Abstract: In an example embodiment, a system includes a plurality of drive units coupled to a plurality of propellers. Each drive unit includes a single motor/generator and a single motor controller, and the plurality of drive units includes a first drive-unit pair and a second drive-unit pair. The system also includes a high-voltage bus connecting the motor controllers in the first drive-unit pair to a tether, a low-voltage bus connecting the motor controllers in the second drive-unit pair to the tether, and an intermediate-voltage bus connecting the motor controllers of the first drive-unit pair in series with the motor controllers of the second drive-unit pair. The motor controllers in the first drive-unit pair are connected in parallel via the high-voltage bus and the intermediate-voltage bus, and the motor controllers in the second drive-unit pair are connected in parallel via the intermediate-voltage bus and the low-voltage bus.

Abstract: A method of making building materials from an aqueous solution includes receiving the aqueous solution with dissolved ions and increasing a pH of the aqueous solution so the dissolved ions precipitate from the aqueous solution as salt. The method also includes collecting the salt precipitated from the aqueous solution and forming the building materials from the salt.

Abstract: Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. The computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.

Abstract: Embodiments described herein may relate to a system comprising a plurality of optical elements, comprising at least a first optical element and one or more secondary optical elements, a heliostat comprising the first optical element, where the heliostat is operable to move the first optical element to continuously reflect light from a non-stationary light source in a beam towards a first of the secondary optical elements, and where the secondary optical elements are arranged to re-direct the reflected beam of light towards an illumination target. The system further includes a controller configured to receive position data indicative of the position of the non-stationary light source over time, and in response to the position data, control at least the heliostat to continuously direct the beam of light towards the first of the secondary optical elements, such that the beam of light is continuously re-directed towards the illumination target.

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: Embodiments described herein may help to provide support via a fleet of unmanned aerial vehicles (UAVs). An illustrative medical-support system may include multiple UAVs, which are configured to provide support for a number of different situations. Further, the medical-support system may be configured to: (a) identify a remote situation, (b) determine a target location corresponding to the situation, (c) select a UAV from the fleet of UAVs, where the selection of the UAV is based on a determination that the selected UAV is configured for the identified situation, and (d) cause the selected UAV to travel to the target location to provide support.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for using a camera of a robot to capture an image of the robot's environment, detecting edges in the image, and localizing the robot based on comparing the detected edges in the image to edges derived from a three-dimensional (“3D”) model of the robot's environment from the point of view of an estimated pose of the robot in the environment. In some implementations, the edges are derived based on rendering, from the 3D model of the environment, a model image of the environment from the point of view of the estimated pose—and applying an edge detector to the rendered model image to detect model image edges from the model image.

Abstract: A lift assembly for use during inflation of a balloon envelope is provided. The lift assembly includes a plate structure that has a set of cavities. Each cavity includes one or more openings passing through the plate. One or more pistons are coupled to the plate through at least one of the openings of each cavity in the set of cavities. Each piston has a hollow tube portion projecting lengthwise from the at least one opening, a flange attached to the hollow tube portion and a grabber portion in communication with the flange. The grabber portion includes a plurality of bearings for grabbing a stud attached to an apex of the balloon envelope. A handle portion is coupled to the plate. The handle is arranged to lift the balloon envelope when the bearings have grabbed a given stud.

Abstract: Aspects of the disclosure relate to filling and lifting high altitude balloons. For instance, one example system for lifting and filling a balloon having a balloon envelope includes an apparatus for use with the balloon envelope. The apparatus includes a load line, a fill tube having a hollow portion nested within the load line and a termination member attached to the fill tube and load line. The load line is configured to lift the balloon envelope during inflation. The fill tube extends through the load line and is configured to allow lift gas to pass through the hollow portion. The termination member is configured to mate with an opening in the balloon envelope so that lift gas can pass through the hollow portion of the fill tube and into the opening in the balloon envelope.

Abstract: A power distribution system includes a bidirectional power converter, a battery, and a controller. The bidirectional power converter is operable to (i) convert AC power received at AC terminals to DC power at DC terminals and (ii) convert DC power received at the DC terminals to AC power at the AC terminals. The bidirectional power converter is disposed within a converter stack formed by a plurality of power converters having DC terminals that are coupled to each other in series. The battery is arranged to be selectively couplable to the DC terminals of the bidirectional power converter. The controller is configured to (i) determine that the DC voltage across the DC terminals of the bidirectional power converter is below a threshold voltage and (ii) couple the battery to the DC terminals of the bidirectional power converter based on the determination that the DC voltage is below the threshold voltage.

Abstract: An unmanned aerial vehicle (UAV) is disclosed that includes a retractable payload delivery system. The payload delivery system can lower a payload to the ground using a delivery device that secures the payload during descent and releases the payload upon reaching the ground. The location of the delivery device can be determined as it is lowered to the ground using image tracking. The UAV can include an imaging system that captures image data of the suspended delivery device and identifies image coordinates of the delivery device, and the image coordinates can then be mapped to a location. The UAV may also be configured to account for any deviations from a planned path of descent in real time to effect accurate delivery locations of released payloads.

Abstract: Methods, apparatus, systems, and computer readable media are provided for determining: 1) sensor parameters for sensors of a robot and 2) model parameters of a dynamic model of the robot. The sensor parameters and model parameters are determined based on applying, as values for known variables of a system equation of the robot, sensor readings and position values for each of a plurality of instances of a traversal of the robot along a trajectory. The system equation of the robot is a dynamic model for the robot that includes sensor models substituted for one or more corresponding variables of the dynamic model. The system equation includes unknown variables representing unknown sensor biases for the sensors of the robot and unknown model parameters of the dynamic model of the robot. Solutions to the unknown variables are generated and utilized to determine the sensor parameters and the model parameters.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for training a path of a robot within a graphical user interface (GUI) and/or by physically moving the robot. In particular, the technology generates a trained path for the robot based on waypoints defined by a user and generates one or more parameters for one or more movement characteristics of the robot along the trained path. The parameters for the movement characteristics are generated based on spatial proximity of a plurality of the waypoints that are defined by the user.

Abstract: A method for matching a ground station to an aerial vehicle for establishment of a backhaul link to an airborne network involves: (i) determining location information for a ground station that is configured to provide a backhaul link to an airborne mesh network, (ii) determining flight data for one or more of the aerial vehicles in the airborne mesh network, (iii) based at least in part on the combination of (a) the location information for the ground station and (b) the flight data for the one or more of the aerial vehicles, selecting a flight with which the ground station should establish a backhaul link to the airborne network, and (iv) generating a link-assignment message that comprises instructions for the ground station to establish a backhaul link between the ground station and an aerial vehicle carrying out the selected flight.

Abstract: A battery containment pod including a body formed of a lightweight material. The body has an aerodynamic exterior shape and an interior cavity formed in the lightweight material, the size and shape of the interior cavity designed to accommodate one or more battery packs. A smooth exterior coating covers the exterior shape of the body, and an attachment structure formed in or on the body allows the body to be coupled to a flight vehicle. Other implementations are disclosed and claimed.

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: Example methods and systems for adjusting the beam width of radio frequency (RF) signals for purposes of balloon-to-ground communication are described.

Abstract: An example system includes: (i) a resin container defining a cavity; (ii) a plurality of rods extending from an inner base surface of the resin container and into the cavity; (iii) a plurality of light sources arranged to emit radiation into the plurality of rods, such that when the cavity contains liquid resin, radiation passing through a given one of the rods cures liquid resin that surrounds the given rod; and (iv) a control system configured to: (a) receive data specifying a three-dimensional structure; (b) determine a shape for a layer of a plurality of layers that collectively form the three-dimensional structure; and (c) determine one or more of the light sources that correspond to the shape of the layer; and (d) form the layer by operating the one or more determined light sources that correspond to the shape of the layer.

Abstract: A display including a screen layer for displaying a unified image to a viewer on a viewing side of the screen layer that is opposite a backside of the screen layer, and an illumination layer having an array of light sources. Each light source in the array is configured to emit a divergent projection beam having a limited angular spread. A display layer is disposed between the screen layer and the illumination layer, and includes a matrix of pixlets, a spacing region disposed between the pixlets in the matrix, wherein the array of light sources are positioned to emit the divergent projection beams having limited angular spread to project sub-images displayed by the pixlets as magnified sub-images on the backside of the screen layer, the magnified sub-images to combine to form a substantially seamless unified image, and one or more components positioned on the display layer in the spacing region.

Abstract: A balloon apparatus is provided having (1) a cage structure that includes (a) a plurality of vertical tendons, where each of the vertical tendons includes a first end and second end, where the first ends of the vertical tendons are all connected to one another and where the second ends of the vertical tendons are all connected to one another and (b) one or more horizontal tendons, where each horizontal tendon is attached to each of the vertical tendons at a corresponding level of the cage structure and (2) a balloon envelope, where the balloon envelop is arranged inside the cage structure and inflatable within the cage structure.