Abstract: A robot may include a spatiotemporal controller for controlling the kinematics or movements of the robot via continuous and/or granular adjustments to the actuators that perform the physical operations of the robot. The spatiotemporal controller may continuously and/or granularly adjust the actuators to align completion or execution of different objectives or waypoints from a spatiotemporal plan within time intervals allotted for each objective by the spatiotemporal plan. The spatiotemporal controller may also continuously and/or granularly adjust the actuators to workaround unexpected conflicts that may arise during the execution of an objective and delays that result from a workaround while still completing the objective within the allotted time interval. By completing objectives within the allotted time intervals, the spatiotemporal controller may ensure that conflicts do not arise as the robots simultaneously operate in the site using some of the same shared resource.

Abstract: A container with an alignment correcting end is provided. The alignment correcting end has angled side walls that extend from parallel flat square or rectangular sides of the container. Each angled side wall extends at an angle between 5 and 70 from one of the parallel walls towards the center of the container. Nubs may be disposed about an exterior of the angled side walls. Also, a passive displacing robotic element for performing misaligned or off-axis placement of the container with the alignment correcting end is provided. The passive displacing robotic element provides displacement of the one or more robotic actuators that are used to engage and place the container into the slot in response to the alignment correcting end of the container contacting the slot edge, wall, or other barrier.

Abstract: Some embodiments efficiently locate and map item locations in a distribution site using robots and a set of markers that the robots can scan without cessation of movement. Some embodiments optimally position a robot for item retrieval or placement. The optimal position is determined by affine transform computation or feature mapping. The robot first aligns itself according to the expected item position as indicated by one or more of the markers. The alignment is determined based on size and orientation of the markers in images obtained using the robot's camera. The robot then aligns itself according to the actual item position. Here, the repositioning is determined based on size and orientation of the actual item in images obtained using the robot's camera. Using the robot cameras and feature mapping, robots can traverse the shelves to identify and map item location therein.

Abstract: Increased robotic sophistication and more efficient autonomous operation is implemented by providing separate physical autonomous robots shared and remote access to the sensory array and information from the sensory array of one another. Each robot can access a sensor of any other robot, or scans or other information obtained from the sensor of any other robot. The robots leverage the shared sensory access in order to perform batch order fulfillment, dynamic rearrangement of item or tote locations, and opportunistic charging. These coordinated robotic operations based on the shared sensory access increase the efficiency and productivity of the robots without adding resources or hardware to the robots, increasing the speed of the robots, or increasing the number of deployed robots.

Abstract: Robots for autonomous harvesting of hydroponically grown organic matter with different harvesters are disclosed. The autonomous harvesting involves using one or more robots to (1) navigate a hydroponics arrangement or environment to arrive at locations of harvestable organic matter, (2) identify mature organic matter for harvesting from under-ripe or over-ripe organic matter using the robot's sensors, (3) identify the irregular positions and the irregular extraction points at which the mature organic matter is to be correctly harvested using the robot's sensors, (4) harvest the organic matter at the identified positions using the robot harvester, and (5) place the extracted organic matter into a storage bay for delivery to a packaging or shipment station. The harvester includes one or more of a vacuum, gripper, cutting saw, or clipping shears disposed about a distal end of an extendable or mechanical arm mounted atop a lift.

Abstract: A synchronization primitive provides robots with locks, monitors, semaphores, or other mechanisms for reserving temporary access to a shared limited set of resources required by the robots in performing different tasks. Through non-conflicting establishment of the synchronization primitives across the set of resources, robots can prioritize the order with which assigned tasks are completed and minimize wait times for resources needed to complete each of the assigned tasks, thereby maximizing the number of tasks simultaneously executed by the robots and optimizing task completion. The synchronization primitives and resulting resource allocation can be implemented with a centralized coordinator or with peer-to-peer robotic messaging, whereby private keys and blockchains secure the precedence and establishment of synchronization primitives by different robots.

Abstract: A workflow management system (WMS) coordinates, controls, and monitors item picking assets, item retrieval assets, and order packaging assets in performance of different workflows. The WMS optimizes the different workflows by assigning tasks to the different assets in a manner that minimizes overall execution time, cost, and resource utilization. Some optimizations include maximizing or prioritizing item pick rate, item packaging rate, or both. Assets integrated with the WMS and under WMS control include human workers, autonomous robots, and resources used in performance of the workflows.

Abstract: The embodiments provide an augmented reality device for increasing human efficiency in navigating a distribution site and retrieving different customer order items from distinct locations within the distribution site. The augmented reality device uses at least one camera to scan reference points distributed across the distribution site. From the scanning, the device determines its position relative to a destination within the distribution site. The device layers over a real-world view, navigational information directing movement of a device user along a most efficient path to the destination. The camera further scans items falling within its field of view. The device performs feature matching in order to identify a particular item of interest within the field of view. The device layers over the real-world view, visual makers distinguishing the particular item from other items as well instructions or other identifying information relating to the particular item.

Abstract: Some embodiments efficiently locate and map item locations in a distribution site using robots and a set of markers that the robots can scan without cessation of movement. Some embodiments optimally position a robot for item retrieval or placement. The optimal position is determined by affine transform computation or feature mapping. The robot first aligns itself according to the expected item position as indicated by one or more of the markers. The alignment is determined based on size and orientation of the markers in images obtained using the robot's camera. The robot then aligns itself according to the actual item position. Here, the repositioning is determined based on size and orientation of the actual item in images obtained using the robot's camera. Using the robot cameras and feature mapping, robots can traverse the shelves to identify and map item location therein.

Abstract: A sprayable coating composition, and method of application, for coating asphalt paving surfaces. In the coating composition, a low bulk density aggregate material of sprayable particle size is suspended in a sprayable asphalt emulsion in an amount sufficient to increase the micro-texture surface roughness of the cured coating.

Abstract: Some embodiments provide a system for fully autonomous order fulfillment and inventory management within a distribution site or warehouse. The system operates by autonomous robots directly pulling customer order items from distribution site shelves or pulling individual bins from distribution site shelves and dispensing appropriate quantities of items from the bins until all items of a customer order are retrieved without human involvement. The system further involves the robots autonomously monitoring item quantities within the distribution site, identifying and autonomously responding to shortages, and organizing the items within the distribution site for most efficient order fulfillment.

Abstract: Some embodiments provide a system for fully autonomous order fulfillment and inventory management within a distribution site or warehouse. The system operates by autonomous robots directly pulling customer order items from distribution site shelves or pulling individual bins from distribution site shelves and dispensing appropriate quantities of items from the bins until all items of a customer order are retrieved without human involvement. The system further involves the robots autonomously monitoring item quantities within the distribution site, identifying and autonomously responding to shortages, and organizing the items within the distribution site for most efficient order fulfillment.

Abstract: A synchronization primitive provides robots with locks, monitors, semaphores, or other mechanisms for reserving temporary access to a shared limited set of resources required by the robots in performing different tasks. Through non-conflicting establishment of the synchronization primitives across the set of resources, robots can prioritize the order with which assigned tasks are completed and minimize wait times for resources needed to complete each of the assigned tasks, thereby maximizing the number of tasks simultaneously executed by the robots and optimizing task completion. The synchronization primitives and resulting resource allocation can be implemented with a centralized coordinator or with peer-to-peer robotic messaging, whereby private keys and blockchains secure the precedence and establishment of synchronization primitives by different robots.

Abstract: Some embodiments provide a human and robot distributed operating system (HaRD-OS). The HaRD-OS efficiently and dynamically connects different human operators and algorithms to multiple remotely deployed robots based on the task(s) that the robots are to complete. Some embodiments facilitate an action/perception loop between the operators, algorithms and robots by routing tasks between human operators or algorithms based on various routing polices including operator familiarity, aptitude, access rights, end user preference, time zones, costs, efficiency, latency, privacy concerns, etc. In the event of a fault, some embodiments route to the best operator or algorithm that is able to handle the particular fault with the required privileges. Some embodiments secure task guarantees to be completed at particular times, priorities or costs.

Abstract: A sprayable coating composition, and method of application, for coating asphalt paving surfaces. In the coating composition, a low bulk density aggregate material of sprayable particle size is suspended in a sprayable asphalt emulsion in an amount sufficient to increase the micro-texture surface roughness of the cured coating.

Abstract: The method of compressing and decompressing an executable program, can be executed by a microprocessor or interpreted by an interpreter of an integrated circuit device: instructions are reformatted into the format of an initial set of instructions of said program for obtaining instructions in the format of an intermediate set of instructions; repetition templates in the program are determined and, for each repetition template, a pair is defined, formed of said repetition template and of an instruction in the format of a set of instructions; intermediate instructions are replaced by compressed instructions and the links of the compressed program are modified; the compressed program is stored in a memory of the device; and the compressed program is decompressed and the initial instructions are executed by said microprocessor or interpreted by said interpreter. The invention applies, in particular, to the integrated circuits of embedded devices.

Abstract: Some embodiments provide a system for fully autonomous order fulfillment and inventory management within a distribution site or warehouse. The system operates by autonomous robots directly pulling customer order items from distribution site shelves or pulling individual bins from distribution site shelves and dispensing appropriate quantities of items from the bins until all items of a customer order are retrieved without human involvement. The system further involves the robots autonomously monitoring item quantities within the distribution site, identifying and autonomously responding to shortages, and organizing the items within the distribution site for most efficient order fulfillment.

Abstract: Some embodiments provide a human and robot distributed operating system (HaRD-OS). The HaRD-OS efficiently and dynamically connects different human operators and algorithms to multiple remotely deployed robots based on the task(s) that the robots are to complete. Some embodiments facilitate an action/perception loop between the operators, algorithms and robots by routing tasks between human operators or algorithms based on various routing polices including operator familiarity, aptitude, access rights, end user preference, time zones, costs, efficiency, latency, privacy concerns, etc. In the event of a fault, some embodiments route to the best operator or algorithm that is able to handle the particular fault with the required privileges. Some embodiments secure task guarantees to be completed at particular times, priorities or costs.

Abstract: The method of compressing and decompressing an executable program, can be executed by a microprocessor or interpreted by an interpreter of an integrated circuit device: instructions are reformatted into the format of an initial set of instructions of said program for obtaining instructions in the format of an intermediate set of instructions; repetition templates in the program are determined and, for each repetition template, a pair is defined, formed of said repetition template and of an instruction in the format of a set of instructions; intermediate instructions are replaced by compressed instructions and the links of the compressed program are modified; the compressed program is stored in a memory of the device; and the compressed program is decompressed and the initial instructions are executed by said microprocessor or interpreted by said interpreter. The invention applies, in particular, to the integrated circuits of embedded devices.

Abstract: A bridge circuit 10 is provided between first data port A1, A2 and second data port B1, B2. The bridge circuit comprises a first transceiver stage 40 comprising at least one input buffer 11, 14 and at least one tri-state output buffer 12, 13 linked to the first data port, a second transceiver stage 50 comprising at least one input buffer 21, 24 and at least one tri-state output buffer 12, 13 linked to the second data port, a first detection circuit 31 for detecting the arrival of a packet by the first data port, a second detection circuit 37 for detecting the arrival of a packet by the second data port. A selection circuitry 34, 35 enables the output of tri-state output buffer of the first or of the second transceiver stage depending of the detection made by the first and second detection circuits.