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: 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: A mechanism for swinging and steering a support leg for a pavement milling machine is provided having a milling machine frame, a swing rod, a steering rod, a first guiding rod and a second guiding rod, the support leg includes a support leg exterior sleeve and a interior sleeve, the support leg exterior sleeve is sleeved onto the support leg interior sleeve, the support leg interior sleeve rotates relative to the exterior sleeve; one end of the swing rod is hinged to the milling machine frame, and the other end is fixedly connected to the exterior sleeve; one end of the second guiding rod is hinged to the milling machine frame, the other end is hinged to one end of the first guiding rod, the other end of the first guiding rod is hinged to one end of the steering rod, and the other end of the steering rod is connected to the support leg interior sleeve.

Abstract: A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.

Abstract: An electrical connector is used to be electrically connected to a mating component. The electrical connector includes a body having an insertion slot for the mating component to insert therein along a mating direction, and two side walls located at two opposite sides of the insertion slot and extending along an elongated direction perpendicular to the mating direction. A retainer is provided at one end of the body along the elongated direction to buckle with the mating component. Multiple terminals are provided on the two side walls, protruding into the insertion slot to mate with the mating component. A metal member is provided on the body and correspondingly covering one of the side walls. The metal member is provided with at least one through slot provided obliquely relative to the mating direction and adjacent to the retainer in the elongated direction.

Abstract: A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks.

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.

Abstract: A method and apparatus for playing a media file are disclosed. The method includes determining whether a resource-substitution process needs to be performed; and selecting a substitute resource from a candidate resource set to replace an original resource in the media file to play, when the resource-substitution process needs to be performed.

Abstract: The present invention relates to a method for producing a positive electrode composite material comprising at least one Na-based positive electrode active material and Na3P for a battery using sodium ions as electrochemical vector, to a positive electrode comprising such a positive electrode composite material, and to the Na-ion battery comprising such a positive electrode.

Abstract: A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.

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: One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.

Abstract: A robot is configured to perform a task on an object using a method for generating a 3D model sufficient to determine a collision free path and identify the object in an industrial scene. The method includes determining a predefined collision free path and scanning an industrial scene around the robot. Stored images of the industrial scene are retrieved from a memory and analyzed to construct a new 3D model. After an object is detected in the new 3D model, the robot can further scan the image in the industrial scene while moving along a collision free path until the object is identified at a predefined certainty level. The robot can then perform a robot task on the object.

Abstract: An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

Abstract: A mechanism for swinging and steering a support leg for a pavement milling machine is provided having a milling machine frame, a swing rod, a steering rod, a first guiding rod and a second guiding rod, the support leg includes a support leg exterior sleeve and a interior sleeve, the support leg exterior sleeve is sleeved onto the support leg interior sleeve, the support leg interior sleeve rotates relative to the exterior sleeve; one end of the swing rod is hinged to the milling machine frame, and the other end is fixedly connected to the exterior sleeve; one end of the second guiding rod is hinged to the milling machine frame, the other end is hinged to one end of the first guiding rod, the other end of the first guiding rod is hinged to one end of the steering rod, and the other end of the steering rod is connected to the support leg interior sleeve.

Abstract: A method and system for acquiring, manipulating and displaying inspection data obtained by sensors associated with submersible inspection vehicle within a housing having a liquid medium is disclosed in the present application. A control system including an electronic controller is operably coupled with the inspection vehicle and is configured to display data transmitted from the sensor and overlay input data from an operator on the display to facilitate real time analysis during the inspection event.

Abstract: A submersible inspection system for inspection of liquid cooled electrical transformers having a wirelessly controlled submersible inspective device. A submersion depth of the submersible can be controlled using a ballast system. The system can also include an input/output selector to switch between camera images from the submersible. A heartbeat signal indicative of a health of the transmitted signal can be transmitted to the submersible, and redundant channel selection logic can facilitate switching to a channel that includes a current heartbeat. A plurality of status interrogation systems disposed on the submersible can capture data regarding inspection procedures performed on the transformer, and the submersible can include tools for repair procedures. Data transmitted from the submersible, and overlayed with input data from an operator, can facilitate real time inspection analysis. The system can also form a model of an internal in the transformer, as well as produce a three-dimensional field of view.

Abstract: A deployment system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The deployment system includes a mount connectable to the housing through an aperture formed in a wall thereof. An extendable arm is connected to the mount and positioned within the housing. A tether is slidably coupled to the extendable arm and adapted to connect with the inspection vehicle. A control mechanism is operable to control deployment of the tether and the position of the extendable arm.

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 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.