Abstract: A buoyant aerial vehicle includes: a balloon configured to store a gas; a payload coupled to the balloon; and a propulsion unit coupled to the payload by a tether. The propulsion unit includes: a fuselage having a substantially longitudinal shape, a first end, and a second end; a primary airfoil coupled to the fuselage; a secondary airfoil coupled to the fuselage at one of the first end or the second end; and a thrust generating device disposed at one of the first end or the second end and configured to move the propulsion unit relative to the payload along a propulsion flight path. The movement of the propulsion unit imparts movement of the buoyant aerial vehicle along a vehicle flight path.

Abstract: A device is provided that includes a plurality of hardware segments. The device also includes a plurality of actuators to actuate the plurality of hardware segments. The device also includes a controller to cause at least one of the plurality of actuators to adjust positions of at least one of the plurality of hardware segments to correspond to a particular arrangement, to determine physical parameters of the device responsive to the adjustment of the positions, and to generate an identification code for the device based on the physical parameters. The physical parameters may include one or more of electrical parameters of the plurality of actuators or mechanical parameters of the plurality of actuators.

Abstract: Example implementations may relate methods and systems for detecting, recognizing, and localizing pallets. For instance, a computing system may receive sensor data representing aspects of an environment, and identify a set of edge points in the sensor data. The computing system may further determine a set of line segments from the set of edge points where each line segment may fit to a subset of the set of edge points. Additionally, the computing system may also filter the set of line segments to exclude line segments that have a length outside a height range and a width range associated with dimensions of a pallet template, and identify, from the filtered set of line segments, a subset of line segments that align with the pallet template. Based on the identified subset of line segments, the computing system may determine a pose of a pallet in the environment.

Abstract: An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.

Abstract: A data rate at which data can be transmitted is adapted in real-time to power fluctuations. Bits of data to be sent by a transmitter are mapped to physical symbols, where a first modulation uses a first number of bits per pulse and a second modulation uses a second number of bits per pulse. Both modulations are sent, with one nested inside the other. A receiver decodes one or both bit streams, depending on a signal to noise ratio (SNR). In this regard, the data rate traces the received power, and higher data rates may be used despite periods of power fluctuations. This technique enables rapid, or even instantaneous, changes by using nested modulation. Moreover, a fast feedback mechanism is used to inform the transmitter when to change its modulation and to retransmit bits lost during an initial transmission.

Abstract: A robotic finger with a stiffening member is provided that includes a front facing member for gripping and a back end member that supports the front facing member. The front facing member is conformable about a target object and includes the stiffening member that alleviates bendset by returning the front facing member to an initial state when the front facing member is no longer conformed about the target object.

Abstract: Systems and methods for detecting and locating power loads within a spherical waveguide bounded by the Earth's surface are disclosed. One or more eigenmodes of the Earth-ionosphere waveguide may be computed based on a mathematical model incorporating electrical properties of the terrestrial surface and plasma physics of the ionospheric layer. A phased array of wave guide couplers, each including an array of electrically-connected waveguide-coupling elements, may be configured at different geographic locations for coupling to the one or more eigenmodes and generating standing waves in the Earth-ionosphere waveguide. Power loads may be detected by way of power reflections, and by adjusting relative phases and/or amplitudes of the waveguide couplers, as well as frequencies, power nodes and nulls of the standing waves may be steered with respect to specified locations. Using reflections and steering, locations of power loads may be triangulated.

Abstract: Systems and methods for efficient coupling to low-loss eigenmodes of a spherical waveguide bounded by the Earth's surface and its ionosphere from multiple locations within the waveguide are disclosed. One or more eigenmodes of the Earth-ionosphere waveguide may be computed based on a mathematical model incorporating electrical properties of the terrestrial surface and plasma physics of the ionospheric layer. Multiple wave guide couplers, each including an array of electrically-connected waveguide-coupling elements, may be configured at different geographic locations for coupling to the one or more eigenmodes. By adjusting relative phases and/or amplitudes of the waveguide couplers, as well as frequencies, power may be coupled into standing waves of the Earth-ionosphere waveguide. The adjustments may also account or compensate for diurnal variations of ionosphere by steering power nodes and nulls of the standing waves away from regions of potential ohmic losses.

Abstract: Systems and methods for efficient coupling to low-loss eigenmodes of a spherical waveguide bounded by the Earth's surface and its ionosphere are disclosed. One or more eigenmodes of the Earth-ionosphere waveguide may be computed based on a mathematical model incorporating electrical properties of the terrestrial surface and plasma physics of the ionospheric layer. An array of electrically-connected waveguide-coupling elements may be configured for coupling to the one or more eigenmodes. By adjusting relative phases and/or amplitudes of the waveguide-coupler elements, as well as frequencies, the electrical size of the array may be made much larger than its physical size, and substantial electromagnetic energy may be targeted to preferentially excite the one or more eigenmodes. The adjustments may also account or compensate for non-homogeneous propagation properties of the ionosphere, and help reduce ohmic losses in the ionosphere.

Abstract: Systems and methods for detecting low-loss eigenmodes of a spherical waveguide bounded by the Earth's surface and its ionosphere are disclosed. One or more eigenmodes of the Earth-ionosphere waveguide may be computed based on a mathematical model incorporating electrical properties of the terrestrial surface and plasma physics of the ionospheric layer. A transmitter apparatus may be used transmit electrical power into the Earth-ionosphere waveguide in the form of an electromagnetic wave, which may, in turn, be detected by a receiver apparatus remote from the transmitter apparatus. A coupling strength between the transmitted electromagnetic wave and the one or more eigenmodes may be determined by measuring power received by the receiver apparatus in the detected electromagnetic wave.

Abstract: Systems and methods for denying power to unauthorized power loads within a spherical waveguide bounded by the Earth's surface are disclosed. One or more eigenmodes of the Earth-ionosphere waveguide may be computed based on a mathematical model incorporating electrical properties of the terrestrial surface and plasma physics of the ionospheric layer. A phased array of wave guide couplers, each including an array of electrically-connected waveguide-coupling elements, may be configured at different geographic locations for coupling to the one or more eigenmodes and generating standing waves in the Earth-ionosphere waveguide. Power loads may be detected by way of power reflections, and power nodes and nulls of the standing waves may be steered with respect to specified locations by adjusting relative phases and/or amplitudes of the waveguide couplers. Locations of power loads may be triangulating reflections. Power nulls of the standing waves may be steered to locations of unauthorized power loads.

Abstract: A computer system includes at least one power transmitter that includes a first resonator to generate an oscillating field at a resonant frequency in response to receiving power from a power source. The at least one power transmitter provides a wireless power delivery system within a spatial bound. The computer system also includes a plurality of modular computer components. Each modular computer component includes a power receiver that includes a second resonator to be wirelessly coupled to the at least one power transmitter. The second resonator resonates at the resonant frequency in response to the oscillating field generated by the first resonator. Each modular component also includes a wireless communication interface. The respective wireless communication interfaces of the plurality of modular computer components provide a wireless data communication network that allows each modular computer component to communicate data with at least another of the plurality of modular computer components.

Abstract: A display panel includes an array of display pixels to output an image. The array of display pixels includes a central pixel region and a perimeter pixel region. The central pixel region includes central pixel units each having three different colored sub-pixels. The different colored sub-pixels of the central pixel units are organized according to a central layout pattern that repeats across the central pixel region. The perimeter pixel region is disposed along a perimeter of the central pixel region and includes perimeter pixel units that increase a brightness of the image along edges of the central pixel region to mask gaps around the array of display pixels when tiling the array of display pixels with other arrays of display pixels.

Abstract: Methods, robots, systems, and computer-readable media are provided for selectively uploading operational data generated by a robot to a remote computing system. In various implementations, a robot may classify a plurality of operational data points generated by the robot with a plurality of operational data types. The robot may also identify one or more attributes of a physical communication link between the robot and a remote computing system. Based on the one or more attributes of the physical communication link, the robot may identify a plurality of strategies for uploading operational data from the robot to the remote computing system. Each strategy may govern how operational data points of at least one of the plurality of operational data types is uploaded. The robot may then selectively upload the plurality of classified operational data points to the remote computing system pursuant to the plurality of strategies.

Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and utilizing non-uniform volume measures for occupied voxels, where each of the occupied voxels represents an occupied point of an environment of a robot. The volume measure for each of the occupied voxels is a “padding” for the occupied voxel and indicates a volume to be utilized for that occupied voxel. The volume measures for the occupied voxels are non-uniform in that they are not all the same volume measure. During path planning, the non-uniform volume measures of the occupied voxels can be considered as “paddings” for the occupied voxels and the occupied voxels with their corresponding volume measures considered as obstacles.

Abstract: A sensor system includes a body, which includes an outer wall defining an inner opening centered about an axis, and radiating structures disposed in the opening and extending radially from the axis to the outer wall. The radiating structures are spaced circumferentially around the axis by a substantially equal angle. The system includes sensors that generate signals in response to deformations of the radiating structures. The signals provide vectors corresponding to the deformations. The deformations are caused by: (i) a torque about the axis, and (ii) a secondary torque or force. The system includes a controller electrically coupled to the sensors and configured to determine, by combining the vectors provided by the signals, a measurement of the torque about the axis. The sensors are arranged on the radiating structures such that combining the vectors substantially eliminates any effect of the secondary torque or force from the measurement.

Abstract: This specification describes technologies for mental state measurement using sensor data obtained from sensors attached to objects. One embodiment is a method that includes receiving sensor data from sensors attached to non-wearable objects. The first and second attachable sensors each include an output and a sensor. The method further includes determining mental state data from the sensor data; and causing to be displayed a representation of a mental state based on the mental state data. The method can further include: deriving an action metric from the mental state data; comparing the action metric to a threshold; automatically taking an action when the action metric exceeds the threshold; collecting post action sensor data; determining post action mental state data based at least in part on the post action sensor data; and forwarding the post action mental state data for display of a representation of a mental state.