Abstract: A system for aerial neutralization of a detected target aerial vehicle comprises a plurality of counter-attack unmanned aerial vehicles (UAVs), and an aerial vehicle capture countermeasure coupling together the plurality of counter-attack UAVs, to intercept and capture a detected target aerial vehicle in a coordinated manner. The system comprises an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle, and operable to provide command data to at least one counter-attack UAV for tracking and neutralizing the target aerial vehicle. The counter-attack UAVs and a net can be deployed from a movable base station, and the net can be carried in a low-drag configuration until the counter-attack UAVs operate to deploy or open the net. The counter-attack UAVs and systems may be autonomously operated. Associated systems and methods are provided.

Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.

Abstract: A system for neutralization of a target aerial vehicle comprises a plurality of counter-attack unmanned aerial vehicles (UAVs) and an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle in flight. The system also comprises an aerial vehicle capture countermeasure in the form of a net tethering the plurality of counter-attack UAVs to one another. The counter-attack UAV(s) are operable to capture and neutralize the target aerial vehicle with the net. The system can comprise at least one net storage device associated with a structure and configured to store at least a portion of the net when in a stowed position, and to facilitate deployment of the net when moved to a deployed position via coordinated flight of the plurality of counter-attack UAVs based on the detected target aerial vehicle.

Abstract: A system for detecting and neutralizing a target aerial vehicle comprises a counter-attack unmanned aerial vehicle (UAV) comprising a flight body and a flight control system supported about the flight body operable to facilitate flight of the UAV, and an aerial vehicle countermeasure supported by the flight body. The system can comprise an aerial vehicle detection system comprising at least one detection sensor operable to detect a target aerial vehicle while in-flight, and operable to provide command data to the counter-attack UAV to facilitate interception of the target aerial vehicle by the counter-attack UAV. Upon interception of the target aerial vehicle, the counter-attack UAV is operable to disrupt operation of the detected target aerial vehicle with the aerial vehicle capture countermeasure, thereby neutralizing the target aerial vehicle. The counter-attack UAV and systems may be autonomously operated. Associated systems and methods are provided.

Abstract: A counter-attack unmanned aerial vehicle (UAV), for aerial neutralization of a detected target aerial vehicle, comprises a flight body and a flight control system to intercept the detected target aerial vehicle, and comprises an aerial vehicle capture countermeasure (e.g., a net) operable to capture the detected target aerial vehicle. The aerial vehicle capture countermeasure can comprise a net deployable from the counter-attack UAV, and a captured target aerial vehicle can be delivered to a particular location. A system for aerial neutralization of a detected target aerial vehicle comprises an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle, and operable to provide command data (including location data) to at least one counter-attack UAV for neutralization of the target aerial vehicle. The counter-attack UAV and systems may be autonomously operated. Associated systems and methods are provided.

Abstract: A system for neutralizing target aerial vehicles comprises a projectile launching mechanism that launches a projectile that supports a counter-attack unmanned aerial vehicle (UAV) having an aerial vehicle countermeasure. The counter-attack UAV can be folded in the projectile, and operable to unfold when separated from the projectile. The system comprises an aerial vehicle detection system comprising a detection sensor that detects a target aerial vehicle. Upon detection, the projectile launching mechanisms launches the projectile, and the counter-attack UAV is thereafter separated from the projectile to operate in flight to neutralize the detected target aerial vehicle with the aerial vehicle countermeasure. The projectile launching mechanism can comprise a movable platform comprising a plurality of projectiles and counter-attack UAVs, and can comprise a detection sensor to detect target aerial vehicles.

Abstract: A system and method comprises marking or identifying an object to be perceptible to robot, while being invisible or substantially invisible to humans. Such marking can facilitate interaction and navigation by the robot, and can create a machine or robot navigable environment for the robot. The machine readable indicia can comprise symbols that can be perceived and interpreted by the robot. The robot can utilize a camera with an image sensor to see the indicia. In addition, the indicia can be invisible or substantially invisible to the unaided human eye so that such indicia does not create an unpleasant environment for humans, and remains aesthetically pleasing to humans. For example, the indicia can reflect UV light, while the image sensor of the robot can be capable of detecting such UV light. Thus, the indicia can be perceived by the robot, while not interfering with the aesthetics of the environment.

Abstract: A robotic end-effector to provide conformal object interaction. The end-effector has at least one finger with an inner portion or engaging side and one or more degrees of freedom. A jamming conformal pad is on the inner portion of the at least one finger. The jamming conformal pad has a compliant configuration in which the jamming conformal pad is compliant and configured to distribute across a surface of an object and, if contoured, infiltrate into any variations (e.g., indentations) in the surface, defining a conformal engaging surface configured to match and mate with the surface. The jamming conformal pad has a stiff configuration in which the jamming conformal pad is stiff or relatively stiff as compared to the jamming conformal pad in the compliant configuration, and which substantially maintains a shape of the conformal engaging surface.

Abstract: A stiffening element to provide variable resistance to movement between a pair of members at a joint. The stiffening element comprises a filler with particles flowable in a bladder. A pressure source is coupled to the bladder to vary a pressure within the bladder and collapse the bladder. Collapsing the bladder varies a flow characteristic of the filler within the bladder, Varying the flow characteristics of the filler varies resistance of the bladder to movement of the bladder, and thus a pair of movable members and the joint.

Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.

Abstract: A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.

Abstract: A system for neutralization of a target aerial vehicle comprises one or more counter-attack unmanned aerial vehicles (UAVs) and an aerial vehicle capture countermeasure tethering the counter-attack UAV(s) to a structure or ground. The counter-attack UAV(s) are operable to capture and neutralize the target aerial vehicle with the aerial vehicle capture countermeasure (e.g., a net). The system can comprise an on-board aerial vehicle detection system, and/or an external aerial vehicle detection system each having at least one sensor configured to detect the target aerial vehicle while in flight. The counter-attack UAV(s) and the associated detection systems may be autonomously operated for detecting and neutralizing a target aerial vehicle. The aerial vehicle capture countermeasure can be moved from a stowed position to a deployed position in response to coordinated flight of the counter-attack UAV(s). Associated methods and systems are provided.

Abstract: A technology is described for managing and securing a software version history for a device using a blockchain. An example method can include receiving device information for a device configured to receive software updates, where a device history for the device can be contained in a blockchain distributed among multiple network nodes. The device information can be validated against the device history contained in the blockchain to confirm an identity of the device, and a software update can be initiated for the device. An indication that the software update was installed on the device can be received and a block can be generated to include information for the software update installed on the device. The block can be sent to the network nodes configured to determine acceptance of the block and append the block to the blockchain when the block is accepted.

Abstract: There is disclosed a heat engine 10 comprising: a heat exchanger 12 to transfer heat from a heat source 100 to a working fluid; a positive displacement expander 16 configured to receive inlet working fluid from the heat exchanger 12 and discharge expanded working fluid as a multiphase fluid so that there is an overall volumetric expansion ratio between the expanded working fluid and the inlet working fluid which is a function of an inlet dryness of the inlet working fluid; a variable expansion valve 14 disposed between the heat exchanger 12 and the expander 16, the valve being configured to introduce a variable pressure drop in the working fluid to vary the inlet dryness; and a controller 30 configured to maintain the overall volumetric expansion ratio by controlling the valve 14 to compensate for variable heat transfer to or from the working fluid.

Abstract: A pumping apparatus for a heat engine, includes an extraction line arranged to extract a fraction of liquid working fluid from a working circuit of a heat engine; an extraction line pump for pumping the extracted working fluid; an extraction line heat exchanger for vaporising the extracted working fluid; and a pressure-operated pump for pumping the working fluid around the working circuit, wherein the extraction line pump and the extraction line heat exchanger are arranged in series to convert the liquid working fluid to a pressurised motive gas; and wherein the pump is driven by the pressurized motive gas.

Abstract: A clutched joint module comprising an output member and an input member rotatable relative to each other about an axis of rotation; a primary actuator operable to apply a primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operable between an engaged state and a disengaged state to facilitate application of the primary torque. The clutch mechanism can comprise a plurality of plates and an actuator operable to compress the plurality of plates to cause the clutch mechanism to function in the engaged state. The actuator can be a ball-ramp clutch device. A quasi-passive elastic actuator can be coupled to the input member and can be operable, via the clutch mechanism, to release stored energy to apply an augmented torque to assist rotation of the output member. Associated methods and systems are disclosed.

Abstract: A robotic end-effector to provide magnetic and mechanical finger grip. The end-effector has one or more magnets coupled to a palm, each of the one or more magnets having a magnet face to magnetically attach to a ferromagnetic object. The magnet face(s) define(s) a magnetic engagement surface with the magnet and the palm disposed on a proximal side of the magnetic engagement surface. A finger is pivotally coupled to the palm to grip the ferromagnetic object or another object. The finger has a deployed configuration wherein the finger is disposed distally with respect to the magnetic engagement surface and opposes the palm or the magnet face to grip the ferromagnetic object or other object. The finger has a retracted configuration wherein the finger is disposed proximally with respect to the magnetic engagement surface along with the magnet and the palm, and wherein the magnetic face forms an outermost contact surface.

Abstract: A master robotic system for translating a force at a slave robotic system to the master robotic system comprises a plurality of master brake joints rotatably coupling a plurality of robotic links. Each master brake joint corresponds to a respective slave joint of a slave robotic system. Each master brake joint comprises a first braking component (e.g., sheet disk(s)) coupled to a first robotic link and a second braking component (e.g., sheet disk(s)) coupled to a second robotic link, and an actuator operable to act upon the first braking component and the second braking component, to generate a braking force between the first braking component and the second braking component, in response to a control signal corresponding to a sensed force sensed by the slave robotic system. The actuator can comprise a bi-directional actuator, or a cam, piezoelectric, dielectric, or hydraulic actuator, each having minimal power requirements to maximize the braking force of the master brake joint.

Abstract: A condensate drain apparatus including a valve for controlling discharge of condensate from the condensate drain apparatus; a collection chamber configured to receive a multiphase fluid flow upstream of the valve including gaseous and condensate phases, the collection chamber defining a collection volume for collecting the condensate to be discharged through the valve; sensor equipment for monitoring a parameter relating to a thermodynamic property of the fluid upstream of the valve; a controller configured to monitor the condensate collected in the collection chamber based on the monitored parameter, and to control the opening and closing of the valve to regulate the condensate collected in the collection chamber upstream of the valve; wherein the controller is further configured to determine the quantity of condensate discharged from the collection volume using a flow rate calculation for a choked flow of vaporizing liquid.

Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device.