Abstract: In one aspect, a method is described. The method 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. The method may further include providing first location data indicating a first location of the end effector tool with respect to the work surface, providing second location data indicating a second location of the end effector tool within the worksite coordinate frame, and providing third location data indicating a third location of the end effector tool within the worksite coordinate frame. The method may further include tracking the location of the end effector tool based on the first, second, and third location data, and, based on the tracked location of the tool, instructing the robotic device to manipulate the end effector tool to perform a task on the work surface.

Abstract: A magnetic end effector utilizing a switchable Halbach array includes a pair of opposing members that can move towards and away from each other. The switchable Halbach arrays are located on or near the inner surface of the opposing members. A mechanical switching system is used to control the switchable Halbach arrays by moving one or more magnets that make up the switchable Halbach arrays. When manipulated in a certain way, the switchable Halbach arrays cause the opposing members to move towards each other, and when manipulate in a different manner, cause the opposing members to move away from each other.

Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.

Abstract: Embodiments regard micro-size devices formed by etch of sacrificial epitaxial layers. An embodiment of a method includes forming a plurality of epitaxial layers on a sapphire crystal, wherein the epitaxial layers include a buffer layer on the sapphire crystal, a sacrificial layer above the buffer layer, and one or more device layers above the sacrificial layer; etching to singulate the semiconductor devices, the etching being through the one or more device layers and wholly or partially through the sacrificial layer; electrochemical etching of the sacrificial layer; and lift-off of one or more semiconductor devices from the buffer layer.

Abstract: Example embodiments may relate to methods and systems for providing a higher-resolution segment within a larger lower-resolution projection onto a projection surface. For example, the system may receive pose data corresponding to a viewing location relative to the projection surface. The system may then determine, based on the pose data, a target portion of an image frame of image data. As a result, the system may cause a first projector to project at least the target portion onto the projection surface and cause a second projector to project at least a remaining portion of the image frame of the image data onto the projection surface. The projections of the target portion and the remaining portion may collectively provide a complete projection of the image data on the projection surface and a projection-surface resolution of the target portion may be higher than a projection-surface resolution of the remaining portion.

Abstract: Aspects of the disclosure provide a fill port apparatus for filling high altitude balloons, such as those used in communications networks, with lighter than air lift gasses. For instance, the fill port apparatus includes a tubular body portion having a passageway extending between a first end and a second end of the tubular body portion. The fill port apparatus also includes an attachment structure arranged at the first end of the tubular body portion. This structure is configured to attach to a top plate of a balloon envelope. The fill port apparatus also includes a plurality of energy directing structures arranged on an interior surface of the tubular body portion. These energy directing structures extend into the passageway from the interior surface and are each configured to contact at least one other of the plurality of energy directing structures when the tubular body portion is welded to itself.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for enabling users to approximately identify a space within an environment inhabited by a plurality of objects that user wishes for a robot to manipulate. In various implementations, an approximation of a space within an environment may be identified based on user input. The actual space within the environment may then be extrapolated based at least in part on the approximation and one or more attributes of the environment. A plurality of objects that are co-present within the space and that are to be manipulated by a robot may be identified. The robot may then be operated to manipulate the identified plurality of objects.

Abstract: Aspects of the disclosure relate to terminating flight of a balloon that may include separating a connection between a balloon envelope and a payload of the balloon. In one example, a payload separation apparatus includes a first shaft configured to attach to the envelope, a second shaft configured to attach to the payload, a pair of arms, and a bracket arranged to secure the pair of arms to the first shaft. In another example, a system includes a flight termination assembly having a cutting edge configured to cut an opening in the envelope and a payload separation apparatus. The apparatus includes a first shaft configured to attach to the envelope, a second shaft configured to attach to the payload, a pair of arms, and a bracket configured to secure the pair of arms to the first shaft. The system also includes a controller configured to activate the cutting edge.

Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.

Abstract: Embodiments regard a scanning UV (ultra violet) light source utilizing semiconductor heterostructures. An embodiment of an apparatus includes a substrate with a film of light producing material on a first surface of the substrate, wherein the film includes one or more semiconductor heterostructures; and an electron beam apparatus, the electron beam apparatus to generate an electron beam and direct the electron beam to a location on the film of light producing material to generate a light beam.

Abstract: A system is provided, including one or more servers in communication with a robotic system. The one or more servers may be configured to receive operational data from the robotic system, and determine one or more operational performance metrics based on the received operational data. The system may also include a first computing device in communication with the robotic system including a workstation authoring software application configured to program the given task to be completed by the robotic system, and determine one or more subtasks required for the robotic system to perform the given task. The system may also include a second computing device in communication with the robotic system including an operational dashboard software application configured to control various operations of the robotic system, and provide for display a visual representation of the operational data and the operational performance metrics on an interface of the second computing device.

Abstract: Example implementations may relate to accurate pallet insertion. An example system may include a forklifted configured with a base and a tine coupled to the base. The tine may include a first proximity sensor positioned on a first side of the tine and a second proximity sensor positioned on a second side of the tine. The system may also include a computing system configured to receive, from the first sensor and the second sensor, sensor data indicative of proximity of the tine relative to opposing surfaces of a pocket of a pallet and navigate the forklift relative to the pallet based on the sensor data.

Abstract: Embodiments relate to a marketplace for inter-network links between a high-altitude network and a terrestrial data network. An example method may involve a computer-based purchasing agent: (i) determining a demand for inter-network bandwidth between a high-altitude network and a terrestrial data network, (ii) determining one or more offers to provide an inter-network link, wherein the inter-network link provides inter-network bandwidth between the high-altitude network and the terrestrial data network, and wherein each offer is associated with a corresponding client device, (iii) based at least in part on a comparison of: (a) the demand for inter-network bandwidth and (b) the one or more offers to provide an inter-network link, selecting one or more of the offers to provide an inter-network link, and (iv) initiating a process to establish an inter-network link at each client device that corresponds to one of the one or more selected offers.

Abstract: Aspects of the disclosure provide a flex connection for high altitude balloon applications. During operation flex connection allows a payload of a high-altitude balloon to remain level when an envelope of the balloon is tilted, in order to change the direction of the balloon. As an example, a system may include a balloon envelope, a payload, a cable between the balloon envelope and the payload, and a flex connection on the cable. The flex connection enables the payload to remain level relative to the ground when the balloon is in flight and the balloon envelope is tilted relative to the payload. The flex connection includes a top portion, a plurality of discs, and a bottom portion.

Abstract: Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.

Abstract: A package enclosure for use on an aerial vehicle including an outer skin having left and right side walls and a front end and a rear end, a base positioned within the outer skin exerting a force against inner surfaces of the left and right side walls of the outer skin, and a handle upwardly extending from the base.

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can determine a roadmap that includes a first intersection associated with first and second edges. The computing device can determine an edge interaction region (EIR) surrounding the first intersection that includes portions of the first and second edges, where a traversal region on the first edge portion can overlap a traversal region on the second edge portion. The computing device can determine first and second sub-edges of the first edge; the first sub-edge within the EIR and the second sub-edge outside the EIR. The computing device can receive a request to determine a route, determine the route specifying travel along the first sub-edge with a first rule set and along the second sub-edge with a second rule set, and provide the route.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for real time robot implementation of state machines. In various implementations, a robot controller may state machine data indicative of a state machine to be implemented by the robot controller while operating a robot. The robot controller may identify one or more states reachable by the robot controller during implementation of the state machine. At least a first state of the one or more states may include: a first action to be performed by the robot while the robot controller is in the first state; and a plurality of strategies to govern performance of the first action under multiple circumstances while the robot controller is in the first state. The robot controller may operate the robot to perform the first action in a manner governed by a first strategy of the plurality of strategies.

Abstract: A method includes receiving a first optical signal at a first communication terminal from a second communication terminal through a free space optical link. The received optical signal contains a modulated unique frequency tone. The method also includes mixing the modulated unique frequency tone with a reference signal to provide a mixed output signal and determining a signal strength of the modulated unique frequency tone based on the mixed output signal. The reference signal includes a same frequency as the modulated unique frequency tone. The method adjusts an optical head of the first communication terminal to establish acquisition and optical beam pointing with the second communication terminal based on the signal strength of the modulated unique frequency tone received from the second communication terminal.

Abstract: An example device for reducing the size and color cross-talk of an imaging-based tactile sensor includes an elastic material, one or more light sources, and an image capture device. The elastic material includes a reflective membrane. The reflective membrane conforms to a shape of an object pressed against the elastic material. Each light source of the one or more light sources is configured to illuminate at least a portion of the reflective membrane. The image capture device is configured to capture at least one image of the reflective membrane. The image capture device includes (i) an image sensor configured to generate the at least one image based on light incident on the image sensor and (ii) a plurality of lenses configured to direct light onto the image sensor. Each lens of the plurality of lenses is configured to direct light onto a corresponding portion of the image sensor.