Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

Abstract: An example variable transmission system is provided. As an example, a variable transmission system may include a frame, an output hub coupled to the frame, a first linear actuator coupled to the frame, and a second linear actuator coupled to the frame. The variable transmission system may also include a tension-bearing element positioned around the output hub. A first end of the tension-bearing element may be coupled to the first linear actuator, and a second end of the tension-bearing element may be coupled to the second linear actuator. The tension-bearing element may include a variable stiffness profile such that a transmission ratio of the output hub may be adjusted based on a position of the second linear actuator relative to the output hub.

Abstract: A method of deploying floating photovoltaic (“PV”) modules on water includes attaching first and second sections of a tensioning frame between a first group of mooring buoys. In a first embodiment, the first and second sections are adjoining sections attached to a common one of the mooring buoys and a plurality of PV modules are unrolled from positions adjacent to the first section of the tensioning frame and the PV modules are extended out from the first section. In a second embodiment, the PV modules are unrolled and extended out between two floating platforms. The PV modules are mechanically attached into a contiguous PV array. Third and fourth sections of the tensioning frame are attached between a second group of the mooring buoys to at least partially surround the PV array with the tensioning frame. Tension on the tensioning frame is adjusted to place the PV array under tension.

Abstract: Methods are described herein related to providing a workspace that is associated with a voice-request account workspace and that is capable of establishing a session for a user-account. An example method may involve: (a) providing, by a computing system, a workspace on a virtual machine, where the workspace is associated with a voice-request account, where the workspace is accessible to one or more guide computing systems, (b) receiving, at the computing system, authentication information for a user-account, (c) receiving, at the computing system, a request to establish a session for the user-account in the workspace associated with the voice-request account and responsively establishing the session, and (d) providing, by the computing system, the one or more guide accounts with access via the workspace to the session for the user-account.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining one or more spatial constraints associated with an object to be acted upon by a robot; determining a plurality of candidate physical arrangements of the object that satisfy the one or more spatial constraints; calculating, for one or more of the plurality of candidate physical arrangements of the object, a candidate physical arrangement cost that would be incurred as a result of the robot acting upon the object in the candidate physical arrangement; and selecting, from the plurality of candidate physical arrangements, a candidate physical arrangement associated with a candidate physical arrangement cost that satisfies a criterion.

Abstract: This disclosure relates to a battery and a method for its manufacture. The method of manufacture may include forming a cathode layer proximate to a cathode current collector. The method further includes forming an electrolyte layer proximate to the cathode layer and an anode layer proximate to the electrolyte layer. The method additionally includes forming an anode current collector layer proximate to the anode layer. At least one of the cathode current collector layer or the anode current collector layer includes a plurality of graphene monolayers. The method yet further includes determining a stepped arrangement of the graphene monolayers; and patterning at least a portion of the plurality of graphene monolayers according to the stepped arrangement.

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

Abstract: The present disclosure provides a thermal control apparatus for controlling temperatures in a payload of a balloon. The thermal control apparatus includes a plurality of heat pipes. A first heat pipe from the plurality of heat pipes has a first end and a second end and contains working fluid. A heat source is in thermal communication with the first heat pipe. The heat source is configured to heat the working fluid in the first heat pipe. A second heat pipe from the plurality of heat pipes contains working fluid and a portion of the second heat pipe is positioned a predetermined distance from the first heat pipe. The predetermined distance allows for a heat exchange from the first heat pipe to the second heat pipe. This heat exchange includes heat drawn away from the heat source.

Abstract: Example implementations may relate to a rotary transformer configured to transmit data. In some implementations, the rotary transformer may include a primary transformer component with a primary winding magnetically coupled to a secondary transformer component with a secondary winding. The rotary transformer may also include a resonant circuit including a frequency determining element and an amplifier. The frequency determining element may consist of the primary and secondary windings connected in parallel to respective capacitors. The primary transformer component may be coupled to a fixed-frequency signal generator. The rotary transformer may include a modulator coupled to the secondary transformer component and configured to vary the phase of the resonant circuit to generate an output signal and a demodulator coupled to the primary transformer component and configured to demodulate the output signal.

Abstract: Embodiments described herein may relate to systems and methods for navigating to a supply request. An alert device may be controlled to issue alerts to draw the attention of bystanders to associated supplies for a situation. An illustrative method involves (a) receiving, by a computing system, a transmission indicating a situation at a designated location; (b) the computing system determining an approximate target area associated with the designated location; (c) the computing system making a determination that an alert device is located within the approximate target area; and (d) in response to the determination that the alert device is located within the approximate target area, the computing system executing instructions to activate at least one alert on the alert device indicating the situation and the designated location of the situation.

Abstract: An example beam splitting apparatus is assembled from multiple prisms that are assembled together along respective mating surfaces to form a single monolithic optical device. The beam splitting apparatus includes optical features, such as dichroic and reflective surfaces, that define optical paths for light that enters the beam splitting apparatus. The optical features allow photons in the light to be directed along different optical paths based on their wavelengths. The optical features in the beam splitting apparatus are provided by coatings, films, and/or surface treatments applied to any of the faces of the prisms. In particular, coatings, films, and/or surface treatments are applied to the mating surfaces of the prisms so that the optical features are internal to the assembled monolithic optical device. The beam splitting apparatus may be implemented in a communication terminal that exchanges data modulated light according to frequency-division duplex communications.

Abstract: A volumetric display system includes a volumetric display stage, a plurality of acoustical actuators, and a control system. A plurality of voxel particles are re-arrangeable within the volumetric display stage via acoustic pressure waves to assume controllable positions in three-dimensional (“3D”) space to collectively assume a unified 3D shape. The plurality of acoustical actuators are disposed about the volumetric display stage to emit the acoustic pressure waves and establish a 3D sound field pattern within the volumetric display stage for physically manipulating the voxel particles. A control system is coupled to the acoustical actuators to manipulate the 3D sound field pattern. The control system includes a volumetric image module configured to receive 3D image data describing the unified 3D shape and compute the 3D sound field pattern for arranging the voxel particles into the unified 3D shape.

Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.

Abstract: A method for aligning optical layers of a multi-layer display includes illuminating a display layer with a plurality of illumination sources of an illumination layer disposed behind the display layer. The display layer includes a plurality of transmissive pixel arrays. An illumination pattern is cast onto a screen layer disposed in front of the display layer. The illumination pattern includes bright regions due to overlapping illumination cast from adjacent ones of the transmissive pixel arrays. The bright regions of the illumination pattern cast onto the screen layer are analyzed to identify misalignments.

Abstract: Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and one or more attributes of an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.

Abstract: An airfoil for an airborne wind turbine including a main wing adapted for attachment to an electrically conductive tether, a pivotable trailing element positioned behind the main wing, wherein a chord line of the airfoil has a length that is measured from the leading edge of the main wing to a trailing edge of the trailing element, wherein when the main wing and trailing element are positioned in a first flying position, a slot gap exists between a trailing edge of the main wing and the leading edge of the trailing element, wherein the main wing has a thickness that is 15-28% of the length of the chord line; and wherein a spar bulge exists in the main wing such that 15-25% of the overall length of the chord line has a thickness that is 95% or more of a maximum thickness of the main wing.

Abstract: Aspects of the disclosure relate to manufacturing balloon envelopes for use in high-altitude mesh networks for packet-data communications. As an example, a gore portion may be placed on a table such that the gore portion overlies a groove within the table. A tendon may be placed on the gore portion and within the groove. A portion of tubing may be placed over the tendon. The tubing may have one or more surface openings. Restraining tape is applied over the one or more surface openings in the tubing. A constant force roller is applied to secure the tendon to the gore portion and to secure the tendon to the tubing. As an alternative or in addition to the surface openings, double-sided restraining tape may be placed between the tendon and the tubing. The tubing and restraining tape may prevent undesired lateral and longitudinal movement of the tendon during deployment.

Abstract: An example method for detecting a movable element on a surface involves receiving, from a depth sensor coupled to a mobile robot, a first depth measurement between the depth sensor and a ground surface. The method also involves causing at least one transducer coupled to the mobile robot to emit a directional pressure wave toward the ground surface. The method further involves receiving, from the depth sensor coupled to the mobile robot, a second depth measurement between the depth sensor and the ground surface after emitting the directional pressure wave. Additionally, the method involves identifying one or more differences between the first depth measurement and the second depth measurement indicating that the ground surface includes a movable element. Further, the method involves providing navigation instructions to the mobile robot based on the identified one or more differences between the first depth measurement and the second depth measurement.

Abstract: An energy kite may be coupled to a tether and ground station. The tether or other cables may need to be terminated, where one or more components of the cable need to be separated and terminated individually. In energy kite systems, it is common for the tether (or other cables) to have small mass and diameter. The termination may also include a first potted region with a softer potting material and a second potted region with a harder potting material.