Abstract: An Airborne Wind Turbine (“AWT”) may be used to facilitate conversion of kinetic energy to electrical energy. An AWT may include an aerial vehicle that flies in a path to convert kinetic wind energy to electrical energy. The aerial vehicle may be tethered to a ground station with a tether that terminates at a tether termination mount. In one aspect, the tether has a core and at least one electrical conductor. The tether core may be terminated at a first location in a tether termination mount along an axis of the termination mount, and the at least one electrical conductor may be terminated at a second location in the tether termination mount along the same axis that the core is terminated. This termination configuration may focus tensile stress on the tether to the tether core, and minimize such stress on the at least one electrical conductor during aerial vehicle flight.

Abstract: Techniques and mechanisms to provide for improved image display in an area of overlapping projections. In an embodiment, a multi-layer projection screen comprises light sources and collimation structures each disposed over a corresponding one of such light sources. A first collimation structure disposed over a first light source collimates first light from the first light source. The first collimation structure further receives and redirects second light from a second light source disposed under a second collimation structure that adjoins the first collimation structure. In another embodiment, the first collimation structure redirects the other light from the second light source away from the direction of collimation of the first light. A stray light rejection layer of the multi-layer projection screen passes a majority of the first light for inclusion as part of a projected image, and prevents a majority of the second light from inclusion in the projected image.

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, apparatus, systems, and computer-readable media are provided for selectively deploying robots to performing mapping based on added cost. In various implementations, a measure of interest in mapping an area of an environment may be determined. A cost associated with a robot performing a task may also be determined. Then, an added cost associated with the robot mapping the area of the environment while performing the task may be determined. The robot may be selectively deployed to map the area while performing the task in response to a determination that the measure of interest justifies the added cost.

Abstract: An aerial vehicle including a fuselage, a main wing attached to the fuselage, a support structure extending upwardly from the fuselage and having a front surface facing the main wing, an overhang positioned on a top of the support structure and extending towards the main wing, one or more rotating actuators positioned on the overhang, a rear elevator attached to the one or more rotating actuators that are configured to move the rear elevator from a flying mode position where a leading edge of the rear elevator faces the main wing to a hover mode position where the major surfaces of the rear elevator faces the main wing, and wherein the major surfaces of the rear elevator remain in front of the front surface of the support structure when the rear elevator is moved from the flying mode position to the hover mode position.

Abstract: Methods and systems described herein relate to power generation control for an aerial vehicle. An example method may involve determining an asynchronous flight pattern for two or more aerial vehicles, where the asynchronous flight pattern includes a respective flight path for each of the two or more aerial vehicles; and operating each of the aerial vehicles in a crosswind flight substantially along its respective flight path, where each aerial vehicle generates electrical power over time in a periodic profile, and where the power profile of each aerial vehicle is out of phase with respect to the power profile generated by each of the other aerial vehicles.

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: A heat battery pack system includes a battery pack including a plurality of battery cells electrically interconnected to each other, a binding coupled to mechanically hold the battery cells physically together, and a heater system coupled to the battery pack to heat the battery cells. The heater system includes a heating element interweaved between the battery cells of the battery pack and a heating controller electrically coupled to the heating element to drive current through the heating element and provide heat to the battery cells of the battery pack. The weaving of the heating element between the battery cells provides fixed mechanical support to the heating element.

Abstract: Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.

Abstract: An example system includes one or more laser sensors on a robotic device, where the one or more laser sensors are configured to produce laser sensor data indicative of a first area within a first distance in front of the robotic device. The system further includes one or more stereo sensors on the robotic device, where the stereo sensors on the robotic device are configured to produce stereo sensor data indicative of a second area past a second distance in front of the robotic device. The system also includes a controller configured to receive the laser sensor data, receive the stereo sensor data, detect one or more objects in front of the robotic device based on at least one of the laser sensor data and the stereo sensor data, and provide instructions for the robotic device to navigate based on the one or more detected objects.

Abstract: Aspects of the disclosure relate to techniques for launching high-altitude balloons. In one aspect, a balloon launching system is provided. The balloon has a balloon envelope, a payload attached to the balloon envelope and a launching projection. The launching system includes a releasable restraint attached to the balloon between an apex and bottom of the balloon envelope. The releasable restraint is arranged to temporarily hold the balloon envelope. The launching system also includes a payload positioning assembly. The payload positioning assembly is configured to position the payload during launch of the balloon and includes a member configured to attach to the launching projection. When attached, the member is also configured to maintain the position of the payload relative to the balloon while the releasable restraint is temporarily holding the balloon envelope.

Abstract: Disclosed herein are systems for controlling the amount of airflow across a radiator within an aerial vehicle radiator duct. A rigid member of a moveable flow restrictor is rotatable between an open position and a closed position. While subject to a g-force less than a threshold value in a triggering direction, the rigid member is oriented in the open position and, while subject to a g-force greater than the threshold value in the triggering direction, the rigid member is oriented in the closed position. The amount of the airflow across the radiator while the rigid member is in the open position is different than the amount of the airflow across the radiator while the rigid member is in the closed position.

Abstract: Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.

Abstract: Disclosed are batteries and methods of manufacturing batteries with improved energy densities. In some embodiments, a first cathode current collector and a first anode current collector are provided on a first side of a substrate. A second cathode current collector and a second anode current collector are provided on a second side of the substrate. A laser is used to form: a first channel through the substrate between the first cathode current collector and the second cathode current collector, and a second channel through the substrate between the first anode current collector and the second anode current collector. A cathode interconnection is formed, via the first channel, between the first cathode current collector and the second cathode current collector. An anode interconnection is formed, via the second channel, between the first anode current collector and the second anode current collector.

Abstract: An example method for stabilizing images involves obtaining an image of an environment from a perspective of the robot. The method also involves receiving one or more depth measurements. The depth measurements correspond to locations within the image. The method further involves determining first boundaries around a particular location within a section of the image. The particular location is approximately centered within the first boundaries. Additionally, the method involves determining an extent of deviation of a particular position of the image capture device from a reference position. The particular position is a position of the image capture device at a point in time at which the image was captured. Further, the method involves determining second boundaries by shifting the first boundaries by an amount proportional to the determined extent of deviation. The method additionally involves providing, to a display device, a portion of the image defined by the second boundaries.

Abstract: Methods and systems are disclosed herein that may help to provide location-aware caching and/or location-specific service profiles in an aerial-vehicle network. An exemplary method may be carried out by an aerial vehicle that is at a location associated with the first geographic area in an aerial-vehicle network that includes a plurality of defined geographic areas, and may involve: (a) determining that a location-aware cache of an aerial vehicle should be updated with user-data associated with the first geographic area; and (b) in response to determining that the location-aware cache should be updated: (i) sending a location-aware cache-update request; (ii) receiving, as a response to the location-aware cache-update request, user-data that corresponds to the first geographic area; and (iii) storing the user-data that corresponds to the first geographic area in a location-aware cache of the aerial vehicle.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.

Abstract: Example methods and systems for determining when to decommission vehicles from a fleet of autonomous vehicles are described. One method includes receiving information indicating a sequence of coverage requirements for a region over a period of time, and the region is characterized by landmarks and the period of time is divided into time intervals. Landmarks may be defined as a decommissioning site representative of a location at which a given vehicle can be taken out of service, and the method includes determining estimated landmarks that can be reached by one or more vehicles starting from a respective landmark by an end of a respective time interval, and based on the sequence of coverage requirements, determining which vehicles from among the vehicles that can reach the one or more landmarks defined as the decommissioning site to take out of service.

Abstract: Disclosed are systems and methods for detecting a graphic card that visually describes an operational mode of a rotatable interface component via a plurality of curves for rotationally-varying parameters, determining the operational mode that is visually described on the graphic card, and loading the operational mode to the rotatable interface component, where the operational mode specifies operations for a motor such that the motor generates torque on the interface component based on the curves for the rotationally-varying parameters that are shown on the graphic card.

Abstract: An airborne wind turbine system is provided including an aerial vehicle having a fuselage, an electrically conductive tether having a first end secured to the aerial vehicle and a second end secured to a rotatable drum positioned on a tower onto which the tether is wrapped when the aerial vehicle is reeled in, a perch extending from the tower, one or more perch booms attached to the perch panel and pivotably mounted to the tower, wherein when the aerial vehicle is secured to the perch, the aerial vehicle is positionable in a lowered parked position, and wherein the aerial vehicle is movable to a raised parked position caused by rotation of the one or more perch booms with respect to the tower.