Abstract: A robot apparatus determines a reactive force of a wire member by a sensor, used for the transmission of a driving signal between the robot apparatus and a joint (or end effector). The robot apparatus includes: a plurality of links which constitute a robot arm; rotational joints which connect each of the links to each other; a motor which drives each of the rotational joints; and a cable as a wire member, which is arranged along each link and transmits a driving signal at least to a driving source. A controlling apparatus drives and controls the motor which drives the rotational joints, based on a value of a reactive force, which a cable reactive force measuring unit outputs, which measures the reactive force to be applied to a joint portion when the cable is deformed.

Abstract: A controlling unit obtains an error in position and orientation of each joint of a robot. The controlling unit uses an error component in a driving direction of an actuator included in the error in position and orientation ui of the joint to obtain a first correction quantity, to obtain a residual error excluding the error component in the driving direction of the actuator from the error in position and orientation of the joint, and to obtain—an error in position and orientation of the end point of the robot based on the residual error of each joint. The controlling unit uses the error in position and orientation of the joint based on the error in position and orientation of the end point of the robot to obtain a second correction quantity ?qi, and uses the first correction quantity and the second correction quantity to correct a joint instruction value.

Abstract: A method and apparatus for a walking robot. A first end effector connected to a first end of a robotic arm is moved relative to a surface of a structure and away from a second end effector connected to a second end of the robotic arm. The first end effector is secured relative to the surface of the structure after moving the first end effector relative to the surface. The second end effector connected to the second end of the robotic arm is moved relative to the surface of the structure and toward the first end effector.

Abstract: An apparatus and method are disclosed for enhancing a navigation solution of a portable device and a platform. Motion sensor data may be obtained corresponding to motion of the portable device, such that a first filter may be configured to output a navigation solution and at least one second filter may be configured to use the motion sensor data to generate at least one value. The at least one generated value may then be used with the first filter to enhance the navigation solution output by the first filter.

Abstract: A plug-in communication system, for implementation with a vehicle. The system in one aspect includes an onboard diagnostics port-expansion device, configured for mounting in the vehicle to, or adjacent, an onboard diagnostics port, and an onboard diagnostics port expansion connection line extending from the onboard diagnostics port-expansion device, the connection line being configured to connect the port-expansion device to one or more vehicle components. In another aspect, the system includes an inline remote-services terminal configured for wired connection inline, via a plurality of connection lines, to a remote-services module of the vehicle, a first connection line, of the plurality of connection lines, configured to connect to the inline remote-services terminal and to the remote-services module, and a second connection line, of the plurality of connection lines, configured to connect to the inline remote-services terminal and to the remote-services module.

Abstract: A method for monitoring wear of a ground-engaging tool associated with a machine in relation to productivity of the machine is disclosed. The ground-engaging tool defines an inner cavity and a first wall. The method includes receiving a first characteristic signal associated with the first wall from a first sensor, the first sensor operatively associated with the first wall. The method further includes receiving one or more productivity metrics associated with the machine from a performance monitoring system, the performance monitoring system operatively associated with the machine. The method further includes determining a first dimension of the ground-engaging tool based on the first characteristic signal, determining a first wear metric of the ground-engaging tool based on the first dimension, and correlating the first wear metric and the one or more productivity metrics.

Abstract: An electric power steering apparatus that calculates a first current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the first current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end, wherein an offset is given to input or output of the viscoelastic model for preventing an overheat, resulting in suppressing a rack end hitting.

Abstract: A sensor device includes two sensor parts and an ECU. An output division of one of the two sensor parts stops output of an output signal when a detected internal abnormality is a first abnormality. Further, when the detected internal abnormality is a second abnormality that is different from the first abnormality, the output division controls an abnormality signal to take a value indicative of the second abnormality. An abnormality determiner determines either of a signal obtainment abnormality or the first abnormality of the sensor part when the output signal is not obtained from the one of the sensor parts, or determines the second abnormality of the one of the sensor parts when the obtained output signal includes the abnormality signal having a value indicative of the second abnormality. Such determination, thus, enables the abnormality determiner to classify an abnormality caused in the sensor parts.

Abstract: A robot constructs a navigation map based on the cognitive mechanism of rat hippocampus. The robot collects current self-motion cues and color depth map information through exploring the environment; self-motion cues form spatial environment codes gradually through path integral and feature extraction of spatial cells in hippocampus, place field of place cells is gradually formed during exploring the process and covers the whole environment to form a cognitive map. Further, Kinect collects scene view and color depth map information of the current position in right ahead direction as an absolute reference, proceeding path closed-loop detection to correct the errors of the path integral. At a close-loop point, the system proceeds reset of spatial cells discharging activity to correct the errors of the path integral. The final point in navigation map includes coding information of place cells series, corresponding visual cues and position topological relationship.

Abstract: Multirobotic management can involve communications between a command or leader robot and one or more client or follower robots through a cloud computing system. In an example implementation, a leader robot can receive first sensory data captured by a first follower robot and second sensory data captured by a second follower robot, determine a command function based on at least one of the first sensory data and the second sensory data, and communicate with at least one of the first follower robot and the second follower robot based on the command function.

Abstract: An example method for flight path variation of an aircraft for noise management includes receiving noise inquiries of a community related to aircraft noise during flight over the community, receiving an output from noise sensors positioned within the community, determining a noise distribution plan for additional aircraft flying over the community so as to steer the additional aircraft and distribute additional aircraft noise in response to the noise inquiries and the output from the noise sensors, and based on flight path data of the additional aircraft and the noise distribution plan, assigning a flight path modification to aircraft via a data communication link. The flight path modification informs the aircraft to adjust the flight path to remain within associated margins of a required navigation performance (RNP) instrument flight procedure and to reduce noise impact to the community underneath the flight path.

Abstract: Methods and systems for monitoring a vehicle. In a parked state of the vehicle, the control unit of the vehicle is deactivated, and the signals of some of the sensors of the vehicle are detected and evaluated by way of a separate detecting unit. If, based on the sensor signals evaluated in this way, a defined event is detected, the previously deactivated control unit can be activated. Thus, the operating time of the control unit is minimized over the total life span of the vehicle.

Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.

Abstract: A high-performance electric power steering apparatus that includes a control system based on a physical model, includes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, eliminates or reduces the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and reduces the end hitting. The electric power steering apparatus calculates a current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the current command value, including: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end so as to suppress a rack end hitting.

Abstract: There is provided a robot device including a behavior plan unit that detects a current status of the robot device or an external environment and that decides one behavior plan of a plurality of behavior plan candidates as a future behavior plan, based on the current status, and a display control unit that decides one display pattern of a plurality of previously prepared display pattern candidates as display content to be displayed on a remote control device that remotely controls the robot device based on the decided behavior plan and that cause the remote control device to display the display pattern decided by the behavior plan unit.

Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for an unmanned aerial system inspection system. One of the methods is performed by a UAV and includes receiving, by the UAV, flight information describing a job to perform an inspection of a rooftop. A particular altitude is ascended to, and an inspection of the rooftop is performed including obtaining sensor information describing the rooftop. Location information identifying a damaged area of the rooftop is received. The damaged area of the rooftop is traveled to. An inspection of the damaged area of the rooftop is performed including obtaining detailed sensor information describing the damaged area. A safe landing location is traveled to.

Abstract: In a method for detecting whether a motor vehicle in a parked state, in particular in the switched-off state, has been hit or moved, at least one sensor signal is transmitted as a function of a position of the motor vehicle relative to at least one vehicle-external reference object from a sensor device to a control device. The control device compares the at least one sensor signal with at least one predetermined signal pattern or with at least one predetermined value interval or with at least one predetermined signal template, and transmits at least one control command for initiating a safety measure to at least one unit of the motor vehicle, when the comparison reveals a difference.

Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. The present teaching describes a method and system for controlling needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.