Abstract: A motion planner performs motion planning with collision assessment, using a motion planning lattice that represents configuration states of a primary agent (e.g., autonomous vehicle) as nodes and transitions between states as edges. The system may assign cost values to edges, the cost values representing probability or likelihood of collision for the corresponding transition. The cost values may additionally or alternatively represent a severity of collision, for example generated via a parametric function with two or more parameters and one or more weights. A primary agent and/or dynamic obstacles may be represented as respective oriented bounding boxes. Some obstacles (e.g., road markings, edge of road) may be represented as curves.

Abstract: An analysis system 10 can include an analysis tool 20, such as an XRF analyzer, a LIBS spectrometer, an XRD analyzer, or Raman spectroscopy equipment which can communicate wirelessly with other devices. The system 10 can also include remote-processor software configured to be loaded onto a handheld electronic device 23 and/or remote-computer software configured to be loaded onto a remote-computer 28. The analysis tool 20 can include a microphone 18 and/or an output device 31 to allow a user 19 to communicate conveniently with the analysis tool 20.

Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.

Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.

Abstract: A system for motion planning for autonomous vehicles can include a plurality of sensors, a plurality of detectors in electrical communication with the plurality of sensors, and a motion planning module in electrical communication with the plurality of detectors and a computing system of an autonomous vehicle. The motion planning module stores a planning graph with each node representing, explicitly or implicitly, time and variables defining a state of the autonomous vehicle, an operating environment, or both the state of the autonomous vehicle and the operating environment. A reconfigurable processor can include a collision detection module and, optionally, a shortest path module. Pre-computed collision data and planning graph data reflecting logical/physical node mapping can be communicated to the processor during a programming phase and used during runtime.

Abstract: An XRF analyzer can include an x-ray source and an x-ray detector; an x-ray source heat-sink adjacent a side of the x-ray source; and an x-ray detector heat-sink adjacent a side of the x-ray detector. In one embodiment, the x-ray source heat-sink can be separated from the x-ray detector heat sink by a material having a thermal conductivity of less than 20 W/(m*K). In another embodiment, the x-ray source heat-sink can be separated from the x-ray detector heat sink by at least 3 millimeters of a thermally insulating material. In one embodiment, the x-ray source heat-sink can be separated from the x-ray detector heat sink by a segment of the engine component casing. Separation of the heat sinks can help avoid heat from the x-ray source adversely affecting resolution of the x-ray detector.

Abstract: An XRF analyzer can include an x-ray source and an x-ray detector; an x-ray source heat-sink adjacent a side of the x-ray source; and an x-ray detector heat-sink adjacent a side of the x-ray detector. In one embodiment, the x-ray source heat-sink can be separated from the x-ray detector heat sink by a material having a thermal conductivity of less than 20 W/(m*K). In another embodiment, the x-ray source heat-sink can be separated from the x-ray detector heat sink by at least 3 millimeters of a thermally insulating material. In one embodiment, the x-ray source heat-sink can be separated from the x-ray detector heat sink by a segment of the engine component casing. Separation of the heat sinks can help avoid heat from the x-ray source adversely affecting resolution of the x-ray detector.

Abstract: A portable XRF analyzer includes a hand shield and a handle. In one embodiment, the XRF analyzer further comprises a power component spaced-apart from an engine component. The handle and the hand shield extend in parallel between the engine component and the power component, attaching the engine component to the power component. In another embodiment, the XRF analyzer further comprises two housing portions, each integrally formed in a single, monolithic body formed together at the same time. The two housing portions are joined together to form an XRF analyzer housing. In another embodiment, the hand shield is shorter than the handle.

Abstract: An analysis system 10 can include an analysis tool 20, such as an XRF analyzer, a LIBS spectrometer, an XRD analyzer, or Raman spectroscopy equipment which can communicate wirelessly with other devices. The system 10 can also include remote-processor software configured to be loaded onto a handheld electronic device 23 and/or remote-computer software configured to be loaded onto a remote-computer 28. The analysis tool 20 can include a microphone 18 and/or an output device 31 to allow a user 19 to communicate conveniently with the analysis tool 20.

Abstract: The invention includes various electronic devices for avoiding or minimizing XRF analyzer user fatigue. In one embodiment, the XRF analyzer can include a finger tap switch for activating the XRF analysis. In another embodiment, the XRF analyzer can include a hand sensor and a finger tap switch, activation of both required to activate the XRF analysis. In another embodiment, the XRF analyzer can include a microphone capable of receiving a verbal command from a user and a finger tap switch, both receipt of the verbal command and activation of the finger tap switch required to activate the XRF analysis. Additional benefits of some embodiments include improving XRF analysis safety and avoiding XRF analyzer theft.

Abstract: A track system, for use in connection with bundling one or more objects positioned within a bundling station, includes guiding a length of wire through a track guide assembly. The track guide assembly includes a plurality of straight and corner track segments coupled to each other and to a carrier plate subassembly, the track guide assembly substantially enclosing a wire guide path to guide the length of wire about the one or more objects. The track system further includes a pneumatic system configured to reduce a pressure to release the plurality of straight and corner track segments to free the length of wire during a tension cycle and to increase the pressure to fix the plurality of straight and corner track segments during a feed cycle. Related systems and methods are also provided.

Abstract: An x-ray fluorescence (XRF) analysis system 10 can include an XRF analyzer 20 which can communicate wirelessly with other devices. The system 10 can also include remote-processor software configured to be loaded onto a handheld electronic device 23 and/or remote-computer software configured to be loaded onto a remote-computer 28. The XRF analyzer 20 can include a microphone 18 and/or an output device 31 to allow a user 19 to communicate conveniently with the XRF analyzer 20.

Abstract: A portable XRF analyzer includes a hand shield and a handle. In one embodiment, the XRF analyzer further comprises a power component spaced-apart from an engine component. The handle and the hand shield extend in parallel between the engine component and the power component, attaching the engine component to the power component. In another embodiment, the XRF analyzer further comprises two housing portions, each integrally formed in a single, monolithic body formed together at the same time. The two housing portions are joined together to form an XRF analyzer housing. In another embodiment, the hand shield is shorter than the handle.

Abstract: A portable XRF analyzer includes a hand shield to substantially block x-rays from impinging on a hand of a user. The portable XRF analyzer includes a heat sink over an x-ray source and a heat sink over an x-ray detector. The heat sinks are separated from each other by a thermally insulative material.

Abstract: The present description discusses apparatuses and methods for applying straps around a bundle of objects by applying a variable force to tension the strap around the bundle of objects and then actuating a series of cams to control the sealing of the strap around the bundle of objects. The apparatus includes a track assembly extending substantially about a strapping station. The track assembly is adapted to receive a strap and to release the strap during a tensioning operation. An accumulator delivers strap to the track assembly. The accumulator has a strap conveyor system that defines a strap path and an accumulator container adjacent to the strap path. Strap can be accumulated in the accumulator container and subsequently delivered to the track assembly.

Abstract: The invention includes various electronic devices for avoiding or minimizing XRF analyzer user fatigue. In one embodiment, the XRF analyzer can include a finger tap switch for activating the XRF analysis. In another embodiment, the XRF analyzer can include a hand sensor and a finger tap switch, activation of both required to activate the XRF analysis. In another embodiment, the XRF analyzer can include a microphone capable of receiving a verbal command from a user and a finger tap switch, both receipt of the verbal command and activation of the finger tap switch required to activate the XRF analysis. Additional benefits of some embodiments include improving XRF analysis safety and avoiding XRF analyzer theft.

Abstract: An x-ray fluorescence (XRF) analysis system 10 can include an XRF analyzer 20 which can communicate wirelessly with other devices. The system 10 can also include remote-processor software configured to be loaded onto a handheld electronic device 23 and/or remote-computer software configured to be loaded onto a remote-computer 28. The XRF analyzer 20 can include a microphone 18 and/or an output device 31 to allow a user 19 to communicate conveniently with the XRF analyzer 20.

Abstract: An XRF analyzer can include a rotatable filter structure to separately position at least two different x-ray source modification regions between an x-ray source and a focal point and at least two different x-ray detector modification regions between an x-ray detector and the focal point. An XRF analyzer can include a rotatable source filter wheel between an x-ray source and a focal point and a rotatable detector filter wheel between an x-ray detector and the focal point. The source filter wheel can include multiple x-ray source modification regions. The detector filter wheel can include multiple x-ray detector modification regions. A gear wheel can mesh with a gear on the source filter wheel and with a gear on the detector filter wheel and can cause the source filter wheel and the detector filter wheel to rotate together.

Abstract: The invention includes various electronic devices for avoiding or minimizing XRF analyzer user fatigue. In one embodiment, the XRF analyzer can include a finger sensor for activating an XRF analysis. In another embodiment, the XRF analyzer can include a finger tap switch for activating the XRF analysis. In another embodiment, the XRF analyzer can include a microphone for activating the XRF analysis by receipt of a verbal command. Additional benefits of some embodiments include improving XRF analysis safety and avoiding XRF analyzer theft.