Abstract: A method includes: compiling images, captured by an end effector traversing a scan path over a workpiece, into a virtual model of the workpiece; generating a toolpath based on a geometry of the workpiece represented in the virtual model; and assigning a target force to the workpiece. The method also includes, during a processing cycle: navigating a sanding head, arranged on the end effector, across the workpiece according to the toolpath; based on force values output by a force sensor coupled to the sanding head, deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece proximal the target force; and tracking a sequence of positions of a reference point on the sanding head, traversing the workpiece, in contact with the workpiece. The method also includes transforming the virtual model into alignment with the sequence of positions of the reference point.

Abstract: A method includes: accessing a toolpath and processing parameters—including a target force and feed rate—assigned to a region of a workpiece; and accessing a wear model representing abrasive degradation of a sanding pad arranged on a sanding head. The method also includes, during a processing cycle: accessing force values output by a force sensor coupled to the sanding head; navigating the sanding head across the workpiece region according to the toolpath and, based on the force values deviating the sanding head from the toolpath to maintain forces of the sanding head on the workpiece region proximal the target force; accessing contact characteristics representing contact between the sanding pad and the workpiece; estimating abrasive degradation of the sanding pad based on the wear model and the sequence of contact characteristics; and modifying the set of processing parameters based on the abrasive degradation.

Abstract: A rehabilitation exercise device for upper and lower limbs includes: a base plate; a mounting plate on which a rehabilitation exercise unit is mounted, the rehabilitation exercise unit including a first support for supporting a user's hand or foot, a second support for supporting a user's forearm or calf, a third support for supporting a user's upper arm or thigh, the mounting plate having a first side that is coupled to the base plate to be horizontally movable along a plate surface thereof; and a link member having opposite sides that are rotatably coupled to the base plate and the mounting plate, respectively, and configured to adjust an angle between the base plate and the mounting plate being rotated when the first side of the mounting plate is moved horizontally along the plate surface of the base plate.

Abstract: The present invention provides an automated case handling system and method. The automated case handling system can determine the existence of a proper seal on a case, the location of a label or other criteria or place a label or other information on a case. It can be a self-contained unit that can be easily inserted into an existing case handling line. To facilitate easy installation, the disclosed embodiment is powered by electricity and can be configured to plug into a single power source. The automated case handling system has a control unit for controlling the operation. A first sensor determines the dimensions of a case. A second sensor is mounted on the moveable sensor support. The second sensor senses predetermined criteria on a case as the second sensor is moved along a case. The second sensor provides a detection signal to the control unit as to the existence of the predetermined criteria on a case.

Abstract: A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.

Abstract: A rehabilitation exercise device for upper and lower limbs includes: a first support supporting a user's hand or foot; a second support supporting a user's forearm or calf; a pair of first hinges rotatably connecting the first support and the second support to each other; a third support supporting a user's upper arm or thigh; a pair of second hinges rotatably connecting the second support and the third support to each other; a drive module selectively mounted on any one of the pair of first hinges and the pair of second hinges, and configured to pivot the first support or the second support; and a mounting position detecting part detecting a mounting position where the drive module is mounted from among the pair of first hinges and the pair of second hinges.

Abstract: One variation of a method includes: accessing a maximum deflection distance of a workpiece; defining a first workpiece region characterized by a first compliance range; defining a second workpiece region characterized by a second compliance range greater than the first compliance range; assigning a nominal target force to the workpiece; navigating a sanding head across the first workpiece region during a processing cycle; driving the sanding head below a virtual unloaded surface of the workpiece stored in the virtual model to maintain forces, of the sanding head on the first workpiece region, approximating the nominal target force; calculating a maximum offset between the positions of the sanding head in the first workpiece region and the virtual unloaded surface; and, in response to the first maximum offset approaching the maximum deflection distance, assigning a lower target force to the second workpiece region of the workpiece.

Abstract: Systems and methods monitor a workspace for safety purposes using sensors distributed about the workspace. The sensors are registered with respect to each other, and this registration is monitored over time. Occluded space as well as occupied space is identified, and this mapping is frequently updated. Based on the mapping, a constrained motion plan of machinery can be generated to ensure safety.

Abstract: A high-voltage (HV) waveform generator for driving an electrostatic actuator includes an HV source configured to generate a single HV rail at a predefined voltage with respect to a low potential, at least one switch circuit, and a controller. Each at least one switching circuit includes a first charge sub-circuit, a first discharge sub-circuit, a second charge sub-circuit, and a second discharge sub-circuit in a H-bridge formation to provide a first voltage output and a second voltage output. The controller includes software that generates variable current sources to control the first charge sub-circuit, the first discharge sub-circuit, the second charge sub-circuit, and the second discharge sub-circuit input to generate desired voltages at the first voltage output and the second voltage output based on feedback from a first voltage monitors for the first voltage output and a second voltage monitor for the second voltage output.

Abstract: A patient console for a robotic surgical system can include a base, and a positioning assembly attached to the base and configured to position an instrument controller assembly. The positioning assembly includes a remote control device operatively connected to the positioning assembly to control movement of one or more portions of the positioning assembly such that a user is capable of having a direct line-of-sight of a patient when using the remote control device.

Abstract: A controller adapter system for a robotic surgical instrument controller assembly can include an instrument controller having a housing and one or more controller actuators. The housing can be configured to receive a drape opening structure on the housing. The system can include an inner drape adapter configured to mount to the instrument controller and extend distally from the instrument controller. The inner drape adapter can include one or more adapter actuators configured to receive actuation from the one or more controller actuators at a proximal side thereof, and to transmit the actuation to a distal side thereof. The system can include an outer drape adapter configured to axially retain the inner drape adapter to the instrument controller. The outer drape adapter can be configured to sandwich the drape opening structure to the housing of the instrument controller.

Abstract: A system has a virtual-world (VW) controller and a physical-world (PW) controller. The pairing of a PW element with a VW element establishes them as corresponding physical and virtual twins. The VW controller and/or the PW controller receives measurements from one or more sensors characterizing aspects of the physical world, the VW controller generates the virtual twin, and the VW controller and/or the PW controller generates commands for one or more actuators affecting aspects of the physical world. To coordinate the corresponding virtual and physical twins, (i) the VW controller controls the virtual twin based on the physical twin or (ii) the PW controller controls the physical twin based on the virtual twin. Depending on the operating mode, one of the VW and PW controllers is a master controller, and the other is a slave controller, where the virtual and physical twins are both controlled based on one of VW or PW forces.

Abstract: A robotic joint contains a transmission system that can shift from one gear set to another, either automatically or manually, allowing the joint to have different gear ratios that can drive different speeds and output torques. The transmission system is coupled to a driving actuator enclosed within the robotic joint, which may use a secondary actuator to activate a clutch such that it can shift the transmission from one gear set to another. A feedback system using sensors embedded within the robotic joint as well as sensors distributed within the environment may be used to detect the size and weight of an object that the robotic arm and its joints will be manipulating.

Abstract: Various embodiments relate generally to computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include, receiving data representing a policy specifying a type of action for an agricultural object, selecting an emitter with which to perform a type of action for the agricultural object as one of one or more classified subsets, and configuring the agricultural projectile delivery system to activate an emitter to propel an agricultural projectile to intercept the agricultural object.

Abstract: A method can include inserting a first device into a body lumen having a bend, sliding a first sheath having a first sheath diameter over first device, sliding a second sheath having a second sheath diameter larger than the first sheath diameter over the first device, and navigating the first device through and beyond the bend. The method can also include at least partially straightening the first device to at least partially straighten the bend, removing the first device and the first sheath from the body lumen, leaving the second sheath in place within the at least partially straightened bend, and introducing a second device into the second sheath to navigate the second device through the at least partially straightened bend to an opening of the second sheath.

Abstract: A robot for order fulfillment includes a mobility assembly, an arm, a pneumatically actuatable tool, and a coupler having a mating end in selective communication with the pneumatically actuatable tool. The mating end of the coupler being configured to access a pneumatic supply from an external pneumatic source such that the robot need not include a large compressor.

Abstract: Embodiments are directed to multi-sensor superresolution scanning and capture system. A sensing system may be employed to scan a plurality of paths across objects using beams such that the sensing system includes event sensors and image sensors and such that the image sensors are a higher resolution than the event sensors. The event sensors may be employed to provide events based on detection of the beams that are reflected by the objects. The image sensors may be employed to provide images based on the reflected the beams. Enhanced trajectories may be generated based on a plurality of first trajectories and a plurality of second trajectories such that the plurality of the first trajectories are based on the events and the plurality of paths and such that the plurality of second trajectories are based on the images and the plurality of paths.

Abstract: In an aspect of the disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus may generate a binary intermediate mask model from 2D image data and 3D data obtained from a background image and a component image. Because the intermediate mask model is binary, erosion and dilation (e.g., 2D data processing) may be used to remove noise from the intermediate mask model. The augmented intermediate mask model with any erroneous and/or missing data corrected, may be applied to the second aligned model. The pixels in the second aligned model that correspond to pixels in the augmented intermediate mask model that are assigned a value of 1 may be identified as foreground pixels. Then, the vision system may generate foreground object data using the 2D image data and the 3D data in the foreground pixels from the second aligned model.

Abstract: System and method for end-to-end differentiable joint image refinement and perception are provided. A learning machine employs an image acquisition device for acquiring a set of training raw images. A processor determines a representation of a raw image, initializes a set of image representation parameters, defines a set of analysis parameters of an image analysis network configured to process the image's representation, and jointly trains the set of representation parameters and the set of analysis parameters to optimize a combined objective function. A module for transforming pixel-values of the raw image to produce a transformed image comprising pixels of variance-stabilized values, a module for successively performing processes of soft camera projection and image projection, and a module for inverse transforming the transformed pixels are disclosed. The image projection performs multi-level spatial convolution, pooling, subsampling, and interpolation.

Abstract: Systems and methods for WiFi mapping an industrial facility are disclosed. The system comprises a self-driving vehicle having a WiFi transceiver. The self-driving vehicle communicates with a fleet-management using the WiFi transceiver, via a WiFi access point. The self-driving vehicle receives a mission from the fleet-management system, and moves to a destination location based on the mission, using autonomous navigation. While executing the mission, the self-driving vehicle simultaneously measures the received signal strength indication of the WiFi access point and other WiFi access points in the facility, and stores the received signal strength indication in association with the location at which the received signal strength indication was measured.