Abstract: In some examples, a method for determining weldable and unweldable portions of a seam comprises receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint from the plurality of waypoints for feasibility of welding. The method further includes generating a weld path through at least a subset of the plurality of waypoints in accordance with the feasibility of welding.

Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for techniques for manufacturing robots, such as path clearance planning techniques for manufacturing robots. For example, the techniques may generating, based on an end effectuator (EE), a joint, or a combination thereof of a robot arm of the robot for the robot arm in a first state, a plurality of candidate states. The techniques also include, based on the plurality of candidate states, determining a set of verified states. Each verified state may be included in the set of verified states satisfies a clearance threshold value with respect to an object. The techniques further include determining, based on a cost function, a trajectory between the first state and a second state, the second state included in the set of verified states. Other aspects and features are also claimed and described.

Abstract: In some examples, a method for determining weldable and unweldable portions of a seam comprises receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint from the plurality of waypoints for feasibility of welding. The method further includes generating a weld path through at least a subset of the plurality of waypoints in accordance with the feasibility of welding.

Abstract: A method and a kit for the detection of Trichomonas infection by detecting N-acetyl-?-D-hexosaminidase activity in a sample, and a method and a kit for the detection of Trichomonas or Candida infection by detecting N-acetyl-?-D-hexosaminidase activity in a sample. The presence of a Trichomonas or a Candida infection can be distinguished by a pH of the sample.

Abstract: The invention relates to a method and a kit for the detection of Trichomonas infection by detecting N-acetyl-?-D-hexosaminidase activity. The invention also relates to a method and a kit for selective detection of presence of Trichomonas or Candida infection.