Abstract: Ultrasonic ranging systems and methods that use coding to distinguish emitted bursts from multiple transducers temporally stagger the bursts emitted from the transducers. The stagger delay between bursts from different transducers in a sensing frame can be randomized between different sensing frames to prevent blind zones. The stagger delay can be relatively small (e.g., between 3 ms and 10 ms) as compared to delays required between bursts in a single-tone ranging system (which would need to be more on the order of between 30 ms and 40 ms, depending on the maximum detecting range of the ranging system). The coding of bursts can be selected to utilize the entire bandwidth of the bursting transducer so as to preserve short-range sensitivity over transducer ringing. Schemes in which some transducers in a system only listen for bursts from other transducers but do not themselves burst within a sensing frame are also described.

Abstract: Systems and methods for implementing sensory configurations in accordance with certain embodiments of the invention are illustrated. One embodiment includes an imaging system that includes cameras, wherein each camera includes image sensor(s). The imaging system includes video links, wherein each of the video links is configured to: connect a particular camera to a central processor, and carry power, from the central processor to the particular camera. The imaging system includes a memory that stores instructions for processing image data obtained from the cameras. The central processor is configured to execute the instructions to perform a method. The method aggregates the image data for each camera of the plurality of cameras to produce aggregated image data, using at least one mobile industry processor interface (MIPI) aggregator. The method processes the aggregated image data to produce a set of at least one environmental image.

Abstract: Systems and techniques for polarization are illustrated. One embodiment includes a system for polarization imaging. The system includes a camera that is an autofocus sensor. The camera includes a main lens. An aperture plane of the main lens is overlaid with a multiplexed polarization filter, where the multiplexed polarization filter includes a plurality of sub-filters; and each sub-filter follows a distinct polarization angle. The camera includes a detector array, wherein the detector array includes a plurality of sensor pixels. The camera includes a microlens array including a plurality of microlenses overlaid over the detector array. The microlens array is placed at a focal plane of the main lens. Each microlens is: unfiltered; and configured to direct incident light to a distinct subset of the sensor pixels. The system further includes a memory storing image data and a processor configured to execute instructions to process the image data.

Abstract: Systems and methods for payload management systems are illustrated. One embodiment includes a delivery mechanism. A mechanical linkage in the delivery mechanism includes rocking bars mounted to: a chassis and a first cross bar The mechanical linkage includes linear actuators that include piston-type actuators configured to move at least one payload in and out of a compartment. One end of each linear actuator is mounted to an individual rocking bar. The mechanical linkage includes at least one grapple, wherein each grapple comprises a hook mounted to a claw; and is mounted to a second cross bar. The hook is configured to open and close around the at least one payload; and rotate around the claw. The delivery mechanism includes a control circuit configured to open, close, and rotate the hook using a grapple motor and/or an end-of-travel switch; and to move the linear actuators relative to the rocking bars.

Abstract: Systems and methods for the application of surface normal calculations are illustrated. One embodiment includes a system for navigation, including: a processor; and instructions stored in a memory that when executed by the processor direct the processor. The processor obtains a set of sensor data, wherein sensor data includes a plurality of polarized images. The processor retrieves at least one navigation query; and a plurality of key-value pairs based on the polarized images. The processor inputs the at least one navigation query and the plurality of key-value pairs into a Cross-Attention Transformer that provides a set of weighted sums, wherein each weighted sum corresponds to: a certain key-value pair from the plurality of key-value pairs; and a certain sensor. The processor updates a model based on the set of weighted sums. The processor navigates the system within a 3D environment according, at least in part, to the model.

Abstract: The present disclosure relates generally to systems and methods for generating, processing and correlating data from multiple sensors in an autonomous navigation system, and more particularly to the utilization of configurable and dynamic sensor modules within light detection and ranging systems that enable an improved correlation between sensor data as well as configurability and responsiveness of the system to its surrounding environment.

Abstract: Systems and techniques performing autonomous navigation are illustrated. One embodiment includes a method for navigation. The method inputs a set of sensor data obtained from a plurality of sensors into at least one convolutional neural network (CNN). The at least one CNN generates a plurality of key-value pairs where each the key-value pair corresponds to an individual sensor from the plurality of sensors; and a value included in the key-value pair is determined based upon a subset of sensor data obtained from the individual sensor. The method inputs at least one navigation query and the plurality of key-value pairs into a Cross-Attention Transformer (CAT). The method obtains, from the CAT, a set of weighted sums, wherein each weighted sum corresponds to: a certain key-value pair; and a certain sensor from the plurality of sensors. The method updates a model depicting a 3D environment based on the set of weighted sums.

Abstract: Methods and systems for combining return signals from multiple channels of a LIDAR measurement system are described herein. In one aspect, the outputs of multiple receive channels are electrically coupled before input to a single channel of an analog to digital converter. In another aspect, a DC offset voltage is provided at the output of each transimpedance amplifier of each receive channel to improve measured signal quality. In another aspect, a bias voltage supplied to each photodetector of each receive channel is adjusted based on measured temperature to save power and improve measurement consistency. In another aspect, a bias voltage supplied to each illumination source of each transmit channel is adjusted based on measured temperature. In another aspect, a multiplexer is employed to multiplex multiple sets of output signals of corresponding sets of receive channels before analog to digital conversion.

Abstract: In one example, a method comprises using a first transducer, emitting a first acoustic signal representing a first code. The method further comprises using the first transducer, receiving a second acoustic signal, and converting the second acoustic signal to a sensor signal. The method further comprises computing a time-of-flight for the second acoustic signal based on a time difference between when the first transducer emits the first acoustic signal and when the first transducer receives the second acoustic signal. The method further comprises responsive to the correlation result indicating that the third acoustic signal is a reflection of a third acoustic signal emitted by a second transducer: determining a delay time between when the first transducer emits the first acoustic signal and when the second transducer emits the third acoustic signal; adjusting the time-of-flight based on the delay time; and providing a distance measurement based on the adjusted time-of-flight.

Abstract: The present disclosure relates generally to systems and methods for generating, processing and correlating data from multiple sensors in an autonomous navigation system, and more particularly to the utilization of configurable and dynamic sensor modules within light detection and ranging systems that enable an improved correlation between sensor data as well as configurability and responsiveness of the system to its surrounding environment.

Abstract: The present disclosure relates generally to systems and methods for configuring architectures for a sensor, and more particularly for light detection and ranging (hereinafter, “LIDAR”) systems based on ASIC sensor architectures supporting autonomous navigation systems. Effective ASIC sensor architecture can enable an improved correlation between sensor data as well as configurability and responsiveness of the system to its surrounding environment and avoid any unnecessary delay within the decision-making process that may result in a failure of the autonomous driving system. It may be essential to integrated multiple functions within an electronic module and implement the functionality with one or more ASICs.

Abstract: Described herein are systems and methods that may efficiently detect multi-return light signals. A light detection and ranging system, such as a LIDAR system, may fire a laser beam that may hit multiple objects with a different distance in one line, causing multi-return light signals to be received by the system. Multi-return detectors may be able to analyze the peak magnitude of a plurality of peaks in the return signals and determine a multitude of peaks, such as the first peak, the last peak and the maximum peak. One embodiment to detect the multi-return light signals may be a multi-return recursive matched filter detector. This detector comprises a matched filter, peak detector, centroid calculation and a zeroing out function. Other embodiments may be based on a maximum finder that algorithmically selects the highest magnitude peaks from samples of the return signal and buffers for regions of interests peaks.

Abstract: Techniques described herein include performing a distributed device trust determination that includes determining trust scores for customer devices across multiple organizations. In one example, this disclosure describes a method that includes receiving data of a user device event including an organization confidence level for a user device associated with the user device event; updating common data in an entry for the user device in a device registry based on the received data of the user device event and the organization confidence level for the user device; determining a common confidence level for the user device based on the common data in the entry for the user device in the device registry; and outputting the common confidence level for the user device for use by the computing device of the first organization to determine how to handle an access request from the user device.

Abstract: Described herein are systems and methods that may efficiently detect multi-return light signals. A light detection and ranging system, such as a LIDAR system, may fire a laser beam that may hit multiple objects with a different distance in one line, causing multi-return light signals to be received by the system. Multi-return detectors may be able to analyze the peak magnitude of a plurality of peaks in the return signals and determine a multitude of peaks, such as the first peak, the last peak and the maximum peak. One embodiment to detect the multi-return light signals may be a multi-return recursive matched filter detector. This detector comprises a matched filter, peak detector, centroid calculation and a zeroing out function. Other embodiments may be based on a maximum finder that algorithmically selects the highest magnitude peaks from samples of the return signal and buffers for regions of interests peaks.

Abstract: Described herein are systems and methods for improving detection of a return signal in a light ranging and detection system. The system comprises a transmitter and a receiver. A first sequence of pulses may be encoded with an anti-spoof signature and transmitted in a laser beam. A return signal, comprising a second sequence of pulses, may be received by the receiver and the anti-spoof signature extracted from the second sequence of pulses. If based on the extraction, the first and second sequences of pulses match, the receiver outputs return signal data. If based on the extraction, the first and second sequence of pulses do not match, the return signal is disregarded. The system may dynamically change the anti-spoofing signature for subsequent sequences of pulses. Additionally, the first sequence of pulses may be randomized relative to a prior sequence of pulses.

Abstract: Described herein are systems and methods that implement a dual axis resonant scanning mirror to support a sensor system such as a LIDAR system. The scanning mirror may comprise: 1) a small dual axis mirror, in which each axis is moving by similar electromagnetic mechanisms can generate crosstalk between each of these electromagnetic mechanisms causing perturbations in the motion; 2) a primary axis that may need to be driven independently of the motion of a secondary axis and vice versa; 3) an optical position sensor; 4) a scanning mirror assembly that may be mounted to a scanner base via the secondary axis. The scanning mirror assembly may comprise resonant spring, resonant spring assembly, the rocking chair (with electromagnetic drive coils), the scanner base with a set of two secondary axis propulsion magnets, the mirror with a spacer and primary axis propulsion magnets, and the optical sense board.

Abstract: Apparatus and methods for aligning circuit boards (e.g., for LIDAR systems) are disclosed. According to one embodiment, an electronic device comprises a secondary device and a coupling device coupled to the secondary device. The coupling device comprises a plurality of conductive members, including a first conductive member and a second conductive member. Each of the conductive members comprises a first end configured to electrically and mechanically couple to a primary circuit board and a second end electrically and mechanically coupled to the secondary device. Each of the plurality of conductive members has an attribute adjustable in response to a condition being added to the respective conductive member, and is configured to maintain the adjusted attribute after the condition is removed.

Abstract: A method of detecting welded contacts in a relay. The method includes performing, at a first point in time, the applying of a drive to the activation coil to conduct a coil current through the activation coil, the coil current increasing to a first current level, the first current level being less than a pull-in current of the relay; responsive to the coil current reaching the first current level, turning off the drive to the activation coil to discharge the coil current at a first clamping voltage; and measuring a first discharge time corresponding to a first inductance from the turning off of the drive to the activation coil to the coil current reaching a second current level, the second current level being less than the first current level. These operations are repeated at a second point in time to obtain a second inductance. Comparison of the first inductance and second inductance determines whether a difference between the first and second inductances exceeds a comparison criterion.

Abstract: A method of detecting welded contacts in a relay. The method includes performing, at a first point in time, the applying of a drive to the activation coil to conduct a coil current through the activation coil, the coil current increasing to a first current level, the first current level being less than a pull-in current of the relay; responsive to the coil current reaching the first current level, turning off the drive to the activation coil to discharge the coil current at a first clamping voltage; and measuring a first discharge time corresponding to a first inductance from the turning off of the drive to the activation coil to the coil current reaching a second current level, the second current level being less than the first current level. These operations are repeated at a second point in time to obtain a second inductance. Comparison of the first inductance and second inductance determines whether a difference between the first and second inductances exceeds a comparison criterion.

Abstract: In an ultrasonic detection system that uses frequency-modulation or phase-modulation coding to distinguish emitted bursts from multiple transducers, a receiver associated with a transducer uses peak search, peak buffer, and peak rank stages in one or more receiver signal processing paths to identify valid received ultrasonic signal envelope peaks in correlator outputs. The peak rank stage can support different modes respectively designed to handle one code, two or more codes, or two or more codes with support for Doppler frequency shift detection. Valid peak information (e.g., amplitude and time) can be reported to a central controller and/or stored locally in a fusion stage to generate more intelligent information for targets or obstacles using peaks from multiple bursts.