Abstract: A method, a related apparatus, and a system for recovering a called service of a terminal are provided. The method includes: when a called request of a user terminal is received, querying an initial proxy-call session control function (P-CSCF) entity with which the user terminal currently registers; if it is detected that the initial P-CSCF is faulty, selecting an available P-CSCF and sending, to the available P-CSCF, a notification message that carries a redundancy identifier, where the redundancy identifier is used to instruct the available P-CSCF to trigger the user terminal to re-register with the P-CSCF; and when a registration complete message sent by the P-CSCF with which the user terminal re-registers is received, delivering the called request to the re-registered P-CSCF to bear a called service of the user terminal.

Abstract: A submersible inspection drone used for inspection of liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The cameras on the submersible can be fixed in place and can be either static or motion picture cameras. The submersible can include an input/output selector capable of switching between the camera images, either through commanded action of a user or through computer based switching. In one form the input/output selector is a multiplexer. The base station can be configured to display images from the cameras one at a time, or can include a number of separate viewing portals in which real time images are displayed. The base station can include a demultiplexer synchronized to the multiplexer of the submersible.

Abstract: An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.

Abstract: A submersible remotely operable vehicle used for inspection of liquid cooled electrical transformers can include a number of separate cameras and sensors for mapping and navigating the internal structure of the transformer with liquid coolant remaining in the transformer. The remotely operable vehicle can be wirelessly controlled to perform various inspection functions while the number of cameras provide video streams for processing to produce a three dimensional field of view based on an observation position of the remotely operable vehicle.

Abstract: A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

Abstract: The invention relates to a method for the preparation of a solid carbonaceous material locally graphitized from a self-supporting hard carbon using laser isolation.

Abstract: In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.

Abstract: Automatic scanning and representing an environment having a plurality of features, for example, includes scanning the environment along a scanning path, interspersing a plurality of localized scanning of the plurality of features in the environment during the scanning along the scanning path of the environment wherein the interspersed localized scanning of the plurality of features in the environment being different from the scanning the environment along the scanning path, and obtaining a representation of at least a portion of the environment based on the scanning of the environment and the interspersed localized scanning of the plurality of features in the environment.

Abstract: Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.

Abstract: Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.

Abstract: The present invention relates to a method for producing a positive electrode material comprising at least one Na-based solid crystalline phase selected in the group consisting of Na-based crystalline P?2-phases, Na-based solid crystalline phases of formula Na(3+x)V2(PO4)3 with 0<x?3 and Na-based solid crystalline phases of formula Na(3+y)V2(PO4)2F3 with 0<y?3, for a battery using sodium ions as electrochemical vector, said method using a ball milling process involving Na3P as starting material.

Abstract: A method for operating a robot includes: creating a production robot program for execution on a robotic controller, wherein the robot program defines a robot path; performing an offline simulation of robot motion along the robot path using the production robot program; analyzing loads between a robot end effector and an object along the robot path, based on the offline simulation, to identify a maximum load experienced during the simulation; tuning production robot program parameters to reduce the maximum load if the maximum load is not within a predefined limit; generating a test robot program to test the end effector and the object with the maximum load within the predefined limit; testing the end effector with the object online using the test robot program; repeating the tuning and testing until no objects are dropped during the testing; and operating the robot during production using tuned robot program parameters.

Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot (12) that holds the platform (16) on which the 3D pad (15) is built on. The system uses the dexterity of the 6 DOF robot to move and rotate rue platform relative to the 3D printing head (18), which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head is held by another robot (14) or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.

Abstract: A method, a related apparatus, and a system for recovering a called service of a terminal are provided. The method includes: when a called request of a user terminal is received, querying an initial proxy-call session control function (P-CSCF) entity with which the user terminal currently registers; if it is detected that the initial P-CSCF is faulty, selecting an available P-CSCF and sending, to the available P-CSCF, a notification message that carries a redundancy identifier, where the redundancy identifier is used to instruct the available P-CSCF to trigger the user terminal to re-register with the P-CSCF; and when a registration complete message sent by the P-CSCF with which the user terminal re-registers is received, delivering the called request to the re-registered P-CSCF to bear a called service of the user terminal.

Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.

Abstract: Disclosed are a near field discovery method, a user equipment, and a storage medium. The method comprises: a first user equipment enters a discovery mode; the first user equipment probes one or multiple second user equipment, where the one or multiple second user equipment are in a state allowing them to be probed by the first user equipment; the first user equipment transmits a probe packet to the one or multiple second user equipment, where the probe packet comprises first user information; the first user equipment receives a response packet transmitted by the second user equipment in response to the probe packet monitored thereby and transmitted by the first user equipment, where the response packet requires no reply from the first user equipment, and the response packet comprises second user information; and, the first user equipment discovers the second user equipment on the basis of the response packet.

Abstract: Embodiments of the present invention disclose a method, a related apparatus, and a system for recovering a called service of a terminal. The method includes: when a called request of a user terminal is received, querying an initial proxy-call session control function (P-CSCF) entity with which the user terminal currently registers; if it is detected that the initial P-CSCF is faulty, selecting an available P-CSCF and sending, to the available P-CSCF, a notification message that carries a redundancy identifier, where the redundancy identifier is used to instruct the available P-CSCF to trigger the user terminal to re-register with the P-CSCF; and when a registration complete message sent by the P-CSCF with which the user terminal re-registers is received, delivering the called request to the re-registered P-CSCF to bear a called service of the user terminal.

Abstract: Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

Abstract: A calibration article is provided for calibrating a robot and 3D camera. The calibration article includes side surfaces that are angled inward toward a top surface. The robot and camera are calibrated by capturing positional data of the calibration article relative to the robot and the camera. The captured data is used to generate correlation data between the robot and the camera. The correlation data is used by the controller to align the robot with the camera during operational use of the robot and camera.