Abstract: An autonomous mobile device (AMD) moves in a physical space and uses a dock located at a first pose. Sometimes a user may move the dock. To determine whether the dock has moved, the AMD compares first pose data that was previously obtained while at the dock in the first pose to second pose data, such as after a restart or after leaving the dock. If a difference between the first pose and the second pose is greater than a threshold, the dock has moved. The pose data may be determined using a simultaneous localization and mapping (SLAM) algorithm to process images from cameras on the AMD. Transform data that relates coordinates of the second pose to coordinates of the first pose may be determined. If the dock is used as an origin for a map of the physical space, the transform data may be used to update the map.

Abstract: A multi-axial thermal isolator device for isolating structures formed of differing materials. The device is rigidly attached to both structures and is capable of movement as the result of relative thermal expansion of the structures. The device has a substantially C or Z-shaped configuration with a curved portion forming an angle &thgr; in the range of about 0-10 degrees. The device provides a means for thermal decay between adjacent structures when the parts are subjected to large changes in temperature.