Abstract: Devices and methods for atmospheric water harvesting may be useful to obtain drinking water from air of moderate humidity, in a process driven directly by solar energy. Devices feature a recirculating stream of a fluid, such as air, and include heat recuperation to heat fluid in one portion of the stream using heat contained in another portion of the stream. Passive heat sinking is sufficient to condense liquid water, without need for refrigeration. The objective of the technologies and inventions is to enable affordable household products that improve drinking water access, with a focus on those currently without access to safely managed drinking water.

Abstract: An attachment point apparatus and system for photovoltaic arrays is disclosed. One embodiment provides a rail system for receiving a PV module, including a first rail, a second rail, a substantially rectilinear double male connector adapted for coupling an end of the first rail to an end of the second rail, and a connector adapted to attach a PV module to the first rail. Another embodiment provides a PV module including a PV laminate, a frame integral with and supporting the PV laminate, and a spanner bar adapted to solely span a width of the PV module, orthogonally connect at various locations along the frame, and attach to a support structure. A further embodiment provides a coupling device for a PV module comprising a first coupling portion adapted to rotatably engage a PV module, and a second coupling portion adapted to rotatably engage a rail.

Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

Abstract: An attachment point apparatus and system for photovoltaic arrays is disclosed. One embodiment provides a rail system for receiving a PV module, including a first rail, a second rail, a substantially rectilinear double male connector adapted for coupling an end of the first rail to an end of the second rail, and a connector adapted to attach a PV module to the first rail. Another embodiment provides a PV module including a PV laminate, a frame integral with and supporting the PV laminate, and a spanner bar adapted to solely span a width of the PV module, orthogonally connect at various locations along the frame, and attach to a support structure. A further embodiment provides a coupling device for a PV module comprising a first coupling portion adapted to rotatably engage a PV module, and a second coupling portion adapted to rotatably engage a rail.

Abstract: Robotic vehicles and methods described herein relate to robot navigation, physical configuration, and obstacle avoidance. An example robotic vehicle includes a chassis and a sensor coupled to the chassis. Furthermore, the robotic vehicle includes a plurality of multi-wheels coupled to the chassis. As such, each multi-wheel is configured to rotate about a primary axis of rotation. Each multi-wheel includes a plurality of rotatable wheel elements and each rotatable wheel element is configured to rotate about a respective secondary axis of rotation. The robotic vehicle includes an actuator configured to extend or retract at least one rotatable wheel element such that a position of at least one rotatable wheel element is adjustable relative to the primary axis of rotation. Yet further, the robotic vehicle includes a motor configured to drive the rotatable wheel elements about their respective secondary axes of rotation and drive the respective multi-wheels about their primary axes.

Abstract: An example system includes a robotic device having a robotic manipulator and a support stand. The support stand may receive an object placed thereon in a given orientation and maintain the given orientation. The robotic manipulator may pick up an object in a first orientation with respect to the robotic manipulator and determine a target pose for the object. Based on the determined target pose, a control system may determine to reorient the object with respect to the robotic manipulator using the support stand. The robotic manipulator may place the object on the support stand in a particular orientation and pick up the object, disposed on the support stand in the particular orientation, in a second orientation with respect to the robotic manipulator. While the object is held in the second orientation with respect to the robotic manipulator, the robotic device may move the object to the target pose.

Abstract: An example robotic gripping device includes two opposable gripping fingers and at least one actuator configured to move the two opposable gripping fingers towards and away from each other within a plane of motion. The robotic gripping device further includes a gripper base coupled to the two opposable gripping fingers, where the gripper base comprises an attachment interface. The robotic gripping device further includes a detachable elongated support member that mates with the attachment interface of the gripper base, such that when the elongated support member is attached to the attachment interface of the gripper base, the elongated support member extends parallel to the plane of motion of the two opposable gripping fingers.

Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

Abstract: A robotic gripping device with a preshaper is provided. The robotic gripping device includes two opposable fingers, each finger having a deformable gripping surface, a base, and a fingertip. The robotic gripping device also includes an actuator coupled to the base of each of the fingers, wherein the actuator is configured to move the fingers toward and away from each other. The robotic gripping device also includes a preshaper component positionable between the fingers, wherein when the fingers are moved toward each other by the actuator and the deformable gripping surface of each finger contacts the preshaper component, the deformable gripping surface of each finger is deformed by the preshaper component such that the fingertips of each finger are curled inward toward each other.

Abstract: An attachment point apparatus and system for photovoltaic arrays is disclosed. One embodiment provides a rail system for receiving a PV module, including a first rail, a second rail, a substantially rectilinear double male connector adapted for coupling an end of the first rail to an end of the second rail, and a connector adapted to attach a PV module to the first rail. Another embodiment provides a PV module including a PV laminate, a frame integral with and supporting the PV laminate, and a spanner bar adapted to solely span a width of the PV module, orthogonally connect at various locations along the frame, and attach to a support structure. A further embodiment provides a coupling device for a PV module comprising a first coupling portion adapted to rotatably engage a PV module, and a second coupling portion adapted to rotatably engage a rail.

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

Abstract: An attachment point apparatus and system for photovoltaic arrays is disclosed. One embodiment provides a rail system for receiving a PV module, including a first rail, a second rail, a substantially rectilinear double male connector adapted for coupling an end of the first rail to an end of the second rail, and a connector adapted to attach a PV module to the first rail. Another embodiment provides a PV module including a PV laminate, a frame integral with and supporting the PV laminate, and a spanner bar adapted to solely span a width of the PV module, orthogonally connect at various locations along the frame, and attach to a support structure. A further embodiment provides a coupling device for a PV module comprising a first coupling portion adapted to rotatably engage a PV module, and a second coupling portion adapted to rotatably engage a rail.

Abstract: An attachment point apparatus and system for photovoltaic arrays is disclosed. One embodiment provides a rail system for receiving a PV module, including a first rail, a second rail, a substantially rectilinear double male connector adapted for coupling an end of the first rail to an end of the second rail, and a connector adapted to attach a PV module to the first rail. Another embodiment provides a PV module including a PV laminate, a frame integral with and supporting the PV laminate, and a spanner bar adapted to solely span a width of the PV module, orthogonally connect at various locations along the frame, and attach to a support structure. A further embodiment provides a coupling device for a PV module comprising a first coupling portion adapted to rotatably engage a PV module, and a second coupling portion adapted to rotatably engage a rail.