Abstract: Systems and methods described herein relate to vehicular navigation and localization. One embodiment extracts perceptual features from sensor data; extracts unrouted-map features from unrouted map data; combines the perceptual features and the unrouted-map features to produce first combined features data; outputs, based at least in part on the first combined features data, parameters of a probability distribution for one or more steering trajectories that are available to a vehicle; and performs a localization of the vehicle based, at least in part, on the parameters of the probability distribution.

Abstract: Origami robots, and associated systems, methods of treatment, and methods of manufacture are provided. A system includes an origami robot encapsulated for ingestion by a patient, such as in a biocompatible material that is dissolvable or meltable within the gastrointestinal tract. A method of treatment includes delivering an origami robot in a folded position into a gastrointestinal tract of a patient, causing the origami robot to unfold within the gastrointestinal tract, and directing the origami robot to a site requiring treatment in the gastrointestinal tract.

Abstract: In some aspects, a system comprises a computer hardware processor and a non-transitory computer-readable storage medium storing processor-executable instructions for receiving, from one or more sensors, sensor data relating to a robot; generating, using a statistical model, based on the sensor data, first control information for the robot to accomplish a task; transmitting, to the robot, the first control information for execution of the task; and receiving, from the robot, a result of execution of the task.

Abstract: In some embodiments, a method of providing a user with a roadway route to a destination that maximizes the probability of reaching the destination by a deadline includes providing a database of traffic delay probability distributions based on historical traffic delay information, performing route-planning using at least one of the traffic delay probability distributions and parametric optimization to determine at least one route to the destination that maximizes the probability of reaching the destination by the deadline, and displaying the at least one route to the user.

Abstract: Origami robots, and associated systems, methods of treatment, and methods of manufacture are provided. A system includes an origami robot encapsulated for ingestion by a patient, such as in a biocompatible material that is dissolvable or meltable within the gastrointestinal tract. A method of treatment includes delivering an origami robot in a folded position into a gastrointestinal tract of a patient, causing the origami robot to unfold within the gastrointestinal tract, and directing the origami robot to a site requiring treatment in the gastrointestinal tract.

Abstract: A scanner system is configured for acquiring three dimensional image information of an object. The scanner includes a projector, a camera, a graphics processing device, and a processor. The projector projects one of several pre-defined patterns upon the object. The camera captures an image from the object, which is received by the processor. The processor approximates mutual information from the object and the pattern using the graphics processing device, and selects a second pattern for projecting on the object.

Abstract: In one embodiment, processing location data collected with a mobile device having a positioning system includes accepting trajectory data representing successive geographic positions of the mobile device, where the positions are associated with corresponding times. A set of coordinate segments is determined to represent in the accepted trajectory data, such that the trajectory data represent repeated traversals of at least some of the coordinate segments. A textual characterization is associated with each segment of the determined set of coordinate segments, and then a representation of the trajectory data (for example, an electronic diary) is formed using the textual characterization of the coordinate segments and stored. In some examples, a text based query associated with the accepted trajectory data is accepted and a response is determined using the stored representation of the trajectory data.

Abstract: A self-folding machine comprises a laminate including a flexible layer with a first side and a second side; a first rigid layer including at least one gap laminated to the first side of the flexible layer; a second rigid layer including at least one gap laminated to the second side of the flexible layer, wherein the rigid layers are more rigid than the flexible layer; a first contractible layer laminated to the first rigid layer and extending across at least one gap in the first rigid layer; and a second contractible layer laminated to the second rigid layer and extending across at least one gap in the second rigid layer, wherein the first and second contractible layers retract to respectively create folds in the machine across gaps in the first and second rigid layers when activated.

Abstract: Non-planar shearing auxetic structures, devices, and methods are provided herein. In some embodiments, a non-planar shearing auxetic structure can include a mathematically compact surface with an auxetic pattern of repeating unit cells. The shearing auxetic structure can have a contracted configuration and an expanded configuration, and, when in the compact configuration, can be configured to move to the expanded configuration while generating a net shear on the surface. Shearing auxetic structures can have handedness and, in some embodiments, multiple handed shearing auxetic structures can be joined to create rigid or semi-rigid composite structures, e.g., by arranging differently-handed structures concentrically wherein two or more structures lock against each other. Handed shearing auxetic structures can also provide actuators to convert rotation or other motion to translation, volume expansion, bending, twisting, etc. These structures have many applications, e.g.

Abstract: A scanner system is configured for acquiring three dimensional image information of an object. The scanner includes a projector, a camera, a graphics processing device, and a processor. The projector projects one of several pre-defined patterns upon the object. The camera captures an image from the object, which is received by the processor. The processor approximates mutual information from the object and the pattern using the graphics processing device, and selects a second pattern for projecting on the object.

Abstract: An approach to localization in an indoor environment makes use of a multiple antenna receiver (e.g., in a smartphone, tablet, camera) and knowledge of locations of one or more radio transmitters, which may be part of a data communication infrastructure providing data communication services to devices in the environment. Successive measurements of transmissions from the transmitters are recorded at the receiver as the device is translated and rotated in the environment. Rotation related measurements are also made at the device. The radio frequency and rotation related measurements are used to infer the location and orientation, together referred to as the pose, of the device. Phase synchronization of the transmitters and the receiver are not required. In general, accuracy of the pose estimate far exceeds that achievable using radio frequency measurements without taking into consideration motion of the device, and far exceeds that achievable using the inertial measurements alone.

Abstract: Described is a method of forming a structure having viscoelastic properties. The method can include a) depositing a layer of droplets of a solidifying material and a non-solidifying material, the droplets being deposited according to an occupancy matrix specifying voxels for the solidifying and non-solidifying materials, the solidifying and non-solidifying material being interspersed within the occupancy matrix, the occupancy matrix being generated by a probabilistic function; b) exposing the droplets of solidifying material to ultraviolet radiation to cure the solidifying material; and c) repeating a) and b) to deposit additional layers of droplets of solidifying and non-solidifying materials, thereby forming the structure having viscoelastic properties.

Abstract: Origami robots, and associated systems, methods of treatment, and methods of manufacture are provided. A system includes an origami robot encapsulated for ingestion by a patient, such as in a biocompatible material that is dissolvable or meltable within the gastrointestinal tract. A method of treatment includes delivering an origami robot in a folded position into a gastrointestinal tract of a patient, causing the origami robot to unfold within the gastrointestinal tract, and directing the origami robot to a site requiring treatment in the gastrointestinal tract.

Abstract: An approach to adaptively positioning a set of mobile routers to provide communication services to a set of clients makes use of estimated direction profiles of communication between routers and clients. The approach does not rely on a Euclidean model in which communication characteristics (e.g., signal strength, data rate, etc.) depend on distance between communicating nodes, and does not necessarily require sampling of communication characteristics in unproductive directions in order to move the routers to preferable locations.

Abstract: An approach to localization in an indoor environment makes use of a multiple antenna receiver (e.g., in a smartphone, tablet, camera) and knowledge of locations of one or more radio transmitters, which may be part of a data communication infrastructure providing data communication services to devices in the environment. Successive measurements of transmissions from the transmitters are recorded at the receiver as the device is translated and rotated in the environment. Rotation related measurements are also made at the device. The radio frequency and rotation related measurements are used to infer the location and orientation, together referred to as the pose, of the device. Phase synchronization of the transmitters and the receiver are not required. In general, accuracy of the pose estimate far exceeds that achievable using radio frequency measurements without taking into consideration motion of the device, and far exceeds that achievable using the inertial measurements alone.

Abstract: Methods to systematize the development of machines using inexpensive, fast, and convenient fabrication processes are disclosed. In an embodiment, a folding pattern and corresponding circuit design can provide the blueprints for fabrication. The folding pattern may be provided (e.g. laser machined) on a flat sheet of substrate material, such as a polymer. The circuit pattern may be generated by etching or applying (e.g. sputtering) a copper foil layer onto the substrate. Circuit components and actuators may then be added at specified locations. The flat substrate may then be folded along the predefined locations to form the final machine. The machine may operate autonomously to perform a task.

Abstract: Actuatable assemblies fabricated by deposition of solidifying and non-solidifying materials are described herein. The actuable assemblies can be formed by co-deposition of a solidifying material and a non-solidifying material.

Abstract: A modular robotic system that includes a plurality of self-configuring robots. Each self-configuring robot includes a frame structure having a plurality of cylindrical bonding magnets positioned along the edges of the frame structure. The frame structure includes magnetic, non-gendered, hinges on any of the edges of the frame. The hinges provide enough force to maintain a pivot axis through various motions. The cylindrical bonding magnets are free to rotate allowing for multiple self-configurations with other like self-configuring robots. A movement generator is positioned within the frame structure that pivots to generate multi-axis movement allowing both robust self-reconfiguration with the other self-configuring robots and independent locomotion.

Abstract: An approach to adaptively positioning a set of mobile routers to provide communication services to a set of clients makes use of estimated direction profiles of communication between routers and clients. The approach does not rely on a Euclidean model in which communication characteristics (e.g., signal strength, data rate, etc.) depend on distance between communicating nodes, and does not necessarily require sampling of communication characteristics in unproductive directions in order to move the routers to preferable locations.

Abstract: An approach to compression of a large (n point or samples) data set has a combination of one or more desirable technical properties: for a desired level of accuracy (?), the number of compressed points (a “coreset”) representing the original data is O(log n); the level of accuracy comprises a guaranteed bound expressed as multiple of error of an associated line simplification of the data set; for a desired level of accuracy and a complexity (e.g., number k of optimal line segments) of the associated line simplification, the computation time is O(n); and for a desired level of accuracy (c) and a complexity of the associated line simplification, the storage required for the computation is O(log n).