Abstract: A motion planning system includes: a processor; and memory to store instructions that when executed by the processor, cause the processor to: identify a reference path between a departure point and a destination point in an environment including one or more obstacles; generate decomposition segments of a space surrounding the reference path, the decomposition segments including a first free-space segment and a second free-space segment that are devoid of the obstacles; generating a first path segment relative to the reference path for traversing the first free-space segment, and a second path segment relative to the reference path for traversing the second free-space segment; and connecting the first and second path segments to each other to generate a navigational path to traverse the environment.

Abstract: A computer-implemented method of motion planning and an autonomous agent that executes that method are presented. The method includes generating a first set of indices that represent a predicate in a continuous state space, accessing a library of candidate motions, wherein each of the candidate motions has a second set of indices that represent a trajectory in the continuous state space, compressing the first set of indices and the second set of indices to generate a first set of compressed indices and a second set of compressed indices, and determining whether there is an intersection between the first set of indices and the second set of indices. The compressing may be done by partitioning the state space into regions, each region being occupied by the same set of candidate motions. Alternatively, the compressing may be done by applying run-length-encoding to binary vectors generated using a locality preserving, space filling curve such as a Hilbert curve or Z-order curve.

Abstract: A motion planning system includes: a processor; and memory to store instructions that when executed by the processor, cause the processor to: identify a reference path between a departure point and a destination point in an environment including one or more obstacles; generate decomposition segments of a space surrounding the reference path, the decomposition segments including a first free-space segment and a second free-space segment that are devoid of the obstacles; generating a first path segment relative to the reference path for traversing the first free-space segment, and a second path segment relative to the reference path for traversing the second free-space segment; and connecting the first and second path segments to each other to generate a navigational path to traverse the environment.

Abstract: In one embodiment, a system includes a processor; and a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including: receiving perception data; calculating a first reference trajectory based on the perception data, the first reference trajectory scheduled to be executed at a start time; and generating, before the start time, a first control policy based on the first reference trajectory.

Abstract: A lightweight and efficient electrical machine element including a method of manufacture providing a stator winding for an electric machine which has a large portion of its volume containing electrically conductive strands and a small portion of its volume containing of an encapsulant material. The stator winding includes winding of a first phase by shaping a portion of a bundle of conductive strands into an overlapping, multi-layer arrangement. Winding of successive phases occurs with further bundles of conductor strands around the preceding phases constructed into similar overlapping, multi-layer arrangements. The multiple phases are impregnated with the encapsulant material using dies to press the bundles into a desired form while expelling excess encapsulant prior to the curing of the encapsulant material. The encapsulated winding is removed from the dies after the encapsulant has cured. The encapsulant coating on the strands may be activated using either heat or solvent.

Abstract: An axial flux brushless permanent magnet electrical machine having a stator and at least one rotor. The rotor includes a Halbach array of magnets with at least four magnets per magnetic cycle. The rotor magnets are contained within pockets in the rotor. The pockets are formed with magnet pocket walls being radial walls, active surface walls, and/or inactive surface walls where the walls retain the magnets within the pockets.

Abstract: Provided is a system for providing precision localization for intelligent vehicles, the system including a sensor facing downward to capture information corresponding to an intelligent vehicle below, and in a field of view of, the sensor, and a transmitter for transmitting the information captured by the sensor to the intelligent vehicle to enable the vehicle to take an action based on the information.

Abstract: A computer-implemented method of motion planning and an autonomous agent that executes that method are presented. The method includes generating a first set of indices that represent a predicate in a continuous state space, accessing a library of candidate motions, wherein each of the candidate motions has a second set of indices that represent a trajectory in the continuous state space, compressing the first set of indices and the second set of indices to generate a first set of compressed indices and a second set of compressed indices, and determining whether there is an intersection between the first set of indices and the second set of indices. The compressing may be done by partitioning the state space into regions, each region being occupied by the same set of candidate motions. Alternatively, the compressing may be done by applying run-length-encoding to binary vectors generated using a locality preserving, space filling curve such as a Hilbert curve or Z-order curve.

Abstract: An axial flux brushless permanent magnet electrical machine having a stator and at least one rotor. The rotor includes a Halbach array of magnets with at least four magnets per magnetic cycle. The rotor magnets are contained within pockets in the rotor. The pockets are formed with magnet pocket walls being radial walls, active surface walls, and/or inactive surface walls where the walls retain the magnets within the pockets.

Abstract: An axial flux brushless permanent magnet electrical machine having a stator and at least one rotor. The rotor includes a Halbach array of magnets with at least four magnets per magnetic cycle. The rotor magnets are contained within pockets in the rotor. The pockets are formed with magnet pocket walls being radial walls, active surface walls, and/or inactive surface walls where the walls retain the magnets within the pockets.

Abstract: A lightweight and efficient electrical machine element including a method of manufacture providing a stator winding for an electric machine which has a large portion of its volume containing electrically conductive strands and a small portion of its volume containing of an encapsulant material. The stator winding includes winding of a first phase by shaping a portion of a bundle of conductive strands into an overlapping, multi-layer arrangement. Winding of successive phases occurs with further bundles of conductor strands around the preceding phases constructed into similar overlapping, multi-layer arrangements. The multiple phases are impregnated with the encapsulant material using dies to press the bundles into a desired form while expelling excess encapsulant prior to the curing of the encapsulant material. The encapsulated winding is removed from the dies after the encapsulant has cured. The encapsulant coating on the strands may be activated using either heat or solvent.

Abstract: An axial flux brushless permanent magnet electrical machine having a stator and at least one rotor. The rotor includes a Halbach array of magnets with at least four magnets per magnetic cycle. The rotor magnets are contained within pockets in the rotor. The pockets are formed with magnet pocket walls being radial walls, active surface walls, and/or inactive surface walls where the walls retain the magnets within the pockets.

Abstract: An electromagnetic valve apparatus with nonlinear springs for variable valve timing in an internal combustion engine. The apparatus includes a valve, floating spring assembly, translational cam, and motor. The cam and spring serve to minimize lash and valve stem bending forces. During opening and closing of the valve, spring potential energy is converted into valve kinetic energy and then back into potential energy at the end of the motion. The potential energy is then available for the next opening/closing event. The motor initiates motion, replaces friction and vibration losses, and terminates motion. However, the motor supplies minimal energy as the valve opens and closes, and vice-versa, naturally due to combined effects of system inertia and the nonlinear spring. In addition to valve control, the apparatus may be applied to fuel injectors, or any reciprocating linear or rotary mechanism where electronic control is used.

Abstract: An electromagnetic valve apparatus with nonlinear springs for variable valve timing in an internal combustion engine. The apparatus includes a valve, floating spring assembly, translational cam, and motor. The cam and spring serve to minimize lash and valve stem bending forces. During opening and closing of the valve, spring potential energy is converted into valve kinetic energy and then back into potential energy at the end of the motion. The potential energy is then available for the next opening/closing event. The motor initiates motion, replaces friction and vibration losses, and terminates motion. However, the motor supplies minimal energy as the valve opens and closes, and vice-versa, naturally due to combined effects of system inertia and the nonlinear spring. In addition to valve control, the apparatus may be applied to fuel injectors, or any reciprocating linear or rotary mechanism where electronic control is used.

Abstract: An apparatus has a ball that bounces vertically on a vibrating piston. The system demonstrates the complex dynamics impact systems for education and research in dynamical systems theory and feedback control.