Abstract: A device is provided that includes a plurality of hardware segments. The device also includes a plurality of actuators to actuate the plurality of hardware segments. The device also includes a controller to cause at least one of the plurality of actuators to adjust positions of at least one of the plurality of hardware segments to correspond to a particular arrangement, to determine physical parameters of the device responsive to the adjustment of the positions, and to generate an identification code for the device based on the physical parameters. The physical parameters may include one or more of electrical parameters of the plurality of actuators or mechanical parameters of the plurality of actuators.

Abstract: Aspects of the disclosure relate to fabricating high-altitude balloons having a prebuilt parachute overlying the surface of the balloon envelope to handle catastrophic envelope failures. The balloon envelope is formed from a number of gore panels. Tendons are positioned adjacent to corresponding ones of the gore panels. Each tendon is configured to carry a load caused by pressurized lifting gas within the balloon envelope. The parachute is affixed to at least some of the tendons, and covers at least a portion of the balloon envelope adjacent to the apex of the envelope. The parachute may be sewn onto the tendons. An outer surface of the parachute is covered with a UV-protective material. For instance, an aluminum coating may be vapor-deposited onto the parachute's outer surface. An IR-reflective material may cover an inner surface of the parachute.

Abstract: A magnetic propeller device for an unmanned aerial vehicle (UAV) includes a propeller and a shaft mount that engage with a motor shaft of a UAV. The propeller and shaft mount each have a magnetic element. When both magnetic elements are aligned, the propeller engages the shaft mount by way of a magnetic holding force between the magnetic elements. When a propeller contacts an object and the propeller is displaced, the magnetic elements passively disengage the propeller from the shaft mount due to misalignment of the magnetic elements. Passive disengagement allows the propeller to rotate independently of the motor shaft. Once the UAV moves clear of the object, the magnetic elements can realign, such that the propeller re-engages the shaft mount and resumes rotation with the motor shaft.

Abstract: Aspects of the disclosure relate to techniques for manufacturing a balloon envelope including a duct for high altitude balloons. In one example, a first sheet of material may be provided. A premade duct may be arranged at least partially on the first sheet of material. The duct may include a first substance on an internal surface. A second sheet of material may be arranged over at least a portion of the duct. A heat sealing device may be applied to the second sheet of material to heat seal the first sheet of material to the second sheet of material. The heat sealing device may be applied over at least a portion of the duct in order to seal external surfaces of the duct to each of the first and second sheets of material and form a balloon gore. The first substance may keep the duct from being sealed to itself.

Abstract: The present disclosure relates to a deployment system for an unmanned aerial vehicle (UAV). In one aspect, an illustrative deployment system includes a communication system configured for receiving diagnostic data corresponding to an object included in a UAV, wherein the UAV has an expiration condition; and a logic module configured for (i) determining that the expiration condition has been satisfied based, at least in part, on the received diagnostic data, and (ii) responsive to determining that the expiration condition has been satisfied, initiating an action that includes sending to the UAV both (a) navigation data relating to a remedial facility, and (b) instructions to navigate to the remedial facility based, at least in part, on the navigation data.

Abstract: An example computer-implemented method involves determining that an aerostat is located within a first atmospheric layer. A first wind-velocity measure is indicative of wind velocity in the first atmospheric layer. The method also involves determining an altitude of an atmospheric layer boundary between the first atmospheric layer and a second atmospheric layer. A second wind-velocity measure is indicative of wind velocity in the second atmospheric layer, and the second wind-velocity measure differs from the first wind-velocity measure by at least a threshold amount. The method further involves determining a desired location for the aerostat, and during at least a portion of a flight towards the desired location, causing the aerostat to traverse back and forth across the atmospheric layer boundary while remaining within a predetermined vertical distance from the atmospheric layer boundary in order to achieve a desired horizontal trajectory.

Abstract: Methods and apparatus are disclosed for passively steering an antenna disposed on a balloon in a balloon network. An example balloon involves: (a) an antenna and (b) a pressure-sensitive mechanism in mechanical communication with the antenna such that a change in the balloon's altitude causes at least an element of the antenna to rotate upward or downward, a separation distance between two or more radiating elements to increase or decrease, or a separation distance between the two or more radiating elements and a reflector to increase or decrease.

Abstract: A rotor for use with an airborne wind turbine, wherein the rotor comprises a front flange, a can, a rear flange, and a rigid insert comprising a propeller mount, wherein the front flange, can, and rear flange comprise one of carbon fiber and spun aluminum, wherein a rear end of the front flange is attached to a front end of the can, and the rear flange is mounted to a rear end of the can, wherein the rigid insert is bonded to the front flange; and wherein the rigid insert comprises a tube that axially extends within the rotor to allow for the positioning of a driveshaft therethrough.

Abstract: An apparatus is provided that includes a solenoid chamber having a plunger configured to create an opening in a first balloon envelope of a balloon system when the solenoid chamber is actuated. The opening enables gas to evacuate from the first balloon envelope. A mixer valve having a nozzle is coupled to the solenoid chamber. The mixer valve is configured to create a gas mixture formed from the gas evacuating from the opening and atmospheric gas. A heating device is attached to the nozzle. The heating device is configured to heat the gas mixture created by the mixer valve. A second balloon envelope is attached to the nozzle. The second balloon envelope is arranged to expand in proportion to a quantity of the heated gas mixture passing through the nozzle. This expansion of the second balloon envelope creates an amount of lift for controlling descent of the balloon system.

Abstract: Embodiments relate to a container that can be installed at a remote location, detect a disaster event, and automatically deploy a UAV. In response to detection of the disaster event, such a container may be configured to: (i) determine whether or not one or more weather conditions affecting operation of an unmanned aerial vehicle (UAV) are conducive to deployment of the UAV to fly to the first geographic area, (ii) if the one or more conditions are conducive to deployment of the UAV, then deploy the UAV to fly to the first geographic area, and (iii) if the one or more conditions are not conducive to deployment of the UAV, then monitor the second data until it is determined that the one or more conditions are conducive to deployment of the UAV, and then deploy the UAV to fly to the first geographic area.

Abstract: Systems and devices may include a thermal management device that includes a high emissivity material. The high emissivity material is configured to have a high emissivity with respect to wavelengths of electromagnetic radiation in a thermal infrared spectrum. The thermal management device is arrangeable on a surface of a component of a stratospheric aerial vehicle. The thermal management device is configured such that when arranged on the component of the stratospheric aerial vehicle during flight, a first side of the thermal management device faces substantially upward with respect to ground, and the second side of the thermal management device faces substantially downward with respect to the ground. The second side is shaped to retain air that is warmer than an ambient air temperature at a stratospheric altitude.

Abstract: An example method includes receiving a plurality of templates of a plurality of objects, where a template comprises feature values sampled at corresponding points of a two-dimensional grid of points positioned over a particular view of an object and scaled based on a depth of the object at the particular view. The method may further include receiving an image of an environment and determining a matrix representative of the image, where a row of the matrix comprises feature values sampled at a particular point of the two-dimensional grid positioned over one or more locations within the image and scaled based on depths of the one or more locations. The method may additionally include determining at least one similarity vector corresponding to at least one template and using the at least one similarity vector to identify at least one matching template for at least one object located within the 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: A system may include a tether, a tether gimbal assembly, a drive mechanism, and a control system. The tether may include a distal end, a proximate end, and at least one conductor. The tether gimbal assembly may be connected to the tether. The drive mechanism may be coupled to the tether gimbal assembly and may include a housing, a spindle, and a motor. The housing may be fixed to the tether gimbal assembly. The spindle may be rotatably coupled to the housing, and the tether may be coupled to the spindle and rotate in conjunction with the spindle. The motor may be coupled to the spindle and configured to rotate the spindle and the tether. And the control system may be configured to operate the drive mechanism to control twist in the tether.

Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

Abstract: In one aspect, a method is described. The method may include operating a plurality of circuit elements, and operating a plurality of fault-mitigation circuits. Each circuit element may include an energy storage element, each individual fault-mitigation circuit may be electrically coupled in parallel to a respective circuit element, and each individual fault-mitigation circuit may include a switch. The method may include detecting an electrical fault in one of the circuit elements and cycling the switch of the fault-mitigation circuit coupled in parallel to the faulty circuit element between an open position and a closed position until the storage element of the faulty circuit element is discharged of energy, at which point the switch remains closed.

Abstract: A system for filling balloons with lift gas is provided. The system includes apparatus for use with a balloon envelope of a balloon. This apparatus includes a main body having first and second portions. The first portion has a fill port and a hollow tube portion in communication with the fill port. The second portion has a surface and is insertable into a predefined opening in the balloon envelope. The surface of the second portion is configured to attach to an inner portion of the balloon envelope when the second portion is inserted in the predefined opening.

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 control system for terminating flight of a balloon having a balloon envelope is provided. The control system includes a shuttle that has one or more cutting blades. The cutting blades are configured to cut open the balloon envelope. A tubular track is attached to a section of the balloon envelope. This tubular track has a guiding portion arranged to receive and guide the shuttle along the track. The control system includes a type of releasable ballast attached to the shuttle. When the ballast is released, the ballast is configured to move the shuttle along the tubular track in order to cause at least one of the cutting blades to cut open a portion of the balloon envelope. This allows lift gas to escape from the balloon envelope.

Abstract: An image generating system includes an electromagnetic (“EM”) modulator, a camera module and a logic engine. The EM modulator is positioned to direct EM waves to a photoactive surface to stimulate the photoactive surface to generate an image. The camera module is positioned to monitor the photoactive surface to generate image data. The logic engine is communicatively coupled to the camera module and configured to receive the image data from the camera module and analyze the image data. The logic engine is communicatively coupled to the EM modulator to command the EM modulator where to direct the EM waves in response to the image data.