Abstract: A computer-implemented method of planning motion of a continuum robot in a dynamic environment is provided. The method includes training a neural configuration Euclidean distance function (N-CEDF) using training data and a neural network for learning a geometry of each link of the continuum robot and determining a distance field for each link providing a learned N-CEDF. The learned (N-CEDF) is integrated into a Sampling-Based Path or Mothion Planning algorithm (SBMP) to generate an N-CEDF SBMP framework. The N-CEDF SBMP framework is employed for motion planning of the continuum robot for determining a planned trajectory in the dynamic environment.

Abstract: A qualitative and quantitative (Q2) method for verifying safety of movement of complex learning-enabled cyber-physical systems (Le-CPS) using a computer is provided. The method includes determining an initial set of states of the Le-CPS. The computer is used for determining a reachable set of the Le-CPS using a probstar reachability algorithm saved in memory of the computer. The computer includes a Q2 algorithm saved in the memory that is configured is used to simultaneously check (i) if the reachable set satisfies a predetermined safety constraint (qualitative verification) and (ii) determine a probability of satisfaction that the reachable set will satisfy the predetermined safety constraint (quantitative verification). Movement of the Le-CPS is planned based on the step of using the computer including the Q2 algorithm.

Abstract: Systems and methods for manipulating an omnidirectional cart using an armed mobile robot are described herein. In one example, a system includes a processor and a memory in communication with the processor. The memory includes instructions that, when executed by the processor, cause the processor to determine a control input for controlling a mobile robot with at least two arms configured to manipulate an omnidirectional cart. The control input is based on the trajectory and the state of the mobile robot when the at least two arms are manipulating the omnidirectional cart. Once the control input is determined, the system then controls the movement of the mobile robot using the control input.

Abstract: A computing system may include a processor. The computing system may include a memory having a set of instructions, which when executed by the processor, cause the computing system to determine paths in an abstract state for a first robot to progress from an origin to a destination, determine a cost for each respective path of the paths based on a congestion measurement of the respective path and a measurement of the abstract state, select a selected path from the paths that is associated with a lowest cost from the costs, and compute a motion plan for the first robot to traverse the selected path.

Abstract: Provided are a gas abatement apparatus and a gas treatment method that can realize energy saving and that can expand the range of operational conditions. The gas abatement apparatus according to the present invention includes a first reactor and a second reactor. The first reactor includes a first reaction space surrounded by a heat wall, and the second reactor includes a second reaction space surrounding the heat wall. Gas and a reducing agent are introduced from one end side of the first reaction space, and the other end side of the first reaction space communicates with the second reaction space. Oxygen or a gas including oxygen is introduced into the second reaction space.

Abstract: A system for producing a simulation recording to test an automated driving system can include a processor, a communications device, and a memory. The memory can store a comparison module, a feedback module, and a communications module. The comparison module can determine a similarity between a feature vector associated with a first prospective video and a feature vector with a real video. The feedback module can cause, in response to the similarity being less than a threshold, feedback to be sent to a video language model to be used to convert the real video into a textual description to produce a second prospective recording. The communications module can cause, in response to the similarity being greater than the threshold, the first prospective recording to be communicated, via the communications device, to a device to test the automated driving system.

Abstract: Systems and methods are provided that implement a spatio-temporal query of perception data streams. A system is designed to implement spatio-temporal queries, which conduct pattern matching over perception data streams for automotive applications, particularly autonomous vehicles. The system is also designed to enable the spatio-temporal queries to be expressed in SpREs (Spatial Regular Expressions), which is implemented as a querying language that combines the ease of REs (regular expressions) with the enhanced capabilities of spatial logic. Additionally, a method includes receiving a command associated with a spatio-temporal query, wherein the expression comprises a spatial regular expression (SpRE). Thereafter, performing the spatio-temporal query of one or more perception data streams using the SpRE, where the SpRE describes a spatio-temporal pattern between objects to be searched within the one or more perception data streams.

Abstract: A method, computer-readable media, and computer system for receiving perception sensor input data of an autonomous vehicle, the perception sensor input data corresponding to respective measured location, orientation, and type of each of a plurality of perception sensors of the autonomous vehicle; receiving ground-truth information input data of the autonomous vehicle, the ground-truth information input data corresponding to respective ideal simulated location, ideal orientation, and ideal type of a plurality of perception sensors of the autonomous vehicle; determining, via a processor configured to execute instructions stored in a memory, based on the perception sensor input data and the ground-truth information input data, a safety occupancy of at least one obstacle within an area around the autonomous vehicle; and outputting, via the processor, a safety-aware occupancy signal based on the safety occupancy.

Abstract: Systems and methods are provided that implement spatio-temporal query of perception data streams. A system is distinctly designed to implement efficient and flexible spatio-temporal queries, which conduct pattern matching over perception data streams for automotive applications, particularly autonomous vehicles. The system is also designed to enable the spatio-temporal queries to be expressed in SpREs (Spatial Regular Expressions), which is implemented as a querying language that combines the ease of REs (regular expressions) with the enhanced capabilities of spatial logic. Additionally, a method includes receiving a command associated with a spatio-temporal query, wherein the expression comprises spatial regular expressions (SpREs). Thereafter, performing the spatio-temporal query of a plurality of perception data streams using the SpREs, where the SpREs describe spatio-temporal patterns to be searched within the plurality of perception data streams.

Abstract: A mode switch controller includes a memory having instructions stored therein; and a processor configured to execute the instructions stored in the memory to cause the mode switch controller to: instruct a hybrid mode controller to output a first mode control signal to cause a system to operate in a first mode; and instruct the hybrid mode controller, based on a detected parameter signal, a first control barrier function, and a second control barrier function, to output a second mode control signal to cause a system to operate in a second mode, wherein the first control barrier function is based on the system operating in the first mode and the system switching from operating in the first mode to operating in the second mode, and wherein the second control barrier function is based on the system operating in the second mode.

Abstract: A computing system may include a processor. The computing system may include a memory having a set of instructions, which when executed by the processor, cause the computing system to determine paths in an abstract state for a first robot to progress from an origin to a destination, determine a cost for each respective path of the paths based on a congestion measurement of the respective path and a measurement of the abstract state, select a selected path from the paths that is associated with a lowest cost from the costs, and compute a motion plan for the first robot to traverse the selected path.

Abstract: System, methods, and other embodiments described herein relate to implementing predictive, risk-aware control barrier functions, the effects of which certify using predicted future trajectories the probability of vehicles (such as tractor-trailers) becoming unsafe over a time interval remains bounded by a user-specified value.

Abstract: A method, computer program product, and computer system for obtaining, by a computing device, a system state and dynamics model. User constraints in a controller for a control optimization may be obtained. A feasible space volume may be determined based upon, at least in part, the system state and dynamics model. A new control optimization may be determined based upon, at least in part, the feasible space volume. A control input for the controller may be executed based upon, at least in part, the new control optimization.

Abstract: An image forming apparatus includes: a transport member that moves in a circumferential direction, forms a transfer nip while transporting a medium between the transport member and an image carrier holding a toner image, and transfers the toner image to the medium, the transport member including a plurality of grooves along the circumferential direction; and a cleaning member that cleans a surface of the transport member, collects an adherent substance, and includes a plurality of projections and recesses extending in a direction intersecting the grooves on a contact surface with the transport member.

Abstract: Systems and methods are provided that implement spatio-temporal query of perception data streams. A system is distinctly designed to implement efficient and flexible spatio-temporal queries, which conduct pattern matching over perception data streams for automotive applications, particularly autonomous vehicles. The system is also designed to enable the spatio-temporal queries to be expressed in SpREs (Spatial Regular Expressions), which is implemented as a querying language that combines the ease of REs (regular expressions) with the enhanced capabilities of spatial logic. Additionally, a method includes receiving a command associated with a spatio-temporal query, wherein the expression comprises spatial regular expressions (SpREs). Thereafter, performing the spatio-temporal query of a plurality of perception data streams using the SpREs, where the SpREs describe spatio-temporal patterns to be searched within the plurality of perception data streams.

Abstract: An obstacle data providing system includes a data processing apparatus that includes an electronic data providing unit that refers to an obstacle data storage unit that stores obstacle data generated by synthesizing a plurality of obstacle factors each of which becomes an obstacle in travelling of a low-speed vehicle, and sends, upon receiving a request for an electronic map from a terminal device, the obstacle data to the terminal device with an electronic map via a network; and the terminal device that includes a receiving unit that receives the electronic map and the obstacle data, and a display unit that displays the obstacle data with the electronic map, received by the receiving unit, on a display.

Abstract: An image forming apparatus includes an electrophotographic photoreceptor having a photosensitive layer that includes at least one of a hindered phenol antioxidant and a benzophenone ultraviolet absorber, a charging device, an electrostatic latent image forming device, a developing device, and a transfer device that includes an intermediate transfer belt whose electric field dependence of a volume resistivity is 0.003 or less (log ?·cm)/V in a voltage range of from 500 V to 1,000 V, and transfers a toner image formed on a surface of the electrophotographic photoreceptor onto a recording medium through the intermediate transfer belt and erases charges from the surface of the electrophotographic photoreceptor by applying current to the electrophotographic photoreceptor after the toner image formed on the surface of the electrophotographic photoreceptor has been transferred onto the intermediate transfer belt.

Abstract: An obstacle data providing system includes a data processing apparatus that includes an electronic data providing unit that refers to an obstacle data storage unit that stores obstacle data generated by synthesizing a plurality of obstacle factors each of which becomes an obstacle in travelling of a low-speed vehicle, and sends, upon receiving a request for an electronic map from a terminal device, the obstacle data to the terminal device with an electronic map via a network; and the terminal device that includes a receiving unit that receives the electronic map and the obstacle data, and a display unit that displays the obstacle data with the electronic map, received by the receiving unit, on a display.

Abstract: A powder coating apparatus includes an applying device that includes a charging and fluidizing unit charging and fluidizing a thermosetting powder coating material and applies the thermosetting powder coating material to a surface to be coated of an object to be coated while charging and fluidizing the powder coating material, a regulating device that regulates a thickness of a particle layer of the powder coating material applied to the surface to be coated of the object to be coated, and a heating device that heats the particle layer of the powder coating material to thermally cure the particle layer.

Abstract: An exhaust gas processing device preheats processing target exhaust gas in the presence of moisture with heat from at least either an electric heater or a heat exchanger and subsequently thermally decomposes the exhaust gas with an atmospheric pressure plasma. A device main body has a heating decomposition chamber therein. A plasma generator is installed at a top surface portion of the device main body. A reactor has a cylindrical shape and is installed within the device main body such that an upper end opening thereof is directed toward a plasma emission port of the plasma generator. A moisture supply unit is provided at an inlet side of the device main body. At least either the electric heater or the heat exchanger is disposed in a first space.