Abstract: Methods, systems, and apparatus, including computer programs stored on a computer-readable storage medium, for obtaining, from an electric field sensor, measurements of a net electric field resulting from a combination of respective electric fields from two or more electrical power conductors that are proximate to the electric field sensor. The apparatus detects a change in successive measurements of the net electric field. The apparatus determines, based on the change, that an electrical fault has occurred in one of the two or more electric power conductors. The apparatus sends to a server system, data indicating that the electrical fault has occurred in one of the two or more electric power conductors.

Abstract: An in-ear device includes a housing shaped to hold the in-ear device in an ear of a user, and an audio package, disposed in the housing, to emit augmented sound. A first set of one or more microphones is positioned to receive external sound, and a controller is coupled to the audio package and the first set of one or more microphones. The controller includes a low-latency audio processing path, digital control parameters, and logic that when executed by the controller causes the in-ear device to perform operations. The operations may include receiving the external sound with the first set of one or more microphones to generate a low-latency sound signal; augmenting the low-latency sound signal by passing the low-latency sound signal through the low-latency audio processing path to produce an augmented sound signal; and outputting, with the audio package, the augmented sound based on the augmented sound signal.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for logging real-time data of a robot control system.

Abstract: Systems and apparatus for gas sensing including: a sample inlet; a first sorbent tube and a second sorbent tube each in fluidic communication with the sample inlet, wherein the first sorbent tube is sensitive to a first set of gas analytes and the second sorbent tube is sensitive to a second, different set of gas analytes; an array of gas sensors housed in a chamber that is in fluidic communication with the first sorbent tube and the second sorbent tube; and a desorption system configured to selectively desorb and direct contents from each of the first sorbent tube and the second sorbent tube into the chamber housing the array of gas sensors at different times. Methods for gas sensing are also disclosed.

Abstract: An optical communication device is provided that includes a first lens having a first surface and a second surface, a second lens having a third surface and a fourth surface, an optical fiber configured to output light including a plurality of ray bundles, and a photodetector located at the fourth surface of the second lens. The first lens is configured to cause the light output from the optical fiber to form an image at an image plane located at the third surface of the second lens. The second lens is configured to cause subsets of the ray bundles received at the third surface of the second lens to intersect or overlap at the photodetector in a smaller cross-sectional area than at the third surface of the second lens.

Abstract: An example system includes a disk that is rotatable and has a plurality of ferromagnetic elements disposed in a radial array on a surface of the disk; and at least one electro-permanent magnet (EPM) mounted adjacent to the disk such that a gap separates the disk from the EPM. Applying an electric pulse to the at least one EPM changes a magnetic state thereof, thereby generating an external magnetic field that traverses the gap between the disk and the EPM and interacts with a ferromagnetic element of the plurality of ferromagnetic elements, and causing a rotational speed of the disk to change as the disk rotates.

Abstract: One method disclosed includes booting a computer with a bootloader, where the bootloader is stored on an unencrypted portion of a data storage device of the computer. The method further includes unsealing a decryption password for an encrypted portion of the data storage device from a trusted platform module (TPM) using a first sealing policy, where the first sealing policy excludes dependence on a first platform configuration register (PCR), wherein the first PCR stores a measurement result associated with the bootloader. The method subsequently includes sealing the decryption password into the TPM using a second sealing policy, where the second sealing policy includes dependence on the first PCR.

Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

Abstract: The present disclosure relates to a closed loop aptamer development system that identifies one or more aptamers observed experimentally and implements machine-learning models to identify other aptamers not observed experimentally. Particularly, aspects of the present disclosure are directed to receiving a query concerning one or more targets, acquiring a library of aptamers that potential satisfy the query, identifying a first set of aptamers from the library of aptamers that substantially or completely satisfy the query, obtaining sequence data for the first set of aptamers, generating, by a prediction model, a third set of aptamers derived from the sequence data for the first set of aptamers, validating the third set of aptamers that substantially or completely satisfy the query, and upon validating the third set of aptamers and in response to the query, providing the third set of aptamers as a result to the query.

Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.

Abstract: Methods, systems, and apparatus for receiving data that represents a portion of a property that was obtained by a robot, identifying, based at least on the data, objects that the data indicates as being located within the portion of the property, determining, based on the objects, a semantic zone type corresponding to the portion of the property, accessing a mapping hierarchy for the property, wherein the mapping hierarchy for the property specifies semantic zones of the property that have corresponding semantic zone types and are associated with locations at the property, and specifies characteristics of the semantic zones, and selecting, from among the semantic zones and based at least on the semantic zone type and the data, a particular semantic zone, and setting, as a current location of the robot at the property, a particular location at the property associated with the particular semantic zone.

Abstract: Methods, systems, and devices for managing robot resources are described. A robot receives from an application a request to reserve a particular set of physical resources of the robot. The robot then determines that each of the physical resources in the set are available to the application and, based on the determination, allocates exclusive use of the particular set of resources to the application by (i) generating a token corresponding to the set of resources, (ii) providing the token to the application, and (iii) updating token data that associates the token with the set of resources. The robot then controls access to the particular set of resources such that, while token data indicates that the token is valid, commands from applications that involve the set of resources are only executed when provided with the token corresponding to the allocation of access to the particular set of resources.

Abstract: A wallpaper-like audio/visual system includes a display array of display pixels to emit an image, an array of speakers to emit audio, and driver circuitry coupled to the display array and the array of speakers to drive the display pixels and the speakers with the first and second signals, respectively, in response to receiving audio and visual input signals. The speakers are interspersed amongst the display pixels.

Abstract: Methods, systems, and apparatus, including computer programs stored on a computer-readable storage medium, for obtaining a reference phase signal that is synchronized with an alternating current (AC) phase of a multi-phase electrical power distribution system. The apparatus obtains output signals from sensors, each output signal representative of an electromagnetic emission detected by a respective sensor. The apparatus identifies, based on comparing respective phases of the output signals to the reference phase signal, a particular AC phase of the multi-phase electrical power distribution system associated with a source of the emissions. The apparatus provides an indication of the particular AC phase to a user.

Abstract: Retention mechanisms are used for coupling two objects, such as coupling end-of-arm tooling to a robotic arm system. The retention mechanisms may include two mounting members, each of which may be attached to a respective object to be coupled, such as an end effector and a robotic device appendage. The retention mechanisms may use interlocking alternating fingers on each mounting members to cooperatively form a tapered annular channel into which an external retaining ring or disc spring fits and applies pressure to secure the opposing mounting members in tight proximity to each other.

Abstract: This specification describes trajectory planning for robotic devices. A robotic navigation system can obtain, for each of multiple time steps, data representing an environment of a robot at the time step. The system generates a series of occupancy maps for the multiple time steps, and uses the series of occupancy maps to determine occupancy predictions for one or more future time steps. Each occupancy prediction can identify predicted locations of obstacles in the environment of the robot at a different one of the future time steps. A planned trajectory can be determined for the robot using the occupancy predictions, and the robot initiates travel along the planned trajectory.

Abstract: An example method includes determining a path to be followed by a vehicle through an environment. The path includes an ordered sequence of positions. The method also includes determining an intersection between a first object in the environment and a first area planned to be occupied by the vehicle while moving along the path and, in response, sequentially testing the ordered sequence of positions to identify a first ordinal position in the ordered sequence of positions, where the first ordinal position corresponds to a second area planned to be occupied by the vehicle while moving along the path, and where the second area is within a threshold distance of the first object. The method additionally includes trimming the path to remove (i) the first ordinal position and (ii) any positions subsequent thereto and causing the vehicle to stop at an end of the trimmed path.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media for evaluating robot learning. In some implementations, one or more computers receive object classification examples from a plurality of robots. Each object classification example includes (i) an embedding that a robot generated using a machine learning model, and (ii) an object classification corresponding to the embedding. The object classification examples are evaluated based on a similarity of the received embeddings with respect to other embeddings. A subset of the object classification examples is selected based on the evaluation of the quality of the embeddings. The subset of the object classification examples is distributed to the robots in the plurality of robots.

Abstract: Aspects of the disclosure provide an optical communication system. The system may include a receiver lens system configured to receive a light beam from a remote optical communication system and direct the light beam to a photodetector. The system may also include the photodetector. The photodetector may be configured to convert the received light beam into an electrical signal, and the photodetector may be positioned at a focal plane of the receiver lens system. The system may also include a phase-aberrating element arranged with respect to the receiver lens system and the photodetector such that the phase-aberrating element is configured to provide uniform angular irradiance at the focal plane of the receiver lens system.

Abstract: A method for analyzing electroencephalogram (EEG) signals is disclosed. Information associated with two or more options is presented to a user. EEG signals from a sensor coupled to the user are received contemporaneously to the user receiving information associated with the two or more options. The EEG signals are processed in real time to determine which one of the options was selected by the user. In response to determining which one of the options was selected by the user, an action from one or more possible actions associated with the information presented to the user is selected. An output associated with the selected action is then generated.