Abstract: A sensor system includes an actuator, an accelerometer coupled with the actuator, a rigid member, a transducer, and one or more processors. The actuator generates motion. The accelerometer outputs an acceleration signal responsive to at least the motion of the actuator. The rigid member extends from a first end coupled with the accelerometer to a second end. The transducer is coupled with the second end of the rigid member. The transducer can be configured to couple with a load, and can output a force signal responsive to at least a portion of the motion of the actuator transmitted to the transducer via the rigid member. The one or more processors determine a mechanical impedance of the load based at least on the acceleration signal and the force signal.

Abstract: An in-ear device is implemented as part of an audio system to present a user with improved audio content within an artificial reality system. The in-ear device is a fully integrated device with an internal microphone, an external microphone, and a transducer in which portions of the transducer form portions of the body of the device. This integration of transducer into the body of the in-ear device reduces the size of the in-ear device and allows for placement deeper within the ear canal of the user. The transducer generates audio content based on instructions received from an audio system that may be located on a device that is external to the in-ear device. The external microphone provides hear-through functionality, while the internal microphone provides feedback information to the audio system.

Abstract: An in-ear device comprises a transducer section, a front volume section, and a rear volume section. The transducer section includes a frame and piezoelectric actuators coupled to the frame. The piezoelectric actuators are configured to generate an acoustic pressure wave. The transducer section includes a first side and a second side, the second side being opposite the first side. The front volume section is coupled to the first side to form a front cavity, the front volume section including an aperture from which the generated acoustic pressure wave exits the front volume section towards an ear drum of a user. The rear volume section is coupled to the second side to form a rear cavity. The transducer section, the front volume section, and the rear volume section are configured to fit entirely within the ear canal.

Abstract: A sensor system includes an actuator, an accelerometer coupled with the actuator, a rigid member, a transducer, and one or more processors. The actuator generates motion. The accelerometer outputs an acceleration signal responsive to at least the motion of the actuator. The rigid member extends from a first end coupled with the accelerometer to a second end. The transducer is coupled with the second end of the rigid member. The transducer can be configured to couple with a load, and can output a force signal responsive to at least a portion of the motion of the actuator transmitted to the transducer via the rigid member. The one or more processors determine a mechanical impedance of the load based at least on the acceleration signal and the force signal.

Abstract: Embodiments relate to an audio system that performs equalization of audio signals based on one or more diffuse field head-related transfer functions (HRTFs) and device-specific data. User-specific data and device-specific data (i.e., transducer-specific data) are applied to an acoustic model to predict an acoustic response for a user. An equalization filter is then determined using the acoustic response and the one or more diffuse field HRTFs. The equalization filter is applied to a processed version of an audio signal to create a modified version of the audio signal. The modified version of the audio signal is presented to the user via a transducer array of the audio system. The audio system can further include a microphone assembly that reduces the Helmholtz resonance effect.

Abstract: An ear-plug assembly presents audio content to an ear canal of a user. The audio content may be based in part on sound in a local area surrounding the user. The ear-plug assembly detects, via one or more acoustic sensors, sound in the area around the user. The sound waves travel through an aperture in a body of the ear-plug assembly and are propagated to a waveguide to the one or more acoustic sensors. The ear-plug assembly processes the detected sound data in a controller, which instructs a speaker assembly to present audio content based in part on the detected sound data. The detected sounds may be amplified, attenuated, filtered, and/or augmented when presented by the speaker assembly.

Abstract: A microelectromechanical system (MEMS) coil assembly is presented herein. In some embodiments, the MEMS coil assembly includes a foldable substrate and a plurality of coil segments. Each coil segment includes a portion of the substrate, two conductors arranged on the portion of the substrate. The substrate can be folded to stack the coil segments on top of each other and to electrically connect first and second conductors of adjacent coil segments. In some other embodiments, the MEMS coil assembly includes a plurality of coil layers stacked onto each other. Each coil layer includes a substrate and a conductor to form a coil. The conductors of adjacent coil layers are connected through a via. The MEMS coil assembly can be arranged between a pair of magnets. An input signal can be applied to the MEMS coil assembly to cause the MEMS coil assembly to move orthogonally relative to the magnets.

Abstract: An in-ear device comprises a transducer section, a front volume section, and a rear volume section. The transducer section includes a frame and piezoelectric actuators coupled to the frame. The piezoelectric actuators are configured to generate an acoustic pressure wave. The transducer section includes a first side and a second side, the second side being opposite the first side. The front volume section is coupled to the first side to form a front cavity, the front volume section including an aperture from which the generated acoustic pressure wave exits the front volume section towards an ear drum of a user. The rear volume section is coupled to the second side to form a rear cavity. The transducer section, the front volume section, and the rear volume section are configured to fit entirely within the ear canal.

Abstract: A sensor system includes an actuator, an accelerometer coupled with the actuator, a rigid member, a transducer, and one or more processors. The actuator generates motion. The accelerometer outputs an acceleration signal responsive to at least the motion of the actuator. The rigid member extends from a first end coupled with the accelerometer to a second end. The transducer is coupled with the second end of the rigid member. The transducer can be configured to couple with a load, and can output a force signal responsive to at least a portion of the motion of the actuator transmitted to the transducer via the rigid member. The one or more processors determine a mechanical impedance of the load based at least on the acceleration signal and the force signal.

Abstract: An ear-plug assembly presents audio content to an ear canal of a user. The audio content may be based in part on sound in a local area surrounding the user. The ear-plug assembly detects, via one or more acoustic sensors, sound in the area around the user. The sound waves travel through an aperture in a body of the ear-plug assembly and are propagated to a waveguide to the one or more acoustic sensors. The ear-plug assembly processes the detected sound data in a controller, which instructs a speaker assembly to present audio content based in part on the detected sound data. The detected sounds may be amplified, attenuated, filtered, and/or augmented when presented by the speaker assembly.

Abstract: An audio system includes a speaker configured to emit sound. The speaker is contained in an enclosure, the enclosure forming a front cavity and a rear cavity that are on opposite sides of the speaker. The enclosure includes: at least one output port configured to output a first portion of the sound from the front cavity and at least one rear port configured to output a second portion of the sound from the rear cavity. The second portion of the sound is substantially out of phase with the first portion. The audio system has an equivalent acoustic volume (Vas) greater than ten times a volume of the front cavity and greater than ten times a volume of the rear cavity.

Abstract: An audio system includes a speaker configured to emit sound. The speaker is contained in an enclosure, the enclosure forming a front cavity and a rear cavity that are on opposite sides of the speaker. The enclosure includes: at least one output port configured to output a first portion of the sound from the front cavity and at least one rear port configured to output a second portion of the sound from the rear cavity. The second portion of the sound is substantially out of phase with the first portion. The audio system has an equivalent acoustic volume (Vas) greater than ten times a volume of the front cavity and greater than ten times a volume of the rear cavity.

Abstract: Methods and systems for operating an autonomous driving vehicle (ADV) are disclosed. A current state of an ADV is sampled at a first time to obtain a set of parameters. A cost, from a cost function that reflects desired control goals, is generated for a future time horizon based at least in part on the set of parameters. The cost is minimized with one or more constraints to obtain target control input values. For each of the target control input values, a lookup operation is performed using the control input value to locate a first mapping entry that approximately corresponds to the control input value. A first control command is derived from the first mapping entry. The ADV is controlled using the derived first control command.

Abstract: An ear-plug assembly presents audio content to an ear canal of a user. The audio content may be based in part on sound in a local area surrounding the user. The ear-plug assembly detects, via one or more acoustic sensors, sound in the area around the user. The sound waves travel through an aperture in a body of the ear-plug assembly and are propagated to a waveguide to the one or more acoustic sensors. The ear-plug assembly processes the detected sound data in a controller, which instructs a speaker assembly to present audio content based in part on the detected sound data. The detected sounds may be amplified, attenuated, filtered, and/or augmented when presented by the speaker assembly.

Abstract: Methods and systems for operating an autonomous driving vehicle (ADV) are disclosed. A current state of an ADV is sampled at a first time to obtain a set of parameters. A cost, from a cost function that reflects desired control goals, is generated for a future time horizon based at least in part on the set of parameters. The cost is minimized with one or more constraints to obtain target control input values. For each of the target control input values, a lookup operation is performed using the control input value to locate a first mapping entry that approximately corresponds to the control input value. A first control command is derived from the first mapping entry. The ADV is controlled using the derived first control command.