Abstract: Methods and apparatus that adapt programming and/or control of a robot. The robot has at least one attachment area that can removably couple with any one of a plurality of end effectors. The programming and/or control is adapted based on received parameters of an end effector attached (or to be attached) to the attachment area of the robot. Some implementations are directed to adapting graphical user interface output of a robot programming application based on one or more parameters of an end effector for a robot being programmed via the robot programming application. Some implementations are directed to adapting control of a robot based on one or more parameters of an end effector attached (or to be attached) to the robot.

Abstract: Multirobotic management can involve communications between a command or leader robot and one or more client or follower robots through a cloud computing system. In an example implementation, a leader robot can receive first sensory data captured by a first follower robot and second sensory data captured by a second follower robot, determine a command function based on at least one of the first sensory data and the second sensory data, and communicate with at least one of the first follower robot and the second follower robot based on the command function.

Abstract: Some implementations are directed to methods and apparatus for determining, based on sensor data generated during physical manipulation of a robot by a user, one or more grasp parameters to associate with an object model. Some implementations are directed to methods and apparatus for determining control commands to provide to actuator(s) of a robot to attempt a grasp of an object, where those control commands are determined based on grasp parameters associated with an object model that conforms to the object. The grasp parameter(s) associated with an object model may include end effector pose(s) that each define a pose of a grasping end effector relative to the object model and/or translational force measure(s) that each indicate force applied to an object by a grasping end effector, where the force is at least partially the result of translation of an entirety of the grasping end effector.

Abstract: Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.

Abstract: Disclosed herein are embodiments of a balloon-based positioning system and method. In one example embodiment, a system includes at least three balloons, with each balloon including a position-determining module (PDM) and a position-broadcasting module (PBM). Each PDM is configured for determining a position of the respective balloon and each PBM is configured for broadcasting a balloon signal containing balloon-positioning data of the respective balloon. The balloon-positioning data includes the determined position of the respective balloon and a corresponding time of broadcast.

Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.

Abstract: Described herein are methods and systems for facilitating a wireless power handover. In particular, a controller may cause a first transmitter to provide electrical power to a receiver. The controller may then determine that a handover condition is met and may responsively facilitate a handover to a second transmitter. During this handover, the controller may engage in a phase-determination process to determine first and second phases at which the first and second transmitters should respectively provide electrical power to the receiver. Once determined, the controller may then cause the first and second transmitters to respectively provide electrical power to the receiver at the first and second phases and at substantially the same time. Subsequently, the controller may cause the first transmitter to no longer provide electrical power to the receiver and the second transmitter to continue to provide electrical power to the receiver, thereby completing the handover.

Abstract: Systems and methods for extending life of an apparatus, such as a balloon, using electrolysis. A ballast liquid is carried or harvested and, when desired, is electrolyzed using an on-board electrolyzer to generate lift gas, rather than simply being dumped as traditional ballast. However, the ballast liquid may also be dumped, if necessary. A valve may be provided to enable safe dumping of the ballast liquid. The ballast liquid may be water, a water-methanol mixture, or other suitable ballast liquid. The ballast liquid may be stored in a container associated with the balloon prior to launch or may be harvested from the atmosphere while the balloon is in-flight. Features may be provided to maintain the ballast liquid in a liquid state. The lift gas mixture within the balloon is maintained non-flammable.

Abstract: Example implementations may relate to interactive object fabrication. In particular, a control system may receive model data defining a 3D shape of a physical object that is fabricable out of a substrate at a work site. The system may then direct a projection system to emit onto the substrate a projection illustrative of the 3D shape defined by the model data. Also, the system may transmit, to a robotic system, fabrication instructions that direct the robotic system to fabricate the physical object in accordance with the model data. subsequently, during fabrication of the physical object, the system may (i) receive progress data indicative of a portion of the physical object that has been fabricated from the substrate, and (ii) direct the projection system to update the projection of the 3D shape to remove a portion of the projection corresponding to the portion of the physical object that has been fabricated.

Abstract: A transmitter includes a first resonator to generate an oscillating field at a resonant frequency in response to receiving power from a power source. The transmitter includes a first communication interface and a first controller to control the first resonator and to communicate data via the first communication interface. One of a plurality of receivers includes a second resonator to be wirelessly coupled to the first resonator. The second resonator resonates at the common mode resonant frequency in response to the oscillating field. The one receiver includes a second communication interface to establish wireless side-channel communications with the first communication interface and to communicate the data with the first communication interface via the wireless side-channel communications. The first controller identifies the one receiver from the plurality of receivers according to the communicated data, and in response, the first resonator transfers the power to the second resonator.

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

Abstract: Airborne wind turbine systems with multiple aerial vehicles connected via multiple tethers to a single ground station are disclosed. A node is coupled to the tethers. The node includes a drive system. At a proximate end of the node, each of the tethers is adjacent to neighboring tethers. And at a distal end of the node, each of the tethers is separated from the neighboring tethers. The airborne wind turbine system includes a control system configured to operate the drive system to translate the node along the tethers.

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

Abstract: Aspects of the disclosure provide for a method for determining a position of a beacon. A plurality of frames comprising pixel values is collected. Each frame is an image of a location. A static background of the location is determined by averaging the pixel values of the plurality of frames, pixel difference values are determined for each frame by subtracting the determined static background from the pixel values of each frame. Using the pixel difference values for each frame in the plurality of frames, a first subset of frames and a second subset of frames are identified. An average pixel difference is then determined by averaging the pixel difference values of the first subset of frames and an inverse of the pixel difference values of the second subset of frames. Using the average pixel difference, the position of a beacon at the location is determined.

Abstract: An optical correlator includes a first spatial light modulator arranged to receive light from a light source and configured to selectively attenuate the light; a first focusing layer arranged to receive the selectively-attenuated light from the first spatial light modulator and configured to focus the selectively-attenuated light; a first spacer layer substantially transparent to the light from the light source, the first focusing layer being disposed on the first spacer layer; a second spatial light modulator arranged in a Fourier optical relationship with respect to the first spatial light modulator and configured to selectively attenuate the focused light from the first focusing layer to provide twice-attenuated light, the second spatial light modulator being disposed on the first spacer layer opposite the first focusing layer; a second spacer layer substantially transparent to the light from the light source, the second spatial light modulator being disposed on the second spacer layer and positioned betwe

Abstract: A method includes receiving an optical signal through an optical link and determining a receiving power for the optical link. The method further includes comparing the receiving power for the optical link to a first receiving power threshold and transitioning a clock and data recovery circuit form a normal mode to a holdover mode when the receiving power is less than the first receiving power threshold. The clock and data recovery circuit, when operating in the holdover mode, configured to hold a recovered clock to a known-good clock frequency. When the receiving power for the optical link is greater than a second receiving power threshold, the method initiates a transition of the clock and data recovery circuit from the holdover mode to the normal mode and reacquires synchronization between the recovered clock and a current rate of the incoming data stream using the known-good clock frequency.

Abstract: A system and method for wireless resonant power transfer is disclosed. The system may include a transmitter that, in addition to being configured for resonantly coupling power into an oscillating electric and/or magnetic field, is also configured to transmit one or more test signals. Test signals can include single frequency continuous wave test signals, frequency sweep test signals, and time-pulsed modulated test signals. By comparing measurements of phase and amplitude of both the transmitted test signal and one or more reflections of the test signal reflected by one or more reflecting entities, electromagnetic properties of the one or more reflecting entities may be determined. The determined properties may then be used to enhance the efficiency and/or effectiveness of power transfer, and/or to distinguish between legitimate and illegitimate consumption of wirelessly transferred power by devices in the oscillating field.

Abstract: Examples described may enable rearrangement of pallets of items in a warehouse to an optimal layout. An example method includes receiving real-time item information including pallet locations in a warehouse and real-time inventory of items arranged on the pallets; determining a likelihood of demand for future access to the pallets based on a pallet relocation history and item receiving/shipment expectations; based on the real-time item information and the likelihood of demand, determining an optimal controlled-access dense grid layout in which distances of the pallets from a center of the layout are related to the likelihood of demand; receiving real-time robotics information and using the real-time robotics information to determine an amount of time to rearrange the pallets to the optimal layout; and, based on the amount of time to rearrange the pallets being less than a threshold, causing the robotic devices to rearrange the pallets to the optimal layout.

Abstract: Aspects of the disclosure provide for a method of forming a communication link between two communication devices using a primary search pattern and a secondary search pattern. A misalignment between a first optical system of a first communication device and a second optical system of a second communication device is detected. The first optical system is rotated according to the primary search pattern, and the second optical system according to the secondary search pattern. At the second communication device, a set of frames is captured. Then, it is determined whether a beacon beam transmitted from the first communication device is detected in the one or more of the captured frames. When it is determined that the beacon beam is detected, the communication link is formed between the first communication device and the second communication device.