fixturein a similar manner as described above. Thus, utility fixturemay distribute number of utilitiesto tower systemand assembly fixturewithout tower systemand cradle assembly fixturehaving to separately connect to number of utility sourcesor any other utility sources.

312 120 121 114 324 312 344 344 124 110 344 120 124 120 114 344 1 FIG. 4 FIG. Autonomous tooling systemmay be used to assemble plurality of panelsand support structurewhile fuselage assemblyis being supported and held by assembly fixture. Autonomous tooling systemmay include plurality of mobile platforms. Each of plurality of mobile platformsmay be configured to perform one or more of operationsin assembly processdescribed in. In particular, plurality of mobile platformsmay be autonomously driven into selected positions relative to plurality of panelswithin selected tolerances to autonomously perform operationsthat join plurality of panelstogether to build fuselage assembly. Plurality of mobile platformsare described in greater detail inbelow.

140 136 142 308 310 138 312 306 140 308 310 138 312 306 1 FIG. 1 FIG. In this illustrative example, set of controllersin control systemmay generate commandsas described into control the operation of at least one of cradle system, tower system, utility system, autonomous tooling system, or plurality of autonomous vehicles. Set of controllersinmay communicate with at least one of cradle system, tower system, utility system, autonomous tooling system, or plurality of autonomous vehiclesusing any number of wireless communications links, wired communications links, optical communications links, other types of communications links, or combination thereof.

134 106 114 134 114 120 In this manner, plurality of mobile systemsof flexible manufacturing systemmay be used to automate the process of building fuselage assembly. Plurality of mobile systemsmay enable fuselage assemblyto be built substantially autonomously with respect to joining together plurality of panelsto reduce the overall time, effort, and human resources needed.

106 114 114 108 102 104 308 324 114 108 102 104 Flexible manufacturing systemmay build fuselage assemblyup to the point needed to move fuselage assemblyto the next stage in manufacturing processfor building fuselageor the next stage in the manufacturing process for building aircraft, depending on the implementation. In some cases, cradle systemin the form of assembly fixturemay continue carrying and supporting fuselage assemblyduring one or more of these later stages in manufacturing processfor building fuselageand aircraft.

4 FIG. 3 FIG. 344 344 400 402 344 With reference now to, an illustration of plurality of mobile platformsfromis depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, plurality of mobile platformsmay include number of external mobile platformsand number of internal mobile platforms. In this manner, plurality of mobile platformsmay include at least one external mobile platform and at least one internal mobile platform.

400 402 400 402 In some illustrative examples, number of external mobile platformsmay be referred to as a number of drivable external mobile platforms. Similarly, in some cases, number of internal mobile platformsmay be referred to as a number of drivable internal mobile platforms. In other illustrative examples, number of external mobile platformsand number of internal mobile platformsmay be referred to as a number of autonomously drivable external mobile platforms and a number of autonomously drivable internal mobile platforms, respectively.

404 400 406 402 404 406 404 406 300 306 3 FIG. External mobile platformmay be an example of one of number of external mobile platformsand internal mobile platformmay be an example of one of number of internal mobile platforms. External mobile platformand internal mobile platformmay be platforms that are autonomously drivable. Depending on the implementation, each of external mobile platformand internal mobile platformmay be configured to autonomously drive across flooron its own or with the assistance of one of plurality of autonomous vehiclesfrom.

404 300 306 404 306 404 404 300 404 300 As one illustrative example, without limitation, external mobile platformmay be autonomously driven across floorusing a corresponding one of plurality of autonomous vehicles. In some illustrative examples, external mobile platformand this corresponding one of plurality of autonomous vehiclesmay be integrated with each other. For example, the autonomous vehicle may be fixedly associated with external mobile platform. An entire load of external mobile platformmay be transferable to the autonomous vehicle such that driving the autonomous vehicle across floordrives external mobile platformacross floor.

404 318 234 114 124 408 404 408 404 408 404 408 1 FIG. External mobile platformmay be driven from, for example, without limitation, holding areato a position relative to exteriorof fuselage assemblyto perform one or more operationsin. As depicted, at least one external robotic devicemay be associated with external mobile platform. In this illustrative example, external robotic devicemay be considered part of external mobile platform. In other illustrative examples, external robotic devicemay be considered a separate component that is physically attached to external mobile platform. External robotic devicemay take the form of, for example, without limitation, a robotic arm.

408 410 410 410 External robotic devicemay have first end effector. Any number of tools may be associated with first end effector. These tools may include, for example, without limitation, at least one of a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool. In particular, any number of fastening tools may be associated with first end effector.

411 410 411 410 411 410 411 411 410 As depicted, first toolmay be associated with first end effector. In one illustrative example, first toolmay be any tool that is removably associated with first end effector. In other words, first toolassociated with first end effectormay be changed as various operations need to be performed. For example, without limitation, first toolmay take the form of one type of tool, such as a drilling tool, to perform one type of operation. This tool may then be exchanged with another type of tool, such as a fastener insertion tool, to become the new first toolassociated with first end effectorto perform a different type of operation.

411 412 412 412 410 412 In one illustrative example, first toolmay take the form of first riveting tool. First riveting toolmay be used to perform riveting operations. In some illustrative examples, a number of different tools may be exchanged with first riveting tooland associated with first end effector. For example, without limitation, first riveting toolmay be exchangeable with a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool.

404 300 324 114 410 411 410 120 404 300 414 324 411 404 404 3 FIG. External mobile platformmay be autonomously driven across floorand positioned relative to assembly fixtureinsupporting fuselage assemblyto position first end effectorand first toolassociated with first end effectorrelative to one of plurality of panels. For example, external mobile platformmay be autonomously driven across floorto external positionrelative to assembly fixture. In this manner, first toolcarried by external mobile platformmay be macro-positioned using external mobile platform.

414 410 408 411 410 120 411 Once in external position, first end effectormay be autonomously controlled using at least external robotic deviceto position first toolassociated with first end effectorrelative to a particular location on an exterior-facing side of one of plurality of panels. In this manner, first toolmay be micro-positioned relative to the particular location.

406 336 406 342 336 324 406 336 236 114 124 406 406 336 114 3 FIG. 3 FIG. Internal mobile platformmay be located on second towerinwhen internal mobile platformis not in use. When interfacedescribed inis formed between second towerand assembly fixture, internal mobile platformmay be driven from second towerinto interiorof fuselage assemblyand used to perform one or more of operations. In one illustrative example, internal mobile platformmay have a movement system that allows internal mobile platformto move from second toweronto a floor inside fuselage assembly.

416 406 416 406 416 406 416 At least one internal robotic devicemay be associated with internal mobile platform. In this illustrative example, internal robotic devicemay be considered part of internal mobile platform. In other illustrative examples, internal robotic devicemay be considered a separate component that is physically attached to internal mobile platform. Internal robotic devicemay take the form of, for example, without limitation, a robotic arm.

416 418 418 418 418 Internal robotic devicemay have second end effector. Any number of tools may be associated with second end effector. For example, without limitation, at least one of a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool may be associated with second end effector. In particular, any number of fastening tools may be associated with second end effector.

419 418 419 418 419 418 419 419 418 As depicted, second toolmay be associated with second end effector. In one illustrative example, second toolmay be any tool that is removably associated with second end effector. In other words, second toolassociated with second end effectormay be changed as various operations need to be performed. For example, without limitation, second toolmay take the form of one type of tool, such as a drilling tool, to perform one type of operation. This tool may then be exchanged with another type of tool, such as a fastener insertion tool, to become the new second toolassociated with second end effectorto perform a different type of operation.

419 420 420 418 420 420 418 420 In one illustrative example, second toolmay take the form of second riveting tool. Second riveting toolmay be associated with second end effector. Second riveting toolmay be used to perform riveting operations. In some illustrative examples, a number of different tools may be exchanged with second riveting tooland associated with second end effector. For example, without limitation, second riveting toolmay be exchangeable with a drilling tool, a fastener insertion tool, a fastener installation tool, an inspection tool, or some other type of tool.

406 336 114 236 114 418 419 418 120 406 266 422 114 114 419 422 406 2 FIG. Internal mobile platformmay be driven from second towerinto fuselage assemblyand positioned relative to interiorof fuselage assemblyto position second end effectorand second toolassociated with second end effectorrelative to one of plurality of panels. In one illustrative example, internal mobile platformmay be autonomously driven onto one of number of floorsininto internal positionwithin fuselage assemblyrelative to fuselage assembly. In this manner, second toolmay be macro-positioned into internal positionusing internal mobile platform.

422 418 419 418 120 122 121 419 2 FIG. Once in internal position, second end effectormay be autonomously controlled to position second toolassociated with second end effectorrelative to a particular location on an interior-facing side of one of plurality of panelsor an interior-facing side of one of plurality of membersinthat make up support structure. In this manner, second toolmay be micro-positioned relative to the particular location.

414 404 422 406 424 426 114 404 406 424 424 428 430 432 434 In one illustrative example, external positionfor external mobile platformand internal positionfor internal mobile platformmay be selected such that fastening processmay be performed at locationon fuselage assemblyusing external mobile platformand internal mobile platform. Fastening processmay include any number of operations. In one illustrative example, fastening processmay include at least one of drilling operation, fastener insertion operation, fastener installation operation, inspection operation, or some other type of operation.

428 411 410 404 419 418 406 411 419 428 428 411 419 436 426 436 120 122 122 As one specific example, drilling operationmay be performed autonomously using first toolassociated with first end effectorof external mobile platformor second toolassociated with second end effectorof internal mobile platform. For example, without limitation, first toolor second toolmay take the form of a drilling tool for use in performing drilling operation. Drilling operationmay be autonomously performed using first toolor second toolto form holeat location. Holemay pass through at least one of two panels in plurality of panels, two members of a plurality of members, or a panel and one of plurality of members.

430 411 410 404 419 418 406 430 438 436 Fastener insertion operationmay be performed autonomously using first toolassociated with first end effectorof external mobile platformor second toolassociated with second end effectorof internal mobile platform. Fastener insertion operationmay result in fastenerbeing inserted into hole.

432 411 410 404 419 418 406 432 411 412 419 420 438 442 426 442 442 264 2 FIG. Fastener installation operationmay then be performed autonomously using at least one of first toolassociated with first end effectorof external mobile platformor second toolassociated with second end effectorof internal mobile platform. In one illustrative example, fastener installation operationmay be performed autonomously using first toolin the form of first riveting tooland second toolin the form of second riveting toolsuch that fastenerbecomes rivetinstalled at location. Rivetmay be a fully installed rivet. Rivetmay be one of plurality of fastenersdescribed in.

432 433 411 410 435 436 419 418 437 435 437 437 437 437 In one illustrative example, fastener installation operationmay take the form of bolt-nut type installation process. First toolassociated with first end effectormay be used to, for example, without limitation, install boltthrough hole. Second toolassociated with second end effectormay then be used to install nutover bolt. In some cases, installing nutmay include applying a torque sufficient to nutsuch that a portion of nutbreaks off. In these cases, nutmay be referred to as a frangible collar.

432 439 411 410 435 436 435 436 419 418 437 435 In another illustrative example, fastener installation operationmay take the form of interference-fit bolt-type installation process. First toolassociated with first end effectormay be used to, for example, without limitation, install boltthrough holesuch that an interference fit is created between boltand hole. Second toolassociated with second end effectormay then be used to install nutover bolt.

432 444 444 412 404 420 406 In yet another illustrative example, fastener installation operationmay take the form of two-stage riveting process. Two-stage riveting processmay be performed using, for example, without limitation, first riveting toolassociated with external mobile platformand second riveting toolassociated with internal mobile platform.

412 420 404 406 404 408 412 426 234 114 406 416 420 426 236 114 For example, first riveting tooland second riveting toolmay be positioned relative to each other by external mobile platformand internal mobile platform, respectively. For example, external mobile platformand external robotic devicemay be used to position first riveting toolrelative to locationat exteriorof fuselage assembly. Internal mobile platformand internal robotic devicemay be used to position second riveting toolrelative to the same locationat interiorof fuselage assembly.

412 420 444 442 426 442 120 120 121 122 120 121 First riveting tooland second riveting toolmay then be used to perform two-stage riveting processto form rivetat location. Rivetmay join at least two of plurality of panelstogether, a panel in plurality of panelsto support structureformed by plurality of members, or two panels in plurality of panelsto support structure.

444 446 114 264 444 264 2 446 2 FIG. In this example, two-stage riveting processmay be performed at each of plurality of locationson fuselage assemblyto install plurality of fastenersas described in. Two-stage riveting processmay ensure that plurality of fastenersin FIG.are installed at plurality of locationswith a desired quality and desired level of accuracy.

406 114 406 420 406 446 114 110 404 114 404 412 404 446 114 124 1 FIG. In this manner, internal mobile platformmay be autonomously driven and operated inside fuselage assemblyto position internal mobile platformand second riveting toolassociated with internal mobile platformrelative to plurality of locationson fuselage assemblyfor performing assembly processdescribed in. Similarly, external mobile platformmay be autonomously driven and operated around fuselage assemblyto position external mobile platformand first riveting toolassociated with external mobile platformrelative to plurality of locationson fuselage assemblyfor performing operations.

5 FIG. 1 FIG. 146 144 146 144 With reference now to, an illustration of a flow of number of utilitiesacross distributed utility networkfromis depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, number of utilitiesmay be distributed across distributed utility network.

144 148 150 330 324 400 500 144 402 148 144 Distributed utility networkmay include, for example, without limitation, number of utility sources, utility fixture, number of towers, assembly fixture, number of external mobile platforms, and number of utility units. In some cases, distributed utility networkmay also include number of internal mobile platforms. In some illustrative examples, number of utility sourcesmay be considered separate from distributed utility network.

330 144 334 144 150 148 334 150 324 334 400 500 In this illustrative example, only one of number of towersmay be included in distributed utility networkat a time. When first toweris used, distributed utility networkmay be formed when utility fixtureis coupled to number of utility sources, first toweris coupled to utility fixture, assembly fixtureis coupled to first tower, and number of external mobile platformsis coupled to number of utility units.

500 314 324 314 400 500 314 Number of utility unitsmay be associated with number of cradle fixturesof assembly fixtureor separated from number of cradle fixtures. For example, without limitation, a number of dual interfaces may be created between number of external mobile platforms, number of utility units, and number of cradle fixturesusing one or more dual-interface couplers.

336 144 150 148 336 150 324 336 402 336 400 500 314 314 402 146 336 When second toweris used, distributed utility networkmay be formed when utility fixtureis coupled to number of utility sources, second toweris coupled to utility fixture, assembly fixtureis coupled to second tower, number of internal mobile platformsis coupled to second tower, and number of external mobile platformsis coupled to number of utility units, which may be associated with number of cradle fixturesor separated from number of cradle fixtures. Number of internal mobile platformsmay receive number of utilitiesthrough a number of cable management systems associated with second tower.

146 144 150 144 146 144 144 150 146 300 1 FIG. In this manner, number of utilitiesmay be distributed across distributed utility networkusing a single utility fixture. This type of distributed utility networkmay reduce the number of utility components, utility cables, and other types of devices needed to provide number of utilitiesto the various components in distributed utility network. Further, with this type of distributed utility network, starting from at least utility fixture, number of utilitiesmay be provided completely above floorof manufacturing environment in.

6 FIG. 1 5 FIGS.and 150 150 300 150 600 300 With reference now to, an illustration of utility fixturefromis depicted in the form of a block diagram in accordance with an illustrative embodiment. As depicted, utility fixturemay be associated with floor. In particular, utility fixturemay have base structurethat is associated with floor.

150 300 602 150 300 300 600 150 300 602 604 600 602 604 150 300 602 150 300 100 100 100 1 FIG. 1 FIG. 1 FIG. In one illustrative example, utility fixturemay be affixed to floorat location. Depending on the implementation, utility fixturemay be permanently affixed to flooror removably affixed to floor. For example, without limitation, base structureof utility fixturemay be permanently fastened to floorat locationusing number of fastener devices. In particular, base structuremay be bolted to locationusing number of fastener devices. In other examples, utility fixturemay be temporarily affixed to floorat location. In still other illustrative examples, utility fixturemay be embedded in floor, mounted to a wall in manufacturing environmentin, mounted to a ceiling of manufacturing environmentin, or mounted to some other surface of structure in manufacturing environmentin.

606 150 606 150 148 606 150 607 148 606 146 148 150 As depicted, number of input cablesmay be connected to utility fixture. Number of input cablesmay connect utility fixtureto number of utility sources. For example, without limitation, each of number of input cablesmay be connected to utility fixtureat one end and to a corresponding one of number of output connectionsassociated with number of utility sourcesat the other end. Each of number of input cablesmay carry a corresponding one of number of utilitiesfrom the corresponding one of number of utility sourcesto utility fixture.

148 606 Number of utility sourcesmay include, for example, without limitation, a power source, an air supply source, a water source, a hydraulic fluid source, a communications source, some other type of source, or some combination thereof. In some cases, more than one of number of input cablesmay connect to a same utility source.

608 600 608 610 150 610 332 322 3 FIG. 3 FIG. Set of coupling unitsmay be associated with base structure. Set of coupling unitsmay be used to couple mobile systemto utility fixture. Mobile systemmay take the form of towerin, cradle fixturein, or some other type of drivable system. A coupling unit that is capable of sending at least one utility to or receiving at least one utility from a corresponding coupling unit when interfaced with the corresponding coupling unit may be referred to as a utility coupling unit. The corresponding coupling unit may then also be referred to as a utility coupling unit. When a coupling unit is used to provide only a mechanical coupling, the coupling unit may be referred to as a mechanical coupling unit.

608 614 610 614 615 610 614 615 615 614 610 332 615 617 332 Set of coupling unitsmay be coupled to, or mated with, set of corresponding coupling unitsassociated with mobile system. Set of corresponding coupling unitsmay be associated with coupling structure, which may be associated with mobile system. Depending on the implementation, set of corresponding coupling unitsmay be considered part of or independent of coupling structure. In some illustrative examples, coupling structureand set of corresponding coupling unitsmay be together referred to as a utility coupler. When mobile systemtakes the form of tower, coupling structuremay be associated with base structureof tower.

608 614 608 614 621 623 608 614 The mating of set of coupling unitsto set of corresponding coupling unitsmay be performed autonomously, manually, or both, depending on the implementation. In this manner, the coupling of set of coupling unitsto set of corresponding coupling unitsmay take the form of at least one of autonomous coupling, manual coupling, or both. In these illustrative examples, the mating of at least one of set of coupling unitswith a corresponding one of set of corresponding coupling unitsmay be performed autonomously.

612 608 613 614 612 613 610 612 613 150 610 150 610 612 613 Coupling unitmay be an example of one of set of coupling units. Corresponding coupling unitmay be an example of one of set of corresponding coupling units. Coupling unitmay be configured to couple to corresponding coupling unitassociated with mobile system. In other words, coupling unitmay be mated with corresponding coupling unitto physically couple utility fixtureto mobile systemand at least one of electrically or fluidly couple utility fixtureto mobile system. In one illustrative example, coupling unitmay be autonomously mated with or coupled to corresponding coupling unit.

612 612 616 618 620 622 624 626 Coupling unitmay take a number of different forms. Coupling unitmay include, for example, without limitation, quick-change deviceand at least one of power coupling element, air coupling element, hydraulic coupling element, communications coupling element, water coupling element, or some other type of coupling element.

616 627 616 625 625 628 610 625 628 618 620 622 624 626 612 630 632 634 636 638 613 Quick-change devicemay be configured to mate with corresponding quick-change device. For example, without limitation, quick-change devicemay take the form of male quick-change device. Male quick-change devicemay be configured to mate with a corresponding female quick-change device, such as female quick-change deviceassociated with mobile system. Mating male quick-change deviceto female quick-change devicemay concurrently cause the mating of at least one of power coupling element, air coupling element, hydraulic coupling element, communications coupling element, or water coupling elementincluded in coupling unitwith at least one of corresponding power coupling element, corresponding air coupling element, corresponding hydraulic coupling element, corresponding communications coupling element, or corresponding water coupling element, respectively, included in corresponding coupling unit.

625 628 150 610 618 630 150 610 620 632 150 610 612 613 Mating male quick-change deviceand female quick-change devicemay physically couple utility fixturewith mobile system. Mating power coupling elementwith corresponding power coupling elementmay electrically couple utility fixtureand mobile system. Mating air coupling elementwith corresponding air coupling elementmay fluidly connect utility fixtureand mobile systemsuch that air may flow from coupling unitto corresponding coupling unit.

622 634 150 610 612 613 624 636 150 610 612 613 626 638 150 610 612 613 Further, mating hydraulic coupling elementwith corresponding hydraulic coupling elementmay fluidly connect utility fixtureand mobile systemsuch that hydraulic fluid may flow from coupling unitto corresponding coupling unit. Similarly, mating communications coupling elementwith corresponding communications coupling elementmay connect utility fixtureand mobile systemsuch that data may be transmitted from coupling unitto corresponding coupling unit. Still further, mating water coupling elementwith corresponding water coupling elementmay fluidly connect utility fixtureand mobile systemsuch that water may flow from coupling unitto corresponding coupling unit.

612 650 613 652 650 652 612 613 650 652 612 613 621 650 652 612 613 As depicted, coupling unitmay also have alignment systemand corresponding coupling unitmay have alignment system. Alignment systemand alignment systemmay be coordinated such that coupling unitmay be aligned with corresponding coupling unitfor coupling. In particular, alignment systemand alignment systemmay align coupling unitand corresponding coupling unitsuch that autonomous couplingmay be performed. In this illustrative example, alignment systemand alignment systemmay be used to align coupling unitwith corresponding coupling unitautonomously.

650 654 655 656 652 658 659 660 655 659 In one illustrative example, alignment systemmay include at least one of set of movement systems, sensor device, or guidance fork. In this example, alignment systemmay include at least one of set of movement systems, sensor device, or roller. Sensor deviceand sensor devicemay each take the form of an imaging system, depending on the implementation.

654 612 150 658 613 610 654 658 Set of movement systemsmay be used to move coupling unitwith at least one degree of freedom relative to utility fixturefor alignment purposes. Set of movement systemsmay be used to move corresponding coupling unitwith at least one degree of freedom relative to mobile systemfor alignment purposes. Each movement system in set of movement systemsand set of movement systemsmay be implemented using at least one of an actuation device, an air cylinder, a motor, a rail system, an X-Y table, a track system, a slider, a roller, a wheel, or some other type of movement device.

654 658 660 656 660 656 612 613 656 150 660 610 660 656 660 656 652 650 In one illustrative example, at least one of set of movement systemsor set of movement systemsmay be used to guide rollerwithin guidance fork. In this example, rollermay be guided within guidance forkto provide horizontal alignment or vertical alignment between coupling unitand corresponding coupling unit, depending on the orientation of guidance forkrelative to utility fixtureand rollerrelative to mobile system. When rolleris within guidance fork, rollermay be considered engaged with guidance fork, thereby mating alignment systemwith alignment system.

655 654 659 658 655 656 660 659 660 656 In this illustrative example, data generated by sensor devicemay be processed and used to control the operation of set of movement systems. Further, data generated by sensor devicemay be processed and used to control the operation of set of movement systems. In this manner, sensor devicemay generate data for use in aligning guidance forkrelative to rolleralong at least one axis. Similarly, sensor devicemay generate data for use in aligning rollerrelative to guidance forkalong at least one axis.

650 652 612 613 650 652 621 612 613 Depending on the implementation, alignment systemand alignment systemmay include any number of structural members, connective elements, or other types of alignment elements for use in aligning coupling unitand corresponding coupling unitwith each other within selected tolerances. In these illustrative examples, alignment systemand alignment systemmay facilitate autonomous couplingof coupling unitand corresponding coupling unit.

146 612 613 608 614 150 610 In this manner, one or more of the utilities in number of utilitiesmay be coupled between coupling unitand corresponding coupling unit. Each of set of coupling unitsmay be mated with one of set of corresponding coupling unitsin a similar manner. Different combinations of utilities may be coupled between utility fixtureand mobile systemthrough each pair of mated coupling units.

608 614 640 146 640 150 610 Mating set of coupling unitswith set of corresponding coupling unitsmay create set of interfaces. One or more of the utilities in number of utilitiesmay flow across each of set of interfacesfrom utility fixtureto mobile system.

606 146 608 146 640 614 642 146 614 642 146 614 332 402 332 314 4 FIG. 3 FIG. Number of input cablesmay carry number of utilitiesto set of coupling units. Number of utilitiesmay flow across set of interfacesto set of corresponding coupling units. Number of distribution cablesmay then carry number of utilitiesfrom set of corresponding coupling unitsto various systems and components. As one illustrative example, number of distribution cablesmay carry number of utilitiesfrom set of corresponding coupling unitsto at least one of a utility box (not shown) associated with tower, number of internal mobile platformsfromlocated on tower, number of cradle fixturesin, or some other component, system, or platform.

332 150 144 144 332 5 FIG. Coupling towerto utility fixturemay establish distributed utility networkdescribed in. Other systems may be added to distributed utility networkby coupling these other systems in series to towerin a similar manner.

322 332 146 332 322 644 332 644 646 322 644 612 646 613 As one illustrative example, cradle fixturemay be coupled to towersuch that number of utilitiesmay flow from towerto cradle fixture. In particular, different set of coupling unitsmay be associated with tower. Different set of coupling unitsmay be autonomously mated with or coupled to different set of corresponding coupling unitsassociated with cradle fixture. Each of different set of coupling unitsmay be implemented in a manner similar to that described for coupling unit. Similarly, each of different set of corresponding coupling unitsmay be implemented in a manner similar to that described for corresponding coupling unit.

644 646 640 In one illustrative example, each of different set of coupling unitsmay include a male quick-change device that may be mated with a female quick-change device of a corresponding one of different set of corresponding coupling units. Each pair of mated coupling units may form an interface similar to each of set of interfaces.

7 FIG. 1 5 FIGS.and 144 144 332 150 700 332 702 700 704 702 With reference now to, an illustration of one implementation for distributed utility networkfromis depicted in accordance with an illustrative embodiment. Within distributed utility network, towermay be coupled to utility fixture; first cradle fixturemay be coupled to tower; second cradle fixturemay be coupled to first cradle fixture; and third cradle fixturemay be coupled to second cradle fixture.

706 332 708 710 700 712 714 702 716 704 As depicted, set of tower coupling unitsmay be associated with tower. Set of corresponding first cradle coupling unitsand set of first cradle coupling unitsmay be associated with first cradle fixture. Set of corresponding second cradle coupling unitsand set of second cradle coupling unitsmay be associated with second cradle fixture. Set of corresponding third cradle coupling unitsmay be associated with third cradle fixture.

608 614 150 332 608 614 718 146 614 706 In particular, set of coupling unitsmay be mated with set of corresponding coupling units, thereby coupling utility fixtureand tower. In one illustrative example, set of coupling unitsmay be referred to as a set of utility fixture coupling units and set of corresponding coupling unitsmay be referred to as a set of corresponding tower coupling units. Number of utility cablesmay carry number of utilitiesfrom set of corresponding coupling unitsto set of tower coupling units.

706 708 700 332 720 146 708 710 710 712 702 700 In this illustrative example, set of tower coupling unitsmay be mated with set of corresponding first cradle coupling units, thereby coupling first cradle fixtureto tower. Number of utility cablesmay carry number of utilitiesfrom set of corresponding first cradle coupling unitsto set of first cradle coupling units. Set of first cradle coupling unitsmay be mated with set of corresponding second cradle coupling units, thereby coupling second cradle fixtureto first cradle fixture.

722 146 712 714 714 716 704 702 150 332 700 702 704 Number of utility cablesmay carry number of utilitiesfrom set of corresponding second cradle coupling unitsto set of second cradle coupling units. Set of second cradle coupling unitsmay be mated with set of corresponding third cradle coupling units, thereby coupling third cradle fixtureto second cradle fixture. In this manner, utility fixture, tower, first cradle fixture, second cradle fixture, and third cradle fixturemay be connected in series.

400 700 702 704 4 FIG. Depending on the implementation, one or more of number of external mobile platformsfrommay be coupled to first cradle fixture, second cradle fixture, or third cradle fixture. In one illustrative example, these couplings may be implemented in a manner similar to that described above. In other illustrative examples, these couplings may be implemented using dual-interface couplers.

402 146 332 332 336 642 146 402 3 FIG. 6 FIG. Further, number of internal mobile platformsmay receive number of utilitiesfrom towerwhen towertakes the form of second towerdescribed in. For example, at least a portion of number of distribution cablesinmay be used to carry number of utilitiesto number of internal mobile platforms.

724 332 724 617 322 617 332 642 146 614 724 6 FIG. 6 FIG. In some illustrative examples, number of utility connection devicesmay be associated with tower. For example, without limitation, number of utility connection devicesmay be associated with base structureof toweras shown in. Base structuremay include any number of platform levels for tower. At least a portion of number of distribution cablesinmay be used to carry number of utilitiesfrom set of corresponding coupling unitsto number of utility connection devices.

724 146 332 726 726 724 726 236 114 236 114 114 266 114 146 114 724 2 FIG. 2 FIG. 2 FIG. Number of utility connection devicesmay be used to provide number of utilitiesfrom towerto number of human-operated tools. For example, without limitation, one or more human operators may plug one or more utility cables extending from number of human-operated toolsinto number of utility connection devices. Number of human-operated toolsmay then be carried into interiorof fuselage assemblyshown in. In this manner, utility sources, such as a power generator, an air compressor, a hydraulic fluid tank, and other types of utility sources, may not need to be located within interiorof fuselage assemblyshown induring the building of fuselage assembly. Consequently, the weight placed on number of floorsof fuselage assemblyinduring building may be reduced. For example, the weight associated with providing number of utilitiesto tools inside fuselage assemblymay be reduced to simply the weight of the tools and the weight of the utility cables used to connect the tools to number of utility connection devices.

1 7 FIGS.- The illustrations inare not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional. Also, the blocks are presented to illustrate some functional components. One or more of these blocks may be combined, divided, or combined and divided into different blocks when implemented in an illustrative embodiment.

100 100 106 100 For example, in some cases, more than one flexible manufacturing system may be present within manufacturing environment. These multiple flexible manufacturing systems may be used to build multiple fuselage assemblies within manufacturing environment. In other illustrative examples, flexible manufacturing systemmay include multiple cradle systems, multiple tower systems, multiple utility systems, multiple autonomous tooling systems, and multiple pluralities of autonomous vehicles such that multiple fuselage assemblies may be built within manufacturing environment.

138 106 106 In some illustrative examples, utility systemmay include multiple utility fixtures that are considered separate from flexible manufacturing system. Each of these multiple utility fixtures may be configured for use with flexible manufacturing systemand any number of other flexible manufacturing systems.

134 134 134 Additionally, the different couplings of mobile systems in plurality of mobile systemsmay be performed autonomously in these illustrative examples. However, in other illustrative example, a coupling of one of plurality of mobile systemsto another one of plurality of mobile systemsmay be performed manually in other illustrative examples.

134 332 Further, in other illustrative examples, one or more of plurality of mobile systemsmay be drivable by, for example, without limitation, a human operator. For example, without limitation, in some cases, first towermay be drivable with human guidance.

608 150 146 148 106 608 300 100 100 1 FIG. In some illustrative examples, set of coupling unitsmay be distributed across more than one utility fixture. For example, without limitation, in some cases, multiple utility fixtures, implemented in a manner similar to utility fixturemay be used to provide number of utilitiesfrom number of utility sourcesto flexible manufacturing systemin. In some cases, the coupling units in set of coupling unitsmay be located in different locations on flooror other surfaces of manufacturing environment. For example, without limitation, a portion of the coupling units may be mounted to or embedded in the floor, while another portion of the coupling units may be mounted to or attached to a ceiling of manufacturing environment.

618 620 622 626 624 150 300 100 100 100 As one illustrative example, a first coupling unit may have power coupling element, a second coupling unit may have air coupling element, a third coupling unit may have hydraulic coupling elementand water coupling element, and a fourth coupling unit may have communications coupling element. Depending on the implementation, all of these coupling units may be part of utility fixtureor may be associated with different utility fixtures. These different utility fixtures may be located in different locations on flooror other surfaces of manufacturing environment. For example, without limitation, one or more utility fixtures may be mounted to or embedded in the floor, one or more utility fixtures may be mounted to or attached to a ceiling of manufacturing environment, and one or more other utility fixtures may be mounted to or attached to a wall in manufacturing environment.

614 617 332 With this type of implementation, the corresponding coupling units to be mated to these types of coupling units may also be located in different locations. For example, coupling units in set of corresponding coupling unitsmay be associated with various coupling structures attached to different locations on base structureof tower.

608 332 608 324 144 146 106 In still other illustrative examples, a portion of set of coupling unitsmay be mated with corresponding coupling units associated with tower, while another portion of set of coupling unitsmay be mated with corresponding coupling units associated with assembly fixture. In this manner, distributed utility networkmay be implemented in a number of different ways. Further, number of utilitiesmay be provided to flexible manufacturing systemin any number of different ways.

610 322 150 322 146 150 322 324 332 144 146 144 144 6 FIG. 3 FIG. In still other illustrative examples, mobile systeminmay take the form of cradle fixturein. Consequently, utility fixturemay be coupled to cradle fixture. In these examples, number of utilitiesmay be distributed from utility fixture, to cradle fixture, and then to a remaining portion of assembly fixtureand tower. In this manner, distributed utility networkmay have any number of configurations. Number of utilitiesmay flow downstream in series through distributed utility networkregardless of the configuration of distributed utility network.

8 FIG. 1 FIG. 800 100 With reference now to, an illustration of an isometric view of a manufacturing environment is depicted in accordance with an illustrative embodiment. In this illustrative example, manufacturing environmentmay be an example of one implementation for manufacturing environmentin.

800 801 802 801 803 800 806 806 806 106 806 112 1 3 5 FIGS.and- 1 FIG. As depicted, manufacturing environmentmay include holding environmentand assembly environment. Holding environmentmay be a designated area on and over floorof manufacturing environmentfor storing plurality of flexible manufacturing systemswhen plurality of flexible manufacturing systemsare not in use. Each of plurality of flexible manufacturing systemsmay be an example of one implementation for flexible manufacturing systemdescribed in. In particular, each of plurality of flexible manufacturing systemsmay be an example of one implementation for autonomous flexible manufacturing systemin.

801 804 804 318 801 318 3 FIG. 3 FIG. Holding environmentmay include plurality of holding cells. In this illustrative example, each of plurality of holding cellsmay be considered an example of one implementation for holding areain. In other illustrative examples, the entire holding environmentmay be considered an example of one implementation for holding areain.

806 804 804 806 804 806 Each of plurality of flexible manufacturing systemsmay be stored in a corresponding one of plurality of holding cells. In particular, each of plurality of holding cellsmay be designated for a specific one of plurality of flexible manufacturing systems. However, in other illustrative examples, any one of plurality of holding cellsmay be used for storing any one of plurality of flexible manufacturing systems.

808 806 808 811 134 1 3 FIGS.and As depicted, flexible manufacturing systemmay be an example of one of plurality of flexible manufacturing systems. Flexible manufacturing systemmay include plurality of mobile systems, which may be an example of one implementation for plurality of mobile systemsin.

808 810 804 801 318 804 801 318 3 FIG. 3 FIG. Flexible manufacturing systemmay be stored in holding cellof plurality of holding cells. In this example, all of holding environmentmay be considered an example of one implementation for holding areain. However, in other examples, each of plurality of holding cellsin holding environmentmay be considered an example of one implementation for holding areain.

803 800 806 803 800 806 803 801 802 Floorof manufacturing environmentmay be substantially smooth to allow the various components and systems of plurality of flexible manufacturing systemsto be autonomously driven across floorof manufacturing environmentwith ease. When one of plurality of flexible manufacturing systemsis ready for use, that flexible manufacturing system may be driven across floorfrom holding environmentinto assembly environment.

802 803 806 803 802 Assembly environmentmay be the designated area on and above floorfor building fuselage assemblies. When none of plurality of flexible manufacturing systemsare in use, floorof assembly environmentmay be kept substantially open and substantially clear.

802 812 812 304 812 110 114 802 304 3 FIG. 1 FIG. 1 FIG. 3 FIG. As depicted, assembly environmentmay include plurality of work cells. In one illustrative example, each of plurality of work cellsmay be an example of one implementation for assembly areain. Thus, each of plurality of work cellsmay be designated for performing a fuselage assembly process, such as assembly processin, for building fuselage assemblyin. In other illustrative examples, the entire assembly environmentmay be considered an example of one implementation for assembly areain.

814 812 117 816 812 116 812 812 1 FIG. 1 FIG. In this illustrative example, first portionof plurality of work cellsmay be designated for building forward fuselage assemblies, such as forward fuselage assemblyin, while second portionof plurality of work cellsmay be designated for building aft fuselage assemblies, such as aft fuselage assemblyin. In this manner, plurality of work cellsmay allow multiple fuselage assemblies to be built concurrently. Depending on the implementation, the building of these fuselage assemblies may begin at the same time or at different times in plurality of work cells.

811 808 803 810 813 813 811 808 9 19 FIGS.- In one illustrative example, plurality of mobile systemsthat belong to flexible manufacturing systemmay be driven across floorfrom holding cellinto work cell. Within work cell, plurality of mobile systemsmay be used to build a fuselage assembly (not shown). An example of one manner in which this fuselage assembly may be built using flexible manufacturing systemis described in greater detail inbelow.

812 818 819 812 818 806 819 818 820 In some illustrative examples, a sensor system may be associated with one or more of plurality of work cells. For example, without limitation, in some cases, sensor systemmay be associated with work cellof plurality of work cells. Sensor data generated by sensor systemmay be used to help drive the various mobile systems of the corresponding one of plurality of flexible manufacturing systemsdesignated for building a fuselage assembly within work cell. In one illustrative example, sensor systemmay take the form of metrology system.

818 812 818 803 800 806 803 Depending on the implementation, sensor systemmay be optional. For example, without limitation, other sensor systems are not depicted associated with other work cells of plurality of work cells. Not using sensors systems such as sensor systemmay help keep floorof manufacturing environmentmore open and clear to help the various mobile systems of plurality of flexible manufacturing systemsbe driven more freely across floor.

824 803 824 150 1 FIG. As depicted, plurality of utility fixturesmay be permanently affixed to floor. Each of plurality of utility fixturesmay be an example of one implementation for utility fixturein.

824 803 826 824 Plurality of utility fixturesmay be interfaced with a number of utility sources (not shown in this view). These utility sources (not shown) may be, for example, without limitation, located beneath floor. Utility fixturemay be an example of one of plurality of utility fixtures.

824 812 806 824 824 806 In this illustrative example, each of plurality of utility fixturesis located in a corresponding one of plurality of work cells. Any one of plurality of flexible manufacturing systemsmay be driven towards and interfaced with any one of plurality of utility fixtures. In this manner, plurality of utility fixturesmay be used to provide one or more utilities to plurality of flexible manufacturing systems.

9 19 FIGS.- 8 FIG. 9 19 FIGS.- 8 FIG. 8 FIG. 8 FIG. 800 808 812 816 812 Referring now to, illustrations of the building of a fuselage assembly within manufacturing environmentfromare depicted in accordance with an illustrative embodiment. In, flexible manufacturing systemfrommay be used to build a fuselage assembly. The building of the fuselage assembly may be performed within any one of plurality of work cellsin. For example, without limitation, the building of the fuselage assembly may be performed within one of the work cells in second portionof plurality of work cellsin.

9 FIG. 8 FIG. 8 FIG. 3 FIG. 826 900 826 900 811 808 900 334 Turning now to, an illustration of an isometric view of a first tower coupled to utility fixturefromis depicted in accordance with an illustrative embodiment. In this illustrative example, first towermay be coupled to utility fixture. First towermay be an example of one of plurality of mobile systemsof flexible manufacturing systemin. In particular, first towermay be an example of one implementation for first towerin.

900 826 902 900 826 902 342 3 FIG. First towermay be at least one of electrically and physically coupled to utility fixturesuch that interfaceis formed between first towerand utility fixture. Interfacemay be an example of one implementation for interfacein.

900 904 904 906 907 906 907 906 907 As depicted, first towermay have base structure. Base structuremay include top platformand bottom platform. In some cases, top platformand bottom platformmay be referred to as top platform level and a bottom platform level, respectively. Top platformmay be used to provide a human operator with access to a top floor of a fuselage assembly (not shown), such as a passenger floor inside the fuselage assembly. Bottom platformmay be used to provide a human operator with access to a bottom floor of the fuselage assembly (not shown), such as a cargo floor inside the fuselage assembly.

908 803 907 910 907 906 912 906 906 914 907 907 8 FIG. In this illustrative example, walkwaymay provide access from a floor, such as floorin, to bottom platform. Walkwaymay provide access from bottom platformto top platform. Railingis associated with top platformfor the protection of a human operator moving around on top platform. Railingis associated with bottom platformfor the protection of a human operator moving around on bottom platform.

900 803 916 916 916 306 916 900 801 918 826 918 338 3 FIG. 8 FIG. 3 FIG. First towermay be autonomously driven across floorusing autonomous vehicle. Autonomous vehiclemay be an automated guided vehicle (AGV) in this example. Autonomous vehiclemay be an example of one of plurality of autonomous vehiclesin. As depicted, autonomous vehiclemay be used to drive first towerfrom holding environmentinto selected tower positionrelative to utility fixture. Selected tower positionmay be an example of one implementation for selected tower positionin.

900 918 900 826 900 826 902 826 900 900 826 144 1 5 FIGS.and Once first towerhas been autonomously driven into selected tower position, first towermay autonomously couple to utility fixture. In particular, first towermay electrically and physically couple to utility fixtureautonomously to form interface. This type of coupling may enable a number of utilities to flow from utility fixtureto first tower. In this manner, first towerand utility fixturemay establish at least a portion of a distributed utility network, similar to distributed utility networkdescribed in.

10 FIG. 3 FIG. 8 FIG. 8 FIG. 1000 308 1000 811 808 1000 811 810 With reference now to, an illustration of an isometric view of a cradle system is depicted in accordance with an illustrative embodiment. In this illustrative example, cradle systemmay be an example of one implementation for cradle systemin. Further, cradle systemmay be an example of one of plurality of mobile systemsof flexible manufacturing systemin. In this manner, cradle systemmay be an example of one of plurality of mobile systemsthat are stored in holding cellin.

1000 1003 1003 313 1003 1002 1004 1002 314 3 FIG. 3 FIG. As depicted, cradle systemmay be comprised of number of fixtures. Number of fixturesmay be an example of one implementation for number of fixturesin. Number of fixturesmay include number of cradle fixturesand fixture. Number of cradle fixturesmay be an example of one implementation for number of cradle fixturesin.

1002 1006 1008 1010 1004 1006 1004 1006 1004 1006 Number of cradle fixturesmay include cradle fixture, cradle fixture, and cradle fixture. Fixturemay be fixedly associated with cradle fixture. In this illustrative example, fixturemay be considered part of cradle fixture. However, in other illustrative examples, fixturemay be considered a separate fixture from cradle fixture.

1006 1008 1010 1012 1014 1016 1018 1012 1020 1014 1022 1016 1018 1020 1022 326 3 FIG. As depicted, cradle fixture, cradle fixture, and cradle fixturehave base, base, and base, respectively. Number of retaining structuresmay be associated with base. Number of retaining structuresmay be associated with base. Number of retaining structuresmay be associated with base. Each of number of retaining structures, number of retaining structures, and number of retaining structuresmay be an example of an implementation for number of retaining structuresin.

1018 1020 1022 1023 1020 1023 1025 Each retaining structure in number of retaining structures, number of retaining structures, and number of retaining structuresmay have a curved shape that substantially matches a curvature of a corresponding fuselage section to be received by the retaining structure. Retaining structuremay be an example of one of number of retaining structures. As depicted, retaining structuremay have curved shape.

1025 1025 1023 1023 1023 Curved shapemay be selected such that curved shapesubstantially matches a curvature of a corresponding keel panel (not shown) that is to be engaged with retaining structure. More specifically, retaining structuremay have a substantially same radius of curvature as a corresponding keel panel (not shown) that is to be engaged with retaining structure.

1024 1026 1028 1012 1014 1016 1024 1026 1028 1012 1014 1016 803 800 In this illustrative example, plurality of stabilizing members, plurality of stabilizing members, and plurality of stabilizing membersmay be associated with base, base, and base, respectively. Plurality of stabilizing members, plurality of stabilizing members, and plurality of stabilizing membersmay be used to stabilize base, base, and base, respectively, relative to floorof manufacturing environment.

803 1024 1026 1028 800 1024 1026 1028 In one illustrative example, these stabilizing members may keep their respective bases substantially level relative to floor. Further, each of plurality of stabilizing members, plurality of stabilizing members, and plurality of stabilizing membersmay substantially support their respective base until that base is to be moved to a new location within or outside of manufacturing environment. In one illustrative example, each stabilizing member of plurality of stabilizing members, plurality of stabilizing members, and plurality of stabilizing membersmay be implemented using a hydraulic leg.

1003 205 114 104 1004 1030 1032 1030 2 FIG. Each of number of fixturesmay be used to support and hold a corresponding fuselage section (not shown) for a fuselage assembly (not shown) for an aircraft (not shown), such as one of plurality of fuselage sectionsfor fuselage assemblyfor aircraftin. For example, without limitation, fixturemay have platformassociated with base. Platformmay be configured to support and hold a forward fuselage section (not shown) or an aft fuselage section (not shown) for the aircraft (not shown), depending on the implementation. The forward fuselage section (not shown) may be the portion of the fuselage assembly (not shown) that is to be closest to the nose of the aircraft (not shown). The aft fuselage section (not shown) may be the portion of the fuselage assembly (not shown) that is to be closest to the tail of the aircraft (not shown).

11 FIG. 10 FIG. 9 FIG. 1000 900 1010 900 1010 1006 1008 With reference now to, an illustration of an isometric view of an assembly fixture formed using cradle systemfromand coupled to first towerfromis depicted in accordance with an illustrative embodiment. In this illustrative example, cradle fixtureis coupled to first towerand cradle fixture, cradle fixture, and cradle fixtureare coupled to each other.

1010 1008 1006 803 800 1100 1102 1104 316 1006 1004 1004 1006 1100 1102 1104 320 3 FIG. 3 FIG. Cradle fixture, cradle fixture, and cradle fixturemay have been autonomously driven across floorof manufacturing environmentto selected cradle position, selected cradle position, and selected cradle position, respectively, using a number of corresponding autonomous vehicles (not shown), such as number of corresponding autonomous vehiclesfrom. Driving cradle fixturemay also cause fixtureto be driven when fixtureis part of cradle fixtureas shown. Selected cradle position, selected cradle position, and selected cradle positionmay be an example of one implementation for number of selected cradle positionsin.

1010 1008 1006 1100 1102 1104 1010 1008 1006 After driving cradle fixture, cradle fixture, and cradle fixtureto selected cradle position, selected cradle position, and selected cradle position, respectively, the number of corresponding autonomous vehicles (not shown) may be autonomously driven away. In other illustrative examples, the number of corresponding autonomous vehicles (not shown) may be integrated as part of cradle fixture, cradle fixture, and cradle fixture.

1100 918 900 1010 1100 900 1010 900 1106 1010 900 1106 1106 1010 900 1106 826 900 1010 1106 1010 900 1106 340 1010 900 1111 3 FIG. Selected cradle positionmay be a position relative to selected tower positionof first tower. When cradle fixtureis in selected cradle positionrelative to first tower, cradle fixturemay be electrically and physically coupled to first towerto form interface. In some cases, cradle fixturemay be coupled to first towerautonomously to form interface. In one illustrative example, interfacemay be formed by autonomously coupling cradle fixtureto first tower. Interfacemay be an electrical and physical interface that enables a number of utilities that are flowing from utility fixtureto first towerto also flow to cradle fixture. In this manner, interfacemay be formed by autonomously coupling a number of utilities between cradle fixtureand first tower. Interfacemay be an example of one implementation for interfacein. In this illustrative example, cradle fixture, being coupled to first tower, may be referred to as primary cradle fixture.

1006 1008 1010 1008 1010 1108 1006 1008 1110 1108 1110 Further, as depicted, cradle fixture, cradle fixture, and cradle fixturemay be coupled to each other. In particular, cradle fixturemay be coupled to cradle fixtureto form interface. Similarly, cradle fixturemay be coupled to cradle fixtureto form interface. In one illustrative example, both interfaceand interfacemay be formed by autonomously coupling these cradle fixtures to each other.

1108 1110 1010 1008 1006 1108 1010 1008 1110 1008 1006 146 314 In particular, interfaceand interfacemay take the form of electrical and physical interfaces that enable the number of utilities to flow from cradle fixture, to cradle fixture, and to cradle fixture. In this manner, interfacemay be formed by autonomously coupling the number of utilities between cradle fixtureand cradle fixtureand interfacemay be formed by autonomously coupling the number of utilities between cradle fixtureand cradle fixture. In this manner, number of utilitiesmay be autonomously coupled between adjacent cradle fixtures in number of cradle fixtures.

826 900 1010 1008 1006 826 900 1010 1008 1006 1006 1004 Thus, when utility fixture, first tower, cradle fixture, cradle fixture, and cradle fixtureare all coupled in series as described above, the number of utilities may be distributed downstream from utility fixtureto first tower, cradle fixture, cradle fixture, and cradle fixture. In this illustrative example, any utilities that flow to cradle fixturemay also be distributed to fixture.

1108 1110 1108 1110 1010 1008 1006 1108 1110 Any number of coupling units, structural members, connection devices, cables, other types of elements, or combination thereof may be used to form interfaceand interface. Depending on the implementation, interfaceand interfacemay take the form of coupling units that both physically and electrically connect cradle fixture, cradle fixture, and cradle fixtureto each other. In other illustrative examples, interfaceand interfacemay be implemented in some other manner.

1010 1008 1006 1100 1102 1104 1112 1112 324 1106 900 1010 900 1112 3 FIG. When cradle fixture, cradle fixture, and cradle fixtureare in selected cradle position, selected cradle position, and selected cradle position, respectively, and coupled to each other, these cradle fixtures together form assembly fixture. Assembly fixturemay be an example of one implementation for assembly fixturein. In this manner, interfacebetween first towerand cradle fixturemay also be considered an electrical and physical interface between first towerand assembly fixture.

12 FIG. 11 FIG. 1112 1112 1200 1200 1112 With reference now to, an illustration of an isometric view of one stage in the assembly process for building a fuselage assembly that is being supported by assembly fixturefromis depicted in accordance with an illustrative embodiment. In this illustrative example, assembly fixturemay support fuselage assemblyas fuselage assemblyis built on assembly fixture.

1200 116 1200 1200 1 FIG. Fuselage assemblymay be an aft fuselage assembly that is an example of one implementation for aft fuselage assemblyin. Fuselage assemblymay be partially assembled in this illustrative example. Fuselage assemblymay be at an early stage of assembly in this example.

1200 1201 1202 1201 1201 1205 1200 1201 1200 1201 1200 At this stage of the assembly process, fuselage assemblyincludes end paneland plurality of keel panels. End panelmay have a tapered cylindrical shape in this illustrative example. In this manner, one portion of end panelmay form part of the keelfor fuselage assembly, another portion of end panelmay form part of the sides (not fully shown) for fuselage assembly, and yet another portion of end panelmay form part of a crown (not fully shown) for fuselage assembly.

1203 1201 1203 1203 272 2 FIG. Further, as depicted, bulkheadmay be associated with end panel. Bulkheadmay be a pressure bulkhead. Bulkheadmay be an example of one implementation for bulkheadin.

1202 1204 1206 1208 1201 1202 1112 1201 1004 1204 1206 1208 1006 1008 1010 Plurality of keel panelsinclude keel panel, keel panel, and keel panel. End paneland plurality of keel panelshave been engaged with assembly fixture. In particular, end panelhas been engaged with fixture. Keel panel, keel panel, and keel panelhave been engaged with cradle fixture, cradle fixture, and cradle fixture, respectively.

1201 1004 1204 1206 1208 1006 1008 1010 1205 1200 1200 1200 In one illustrative example, end panelis first engaged with fixturewith keel panel, keel panel, and keel panelthen being successively engaged with cradle fixture, cradle fixture,, and cradle fixture, respectively. In this manner, keelof fuselage assemblymay be assembled in a direction from the aft end of fuselage assemblyto the forward end of fuselage assembly.

1006 1008 1010 1202 1200 1006 1008 1010 1200 1200 Each of cradle fixture, cradle fixture, and cradle fixturemay be at least one of autonomously or manually adjusted, as needed, to accommodate plurality of keel panelssuch that fuselage assemblymay be built to meet outer mold line requirements and inner mold line requirements within selected tolerances. In some cases, at least one of cradle fixture, cradle fixture, and cradle fixturemay have at least one retaining structure that can be adjusted to adapt to the shifting of fuselage assemblyduring the assembly process due to increased loading as fuselage assemblyis built.

1211 1201 1202 1211 1211 As depicted, membersmay be associated with end paneland plurality of keel panels. Membersmay include frames and stringers in this illustrative example. However, depending on the implementation, membersmay also include, without limitation, stiffeners, stanchions, intercostal structural members, connecting members, other types of structural members, or some combination thereof. The connecting members may include, for example, without limitation, shear clips, ties, splices, intercostal connecting members, other types of mechanical connecting members, or some combination thereof.

1211 1201 1210 1211 1204 1206 1208 1212 1214 1216 The portion of membersattached to end panelmay form support section. The portions of membersattached to keel panel, keel panel, and keel panelmay form support section, support section, and support section, respectively.

1201 1218 1200 1204 1206 1208 1220 1222 1224 1200 1218 1220 1222 1224 1225 1200 1218 1220 1222 1224 207 2 FIG. In this illustrative example, end panelmay form fuselage sectionfor fuselage assembly. Each of keel panel, keel panel, and keel panelmay form a portion of fuselage section, fuselage section, and fuselage section, respectively, for fuselage assembly. Fuselage section, fuselage section, fuselage section, and fuselage sectionmay together form plurality of fuselage sectionsfor fuselage assembly. Each of fuselage section, fuselage section, fuselage section, and fuselage sectionmay be an example of one implementation for fuselage sectionin.

1201 1202 1201 1202 1112 End paneland plurality of keel panelsmay be temporarily connected together using temporary fasteners such as, for example, without limitation, tack fasteners. In particular, end paneland plurality of keel panelsmay be temporarily connected to each other as each of the panels is engaged with assembly fixtureand other panels.

1201 1202 1211 1211 For example, without limitation, coordination holes (not shown) may be present at the edges of end paneland each of plurality of keel panels. In some cases, a coordination hole may pass through a panel and at least one of membersassociated with the panel. Engaging one panel with another panel may include aligning these coordination holes such that temporary fasteners, such as tack fasteners, may be installed in these coordination holes. In some cases, engaging one panel with another panel may include aligning a coordination hole through one panel with a coordination hole through one of membersassociated with another panel.

In yet another illustrative example, engaging a first panel with another panel may include aligning the edges of the two panels to form a butt splice. These two panels may then be temporarily connected together by aligning a first number of coordination holes in, for example, a splice plate, with a corresponding number of holes on the first panel and aligning a second number of coordination holes in that splice plate with a corresponding number of holes on the second panel. Temporary fasteners may then be inserted through these aligned coordination holes to temporarily connect the first panel to the second panel.

1201 1202 1112 1201 1202 In this manner, panels and members may be engaged with each other and temporarily connected together in a number of different ways. Once end paneland plurality of keel panelshave been temporarily connected together, assembly fixturemay help maintain the position and orientation of end paneland each of plurality of keel panelsrelative to each other.

13 FIG. 1300 1200 1300 1202 Turning now to, an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, cargo floorhas been added to fuselage assembly. In particular, cargo floormay be associated with plurality of keel panels.

1300 907 900 1300 900 907 900 907 900 1300 1301 1200 As depicted, at least a portion of cargo floormay be substantially level with bottom platformof first tower. In particular, at least the portion of cargo floornearest first towermay be substantially aligned with bottom platformof first tower. In this manner, a human operator (not shown) may use bottom platformof first towerto easily walk onto cargo floorand access interiorof fuselage assembly.

1302 1304 1200 1302 1304 224 226 1302 1304 1201 1305 1200 1202 1201 1302 1304 2 FIG. As depicted, first side panelsand second side panelshave been added to fuselage assembly. First side panelsand second side panelsmay be an example of one implementation for first side panelsand second side panels, respectively, in. First side panels, second side panels, and a first and second portion of end panelmay form sidesof fuselage assembly. In this illustrative example, plurality of keel panels, end panel, first side panels, and second side panelsmay all be temporarily connected together using, for example, without limitation, tack fasteners.

1302 1306 1308 1310 1204 1206 1208 1304 1312 1314 1316 1204 1206 1208 1306 1312 1201 First side panelsmay include side panel, side panel, and side panelthat have been engaged with and temporarily connected to keel panel, keel panel, and keel panel, respectively. Similarly, second side panelsmay include side panel, side panel, and side panelthat have been engaged with and temporarily connected to keel panel, keel panel, and keel panel, respectively. Further, both side paneland side panelhave been engaged with end panel.

1318 1302 1304 1318 1211 1320 1318 1306 1320 1318 1322 1306 1322 238 2 FIG. As depicted, membersmay be associated with first side panels. Other members (not shown) may be similarly associated with second side panels. Membersmay be implemented in a manner similar to members. In this illustrative example, corresponding portionof membersmay be associated with side panel. Corresponding portionof membersmay form support sectionassociated with side panel. Support sectionbe an example of one implementation for support sectionin.

14 FIG. 1400 1200 1400 906 900 1402 906 900 1400 1301 1200 With reference now to, an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, passenger floorhas been added to fuselage assembly. As depicted, passenger floormay be substantially level with top platformof first tower. Human operatormay use top platformof first towerto walk onto passenger floorand access interiorof fuselage assembly.

15 FIG. 2 FIG. 1500 1200 1500 218 With reference now to, an illustration of an isometric view of another stage in the assembly process for building a fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, plurality of crown panelshave been added to fuselage assembly. Plurality of crown panelsmay be an example of one implementation for crown panelsin.

1500 1502 1504 1506 1201 1507 1200 1502 1201 1306 1312 1504 1504 1502 1506 1308 1314 1506 1504 1310 1316 13 FIG. 13 FIG. In this illustrative example, plurality of crown panelsmay include crown panel, crown panel, and crown panel. These crown panels along with a top portion of end panelmay form crownof fuselage assembly. Crown panelmay be engaged with and temporarily connected to end panel, side panelshown in, side panel, and crown panel. Crown panelmay be engaged with and temporarily connected to crown panel, crown panel, side panelshown in, and side panel. Further, crown panelmay be engaged with and temporarily connected to crown panel, side panel, and side panel.

1201 1202 1302 1304 1500 1508 1200 1508 120 1 FIG. Together, end panel, plurality of keel panels, first side panels, second side panels, and plurality of crown panelsmay form plurality of panelsfor fuselage assembly. Plurality of panelsmay be an example of one implementation for plurality of panelsin.

1508 1200 1508 1200 1508 Plurality of panelsmay all be temporarily connected to each other such that desired compliance with outer mold line requirements and inner mold line requirements may be maintained during the building of fuselage assembly. In other words, temporarily connecting plurality of panelsto each other may enable outer mold line requirements and inner mold line requirements to be met within selected tolerances during the building of fuselage assemblyand, in particular, the joining of plurality of panelstogether.

1500 1318 1302 1500 1318 1211 1201 1202 1500 1302 1304 1510 1200 1508 1510 1200 131 13 14 FIGS.- 1 FIG. Members (not shown) may be associated with plurality of crown panelsin a manner similar to the manner in which membersare associated with first side panels. These members associated with plurality of crown panelsmay be implemented in a manner similar to membersand membersas shown in. The various members associated with end panel, plurality of keel panels, plurality of crown panels, first side panels, and second side panelsmay form plurality of membersfor fuselage assembly. When plurality of panelsare joined together, plurality of membersmay form a support structure (not yet shown) for fuselage assembly, similar to support structurein.

1500 1200 900 1112 826 900 826 916 900 801 9 FIG. 8 FIG. After plurality of crown panelshave been added to fuselage assembly, first towermay be autonomously decoupled from assembly fixtureand utility fixture. First towermay then be autonomously driven away from utility fixtureusing, for example, without limitation, autonomous vehiclein. In one illustrative example, first towermay be autonomously driven back to holding environmentin.

900 1112 826 336 3 FIG. When first toweris decoupled from assembly fixtureand utility fixture, a gap is formed in the distributed utility network. This gap may be filled using a second tower (not shown), implemented in a manner similar to second towerin.

16 FIG. 15 FIG. 3 FIG. 826 1112 1200 1600 1112 826 1600 336 With reference now to, an illustration of an isometric view of a second tower coupled to utility fixtureand assembly fixturesupporting fuselage assemblyfromis depicted in accordance with an illustrative embodiment. In this illustrative example, second towerhas been positioned relative to assembly fixtureand utility fixture. Second towermay be an example of one implementation for second towerin.

1600 803 916 1600 1618 826 1618 338 1618 918 9 FIG. 3 FIG. 9 FIG. Second towermay be autonomously driven across floorusing an autonomous vehicle (not shown), similar to autonomous vehiclein. Second towermay be autonomously driven into selected tower positionrelative to utility fixture. Selected tower positionmay be an example of one implementation for selected tower positionin. In this illustrative example, selected tower positionmay be substantially the same as selected tower positionin.

1600 1618 1600 826 1600 826 1602 1602 342 826 1600 3 FIG. Once second towerhas been autonomously driven into selected tower position, second towermay autonomously couple to utility fixture. In particular, second towermay electrically and physically couple to utility fixtureautonomously to form interface. Interfacemay be another example of one implementation for interfacein. This type of coupling may enable a number of utilities to flow from utility fixtureto second tower.

1600 1010 1112 1605 1605 1600 1600 1010 1008 1006 1600 900 1112 826 15 FIG. Further, second towermay autonomously couple to cradle fixture, thereby autonomously coupling to assembly fixture, to form interface. Interfacemay enable the number of utilities to flow downstream from second tower. In this manner, the number of utilities may flow from second towerto cradle fixture, to cradle fixture, and then to cradle fixture. In this manner, second towermay fill the gap in the distributed utility network that was created when first towerinwas decoupled from assembly fixtureand utility fixtureand driven away.

900 1600 1604 1606 1607 1606 1607 1301 1200 9 FIG. Similar to first towerin, second towermay include base structure, top platform, and bottom platform. However, top platformand bottom platformmay be used to provide internal mobile platforms with access to interiorof fuselage assemblyinstead of human operators.

1608 1606 1606 1400 1608 1606 1400 In this illustrative example, internal mobile platformmay be positioned on top platform. Top platformmay be substantially aligned with passenger floorsuch that internal mobile platformmay be able to autonomously drive across top platformonto passenger floor.

1607 1607 1300 1607 1608 406 13 FIG. 4 FIG. Similarly, an internal mobile platform (not shown in this view) may be positioned on bottom platform. Bottom platformmay be substantially aligned with cargo floor(not shown in this view) fromsuch that this other internal mobile platform (not shown in this view) may be able to autonomously drive across bottom platformonto the cargo floor. Internal mobile platformand the other internal mobile platform (not shown in this view) may be examples of implementations for internal mobile platformin.

1610 1612 1608 1610 1612 1608 1610 1612 1610 1612 416 4 FIG. As depicted, internal robotic deviceand internal robotic devicemay be associated with internal mobile platform. Although internal robotic deviceand internal robotic deviceare shown associated with the same internal mobile platform, in other illustrative examples, internal robotic devicemay be associated with one internal mobile platform and internal robotic devicemay be associated with another internal mobile platform. Each of internal robotic deviceand internal robotic devicemay be an example of one implementation for internal robotic devicein.

1610 1612 1301 1200 1508 1610 1612 1301 1200 Internal robotic deviceand internal robotic devicemay be used to perform operations within interiorof fuselage assemblyfor joining plurality of panels. For example, without limitation, internal robotic deviceand internal robotic devicemay be used to perform fastening operations, such as riveting operations, within interiorof fuselage assembly.

1620 1604 1620 826 1602 1614 1616 In one illustrative example, utility boxmay be associated with base structure. Utility boxmay manage the number of utilities received from utility fixturethrough interfaceand may distribute these utilities into utility cables that are managed using cable management systemand cable management system.

1614 1606 1616 1607 1614 1616 As depicted in this example, cable management systemmay be associated with top platformand cable management systemmay be associated with bottom platform. Cable management systemand cable management systemmay be implemented similarly.

1614 1615 1616 1617 1615 1608 1615 Cable management systemmay include cable wheelsand cable management systemmay include cable wheels. Cable wheelsmay be used to spool utility cables that are connected to internal mobile platform. For example, without limitation, cable wheelsmay be biased in some manner to substantially maintain a selected amount of tension in the utility cables. This biasing may be achieved using, for example, one or more spring mechanisms.

1608 1600 1400 1615 1608 1617 1615 As internal mobile platformmoves away from second toweralong passenger floor, the utility cables may extend from cable wheelsto maintain utility support to internal mobile platformand manage the utility cables such that they do not become tangled. Cable wheelsmay be implemented in a manner similar to cable wheels.

1615 1608 1608 1608 1400 1608 By using cable wheelsto spool the utility cables, the utility cables may be kept off of internal mobile platform, thereby reducing the weight of internal mobile platformand the load applied by internal mobile platformto passenger floor. The number of utilities provided to internal mobile platformmay include, for example, without limitation, electricity, air, water, hydraulic fluid, communications, some other type of utility, or some combination thereof.

17 FIG. 1301 1200 1700 1508 With reference now to, an illustration of an isometric cutaway view of a plurality of mobile platforms performing fastening processes within interiorof fuselage assemblyis depicted in accordance with an illustrative embodiment. In this illustrative example, plurality of mobile platformsmay be used to perform fastening processes to join plurality of panelstogether.

1508 1200 1508 1508 1508 In particular, plurality of panelsmay be joined together at selected locations along fuselage assembly. Plurality of panelsmay be joined to form at least one of lap joints, butt joints, or other types of joints. In this manner, plurality of panelsmay be joined such that at least one of circumferential attachment, longitudinal attachment, or some other type of attachment is created between the various panels of plurality of panels.

1700 1608 1701 1608 1701 402 1608 1400 1701 1300 4 FIG. As depicted, plurality of mobile platformsmay include internal mobile platformand internal mobile platform. Internal mobile platformand internal mobile platformmay be an example of one implementation for number of internal mobile platformsin. Internal mobile platformmay be configured to move along passenger floor, while internal mobile platformmay be configured to move along cargo floor.

1702 1704 1701 1702 1704 416 1702 1704 1610 1612 4 FIG. As depicted, internal robotic deviceand internal robotic devicemay be associated with internal mobile platform. Each of internal robotic deviceand internal robotic devicemay be an example of one implementation for internal robotic devicein. Internal robotic deviceand internal robotic devicemay be similar to internal robotic deviceand internal robotic device.

1700 1705 1707 1705 1707 400 1705 1707 404 4 FIG. 4 FIG. Plurality of mobile platformsmay also include external mobile platformand external mobile platform. External mobile platformand external mobile platformmay be an example of one implementation for at least a portion of number of external mobile platformsin. External mobile platformand external mobile platformmay be examples of implementations for external mobile platformin.

1706 1705 1708 1707 1706 1708 408 4 FIG. External robotic devicemay be associated with external mobile platform. External robotic devicemay be associated with external mobile platform. Each of external robotic deviceand external robotic devicemay be an example of one implementation for external robotic devicein.

1706 1612 1200 1708 1704 1200 1710 1612 1712 1706 1720 1200 1720 424 4 FIG. As depicted, external robotic deviceand internal robotic devicemay work collaboratively to install fasteners autonomously in fuselage assembly. These fasteners may take the form of, for example, without limitation, at least one of rivets, interference-fit bolts, non-interference-fit bolts, or other types of fasteners or fastener systems. Similarly, external robotic deviceand internal robotic devicemay work collaboratively to install fasteners autonomously in fuselage assembly. As one illustrative example, end effectorof internal robotic deviceand end effectorof external robotic devicemay be positioned relative to a same locationon fuselage assemblyto perform a fastening process at location, such as fastening processin.

444 439 433 4 FIG. 4 FIG. 4 FIG. The fastening process may include at least one of, for example, without limitation, a drilling operation, a fastener insertion operation, a fastener installation operation, an inspection operation, or some other type of operation. The fastener installation operation may take the form of, for example, without limitation, two-stage riveting processdescribed in, interference-fit bolt-type installation processdescribed in, bolt-nut type installation processdescribed in, or some other type of fastener installation operation.

1711 1705 1711 1705 1711 1705 803 800 1112 In this illustrative example, autonomous vehiclemay be fixedly associated with external mobile platform. Autonomous vehiclemay be used to drive external mobile platformautonomously. For example, autonomous vehiclemay be used to autonomously drive external mobile platformacross floorof manufacturing environmentrelative to assembly fixture.

1713 1707 1713 1707 1713 1707 803 800 1112 Similarly, autonomous vehiclemay be fixedly associated with external mobile platform. Autonomous vehiclemay be used to drive external mobile platformautonomously. For example, autonomous vehiclemay be used to autonomously drive external mobile platformacross floorof manufacturing environmentrelative to assembly fixture.

1705 1707 1711 1713 1705 1707 By being fixedly associated with external mobile platformand external mobile platform, autonomous vehicleand autonomous vehiclemay be considered integral to external mobile platformand external mobile platform, respectively. However, in other illustrative examples, these autonomous vehicles may be independent of the external mobile platforms in other illustrative examples.

1200 1608 1701 1400 1606 1607 1600 1600 826 1112 1714 1600 Once all fastening processes have been completed for fuselage assembly, internal mobile platformand internal mobile platformmay be autonomously driven across passenger floorback onto top platformand bottom platform, respectively, of second tower. Second towermay then be autonomously decoupled from both utility fixtureand assembly fixture. Autonomous vehiclemay then be used to autonomously drive or move second toweraway.

1200 1112 803 1200 900 918 826 900 826 1112 900 1301 1200 9 FIG. 9 FIG. 9 FIG. 9 FIG. In this illustrative example, building of fuselage assemblymay now be considered completed for this stage in the overall assembly process for the fuselage. Consequently, assembly fixturemay be autonomously driven across floorto move fuselage assemblyto some other location. In other illustrative examples, first towerfrommay be autonomously driven back into selected tower positioninrelative to utility fixture. First towerfrommay then be autonomously recoupled to utility fixtureand assembly fixture. First towerfrommay enable a human operator (not shown) to access interiorof fuselage assemblyto perform other operations including, but not limited to, at least one of inspection operations, fastening operations, system installation operations, or other types of operations. System installation operations may include operations for installing systems such as, for example, without limitation, at least one of a fuselage utility system, an air conditioning system, interior panels, electronic circuitry, some other type of system, or some combination thereof.

18 FIG. 17 FIG. 17 FIG. 17 FIG. 808 1200 1200 18 18 With reference now to, an illustration of a cross-sectional view of flexible manufacturing systemperforming operations on fuselage assemblyfromis depicted in accordance with an illustrative embodiment. In this illustrative example, a cross-sectional view of fuselage assemblyfromis depicted taken in the direction of lines-in.

1608 1701 1301 1200 1705 1707 1800 1200 As depicted, internal mobile platformand internal mobile platformare performing operations within interiorof fuselage assembly. External mobile platformand external mobile platformare performing assembly operations along exteriorof fuselage assembly.

1705 1802 1800 1804 1806 1810 1200 1706 1705 1610 1608 In this illustrative example, external mobile platformmay be used to perform operations along portionof exteriorbetween axisand axisat first sideof fuselage assembly. External robotic deviceof external mobile platformmay work collaboratively with internal robotic deviceof internal mobile platformto perform fastening processes.

1707 1808 1800 1200 1804 1806 1812 1200 1708 1707 1704 1701 Similarly, external mobile platformmay be used to perform operations along portionof exteriorof fuselage assemblybetween axisand axisat second sideof fuselage assembly. External robotic deviceof external mobile platformmay work collaboratively with internal robotic deviceof internal mobile platformto perform fastening processes.

1705 1810 1200 1705 1711 1812 1200 1811 1800 1200 1804 1806 1707 1713 1812 1200 1813 1800 1200 1804 1806 Although external mobile platformis depicted as being located at first sideof fuselage assembly, external mobile platformmay be autonomously driven by autonomous vehicleto second sideof fuselage assemblyto perform operations along portionof exteriorof fuselage assemblybetween axisand axis. Similarly, external mobile platformmay be autonomously driven by autonomous vehicleto second sideof fuselage assemblyto perform operations along portionof exteriorof fuselage assemblybetween axisand axis.

1705 1612 1608 1812 1200 1707 1702 1701 1810 1200 Although not shown in this illustrative example, an external mobile platform similar to external mobile platformmay have an external robotic device configured to work collaboratively with internal robotic deviceof internal mobile platformat second sideof fuselage assembly. Similarly, an external mobile platform similar to external mobile platformmay have an external robotic device configured to work collaboratively with internal robotic deviceof internal mobile platformat first sideof fuselage assembly.

1608 1400 1200 1701 1300 1200 1200 These four different external mobile platforms and two internal mobile platforms may be controlled such that the operations performed by internal mobile platformlocated on passenger floormay occur at a different location with respect to the longitudinal axis of fuselage assemblythan the operations performed by internal mobile platformlocated on cargo floor. The four external mobile platforms may be controlled such that the two external mobile platforms located on the same side of fuselage assemblydo not collide or impede one another. The two external mobile platforms located at the same side of fuselage assemblymay be unable to occupy the same footprint in this illustrative example.

1705 1112 1822 1112 1705 1705 1112 1822 1705 1010 1822 In this illustrative example, external mobile platformmay autonomously couple to assembly fixtureto form interfacesuch that a number of utilities may flow from assembly fixtureto external mobile platform. In other words, the number of utilities may be autonomously coupled between external mobile platformand assembly fixturethrough interface. In particular, external mobile platformhas been coupled to cradle fixturethrough interface.

1707 1112 1824 1112 1707 1707 1112 1824 1707 1010 1824 Similarly, external mobile platformmay autonomously couple to assembly fixtureto form interfacesuch that a number of utilities may flow from assembly fixtureto external mobile platform. In other words, the number of utilities may be autonomously coupled between external mobile platformand assembly fixturethrough interface. In particular, external mobile platformhas been coupled to cradle fixturethrough interface.

1200 1705 1707 1112 1707 1010 1707 1200 1707 1008 1112 1112 1200 10 17 FIGS.- As operations are performed along fuselage assemblyby external mobile platform, external mobile platform, and any other external mobile platforms, these external mobile platforms may be coupled to and decoupled from assembly fixtureas needed. For example, external mobile platformmay decouple from cradle fixtureas external mobile platformmoves aftward along fuselage assemblysuch that external mobile platformmay then autonomously couple to cradle fixture(not shown) from. Further, these external mobile platforms may be coupled to and decoupled from assembly fixtureto avoid collisions and prevent the external mobile platforms from impeding each other during maneuvering of the external mobile platforms relative to assembly fixtureand fuselage assembly.

1814 1112 1000 1814 1711 1713 1816 1818 1820 1826 1705 1707 1200 As depicted, autonomous vehicleis shown positioned under the assembly fixtureformed by cradle system. In this illustrative example, autonomous vehicle, autonomous vehicle, and autonomous vehiclemay have omnidirectional wheels, omnidirectional wheels, and omnidirectional wheels, respectively. In some illustrative examples, metrology systemmay be used to help position external mobile platformand external mobile platformrelative to fuselage assembly.

19 FIG. 1200 1508 Turning now to, an illustration of an isometric view of a fully built fuselage assembly is depicted in accordance with an illustrative embodiment. In this illustrative example, fuselage assemblymay be considered completed when plurality of panelshave been fully joined.

1508 1508 1900 1900 121 1200 1 FIG. In other words, all fasteners needed to join together plurality of panelshave been fully installed. With plurality of panelsjoined together, support structuremay be fully formed. Support structuremay be an example of one implementation for support structurein. Fuselage assembly, which is an aft fuselage assembly, may now be ready for attachment to a corresponding middle fuselage assembly (not shown) and forward fuselage assembly (not shown).

1714 1012 1006 1014 1008 1016 1010 316 1012 1014 1016 1024 1026 1028 17 FIG. 3 FIG. As depicted, autonomous vehicles (not shown in this view), similar to autonomous vehicleshown in, may be positioned under baseof cradle fixture, baseof cradle fixture, and baseof cradle fixture, respectively. Autonomous vehicles, such as number of corresponding autonomous vehiclesin, may lift up base, base, and base, respectively, such that plurality of stabilizing members, plurality of stabilizing members, and plurality of stabilizing members, respectively, no longer contact the floor.

1000 1200 802 800 1002 1200 8 FIG. 8 FIG. These autonomous vehicles (not shown) may then autonomously drive cradle systemcarrying fuselage assemblythat has been fully built away from assembly environmentinand, in some cases, away from manufacturing environmentin. Computer-controlled movement of these autonomous vehicles (not shown) may ensure that number of cradle fixturesmaintain their positions relative to each other as fuselage assemblyis being moved.

20 FIG. 800 2000 812 800 With reference now to, an illustration of an isometric view of fuselage assemblies being built within manufacturing environmentis depicted in accordance with an illustrative embodiment. In this illustrative example, plurality of fuselage assembliesare being built within plurality of work cellsin manufacturing environment.

2000 2001 814 812 2002 816 812 2000 114 1 FIG. Plurality of fuselage assembliesmay include plurality of forward fuselage assembliesbeing built in first portionof plurality of work cellsand plurality of aft fuselage assembliesbeing built in second portionof plurality of work cells. Each of plurality of fuselage assembliesmay be an example of one implementation for fuselage assemblyin.

2000 2000 As depicted, plurality of fuselage assembliesare being built concurrently. However, plurality of fuselage assembliesare at different stages of assembly in this illustrative example.

2004 2001 2004 117 2005 2002 2005 116 2005 2004 1 FIG. 1 FIG. Forward fuselage assemblymay be an example of one of plurality of forward fuselage assemblies. Forward fuselage assemblymay be an example of one implementation for forward fuselage assemblyin. Aft fuselage assemblymay be an example of one of plurality of aft fuselage assemblies. Aft fuselage assemblymay be an example of one implementation for aft fuselage assemblyin. In this illustrative example, aft fuselage assemblymay be at an earlier stage of assembly than forward fuselage assembly.

2006 116 2006 1 FIG. Aft fuselage assembly, which may be another example of an implementation for aft fuselage assemblyin, may be a fuselage assembly with all panels joined. As depicted, aft fuselage assemblyis being autonomously driven to some other location for a next stage in the overall fuselage and aircraft manufacturing process.

2005 2005 2010 2011 2012 2011 2005 2014 2005 2005 As described above, aft fuselage assemblymay be partially assembled. In this illustrative example, aft fuselage assemblyhas keel, end panel, and first side. End panelmay form an end fuselage section of aft fuselage assembly. As depicted, side panelmay be added to aft fuselage assemblyto build a second side of aft fuselage assembly.

2015 2001 2015 2016 2018 2018 2015 2020 2015 2015 Forward fuselage assemblymay be another example of one of plurality of forward fuselage assemblies. In this illustrative example, forward fuselage assemblyhas keeland end panel. End panelmay form an end fuselage section of forward fuselage assembly. As depicted, side panelmay be added to forward fuselage assemblyto begin building a first side of forward fuselage assembly.

21 FIG. 8 10 20 FIGS.and- 1 5 6 7 FIGS.,,, and 826 826 150 With reference now to, an illustration of an isometric view of a coupling structure and utility fixturefromis depicted in accordance with an illustrative embodiment. As described above, utility fixturemay be an example of one implementation for utility fixturein.

2100 615 2100 900 1600 826 2100 904 900 902 900 826 2100 1604 1600 902 1600 826 6 FIG. 9 FIG. 16 FIG. 9 FIG. 9 FIG. 16 FIG. 16 FIG. Coupling structuremay be an example of one implementation for coupling structurein. Coupling structuremay be used to couple a tower, such as first towerinor second towerinto utility fixture. For example, without limitation, coupling structuremay be associated with base structureof first towerinand used to form interfacebetween first towerand utility fixtureshown in. In a similar manner, coupling structuremay be associated with base structureof second towerinand used to form interfacebetween second towerand utility fixtureshown in.

826 2102 2102 600 2103 2102 2103 608 6 FIG. 6 FIG. As depicted in this example, utility fixturemay include base structure. Base structuremay be an example of one implementation for base structurein. Set of coupling unitsmay be associated with base structure. Set of coupling unitsmay be an example of one implementation for set of coupling unitsin.

2103 2104 2105 2106 2104 2108 2110 2105 2112 2114 2116 2118 2120 2106 2122 2124 2126 2128 2130 In this illustrative example, set of coupling unitsmay include coupling unit, coupling unit, and coupling unit. Coupling unitmay include male quick-change deviceand air coupling element. Coupling unitmay include male quick-change device, power coupling element, communications coupling element, power coupling element, and communications coupling element. Coupling unitmay include male quick-change device, power coupling element, communications coupling element, power coupling element, and communications coupling element.

2108 2112 2122 625 2110 620 2114 2118 2124 2128 618 2116 2120 2126 2130 624 6 FIG. 6 FIG. 6 FIG. 6 FIG. Male quick-change device, male quick-change device, and male quick-change devicemay be examples of implementations for male quick-change devicein. Air coupling elementmay be an example of one implementation for air coupling elementin. Power coupling element, power coupling element, power coupling element, and power coupling elementmay be examples of implementations for power coupling elementin. Communications coupling element, communications coupling element, communications coupling element, and communications coupling elementmay be examples of implementations for communications coupling elementin.

2132 2100 2132 2134 2136 2138 2134 2140 2142 2136 2144 2146 2148 2150 2152 2138 2154 2156 2158 2160 2162 Set of corresponding coupling unitsmay be associated with coupling structure. Set of corresponding coupling unitsmay include corresponding coupling unit, corresponding coupling unit, and corresponding coupling unit. As depicted, corresponding coupling unitmay include female quick-change deviceand corresponding air coupling element. Corresponding coupling unitmay include female quick-change device, corresponding power coupling element, corresponding communications coupling element, corresponding power coupling element, and corresponding communications coupling element. Corresponding coupling unitmay include female quick-change device, corresponding power coupling element, corresponding communications coupling element, corresponding power coupling element, and corresponding communications coupling element.

2140 2144 2154 628 2142 620 2146 2150 2156 2160 630 2148 2152 2158 2162 636 6 FIG. 6 FIG. 6 FIG. 6 FIG. Female quick-change device, female quick-change device, and female quick-change devicemay be examples of implementations for female quick-change devicein. Corresponding air coupling elementmay be an example of one implementation for air coupling elementin. Corresponding power coupling element, corresponding power coupling element, corresponding power coupling element, and corresponding power coupling elementmay be examples of implementations for corresponding power coupling elementin. Corresponding communications coupling element, corresponding communications coupling element, corresponding communications coupling element, and corresponding communications coupling elementmay be examples of implementations for corresponding communications coupling elementin.

2104 2105 2106 2134 2136 2138 826 2100 826 2100 826 2100 2100 In this illustrative example, coupling unit, coupling unit, and coupling unitmay mate with corresponding coupling unit, corresponding coupling unit, and corresponding coupling unitto couple utility fixtureand coupling structuretogether. In this manner, utility fixturemay be coupled with whichever tower (not shown) coupling structureis associated. Consequently, utilities such as power, air, and communications may flow from utility fixtureto coupling structureand the tower (not shown) with which coupling structureis associated.

2164 1600 1608 1701 16 FIG. 16 17 FIGS.- As depicted, number of distribution cablesmay be used to distribute these utilities to the tower (not shown). When the tower is second towerin, at least a portion of the utilities may be distributed to internal mobile platformand internal mobile platformshown in.

22 FIG. 6 FIG. 6 FIG. 2200 612 2202 613 With reference now to, an illustration of an enlarged isometric view of a coupling unit and a corresponding coupling unit is depicted in accordance with an illustrative embodiment. In this illustrative example, coupling unitmay be an example of one implementation for coupling unitin. Corresponding coupling unitmay be an example of one implementation for corresponding coupling unitin.

2200 826 900 1600 1002 2202 900 1600 1002 2202 1705 1707 8 FIG. 9 FIG. 16 FIG. 10 FIG. 9 FIG. 16 FIG. 10 FIG. 17 FIG. Coupling unitmay be associated with one of, for example, without limitation, a utility fixture, such as utility fixturein, a tower such as first towerinor second towerin, or a cradle fixture, such as one of number of cradle fixturesin. Corresponding coupling unitmay be associated with a mobile system, selected from one of a tower, such as first towerinor second towerin, or a cradle fixture, such as one of number of cradle fixturesin. In some illustrative examples, corresponding coupling unitmay be associated with an external mobile platform, such as one of external mobile platformor external mobile platformin.

2200 706 710 714 2202 708 712 716 7 FIG. Further, coupling unitmay be an example of one manner in which one of set of tower coupling units, one of set of first cradle coupling units, or one of set of second cradle coupling unitsmay be implemented. Similarly, corresponding coupling unitmay be an example of one manner in which one of set of corresponding first cradle coupling units, one of set of corresponding second cradle coupling units, or one of set of corresponding third cradle coupling unitsinmay be implemented.

2203 2200 2205 2202 Number of utility cablesmay carry a number of utilities to coupling unit. Number of utility cablesmay carry a number of utilities away from corresponding coupling unit.

2200 2204 2206 2208 2210 2212 2214 2216 2202 2218 2220 2222 2224 2226 2228 2230 As depicted, coupling unitmay include male quick-change device, power coupling element, air coupling element, communications coupling element, power coupling element, air coupling element, and communications coupling element. Corresponding coupling unitmay include female quick-change device, corresponding power coupling element, corresponding air coupling element, corresponding communications coupling element, corresponding power coupling element, corresponding air coupling element, and corresponding communications coupling element.

2202 2202 2200 2202 2231 2235 2202 Corresponding coupling unitis shown rotated about 90 degrees counter-clockwise from the orientation corresponding coupling unitmay have when mating with coupling unit. In particular, corresponding coupling unitis shown rotated in the direction of arrowabout Z-axis. In this manner, the various coupling elements associated with corresponding coupling unitmay be more clearly seen.

2232 2200 2234 2202 2202 2200 2202 2200 2234 2232 2232 2234 2202 2200 In this illustrative example, guidance forkmay be associated with coupling unit. Rollermay be associated with corresponding coupling unit. The mobile system (not shown) with which corresponding coupling unitis associated may be driven autonomously towards coupling unit. As corresponding coupling unitis moved towards coupling unit, rollermay engage guidance fork. Guidance forkmay guide rollerduring the mating of corresponding coupling unitto coupling unitto maintain alignment during coupling.

2236 2202 2202 2236 2202 2200 2234 2232 2233 2234 2232 2234 2232 2235 2234 2232 2235 2234 2232 Imaging systemassociated with corresponding coupling unitmay be used to guide the mobile system with which corresponding coupling unitis associated. For example, without limitation, the imaging data generated by imaging systemmay be used to drive the mobile system in a manner that moves corresponding coupling unittowards coupling unitand rollerinto guidance fork. In this manner, movement along Y-axismay be guided using rollerand guidance fork. Using rollerand guidance forkmay also help with vertical alignment along Z-axis. Rollermay need to be within a selected distance of guidance forkwith respect to Z-axisin order for rollerto engage and be guided within guidance fork.

2238 2200 2200 2200 2238 2240 2200 2242 2238 2237 2237 2200 2235 Imaging systemassociated with coupling unitmay be used to adjust the positioning of coupling unitrelative to the system with which coupling unitis attached. For example, without limitation, the imaging data generated by imaging systemmay be processed to generate commands for controlling air cylinder, which may move coupling unitin a direction along X-axis. Further, the imaging data generated by imaging systemmay also be used to control movement system. Movement systemmay control the movement of coupling unitin a direction along Z-axis.

2200 2200 2200 2202 2202 2202 In other illustrative examples, some other type of controllable movement system may be associated with coupling unitand used to move coupling unitwith at least one degree of freedom relative to the system with which coupling unitis attached. In still other illustrative examples, one or more controllable movement systems (not shown) may be associated with corresponding coupling unitand used to move corresponding unitwith at least one degree of freedom relative to the system or structure with which corresponding coupling unitis attached.

8 22 FIGS.- The illustrations inare not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional.

8 22 FIGS.- 1 7 FIG.- 8 22 FIGS.- 1 7 FIG.- 1 7 FIG.- The different components shown inmay be illustrative examples of how components shown in block form incan be implemented as physical structures. Additionally, some of the components inmay be combined with components in, used with components in, or a combination of the two.

23 FIG. 23 FIG. 1 5 6 7 FIGS.,,, and 150 With reference now to, an illustration of a process for distributing a number of utilities is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated inmay be implemented using utility fixtureshown in.

146 148 150 2300 146 150 610 2302 146 148 150 610 2304 The process may begin by coupling number of utilitiesbetween number of utility sourcesand utility fixture(operation). Next, number of utilitiesmay be coupled between utility fixtureand mobile system(operation). Number of utilitiesmay be distributed downstream from number of utility sources, through utility fixture, to mobile system(operation), with the process terminating thereafter.

24 FIG. 24 FIG. 6 FIG. 6 FIG. 612 613 With reference now to, an illustration of a process for mating a coupling unit with a corresponding coupling unit is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated inmay be used to mate a coupling unit, such as coupling unitin, with a corresponding coupling unit, such as corresponding coupling unitin.

613 612 2400 613 612 2402 2402 613 612 613 612 The process may begin by driving corresponding coupling unittowards coupling unit(operation). Corresponding coupling unitmay be aligned with coupling unitautonomously (operation). Operationmay be performed by, for example, without limitation, guiding a roller associated with corresponding coupling unitwithin a guidance fork associated with coupling unitas corresponding coupling unitis driven towards coupling unit.

613 612 612 613 2404 2404 612 613 Next, corresponding coupling unitmay be mated to coupling unitto couple a number of utilities between coupling unitand corresponding coupling unit(operation), with the process terminating thereafter. Mating these coupling units in operationmay create an interface over which the number of utilities may flow from coupling unitto corresponding coupling unit.

25 FIG. 25 FIG. 3 6 FIGS.and 1 5 6 7 FIGS.,,, and 332 150 With reference now to, an illustration of a process for distributing a number of utilities to a tower is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated inmay be used to couple a tower, such as towerin, to a utility fixture, such as utility fixturein.

150 608 304 2500 2500 150 300 300 100 The process may begin by locating utility fixturehaving set of coupling unitsin assembly area(operation). Operationmay be performed in a number of different ways. Utility fixturemay be, for example, without limitation, affixed to floor, embedded in floor, or attached to a wall, ceiling, or some other surface in manufacturing environment.

332 602 150 608 2502 614 332 608 614 608 2504 Next, towermay be driven towards locationof utility fixturehaving set of coupling units(operation). Each of set of corresponding coupling unitsassociated with towermay be aligned with set of coupling unitsusing a roller associated with each of set of corresponding coupling unitsand a guidance fork associated with each of set of coupling units(operation).

608 614 608 614 2506 146 150 332 640 608 614 2508 A male quick-change device of each of set of coupling unitsmay be mated with a female quick-change device of each of set of corresponding coupling units, thereby mating a number of coupling elements associated with each of set of coupling unitswith a number of corresponding coupling elements associated with each of set of corresponding coupling units(operation). Number of utilitiesmay then be distributed from utility fixtureto towerthrough set of interfacesformed by mating set of coupling unitsand set of corresponding coupling units(operation), with the process terminating thereafter.

The flowcharts and block diagrams in the different depicted embodiments illustrate the architecture, functionality, and operation of some possible implementations of apparatuses and methods in an illustrative embodiment. In this regard, each block in the flowcharts or block diagrams may represent a module, a segment, a function, a portion of an operation or step, some combination thereof.

In some alternative implementations of an illustrative embodiment, the function or functions noted in the blocks may occur out of the order noted in the figures. For example, in some cases, two blocks shown in succession may be executed substantially concurrently, or the blocks may sometimes be performed in the reverse order, depending upon the functionality involved. Also, other blocks may be added in addition to the illustrated blocks in a flowchart or block diagram.

26 FIG. 1 FIG. 1 FIG. 2600 136 2600 140 Turning now to, an illustration of a data processing system is depicted in the form of a block diagram in accordance with an illustrative embodiment. Data processing systemmay be used to implement any of the controllers described above, including control systemin. In some illustrative examples, data processing systemmay be used to implement at least one of a controller in set of controllersin.

2600 2602 2604 2606 2608 2610 2612 2602 As depicted, data processing systemincludes communications framework, which provides communications between processor unit, storage devices, communications unit, input/output unit, and display. In some cases, communications frameworkmay be implemented as a bus system.

2604 2604 2604 Processor unitis configured to execute instructions for software to perform a number of operations. Processor unitmay comprise at least one of a number of processors, a multi-processor core, or some other type of processor, depending on the implementation. In some cases, processor unitmay take the form of a hardware unit, such as a circuit system, an application specific integrated circuit (ASIC), a programmable logic device, or some other suitable type of hardware unit.

2604 2606 2606 2604 2602 Instructions for the operating system, applications and programs run by processor unitmay be located in storage devices. Storage devicesmay be in communication with processor unitthrough communications framework. As used herein, a storage device, also referred to as a computer readable storage device, is any piece of hardware capable of storing information on a temporary basis, a permanent basis, or both. This information may include, but is not limited to, data, program code, other information, or some combination thereof.

2614 2616 2606 2614 2616 2616 2616 Memoryand persistent storageare examples of storage devices. Memorymay take the form of, for example, a random access memory or some type of volatile or non-volatile storage device. Persistent storagemay comprise any number of components or devices. For example, persistent storagemay comprise a hard drive, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination of the above. The media used by persistent storagemay or may not be removable.

2608 2600 2608 Communications unitallows data processing systemto communicate with other data processing systems, devices, or both. Communications unitmay provide communications using physical communications links, wireless communications links, or both.

2610 2600 2610 2610 2600 Input/output unitallows input to be received from and output to be sent to other devices connected to data processing system. For example, input/output unitmay allow user input to be received through a keyboard, a mouse, some other type of input device, or a combination thereof. As another example, input/output unitmay allow output to be sent to a printer connected to data processing system.

2612 2612 Displayis configured to display information to a user. Displaymay comprise, for example, without limitation, a monitor, a touch screen, a laser display, a holographic display, a virtual display device, some other type of display device, or a combination thereof.

2604 2604 In this illustrative example, the processes of the different illustrative embodiments may be performed by processor unitusing computer-implemented instructions. These instructions may be referred to as program code, computer usable program code, or computer readable program code and may be read and executed by one or more processors in processor unit.

2618 2620 2600 2604 2618 2620 2622 2620 2624 2626 In these examples, program codeis located in a functional form on computer readable media, which is selectively removable, and may be loaded onto or transferred to data processing systemfor execution by processor unit. Program codeand computer readable mediatogether form computer program product. In this illustrative example, computer readable mediamay be computer readable storage mediaor computer readable signal media.

2624 2618 2618 2624 2600 Computer readable storage mediais a physical or tangible storage device used to store program coderather than a medium that propagates or transmits program code. Computer readable storage mediamay be, for example, without limitation, an optical or magnetic disk or a persistent storage device that is connected to data processing system.

2618 2600 2626 2626 2618 Alternatively, program codemay be transferred to data processing systemusing computer readable signal media. Computer readable signal mediamay be, for example, a propagated data signal containing program code. This data signal may be an electromagnetic signal, an optical signal, or some other type of signal that can be transmitted over physical communications links, wireless communications links, or both.

2600 2600 26 FIG. 26 FIG. The illustration of data processing systeminis not meant to provide architectural limitations to the manner in which the illustrative embodiments may be implemented. The different illustrative embodiments may be implemented in a data processing system that includes components in addition to or in place of those illustrated for data processing system. Further, components shown inmay be varied from the illustrative examples shown.

2700 2800 2700 2702 2800 2704 27 FIG. 28 FIG. 27 FIG. 28 FIG. The illustrative embodiments of the disclosure may be described in the context of aircraft manufacturing and service methodas shown inand aircraftas shown in. Turning first to, an illustration of an aircraft manufacturing and service method is depicted in the form of a block diagram in accordance with an illustrative embodiment. During pre-production, aircraft manufacturing and service methodmay include specification and designof aircraftinand material procurement.

2706 2708 2800 2800 2710 2712 2712 2800 2714 28 FIG. 28 FIG. 28 FIG. During production, component and subassembly manufacturingand system integrationof aircraftintakes place. Thereafter, aircraftinmay go through certification and deliveryin order to be placed in service. While in serviceby a customer, aircraftinis scheduled for routine maintenance and service, which may include modification, reconfiguration, refurbishment, and other maintenance or service.

2700 Each of the processes of aircraft manufacturing and service methodmay be performed or carried out by at least one of a system integrator, a third party, or an operator. In these examples, the operator may be a customer. For the purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and major-system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator may be an airline, a leasing company, a military entity, a service organization, and so on.

28 FIG. 27 FIG. 2800 2700 2802 2804 2806 2804 2808 2810 2812 2814 With reference now to, an illustration of an aircraft is depicted in the form of a block diagram in which an illustrative embodiment may be implemented. In this example, aircraftis produced by aircraft manufacturing and service methodinand may include airframewith plurality of systemsand interior. Examples of systemsinclude one or more of propulsion system, electrical system, hydraulic system, and environmental system. Any number of other systems may be included. Although an aerospace example is shown, different illustrative embodiments may be applied to other industries, such as the automotive industry.

2700 106 2802 2800 2700 106 2706 2708 2700 2800 27 FIG. 1 FIG. 1 FIG. The apparatuses and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service methodin. In particular, flexible manufacturing systemfrommay be used to build at least a portion of airframeof aircraftduring any one of the stages of aircraft manufacturing and service method. For example, without limitation, flexible manufacturing systemfrommay be used during at least one of component and subassembly manufacturing, system integration, or some other stage of aircraft manufacturing and service methodto form a fuselage for aircraft.

2706 2800 2712 2706 2708 2800 2712 2714 2800 27 FIG. 27 FIG. 27 FIG. 27 FIG. In one illustrative example, components or subassemblies produced in component and subassembly manufacturinginmay be fabricated or manufactured in a manner similar to components or subassemblies produced while aircraftis in servicein. As yet another example, one or more apparatus embodiments, method embodiments, or a combination thereof may be utilized during production stages, such as component and subassembly manufacturingand system integrationin. One or more apparatus embodiments, method embodiments, or a combination thereof may be utilized while aircraftis in service, during maintenance and servicein, or both. The use of a number of the different illustrative embodiments may substantially expedite the assembly of and reduce the cost of aircraft.

The description of the different illustrative embodiments has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Further, different illustrative embodiments may provide different features as compared to other desirable embodiments. The embodiment or embodiments selected are chosen and described in order to best explain the principles of the embodiments, the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.