Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: Provided herein are methods for the in vitro differentiation of induced pluripotent stem cells, which have been expanded and/or maintained under defined conditions, into endodermal precursor cells (EPCs) that are capable of producing mono-hormonal beta cells.

Abstract: Methods and compositions relating to the production of induced pluripotent stem cells (iPS cells) are disclosed. For example, induced pluripotent stem cells may be generated from peripheral blood cells, such as human blood progenitor cells, using episomal reprogramming and feeder-free or xeno-free conditions. In certain embodiments, the invention provides novel methods for improving overall reprogramming efficiency with low number of blood progenitor cells.

Abstract: An apparatus and method for creating enlarged particles in a flow. The apparatus includes a coiled tube having a tube diameter and a coil diameter, the tube having an input receiving the flow and an output, the tube having a length between the input and the output. A heater heats a first portion of the tube along a first, longitudinal portion of the tube, and a cooler cools a second, longitudinal portion of the tube along at least a second portion of the tube. The method includes heating a first portion of the tube along a first longitudinal portion of the tube, and simultaneously cooling a second portion of the tube along at least a second longitudinal portion of the tube. While heating and cooling, the method includes introducing a flow into an interior of the tube at an input, the flow moving the output.

Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.

Abstract: Examples described here include a device that has a housing defining a cavity, and a force sensor. The device also includes a first hydraulic actuator positioned in the cavity, and a second hydraulic actuator positioned in the cavity. The first and second hydraulic actuators move between respectively relaxing modes and thrusting modes along respective longitudinal axes. The longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator. The device also includes a first actuated member coupled to the first hydraulic actuator, and a second actuated member coupled to the second hydraulic actuator.

Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.

Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

Abstract: Apparatus and method of locking two devices to each other through a receiver base, a pair of pivoting locking tabs, each having first and second arms extending out from a pivot point, and an insert that is partially engaged within a cavity formed by the receiver base and locking tabs. The receiver base is configured to be engageable with a first device. The insert is configured to be engageable with a second device. An optional push button assembly that has a retractable lip is engageable with the receiver base to block rotational movement of the locking tabs unless the lip of the push button is retracted. The apparatus may also include magnetic actuators and corresponding electronic switches that provide two stage locking and, optionally, provide contact state signaling to an external controller and computer to verify locked/unlocked status of the insert relative to the receiver base cavity and locking tabs.

Abstract: The present invention is characterized to include a cylindrical cam that is provided to correspond to a moving path and possesses an engaging groove, the moving path moving in an uncoupled state with each of a plurality of carriers to which an object to be conveyed is respectively installed and the plurality of carriers being in states where a set of a plurality of first carriers and a set of a plurality of second carriers are alternately lined up, and a drive source that drives the cylindrical cam, wherein a first cylindrical cam and a second cylindrical cam, as the cylindrical cam, are respectively provided to correspond to a predetermined position in the moving path, the first cylindrical cam possessing an engaging groove with which only the first carriers are engageable and the second cylindrical cam possessing an engaging groove with which only the second carriers are engageable, a first drive source that drives the first cylindrical cam and a second drive source that drives the second cylindrical cam ar

Abstract: The present disclosure provides a brace system including an upper portion and a lower portion. The brace system may also include a first pulley rotatably coupling the upper portion to a first intermediate link positioned between the upper portion and the lower portion. The brace system may also include a second pulley rotatably coupling the first intermediate link to a second intermediate link positioned between the upper portion and the lower portion. The brace system may also include a third pulley rotatably coupling the second intermediate link to the lower portion. Further, the brace system may include at least one tension-bearing element substantially encircling each of the first pulley, the second pulley, and the third pulley.

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 controllers 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 valve includes a sleeve having a plurality of openings. A spool is rotatable within the sleeve and includes a respective plurality of openings corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve to one of at least eight rotary positions. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

Abstract: An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.

Abstract: Methods and compositions relating to the production of induced pluripotent stem cells (iPS cells) are disclosed. For example, induced pluripotent stem cells may be generated from CD34+ hematopoietic cells, such as human CD34+ blood progenitor cells, or T cells. Various iPS cell lines are also provided. In certain embodiments, the invention provides novel induced pluripotent stem cells with a genome comprising genetic rearrangement of T cell receptors.

Abstract: A method and apparatus of inducing chemical reactions such as hydrogenation of a fluidized substance includes mixing hydrogen with the substance, passing the mixture through a cavitation zone, and inducing intense shockwaves in the cavitation zone by continuously generating high energy cavitation events within the mixture. In one embodiment, the treatment zone is the interior of a controlled cavitation reactor. Interior surfaces of the reactor may be coated with a catalyst required for the desired chemical reaction so that the catalyst need not be added directly to the mixture and need not be recovered after the reaction is complete.

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: 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: A lift-driven wind turbine has a turbine rotor with blades mounted to the turbine shaft by two struts hinged to the shaft and each blade to form a four-bar linkage. The blades' airfoil cross section generates lift that rotates the blades around the axis in the presence of a prevailing wind. The airfoil chord forms a geometric angle of attack ?G relative to the tangent of the blade path and the struts orient the blades with an outward tilt angle ?. The turbine is designed with values of ?G and ? that cause the lift generated by each blade to have an upward component that supports the blade against the force of gravity and a mean radially inward component that substantially balances centrifugal forces on the blade. Wind turbines designed according to the principles disclosed herein facilitate the construction of free-floating utility scale wind turbines for deep water installations.

Abstract: This specification discloses an article of manufacture. The article of manufacture has at least one structural blank and at least one guide. The structural blank has a plurality of oriented fiber plies in a thermoplastic matrix. The guide has a plurality of random dispersed fibers in a thermoplastic matrix. The guide is affixed to the structural blank by injection molding and over molding the guide onto the structural blank. The article of manufacture can take a number of forms for use in industries such as aircraft, automobiles, motorcycles, bicycles, trains or watercraft.