Abstract: A fluid-management system for selectively draining fluid from a body cavity includes a valve assembly and a tube for carrying fluid from a body cavity of a person to the valve assembly. The valve assembly is configured to be positioned external to the person's body and comprises (i) an inlet, (ii) an outlet, (iii) a pumping chamber between the inlet and outlet and configured to be compressed and decompressed to pump fluid, (iv) a first one-way valve positioned on a first side of the pumping chamber, (v) a second one-way valve positioned on a second side of the pumping chamber, and (vi) an adjustable inlet lock configured to selectively prevent fluid movement through the inlet, and wherein the tube is configured to extend from the inlet of the valve assembly to the person's body cavity.

Abstract: Disclosed is a bone cutting and shortening system and the method of using the same, the system comprising a bone plate and a cutting guide adapted to slidingly engage by inserting the cutting guide into the bone plate from the overhead direction, the cutting guide adapted to facilitate parallel cutting planes on a bone at precisely ascertainable offset distances, and the bone plate adapted to stabilize the shortened bone after cutting.

Abstract: Provided herein are methods of producing a distinct bilayer culture of retinal epithelial cells (RPE) with photoreceptor cells and/or photoreceptor precursor cells (PR/PRP). Further provided herein is a therapy comprising transplantation of the RPE and PR/PRP bilayer as well as methods for testing candidate drugs using the bilayer.

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

Abstract: Provided herein is a dual cell aggregate culture of retinal epithelial cells and photoreceptors for use as a research tool, such as the screening of compounds or model for study of retinal diseases, as well as a therapeutic for treating ocular diseases.

Abstract: A method of localizing a robot includes receiving odometry information plotting locations of the robot and sensor data of the environment about the robot. The method also includes obtaining a series of odometry information members, each including a respective odometry measurement at a respective time. The method also includes obtaining a series of sensor data members, each including a respective sensor measurement at the respective time. The method also includes, for each sensor data member of the series of sensor data members, (i) determining a localization of the robot at the respective time based on the respective sensor data, and (ii) determining an offset of the localization relative to the odometry measurement at the respective time. The method also includes determining whether a variance of the offsets determined for the localizations exceeds a threshold variance. When the variance among the offsets exceeds the threshold variance, a signal is generated.

Abstract: A gastrointestinal device and methods of use thereof for the treatment of metabolic disorders is provided. The gastrointestinal device features disintegrable sleeve configured to fit within a patient's duodenum and to carry fluid (e.g., liquid or semisolid material, for example, chyme and digestive secretions) from its proximal end to its distal end.

Abstract: Methods and apparatus for controlling lighting of a mobile robot are provided. A mobile robot includes a drive system configured to enable the mobile robot to be driven, a navigation module configured to provide control instructions to the drive system, a plurality of lighting modules, wherein each of the plurality of lighting modules includes a plurality of individually-controllable light sources, and a controller configured to control an operation of the plurality of individually-controllable light sources based, at least in part, on navigation information received from the navigation module.

Abstract: Methods and apparatus for object detection and pick order determination for a robotic device are provided. Information about a plurality of two-dimensional (2D) object faces of the objects in the environment may be processed to determine whether each of the plurality of 2D object faces matches a prototype object of a set of prototype objects stored in a memory, wherein each of the prototype objects in the set represents a three-dimensional (3D) object. A model of 3D objects in the environment of the robotic device is generated using one or more of the prototype objects in the set of prototype objects that was determined to match one or more of the 2D object faces.

Abstract: Some robotic arms may include vacuum-based grippers. Detecting the seal quality between each vacuum assembly of the gripper and a grasped object may enable reactivation of some vacuum assemblies, thereby improving the grasp. One embodiment of a method may include activating each of a plurality of vacuum assemblies of a robotic gripper by supplying a vacuum to each vacuum assembly, determining, for each of the activated vacuum assemblies, a first respective seal quality of the vacuum assembly with a first grasped object, deactivating one or more of the activated vacuum assemblies based, at least in part, on the first respective seal qualities, and reactivating each of the deactivated vacuum assemblies within a reactivation interval.

Abstract: The present disclosure provides multicellular culture models for the study of neuroinflammation, such as to identify novel targets, biomarkers, and therapeutic agents for the diagnosis, prognosis, and treatment of neurodegenerative diseases. Further provided herein are assays for studying neuroinflammation using the present cell culture models.

Abstract: Consistent connection strategies for coupling accessories to a robot can help achieve certain objectives, e.g., to tolerate and correct misalignment during coupling of the accessory. In some embodiments, the connection strategy may enable certain accessories to connect to certain sides of a robot. When connected, an accessory may be rigid in yaw, lateral motion, and fore/aft motion, while remaining unconstrained in roll and pitch as well as vertical motion. A sensor may enable detection of the accessory, and a mechanical fuse may release the accessory when a force threshold is exceeded. A mechanical coupler of an accessory may include two connectors, each of which includes a receiving area configured to receive a pin on the robot and a latch configured to retain the pin within the receiving area. The pins (and the receiving areas) may be differently sized, and may be differently arranged.

Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

Abstract: A virtual bumper configured to protect a component of a robotic device from damage is provided. The virtual bumper comprises a plurality of distance sensors arranged on the robotic device and at least one computing device configured to receive distance measurement signals from the plurality of distance sensors, detect, based on the received distance measurement signals, at least one object in a motion path of the component, and control the robot to change one or more operations of the robot to avoid a collision between the component and the at least one object.

Abstract: Method and apparatus for object detection by a robot are provided. The method comprises analyzing using a set of trained detection models, one or more first images of an environment of the robot to detect one or more objects in the environment of the robot, generating at least one fine-tuned model by training one or more of the trained detection models in the set, wherein the training is based on a second image of the environment of the robot and annotations associated with the second image, wherein the annotations identify one or more objects in the second image, updating the set of trained detection models to include the generated at least one fine-tuned model, and analyzing using the updated set of trained detection models, one or more third images of the environment of the robot to detect one or more objects in the environment.

Abstract: An apparatus for decoupling angular adjustments about perpendicular axes is described herein. The apparatus comprises a first plate, a second plate offset from the first plate in a first direction, a first pivot disposed between the first and second plates, a second pivot disposed between the first and second plates. The second pivot is offset from the first pivot in a second direction perpendicular to the first direction. The third pivot is disposed between the first and second plates. The third pivot is offset from the first pivot in a third direction perpendicular to both the first and second directions. The apparatus further includes a first wedge at least partially disposed between the second pivot and the second plate. The first wedge is configured to adjust a first angle between the first and second plates, the first angle being about a first axis extending along the third direction.

Abstract: Methods and apparatus for determining a grasp strategy to grasp an object with a gripper of a robotic device are described. The method comprises generating a set of grasp candidates to grasp a target object, wherein each of the grasp candidates includes information about a gripper placement relative to the target object, determining, for each of the grasp candidates in the set, a grasp quality, wherein the grasp quality is determined using a physical-interaction model including one or more forces between the target object and the gripper located at the gripper placement for the respective grasp candidate, selecting, based at least in part on the determined grasp qualities, one of the grasp candidates, and controlling the robotic device to attempt to grasp the target object using the selected grasp candidate.

Abstract: Methods and apparatuses for detecting one or more objects (e.g., dropped objects) by a robotic device are described. The method comprises receiving a distance-based point cloud including a plurality of points in three dimensions, filtering the distance-based point cloud to remove points from the plurality of points based on at least one known surface in an environment of the robotic device to produce a filtered distance-based point cloud, clustering points in the filtered distance-based point cloud to produce a set of point clusters, and detecting one or more objects based, at least in part, on the set of point clusters.

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

Abstract: Systems and methods for the treatment of plants, including decarboxylation, photo-oxidation, oxidation and/or combinations thereof, of cannabis and hemp plants and oils for biosynthesizing THCA, CBDA, and CBCA from CBGA are disclosed. A cannabinoid compound solution is fed into a cavitation zone of a controlled cavitation apparatus where the cannabinoid compound solution is subjected to cavitation and interaction with UV light for conversion of the cannabinoid compound solution to form a synthesized cannabinoid THC, CBD, CBC, CBG, CBNA, CBEA, CBLA product, or combinations thereof.