Abstract: In an example, a method comprises receiving a digital representation of a floor plan to be printed by a surface marking robot guided using a remote guiding system, receiving guiding system position information, and receiving obstacle information identifying an obstacle. The method also comprises identifying a specific floor plan feature of the digital representation which intersects a shadow region of the obstacle from a guiding system point of view, and, in response to this, modifying the digital representation to produce a second digital representation, whereby the specific floor plan feature is either deleted or modified in the second digital representation, the modified floor plan feature excluding at least a portion of the specific floor plan feature in the shadow region. The method also comprises operating the surface marking robot to print the second digital representation using the guiding system.

Abstract: A self-propelled printer is provided having communication circuitry to receive print data for an image to be formed. A drive mechanism of the printer to provides locomotion of the entire self-propelled printer and a print head is arranged to transfer a print material on to a print medium. Processing circuitry to generates an image formation path to be traversed by the print head via locomotion of the self-propelled printer. The image formation path is based at least in part on the received print data. The processing circuitry controls the drive mechanism to autonomously drive the self-propelled printer along the image formation path. A corresponding method and computer program for generating a 2D image using a self-propelled printer are provided.

Abstract: A self-propelled printer is provided having communication circuitry to receive print data for an image to be formed. A drive mechanism of the printer to provides locomotion of the entire self-propelled printer and a print head is arranged to transfer a print material onto a print medium. Processing circuitry to generates an image formation path to be traversed by the print head via locomotion of the self-propelled printer. The image formation path is based at least in part on the received print data. The processing circuitry controls the drive mechanism to autonomously drive the self-propelled printer along the image formation path. A corresponding method and computer program for generating a 2D image using a self-propelled printer are provided.

Abstract: A printer valve assembly including a plurality of valves. Each of the valves is actuated between an open state which permits fluid flow though the valve and a closed state which prevents fluid flow though the valve. The plurality of valves includes a first feed valve, a first return valve, a waste valve and a purge valve. The first feed valve controls flow between a source of first print fluid and a feed line to a print head. The first return valve controls flow between a return line from a print head and a source of first print fluid. The waste valve controls flow between a return line from a print head to a waste receiver. The purge valve controls flow between a source of purge fluid and a feed line. The printer valve assembly further includes a valve control member which is mechanically connected to the valves to simultaneously control the state of the valves based on a position of the valve control member.

Abstract: An example method is described in which a property is measured associated with a vertical displacement of a supporting frame of a printing system, the printing system having a floating frame mounted on the supporting frame, and the floating frame comprising a position sensor of the printing system and a nozzle to eject a drop of print agent; an orientation of the floating frame is adjusted with respect to the supporting frame based on the measured property.

Abstract: An example method is described in which a property is measured associated with air flowing through a print gap between a print head and a printing substrate, the print head to eject a print fluid on the printing substrate; an ejection of print fluid is adjusted from the print head based on the measured property.

Abstract: A self-propelled printer is provided having communication circuitry to receive print data for an image to be formed. A drive mechanism of the printer to provides locomotion of the entire self-propelled printer and a print head is arranged to transfer a print material onto a print medium. Processing circuitry to generates an image formation path to be traversed by the print head via locomotion of the self-propelled printer. The image formation path is based at least in part on the received print data. The processing circuitry controls the drive mechanism to autonomously drive the self-propelled printer along the image formation path. A corresponding method and computer program for generating a 2D image using a self-propelled printer are provided.

Abstract: A printer valve assembly comprising a plurality of valves. Each of the plurality of valves can be actuated between an open state which permits fluid flow though the valve and a closed state which prevents fluid flow though the valve. The plurality of valves comprises a first feed valve, a first return valve, a waste valve and a purge valve. The first feed valve is to control flow between a source of first print fluid and a feed line to a print head. The first return valve is to control flow between a return line from a print head and a source of first print fluid. The waste valve is to control flow between a return line from a print head to a waste receiver. The purge valve is to control flow between a source of purge fluid and a feed line. The printer valve assembly further comprises a valve control member which is mechanically connected to each of the plurality of valves to simultaneously control the state of the plurality of valves based on a position of the valve control member.

Abstract: In an example, a method comprises, for an autonomous vehicle: coarsely positioning a first signal beam emitter located on the vehicle in line with a first alignment target and coarsely positioning a second signal beam emitter located on the vehicle in line with a second alignment target, wherein the first and second alignment targets are each aligned with a predefined grid. The method may include emitting a first signal beam from the first signal beam emitter towards the first alignment target and emitting a second signal beam from the second signal beam emitter towards the second alignment target. The method may further include monitoring a first return signal beam from the first alignment target and adjusting at least one of a position and an orientation of the vehicle based at least in part on the first return signal beam and determining that alignment is complete based at least in part on the first return signal beam.

Abstract: In an example, an autonomous vehicle comprises first and second sensors, wherein each of the first and second sensors is to acquire first and second position measurements for the autonomous vehicle. The autonomous vehicle may comprise a processor to compare the first and second position measurements and when the first and second position measurements are in agreement, determine a position of the autonomous vehicle by selecting the first position measurement, and when the first and second position measurements are not in agreement, determine the position of the autonomous vehicle by filtering the first and second position measurements with a stochastic filter.

Abstract: In an example, a surface marking robot comprises a body, a print apparatus comprising a plurality of print nozzles mounted on the body, a position detection apparatus to determine a position of the robot, and a motion control system, to cause the robot to travel along the surface with an intended path.

Abstract: An apparatus and method are disclosed for transmitting drive between a first and at least one further component. The apparatus includes an elongate shaft element extending along a respective longitudinal axis and comprising a first and further shaft region, each of which comprises a substantially cylindrical outer surface extending from a respective first and further side of a cam body region. The apparatus also includes a fluid communication pathway extending within the shaft element from a first end region of the shaft element to at least one outlet aperture in an outer surface of the first cylindrical region.

Abstract: A fuel pump is provided for pressurising fuel in a high-pressure fuel injection system. The fuel pump comprises a pump head, a pumping element, a frame and a casing. The pump head has a pumping chamber that is arranged to receive fuel to be pressurised. The pumping element is arranged to reciprocate responsive to movement of a driving element, the pumping element defining, in part, the pumping chamber so that, in use, as the pumping element reciprocates, a force, transferred from the driving element, is applied to the fuel within the pumping chamber to pressurise the fuel. The frame is arranged to support the driving element and the pump head. The casing defines an internal volume for containing fluid, wherein at least a part of the frame, at least a part of the drive element, and at least a part of the pumping element are received in the casing.