---
publication_id: "OT-2026-000002734"
title: "Apparatus and method for maintaining a gas turbine engine having at least one port"
published_at: "2026-09-15T19:14:59.630015Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002734"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1694"
  - "f02c7/00"
  - "f02c7/00"
  - "f02c7/00"
  - "f02c7/00"
  - "f05d2230/72"
---

# Apparatus and method for maintaining a gas turbine engine having at least one port

## Abstract

An apparatus for maintaining a gas turbine engine having at least one port comprises a tool having an end effector to effect maintaining the gas turbine engine, the tool being configured to temporarily enter and exit the gas turbine engine via the at least one port and having a first portion and a second portion that are separated by at least a first area of articulation. A first inertial measurement unit is affixed with respect to that first portion and a second inertial measurement unit is affixed with respect to that second portion. A control circuit operably couples to those inertial measurement units and receives corresponding information regarding those portions of the tool. The control circuit can then process that received information to generate positional proprioception information as regards those monitored tool portions.