Abstract: A portable, self-contained beverage apparatus includes a container assembly having a known storage capacity for storing a consumable liquid, and a dispensing assembly disposed within the container assembly that dispenses variable, non-zero quantities of additives into the consumable liquid. The dispensing assembly includes multiple apertures structured and arranged to retain vessels containing the additives to be dispensed into the consumable liquid. The beverage apparatus also includes a level sensor disposed within the container assembly that determines a consumable liquid level of the consumable liquid stored in the container assembly. In certain embodiments, one or more positive displacement pumping mechanisms are configured to pump additive liquid from additive containers into a beverage chamber.

Abstract: Embodiments provide functionality to prevent collisions between robots and objects. An example embodiment detects a type and a location of an object based on a camera image of the object, where the image has a reference frame. Motion of the object is then predicted based on at least one of: the detected type of the object, the detected location of the object, and a model of object motion. To continue, a motion plan for the robot is generated that avoids having the robot collide with the object based on the predicted motion of the object and a transformation between the reference frame of the image and a reference frame of the robot. The robot can be controlled to move in accordance with the motion plan or a signal can be generated that controls the robot to operate in accordance with the motion plan.

Abstract: A method may include obtaining a first byte stream from first document code and a second byte stream from second document code. The first document code has a document type and the second document code has the document type. The method may further include identifying, in the first byte stream, nonvisual noise corresponding to a custom byte code defined in a custom character encoding set. The nonvisual noise is invisible when rendering the first document code. The method may further include replacing, in the first byte stream, the custom byte code with at least one standard byte code defined in a standard character encoding set to obtain modified document code. The second document code uses the standard character encoding set. The method may further include comparing the modified document code with the second document code by comparing the first byte stream with the second byte stream.