Abstract: Provided herein are methods for producing quiescent cardiac fibroblast cells from pluripotent stem cells. Further provided herein are microtissue compositions comprising the cardiac fibroblast cells with endothelial cells and cardiomyocytes.

Abstract: A connecting mechanism includes a first section and a second section engageable with the first section. The second section includes a locking assembly configured to engage a stud with a roller bearing in the first section. That is, the locking assembly is actuatable between a locked state configured to lock the first section to the second section when the first and second sections are engaged and an unlocked state configured to allow the second section to engage with or disengage from the first section. The locking assembly includes a linkage arm engaging a handle and a wedge having a tapered section. The handle is actuatable between a locked position configured to place the locking assembly in the locked state by advancing the tapered section of the wedge and an unlocked position configured to place the locking assembly in the unlocked state by retracting the tapered section of the wedge.

Abstract: A fuel sensor for a vehicle includes a housing, a fuel composition sensor element disposed within the housing, and two removable and interchangeable fuel connector modules attached to the housing. The fuel composition sensor element comprises an outer cylindrical electrode and an inner cylindrical electrode disposed within and concentric with the outer cylindrical electrode. Both of the fuel connector modules include a flange having a mating surface and an opposing outer surface. The mating surface is configured to removably engage the sensor housing, at either its input side or its output side. Attached to the outer surface of the flange is a fuel connector fitting that is of a standard type configured for connection to a standard fuel connector fitting of the vehicle's fuel system. Use of the removable and interchangeable fuel connector modules eliminates the need for fuel fitting adaptors, thereby reducing the overall size of the sensor.

Abstract: A rocket engine has a combustion chamber having an inlet and an outlet, the inlet fluidly connectable to a source of oxidizer, the outlet in fluid communication with an environment outside the combustion chamber for expelling combustion gases, a first fuel having a first solid propellant and a second fuel having a second solid propellant, the first and second fuels located within the combustion chamber and configured to be exposed to the oxidizer injected in the combustion chamber via the inlet, the first solid propellant having a regression rate greater than that of the second solid propellant.

Abstract: Provided for herein is a method of cell transplantation using an injection attachment having a hub containing a plurality of cells and a cannula extending from a distal end of the hub. The method includes orienting the injection attachment such that the cannula points downwardly until the plurality of cells settle together proximate the distal end, inserting the cannula into a tissue of a subject, and injecting the volume of cells into the tissue of the subject using the injection attachment.

Abstract: Methods and apparatus for implementing a safety system for a mobile robot are described. The method comprises receiving first sensor data from one or more sensors, the first sensor data being captured at a first time, identifying, based on the first sensor data, a first unobserved portion of a safety field in an environment of a mobile robot, assigning, to each of a plurality of contiguous regions within the first unobserved portion of the safety field, an occupancy state, updating, at a second time after the first time, the occupancy state of one or more of the plurality of contiguous regions, and determining one or more operating parameters for the mobile robot, the one or more operating parameters based, at least in part, on the occupancy state of at least some regions of the plurality of contiguous regions at the second time.

Abstract: An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.

Abstract: A processor of a card may detect variations (e.g., position, velocity, acceleration and direction) of a read head in relation to the card. Based on certain parameters (e.g., card length, initially detected read head position, and read head velocity) a processor of a card may adjust synchronization bit patterns that may synchronize communications between the card and a read head of a magnetic stripe reader. A processor of a card may generate a number of leading synchronization bits that is different than a number of trailing synchronization bits.

Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

Abstract: A method for constraining robot autonomy language includes receiving a navigation command to navigate a robot to a mission destination within an environment of the robot and generating a route specification for navigating the robot from a current location in the environment to the mission destination in the environment. The route specification includes a series of route segments. Each route segment in the series of route segments includes a goal region for the corresponding route segment and a constraint region encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path for the robot to follow while traversing the corresponding route segment.

Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.

Abstract: A method for correcting aberrations of a patient's eye with a customized contact lens, including determining an optimal XY location and an optimal angular orientation, a, for placing correction optics on the customized contact lens by using an optical instrument to measure XY offsets (?X, ?Y) and X, Y, Z tilt angles, (?x, ?y, ?), respectively, of a predicate contact lens while disposed on the patient's eye is disclosed. The predicate contact lens and the customized contact lens can be a scleral contact lens or a normal contact lens. The optical instrument can comprise a wavefront aberrometer and/or a corneal topographer. The correction optics include a wavefront-customized contact lens with a built-in, optimized wavefront-guided correction patch. The predicate contact lens can include three or more fiducial marks inside of the pupil, which can be used to determine the XY center of the predicate contact lens when placed on the patient's eye.

Abstract: Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.

Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

Abstract: A computing device receives location information for a mobile robot. The computing device also receives location information for an entity in an environment of the mobile robot. The computing device determines a distance between the mobile robot and the entity in the environment of the mobile robot. The computing device determines one or more operating parameters for the mobile robot. The one or more operating parameters are based on the determined distance.

Abstract: A kit includes a computing device configured to control motion of equipment for receiving one or more parcels in an environment of a mobile robot. The kit also includes a structure configured to couple to the equipment. The structure comprises an identifier configured to be sensed by a sensor of the mobile robot.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.