Abstract: An example method may include receiving, from a sensor on a vehicle, an initial plurality of sensor data points representing a position of a face of a pallet. The vehicle may include tines configured to engage the pallet. A baseline geometric representation of the face of the pallet may be determined based on the initial plurality of sensor data points. The vehicle may be caused to reposition the tines relative to the pallet. A subsequent plurality of sensor data points representing the position of the face of the pallet after repositioning the tines may be received from the sensor. An updated geometric representation of the face of the pallet may be determined based on the subsequent sensor data points. It may be determined that the updated geometric representation deviates from the baseline geometric representation by more than a threshold value and, in response, motion of the vehicle may be adjusted.

Abstract: Systems and Methods for Augmented-Human Field Inspection Tools for Automated Phenotyping Systems and Agronomy Tools. In one embodiment, a method for plant phenotyping, includes: acquiring a first set of observations about plants in a field by a trainer. The trainer carries a sensor configured to collect observations about the plant, and the first set of observations includes ground truth data. The method also includes processing the first set of observations about the plants by a trait extraction model to generate instructions for a trainee; and acquiring a second set of observations about the plants by a trainee while the trainee follows the instructions.

Abstract: A light emitting device that includes: a plurality of light emitting elements arranged at different locations in a common plane, each light emitting element including: at least one layer of a semiconductor material; a first electrical terminal located at a first location; a second electrical terminal located at a second location; and a third electrical terminal located at a third location; a first electrode layer including one or more electrodes; a second electrode layer including one or more electrodes; a third electrode layer including one or more electrodes; a first electrically insulating layer disposed between the plurality of light emitting elements and also disposed between the first and second electrode layers; and a second electrically insulating layer disposed between the plurality of light emitting elements and also disposed between the second and third electrode layers.

Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.

Abstract: The disclosure provides for a method for adjusting a component of a communication device. The method includes using the one or more processors of the communication device to receive one or more measurements related to the state of the communication device during a first timeframe, as well as an indication of an amount of received power at a remote communication device during the first timeframe. The one or more processors then estimate a plurality of disturbance values to the communication device for the first timeframe and a second timeframe smaller than the first timeframe according to the one or more measurements and the indication. Based on the plurality of disturbance values, the one or more processors adjust a given component of the communication device to cause a change in power of a signal to be transmitted from the communication device to the remote communication device.

Abstract: Examples described may enable rearrangement of pallets of items in a warehouse to an optimal layout. An example method includes receiving real-time item information including pallet locations in a warehouse and real-time inventory of items arranged on the pallets; determining a likelihood of demand for future access to the pallets based on a pallet relocation history and item receiving/shipment expectations; based on the real-time item information and the likelihood of demand, determining an optimal controlled-access dense grid layout in which distances of the pallets from a center of the layout are related to the likelihood of demand; receiving real-time robotics information and using the real-time robotics information to determine an amount of time to rearrange the pallets to the optimal layout; and, based on the amount of time to rearrange the pallets being less than a threshold, causing the robotic devices to rearrange the pallets to the optimal layout.

Abstract: An optical communication terminal is configured to operate in two different complementary modes of full duplex communication. In one mode, the terminal transmits light having a first wavelength and receives light having a second wavelength along a common free space optical path. In the other mode, the terminal transmits light having the second wavelength and receives light having the first wavelength. The terminal includes a steering mirror that directs light to and from a dichroic element that creates different optical paths depending on wavelength, and also includes spatially separated emitters and detectors for the two wavelengths. A first complementary emitter/detector pair is used in one mode, and a second pair is used for the other mode. The system also includes at least two ferrules. Each ferrule operates with a single emitter/detector pair. The ferrules are designed to operate interchangeably with either emitter/detector pair.

Abstract: Systems and methods for plant phenotyping using mechanical manipulation are disclosed. In one embodiment, a method for plant phenotyping includes: agitating a plant with an agitator; acquiring images of the plant with a camera while agitating the plant; and analyzing the images of the plant to determine properties of the plant. The plant may be at least partially agitated at a resonance frequency of oscillation of a stalk of the plant.

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 light field display for displaying a series of image frames to one or more viewers, the light field display includes: a plurality of light field pixels, each light field pixel including a plurality of light emitting elements, each light emitting element being configured to emit substantially collimated light, in which each light field pixel selectively emits light from each light emitting element into one or more of a plurality of different viewing directions during a single image frame during operation of the light field display; and an electronic controller in communication with the plurality of pixels, the electronic controller being programmed to cause each light field pixel to direct light into one or more of the plurality of different viewing directions such that a perspective of a displayed image varies according to the viewing direction.

Abstract: A physical voxel, a volumetric testbed, and method for physically simulating a photonic device are described herein. The volumetric testbed comprises a simulation stage and a controller. The simulation stage includes a three-dimensional array of a physical voxels configurable to represent the photonic device operating in response to electromagnetic radiation. The physical voxels includes a field detector to measure a local field response and an impedance adjuster to adjust an impedance to the electromagnetic radiation. The controller is coupled to memory which stores instructions that when executed by one or more processors included in the controller causes the volumetric testbed to perform operations including determining a global field response of the photonic device and adjusting the impedance of the physical voxels to refine a design of the photonic device.

Abstract: Systems, methods, devices, and techniques for planning travel of an autonomous robot. A system identifies one or more obstacles that are located in proximity of at least a portion of a planned route for the autonomous robot. For each obstacle, the system: (i) determines a semantic class of the obstacle, including selecting the semantic class from a library that defines a set of multiple possible semantic classes for obstacles, and (ii) selects a planning policy for the obstacle that corresponds to the semantic class of the obstacle. The system can generate a trajectory along the at least the portion of the planned route using the selected planning policies. The robot can then initiate travel according to the trajectory.

Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.

Abstract: Methods, systems, and apparatuses, including computer programs encoded on a computer-readable storage medium for estimating the shape, size, and mass of fish are described. A pair of stereo cameras may be utilized to obtain right and left images of fish in a defined area. The right and left images may be processed, enhanced, and combined. Object detection may be used to detect and track a fish in images. A pose estimator may be used to determine key points and features of the detected fish. Based on the key points, a three-dimensional (3-D) model of the fish is generated that provides an estimate of the size and shape of the fish. A regression model or neural network model can be applied to the 3-D model to determine a likely weight of the fish.

Abstract: The present application discloses implementations relate to automated generation of interlocking joint features. An example method involves obtaining a virtual model of an object. The virtual model specifies dimensions of a first element, dimensions of a second element, and a spatial relation between the first element and the second element that defines a joint angle. The example method also involves obtaining a relationship that correlates element dimensions and joint angles with cut dimensions. The example method further involves determining cut dimensions for the first element the second element based on the relationship, the dimensions of the first element, the dimensions of the second element, and the joint angle. Modifying the first element and the second element according to the cut dimensions produces interlockable features on the first element and the second element. Additionally, the method involves providing an output signal indicative of the cut dimensions.

Abstract: A computer-implemented method includes receiving data from one or more sensors that detect one or more environmental parameters associated with an autonomous submersible structure, determining one or more navigation parameters based on the one or more environmental parameters and one or more viability profiles associated with cargo contained within the autonomous submersible structure and that specify constraints on the one or more environmental parameters, and controlling, based on the one or more navigation parameters, a propulsion system of the autonomous submersible structure.

Abstract: A passive illuminator includes a luminescent region with a semiconductor material that absorbs first photons having energy greater than or equal to a threshold energy. In response to absorbing the first photons, the semiconductor material emits second photons, through a spontaneous emission process, having less energy than the first photons. A waveguide is optically coupled to the luminescent region to transport the second photons a distance from the luminescent region. An extraction region optically coupled to the waveguide to emit the second photons, and the waveguide is disposed between the extraction region and the luminescent region.

Abstract: A technique and apparatus for monitoring a plant canopy over a field is disclosed. The technique includes receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy. The first sensor values are indicative of near-infrared (IR) light reflected or reradiated from the plant canopy. Second sensor values are also received from the plant canopy sensors. The second sensor values are indicative of red light that is incident through the plant canopy. A map of the plant canopy may be generated based upon the first and second sensor values.

Abstract: Systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. In an embodiment, a method includes controlling the robot to contact a reference object with the tool. The reference object is a rigid object with a known location. A force feedback sensor of the robot indicates when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact is received. Additionally, the robot temporarily stops movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data is determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data describes the distance between at least one point on the tool and the attachment point.

Abstract: A system and method for a mobile hybrid transmitter/receiver (TX/RX) node for wireless resonant power delivery is disclosed. A hybrid TX/RX can be configured to travel to remote, wirelessly-powerable receivers and deliver power to them wirelessly. A hybrid TX/RX device can include a transmitter component (TX), a receiver (RX) component, and a power store for storing power for supply to remote receivers. The TX/RX device can be configured in an autonomous unmanned vehicle operational to travel between a fixed source transmitter devices and one or more specified locations that may be host to one or more remote receivers. In the location of the one or more remote receivers, the TX component may function to wirelessly transfer power from the power store to the one or more remote receivers. In the location of the fixed source transmitter device, RX component can be configured to receive power via wireless power transfer, and to use the received power to at least partially replenish the power store.