Abstract: In one aspect, a system is described. The system may include a rotor, a plurality of magnets positioned adjacent to the rotor, and a stator defining a plurality of sections. Each of the plurality of sections of the stator may include a plurality of teeth. The system may also include a plurality of winding wires wound around the plurality of teeth of each of the plurality of sections of the stator. The plurality of winding wires wound around the plurality of teeth may define a plurality of single-phase sub-motors. The plurality of single-phase sub-motors have a magnetic design such that at least one of the plurality of single-phase sub-motors are rotationally offset from an adjacent single-phase sub-motor, which may improve motor performance and voltage isolation. The system may also include a plurality of inverters coupled to the plurality of winding wires.

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.

Abstract: Techniques and mechanisms for displaying an image with structures of a pixel array. In an embodiment, pixels of the pixel array each include three chrominance elements and a fourth luminance element. Of the four elements of a given pixel, a first subset of the elements are aligned along a first line, a second subset of the elements are aligned along a second line offset from the first line, and a third subset of the elements are aligned along a third line extending athwart the first line and the second line, wherein two of the elements are located on opposite sides of the third subset. In another embodiment, image data processing, for displaying an image with the pixel array, includes updating luminance parameters of a plurality of pixel data sets independent of any evaluation to update one or more types of chrominance parameters of the plurality of pixel data sets.

Abstract: A solar panel includes a plurality of solar cells, a bypass diode unit, and a heat spreader. The bypass diode unit includes a bypass diode coupled in an electrical shunting configuration across at least a first solar cell of the plurality of solar cells to bypass current around at least the first solar cell in an event of failure of the first solar cell. The heat spreader is disposed over a portion of one or more of the solar cells. The bypass diode unit is disposed on a first side of the heat spreader with the bypass diode in thermal contact with the heat spreader. A second side of the heat spreader is mounted in thermal contact with the one or more of the solar cells to dissipate heat generated in the bypass diode to the one or more of the solar cells.

Abstract: An example apparatus includes an enclosed rectangular container, including an openable first end and an openable second end. The apparatus further includes at least one first supporting base positioned proximate to the first end of the container that has an adjustable height in order to align a floor of the container with a trailer. The apparatus also includes at least one second supporting base positioned proximate to the second end of the container that has an adjustable height in order to align the floor of the container with a loading dock. The apparatus additionally includes a robotic manipulator connected to the floor of the container that is configured to move one or more objects between the trailer and the loading dock by moving the one or more objects through the container when the first end and the second end of the container are opened.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining and assigning intermediate handoff checkpoints for low-resolution robot planning. In various implementations, a global path planner may identify a task to be performed by a robot in an environment. In various implementations, the global path planner may determine, based at least in part on one or more attributes of the environment or the task, an intermediate handoff checkpoint for the robot to reach by a scheduled time while the robot performs the task. In various implementations, the global path planner may determine that a measure of reactivity that would be attributable to the robot upon the robot being assigned the intermediate handoff checkpoint satisfies a reactivity threshold. In various implementations, the global path planner may provide, to a local path planner associated with the robot, data indicative of the intermediate handoff checkpoint.

Abstract: Embodiments of a process including determining a position of an observer relative to a pixel array positioned on a diffuse surface, the pixel array comprising a plurality of individual display pixels, determining the observer's viewing angle relative to the pixel array based on the position of the observer relative to the pixel array, and adjusting the brightness of the pixel array so that the brightness of the pixel array when viewed at the observer's viewing angle substantially matches the brightness of the diffuse surface when viewed at the observer's viewing angle. Other embodiments are disclosed and claimed.

Abstract: A display apparatus including a screen layer for displaying a unified image to a viewer and an illumination layer having an array of light sources. Each light source emits a light beam. An array of optical elements, each coupled to a corresponding light source in the array of light sources, is disposed between the screen layer and the illumination layer. The display layer includes a matrix of pixlets and a spacing region disposed between the pixlets in the matrix, wherein the array of light sources emit their light beams through the array of optical elements, wherein each optical element is configured to shape the received light beam into a divergent projection beam having a 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 the unified image that is substantially seamless.

Abstract: Generating a grasp pose for grasping of an object by an end effector of a robot. An image that captures at least a portion of the object is provided to a user via a user interface output device of a computing device. The user may select one or more pixels in the image via a user interface input device of the computing device. The selected pixel(s) are utilized to select one or more particular 3D points that correspond to a surface of the object in the robot's environment. A grasp pose is determined based on the particular 3D points. For example, a local plane may be fit based on the particular 3D point(s) and a grasp pose determined based on a normal of the local plane. Control commands can be provided to cause the grasping end effector to be adjusted to the grasp pose, after which a grasp is attempted.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.

Abstract: Aspects of the disclosure relate to systems and techniques for inspecting seals for high altitude balloons. In one example, a system may include a reflective surface, a translucent material on the reflective surface, and a movable light source configured to move along the reflective surface and provide light to the reflective surface. The light is provided such that it is reflected from the reflective surface and through the translucent material in order to backlight a balloon envelope seal for inspection. A method for inspecting a balloon envelope seal may include placing balloon envelope material on a table, forming a seal between portions of the material, moving a light over the seal, shining light onto a reflective portion of the table below the seal to backlight the seal, and inspecting the seal using the backlighting of the seal.

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: Disclosed are methods for intelligently charging a battery faster. In some embodiments, the method includes determining, by a computing device, a target state of charge (SOC) from a set of predefined SOCs, where at least one of the predefined SOCs is less than a 100% SOC. Further, the method includes determining, by the computing device, a state of a battery, where the state of the battery is indicative of one or more characteristics of the battery. Further, the method includes, based at least on the state of the battery, the computing device determining a pulse time and a rest time of a current for charging the battery to the target SOC. Yet further, the method may include the computing device charging the battery to the target SOC with the pulse time and the rest time of the current.

Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for selecting robot poses to account for cost. In various implementations, a plurality of candidate instruction sets may be determined. Each candidate instruction set may be configured to cause a robot to assume a different respective set of poses while traversing a reference point along a path. In various implementations, a cost incurred while the robot implements the candidate instruction set to traverse the reference point along the path may be calculated. A candidate instruction set associated with an incurred cost that satisfies a first criterion may be selected from the plurality of candidate instruction sets. In some implementations, the selected candidate instruction set and incurred cost may be associated with the path.

Abstract: A hybrid optical system for a head wearable display includes a central vision lens and a peripheral vision lens. The central vision lens approximately aligns with a cornea of a user to provide lensing to a central vision of the user when the user is looking straight forward. The peripheral vision lens, different than the central vision lens, provides lensing to an extended field of view that extends angularly beyond the central vision lensed by the central vision lens when the user is looking straight forward. The peripheral vision lens is disposed around the central vision lens. The peripheral vision lens has a co-incident optical center with the central vision lens but the central vision lens is offset from a physical center of the peripheral vision lens.

Abstract: A system may include an aerial vehicle, a perch platform configured to receive the aerial vehicle, and a ground station coupled to the aerial vehicle via a tether. The ground station may include a winch including a winch drum configured to move laterally and spin in a manner such that the tether is wound onto on the winch drum in a repeating pattern, possibly utilizing a fixed position levelwind. The system may additionally include a tower around which the winch and the perch platform can rotate about a vertical axis relative to the tower. The system may further utilize the tether forces on the levelwind to help move the perch platform around the vertical axis or be driven actively by a motor.