Abstract: A hauling machine is disclosed. The hauling machine may include a dump body and an inertial measurement unit (IMU) disposed proximate to the dump body. The IMU may be configured to measure an impact of a payload material on the dump body during a first load cycle, and generate impact data based on the impact of the payload material. The hauling machine may also include a controller in operative communication with the IMU. The controller may be configured to: receive the impact data from the IMU, estimate a center of gravity, a net load, and an amplitude of the impact of the payload material based on the impact data, and determine a desired dumping point of the payload material into the dump body for a second load cycle based on the center of gravity, the net load, and the amplitude of the impact.

Abstract: A method of controlling an end effector of a robotically-controlled surgical instrument may include receiving a first input signal indicative of a high grip level input at a master grip input mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure; and outputting a locking signal in response to receiving the first input signal and the second input signal together to lock one or more degrees of freedom of the surgical instrument during the first surgical procedure.

Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.

Abstract: Methods and systems for boarding a transportation vehicle are provided. One method includes configuring a passenger assist device (PAD) for use at a location for arriving and departing transportation vehicles by storing location data with maps and amenities information for the location; initializing a location tracking module to prevent unauthorized removal of the PAD from the location by a passenger; selecting a language by the passenger for communication with the PAD, when the passenger does not want to use a default language; retrieving connection and passenger transportation vehicle boarding location from where the passenger boards the vehicle; and presenting directions to the boarding location and information regarding amenities along a route to the boarding location.

Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

Abstract: A semi-autonomous robot system (10) that includes scanning and scanned data manipulation that is utilized for controlling remote operation of a robot system within an operating environment.

Abstract: A method for active vibration control of a hybrid electric vehicle may include: selecting a reference angle signal based on position information of a motor or an engine; generating a reference angle based on information of the reference angle signal; setting up a period of fast Fourier transform (FFT) and analyzing the FFT signal; setting up a reference spectrum according to an engine speed and an engine load; extracting a vibration component from each frequency based on information of the reference spectrum; selecting and adding a removal object frequency from the vibration of each frequency and performing inverse FFT; determining a basic amplitude ratio according to the engine speed and the engine load and an adjustable rate according to the engine load; and performing active vibration control of each frequency based on the information of the basic amplitude ratio, the adjustable rate, and the engine torque.

Abstract: According to a method according to the invention for controlling at least one manipulator, in particular a robot, a plurality of control commands (P, B, F) are worked through, in that in a state machine (ZM) the respective command runs through an active state (-A), wherein in a state machine at least one control command runs through a preliminary state (-E) that is placed ahead of its active state and/or a post-operational state (-P) that is placed after its active state, and/or a plurality of control commands are processed at the same time.

Abstract: Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point.

Abstract: A construction board installation robot comprises a frame with attached devices to securely hold and subsequently affix to a substructure a construction board, a robotic system consisting multiple joints and links to position the frame, and a cart containing ancillary equipment needed for the completion of the desired task and the ability to move and position the entire assembly under its own power. Positioning is determined dynamically utilizing a series of laser scanners and optical sensors. To assist a laborer with the mounting of boards, the arm and cart are capable of being easily maneuvered either through the use of integrated sensors that direct the actuation of the arm and/or cart wheels as determined by the push or pull of the operator on the device, a method of remote control, and/or independently with control software.

Abstract: A steering wheel within a vehicle includes a plurality of sensors that measure forces applied to the steering wheel. An application executing on a computing device records sensor data from the sensors, and then interprets that data as specific force inputs. The application then translates those force inputs into specific commands that can be executed by subsystems within the vehicle. At least one advantage of the techniques set forth herein is that the driver of a vehicle that implements the force control system need not remove either hand from the steering wheel in order to adjust the operation of subsystems within the vehicle, thereby improving driver safety.

Abstract: A computer-implemented method, system, and/or computer program product controls a driving mode of a self-driving vehicle (SDV) when a driver receives a telecommunication message on a telecommunication device. An SDV on-board computer within the SDV detects that the SDV is currently being operated in manual mode by a human driver. The SDV on-board computer detects that a telecommunication device located within the SDV is receiving a telecommunication message. In response to detecting that the telecommunication device within the SDV is receiving the telecommunication message, the SDV on-board computer transfers control of the SDV to the SDV on-board computer in order to place the SDV in autonomous mode, where the SDV is in the autonomous mode when steering, braking, throttle control, and obstacle avoidance by the SDV are all controlled by the SDV on-board computer.

Abstract: A parking assist system for a vehicle is provided that includes a proximity sensor configured to sense a distance to an obstacle, a parking controller configured to output a distance to target signal and a scheduler configured to process the distance to target signal and output a distance error signal to a control module configured to longitudinally control the vehicle. The scheduler is configured to process both a static and a dynamic distance to target signal.

Abstract: Methods, apparatus, systems, and computer readable media are provided for generating phase synchronized trajectories for actuators of a robot to enable the actuators of the robot to transition from a current motion state to a target motion state. Phase synchronized trajectories produce motion of a reference point of the robot in a one-dimensional straight line in a multi-dimensional space. For example, phase synchronized trajectories of a plurality of actuators that control the movement of an end effector may cause a reference point of the end effector to move in a straight line in Cartesian space. In some implementations, phase synchronized trajectories may be generated and utilized even when those phase synchronized trajectories are less time-optimal than one or more other non-phase synchronized trajectories.

Abstract: The present disclosure relates to an apparatus and a method for active vibration control of a hybrid electric vehicle.

Abstract: Appropriate vehicle stability control is enabled in a vehicle configured to carry out regeneration enhancement control. A predictive deceleration support control unit is configured to set a position at which the vehicle is predicted to finish deceleration as a target deceleration end position, and guide a driver to release an accelerator pedal so that the deceleration of the vehicle is finished at the target deceleration end position, to thereby carry out regeneration enhancement control under a state in which the accelerator pedal is released so as to generate a larger deceleration than in a normal state. The predictive deceleration support control unit is configured to read a vehicle stability control flag from a brake ECU and stop the regeneration enhancement control when the vehicle stability control is being carried out.

Abstract: In an aspect, a robotic system is provided and includes at least two digital servo modules, each of which includes a position-controlled motor and a position sensor for sensing a servo position, a plurality of building block elements that are connectable with the digital servo modules to create position-controlled joints of a robotic figure, at least two wheel modules enabling wheeled movement of the robotic figure and a central controller communicating with and controlling the digital servo modules and the wheel modules. The central controller operatively places a selected group of digital servo modules in a learned motion mode, wherein a corresponding group of position-controlled joints is enabled to be manually manipulated, and wherein each of the selected digital servo module periodically transmits servomotor position to the central controller. The central controller can steer the robotic figure wheel modules based on servo positions of the selected digital servo modules.

Abstract: The present disclosure provides an apparatus and a method for active vibration control of a hybrid electric vehicle. In particular, the method may include: detecting an engine speed or a motor speed; selecting a reference angle signal based on the detected; setting up a period of a fast Fourier transform (FFT) and performing FFT of the engine speed or the motor speed for the period of the FFT from the reference angle signal; setting up a reference spectrum; extracting vibration components based on the reference spectrum; summing vibration components to be removed based on the frequencies and performing inverse FFT; determining a basic amplitude ratio based on the engine speed and an engine load and an adjustable ratio based on a SOC; and performing active vibration control of each frequency based on the the basic amplitude ratio, the adjustable ratio and the engine torque.

Abstract: Based on input steering commands, a legged robot may select a target gait. Based on the target gait, the legged robot may obtain a list of gait controllers. Each gait controller may define a gait of the legged robot, and include validity tests and steering commands. The legged robot may apply a cost function to the gait controllers, where the cost for a gait controller is based on a difference between the steering commands of the gait controller and the input steering commands, and a proximity of the legged robot to obstacles should the legged robot operate according the gait controller. The legged robot may reorder the list in increasing magnitude of the cost function, and traverse the list until a validity test associated with a particular gait controller passes. The legged robot may actuate its legs according to the steering commands of the particular gait controller.

Abstract: A measured mark is arranged on a link of an articulated robot. A camera for measuring a position of the measured mark is arranged at a position distant from the articulated robot. A control apparatus of the articulated robot changes posture of the articulated robot, measures positions of the measured mark respectively before and after a change of the posture by the camera, and calculates an actual deflection amount of the link based on a movement amount between the position of the measured mark measured before the change of the posture and the position of the measured mark measured after the change of the posture.