Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

Abstract: A bioreactor for use on a moving platform comprises a bag. According to a first aspect, the bag defines a three-dimensional geometrical shape including at least one lower collecting vertex in which at least two edges of the geometrical shape meet at an angle which is preferably not greater than 90°. The bioreactor further includes at least one port or sensor, preferably a biomass sensor, arranged in the vicinity of the collecting vertex. According to a second aspect, the bag defines a two-dimensional geometrical shape or a three-dimensional geometrical shape. The geometrical shape includes at least one edge, in which at least two faces of the geometrical shape meet at an angle which is preferably not greater than 90°. A longitudinal port/sensor element is arranged along the edge and includes several ports and/or sensors. A bioreactor motion system comprises a moving platform and a bioreactor according to the first or second aspect.

Abstract: A bioreactor for culturing of microorganisms or cells comprising: a casing defining an interior space of the bioreactor, wherein said interior space is configured to receive and hold a culture medium with microbial or cellular liquid cultures; and at least one coupling element provided on the casing for coupling with a foam mitigation device for mitigation of foam built-up in the interior space of the bioreactor during use of the bioreactor for culturing of microorganisms or cells; wherein the coupling element is configured to allow ultrasonic waves generated by the foam mitigation device act upon foam built-up in the interior space of the bioreactor.