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: A display panel includes an array of display pixels to output an image. The array of display pixels includes a central pixel region and a perimeter pixel region. The central pixel region includes central pixel units each having three different colored sub-pixels. The different colored sub-pixels of the central pixel units are organized according to a central layout pattern that repeats across the central pixel region. The perimeter pixel region is disposed along a perimeter of the central pixel region and includes perimeter pixel units that increase a brightness of the image along edges of the central pixel region to mask gaps around the array of display pixels when tiling the array of display pixels with other arrays of display pixels.

Abstract: A computing device can determine a roadmap having a path for a robotic device in an environment associated with starting and ending poses. The computing device can generate a plurality of trajectories from the starting pose, where each trajectory can include a steering position and a traction velocity directing the robotic device during a planning time interval. For each trajectory of the plurality of trajectories, the computing device can determine a score for the trajectory indicative of advancement from the starting pose toward the ending pose after simulating the steering position and the traction velocity for the planning time interval. The computing device can select, and then store, a nominal trajectory from among the scored plurality of trajectories. The computing device can receive a first request to provide a route though the environment and can send a first response that includes the stored nominal trajectory.

Abstract: A sensor system includes a body, which includes an outer wall defining an inner opening centered about an axis, and radiating structures disposed in the opening and extending radially from the axis to the outer wall. The radiating structures are spaced circumferentially around the axis by a substantially equal angle. The system includes sensors that generate signals in response to deformations of the radiating structures. The signals provide vectors corresponding to the deformations. The deformations are caused by: (i) a torque about the axis, and (ii) a secondary torque or force. The system includes a controller electrically coupled to the sensors and configured to determine, by combining the vectors provided by the signals, a measurement of the torque about the axis. The sensors are arranged on the radiating structures such that combining the vectors substantially eliminates any effect of the secondary torque or force from the measurement.

Abstract: This specification describes technologies for mental state measurement using sensor data obtained from sensors attached to objects. One embodiment is a method that includes receiving sensor data from sensors attached to non-wearable objects. The first and second attachable sensors each include an output and a sensor. The method further includes determining mental state data from the sensor data; and causing to be displayed a representation of a mental state based on the mental state data. The method can further include: deriving an action metric from the mental state data; comparing the action metric to a threshold; automatically taking an action when the action metric exceeds the threshold; collecting post action sensor data; determining post action mental state data based at least in part on the post action sensor data; and forwarding the post action mental state data for display of a representation of a mental state.

Abstract: Methods and systems for dynamically maintaining a map of robotic devices in an environment are provided herein. A map of robotic devices may be determined, where the map includes predicted future locations of at least some of the robotic devices. One or more robotic devices may then be caused to perform a task. During a performance of the task by the one or more robotic devices, task progress data may be received from the robotic devices, indicative of which of the task phases have been performed. Based on the data, the map may be updated to include a modification to the predicted future locations of at least some of the robotic devices. One or more robotic devices may then be caused to perform at least one other task in accordance with the updated map.

Abstract: Systems, methods, and computer-readable media for receiver channel calibration are provided. The method includes generating a plurality of calibration signals corresponding to a plurality of receiver channels, respectively. The plurality of calibration signals are combined with a plurality of data signals, respectively, thereby generating a plurality of combined signals. The plurality of combined signals are propagated through at least portions of the plurality of receiver channels, respectively. The plurality of calibration signals are extracted from the propagated plurality of combined signals, respectively. At least two signal characteristics of at least two of the extracted plurality of calibration signals are compared. At least one adjustment in gain, phase, or timing for at least one of the receiver channels is identified based on a result of the comparing. Based on the identified adjustment, a data signal received via the at least one of the plurality of receiver channels is adjusted.

Abstract: Systems, methods, and computer-readable media for receiver channel calibration are provided. The method includes generating a plurality of calibration signals corresponding to a plurality of receiver channels, respectively, of a receiver module. The plurality of calibration signals are propagated through at least portions of the plurality of receiver channels, respectively. At least two signal characteristics of at least two of the propagated plurality of calibration signals are compared. At least one adjustment in gain, phase, or timing for at least one of the plurality of receiver channels is identified based on a result of the comparing. Based on the identified adjustment, a data signal received via the at least one of the plurality of receiver channels is adjusted.

Abstract: Systems, methods, and computer readable media for transmitter channel calibration are provided. The method includes generating a plurality of calibration signals corresponding to a plurality of transmitter channels, respectively, of a transmitter module. The plurality of calibration signals are propagated through at least portions of the plurality of transmitter channels, respectively. At least two signal characteristics of at least two of the propagated plurality of calibration signals are compared. At least one adjustment in gain, phase, or timing for at least one of the plurality of transmitter channels is identified based on a result of the comparing. Based on the identified adjustment, a data signal transmitted via the at least one of the plurality of transmitter channels is adjusted.

Abstract: Systems, methods, and computer-readable media for transmitter channel calibration are provided. The method includes generating a plurality of calibration signals corresponding to a plurality of transmitter channels, respectively. The plurality of calibration signals are combined with a plurality of data signals, respectively, thereby generating a plurality of combined signals. The plurality of combined signals are propagated through at least portions of the plurality of transmitter channels, respectively. The plurality of calibration signals are extracted from the propagated plurality of combined signals, respectively. At least two signal characteristics of at least two of the extracted plurality of calibration signals are compared. At least one adjustment in gain, phase, or timing for at least one of the transmitter channels is identified based on a result of the comparing. Based on the identified adjustment, a data signal transmitted via the at least one of the plurality of transmitter channels is adjusted.

Abstract: Aspects of the disclosure provide techniques for automatic repeat request (ARQ) in a free-space optical communication (FSOC) architecture. These techniques, including block-selective ARQ, adaptive retransmission delay, and random seed scrambling, can be used individually or in combination to combat problems involving frame loss or corruption. These techniques enable the system to rapidly recover by streamlining the retransmission process. For instance, block-selective ARQ acknowledges variable length blocks of frames in the return stream from the receiver to the transmitter. Adaptive retransmission delay allows the retransmission delay to grow in the absence of feedback by the receiver, up to some defined limit. And with random seed sampling, a scrambling sequence is incorporated to aid with frame syncing, which avoids the need for a line code. These aspects of the technology provide a robust communication process, and also reduce overhead costs associated with unnecessary retransmissions.

Abstract: An example fabrication system includes a light source, a resin container, and a base plate on which resin is cured using the light source so as to build up an object one layer at a time. The disclosed base plate includes a build surface and an anchor channel that extends into the base plate from the build surface. The anchor channel is a recess in the base plate configured to have a narrow width that is closer to an opening to the build surface than a broad width. The base plate can also have a light source that emits light into the anchor channel to cure resin within the anchor channel. Resin anchors cured within the anchor channel to conform to the anchor channel resist being extracted, and an object formed on the build surface remains anchored during fabrication via adhesion to the resin anchors.

Abstract: Embodiments described herein may relate to a system comprising a power source configured to provide a signal at an oscillation frequency; a transmitter coupled to the power source, wherein the transmitter comprises at least one transmit resonator; one or more receivers, wherein the at least one receive resonator is operable to be coupled to the transmit resonator via a wireless resonant coupling link; one or more loads, wherein each of the one or more loads is switchably coupled to one or more respective receive resonators. The system includes a controller configured to determine an operational state of the system, wherein the operational state comprises at least one of three coupling modes (common mode, differential mode, and inductive mode), and is configured to cause the transmitter to provide electrical power to each of the one or more loads via the wireless resonant coupling link according to the determined operational state.

Abstract: Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.

Abstract: A method includes: receiving, at a processor that is remote from a bone conduction device adhered to a user's skin, a first output signal from the bone conduction device, the first output signal having been generated by a first sensor in the bone conduction device, the first sensor being configured to detect non-audible inputs; identifying, at the processor, a first measurement signal characteristic based on the first output signal; determining, at the processor, that the first measurement signal characteristic is indicative of a state of the user; selecting a control signal configured to cause a transducer in the bone conduction device to generate an output to alter the state of the user or the user's perception of the state; and transmitting the control signal from the processor to the bone conduction device.

Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

Abstract: An example system includes a patterned light projector operable to direct first and second portions of patterned light toward first and second surfaces, respectively, in an environment. The first and second surfaces may be at first and second distances, respectively, from the structured light projector. A graduated optical filter may be situated along an optical path of the patterned light. The graduated optical filter includes first and second regions to attenuate an intensity of the first and second portions of the patterned light, respectively, by first and second amounts, respectively. The first amount is greater than the second amount. The system additionally includes an image sensor operable to generate image data based on at least the first and second portions of the patterned light and a processor configured to determine first and second values indicative of an estimate of the first and second distances, respectively, based on the image data.

Abstract: Example implementations described herein may provide a pipeline from a model of a given object to a model of one or more fingertips that are specialized to grasp the given object. An example system may receive a three-dimensional geometric model of a given object. The system may also iterate over a plurality of fingertip geometries to determine a particular fingertip geometry that is compliant to a shape of the given object at a grasp point on the given object. The system may further iterate the particular fingertip geometry over a plurality of fingertip sizes to determine a particular fingertip size that is compliant to one or more dimensions of the given object at the grasp point of the given object; and the system may provide a model of one or more fingertips having the particular fingertip geometry and the particular fingertip size.

Abstract: The method includes receiving axis signals from a multi-axis position sensing detector, generating a reference signal by summing the axis signals, determining a mirror position of a mirror directing the optical beam based on the beam position error of each axis of the multi-axis position sensing detector, and actuating the mirror to move to the mirror position. Each axis signal is indicative of a beam position of an optical beam incident on the multi-axis position sensing detector, each axis signal corresponding to an axis of the multi-axis position sensing detector. For each axis of the multi-axis position sensing detector, the method includes converting a phase of an axis to have a 90 degree phase difference from a signal of the axis, generating an axis-phasor signal by summing the axis signals, and comparing the axis-phasor signal and the reference signal to determine a phase difference.

Abstract: An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.