Abstract: Provided herein are methods for the efficient in vitro differentiation of HLA homozygous blood cell-derived pluripotent stem cells to hematopoietic precursor cells, and the further differentiation of the hematopoietic precursor cells into HLA homozygous immune cells of various myeloid or lymphoid lineages, particularly T cells, NK cells, and dendritic cells. The pluripotent cells may be maintained and differentiated under defined conditions; thus, the use of mouse feeder cells or serum is not required in certain embodiments for the differentiation of the hematopoietic precursor cells.

Abstract: A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.

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: 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 and apparatus for evaluating the chemical composition of airborne particles by sequentially collecting and analyzing airborne particles in-situ. The method includes: collecting particles; enlarging the particles through water condensation; accelerating the enlarged particles onto a surface to collect enlarged particles; and analyzing the enlarged particles by: isolating the surface; passing a carrier gas over the surface; heating the surface to thermally desorb collected particles into the carrier gas; transporting this evolved vapor into detectors; and assaying the evolved vapor as a function of a desorption temperature. The apparatus includes: a sample flow inlet; a condensational growth tube; a collection and thermal desorption (CTD) cell; a carrier gas source; a heater coupled to the CTD; one or more gas detectors; and a controller configured to operate valves, the heater, the growth tube, and the CTD cell in at least an in-situ sequential collection mode and analysis mode.

Abstract: Disclosed herein is a belt tension measuring device utilizing a first end roller, the first end roller supporting the belt; a second end roller having an axis of rotation parallel to the first end roller; a support arm pivotably mounted to pivot about an axis parallel to the axis of rotation of the first end roller; a deflection roller rotatably mounted to the support arm at a distance from the pivot of the support arm; the deflection roller having a rotational axis parallel to the axis of rotation of the first end roller, the roller resting upon the belt, configured to bias the belt against the first roller and second roller; and a position indicator measuring the distance between the axis of the deflection roller and a line drawn between the axis of rotation of the first end roller and the axis of rotation of the second end roller.

Abstract: A vertical raising safety rail. The safety rail includes lower linkage arm assemblies that are connected to a base and to a center rail assembly and configured to raise or lower the center rail assembly relative to the base when a rotational force is applied to the drive shaft. The safety rail also includes upper linkage arm assemblies that are connected to the center rail assembly and to a top rail. The upper linkage arm assemblies are connected to corresponding lower linkage assemblies and are configured to move the top rail relative to the center rail assembly. When the top rail is raised, one or more safety curtains are unfurled from a take-up roller inside the top rail to provide a safety curtain in the vertical plane of the safety rail.

Abstract: A method of operating a robot includes assuming a resting pose of the robot on a surface. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one arm connected to the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.

Abstract: A wind-driven power generating system with a hybrid wind turbine mounted on a floating platform that heels relative to horizontal in the presence of a prevailing wind. The hybrid turbine has a turbine rotor with at least two rotor blades, each mounted to a turbine shaft by at least one strut, and the system is configured so that the shaft forms a predetermined non-zero operating heel angle relative to vertical in the presence of a prevailing wind at a predetermined velocity. The blades and struts are airfoils with predetermined aerodynamic characteristics that generate lift forces with components in the direction of rotation around the shaft of the blades and struts at the operating heel angle to drive an electrical generator carried by the platform. The system can be designed to generate maximum power at the predetermined heel angle or essentially constant power over a range of heel angles.

Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

Abstract: An apparatus, system, and method for a magnetically and releasably attachable trigger for an instrument is provided. Additionally, the trigger provides for an increased sensitivity of sound by being in direct physical contact with the surface on which it is attached.

Abstract: An inspection system to measure the condition of at least a wall of a ground opening, the inspection system having a head unit for lowering into a borehole during a data collection phase wherein at least one set of test data is collected concerning one or more physical characteristics of the borehole during the data collection phase, the head unit having an internal measurement system and a sensor arrangement with a plurality of sensors facing radially outwardly of a head axis that is generally parallel to at least a portion of a borehole axis, the plurality of sensors allowing the head unit to be moved during the data collection phase without rotation about the head axis, the plurality of sensors at least partially producing the at least one set of test data collected during the data collection phase.

Abstract: Audio connectors are provided within a card. The audio connectors may be provided having a height that is compatible with a card (e.g., less than 1 mm or less than 0.5 mm). Communications to and from the card may be provided using the audio connectors within the card.

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

Abstract: Methods are provided, in some aspects, for differentiating pluripotent cells into midbrain dopaminergic (DA) neurons using a mono-SMAD inhibition or inhibition of SMAD signaling with only one SMAD inhibitor. In some embodiments, mono-SMAD inhibition utilizes a single inhibitor of bone morphogenic protein (BMP) for differentiating pluripotent cells into midbrain DA neurons.

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

Abstract: A control docking station system for controlling locking engagement between a first female member and a male member that together form a locking mechanism. The first female member is connected to a safety device. The male member can be locked to and released from the first female member. The system includes a controller configured to sense an unsafe interlock signal. A second female member is operably connected to the controller's housing. Each female member includes a receiver base and a pair of pivoting locking tabs that is engageable with a key-like projection on the male member. The male member may be unlocked from the first female member when the controller senses an interruption to the unsafe interlock signal or if the unsafe interlock signal is overridden. The male member may be docked in the second female member during safe circumstances and/or the safety device is unused.

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 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.