Abstract: A method for calibrating extrinsic parameters (182) of a trailer camera (132d, 132e, 132f) supported by a trailer (106) attached to a tow vehicle (102). The method includes determining a three-dimensional feature map (162) from one or more vehicle images (133) received from a camera (132a, 132b, 132c) supported by the tow vehicle and identifying reference points (163) within the three-dimensional feature map. The method includes detecting the reference points within one or more trailer images received from the trailer camera after the vehicle and the trailer moved a predefined distance in the forward direction. The method also includes determining a trailer camera location (172) of the trailer camera (132d, 132e, 132f) relative to the three-dimensional feature map (162) and determining a trailer reference point (184) based on the trailer camera location. The method also includes determining extrinsic parameters (182) of the trailer camera relative to the trailer reference point.

Abstract: Pipe flange alignment leveling pins are disclosed to square a flange. The pins include a first and a second cylindrical magnet each configured to have a hollow axis and a positive radial pole and a negative radial pole. A first and a second chamfered hollow pin are engineered to axially receive a respective cylindrical magnet, the chamfer of each pin on an end configured complementary to a flange hole chamfer. A non-magnetic core is engineered to axially slide in and out of the hollow axis of the magnets received into respective pins wherein each of a pair of apparatus resemble a bow tie in cross section configured to align a pair of flanges in two places for a level operation. A level is set across a first and a second assembly of chamfered pins to determine a level flange ready for welding.

Abstract: An automated parking system for a vehicle according to an exemplary embodiment of this disclosure includes, among other possible things, a camera configured to obtain images of objects proximate the vehicle, and a controller configured to review the obtained images of objects proximate the vehicle to classify a location of the vehicle, determine a height of overhead objects associated with the classified location and initiate an automated parking function of the vehicle that corresponds to the determined height of the overhead objects.

Abstract: A method of visual-inertial odometry for a ground vehicle is disclosed and includes obtaining an initial set of images with a camera on-board a vehicle, identifying features within the initial set of images, determining a three-dimensional pose using the visual features in the initial set of images, obtaining information indicative of vehicle movement with an inertial measurement unit, obtaining information indicative of vehicle movement with wheel speed sensors and a steering wheel angle sensor, fusing the identified features within the images, the vehicle movement from the IMU, and vehicle sensors within a two-dimensional plane, and determining a vehicle position relative to an initial start location based on the visual features in the images and the vehicle movement information from the IMU, wheel speed sensors, and the steering wheel angle.

Abstract: An automated vehicle parking system for a motor vehicle is disclosed and includes at least one camera obtaining images proximate a vehicle, at least one sensor array detecting objects proximate the vehicle, and a controller configured to generate a mask of an area proximate the vehicle from the images obtained by the at least one camera including labeled features identified within the obtained images and project the generated mask onto an occupancy grid generated with information from the at least one sensor array, wherein the controller is configured to locate a parking space responsive to open spaces defined within the generated mask.

Abstract: An automated parking system for a vehicle includes a camera configured to obtain images of objects proximate the vehicle, and a controller configured to review the obtained images of objects proximate the vehicle to classify an environment proximate the vehicle, determine a type of parking lot associated with the classified location and initiate an automated parking function of the vehicle corresponding to the determined type of parking lot.

Abstract: A speech interface device is configured to update personalized data in local memory for responding to user speech. The speech interface device may receive compiled personalized data from a remote system, or raw personalized data from local devices in the environment of the speech interface device, the raw personalized data being compiled locally on the speech interface device. The compiled personalized data is received by an artifact manager of the speech interface device for storage in the memory of the speech interface device. A local speech processing component of the speech interface device may use the compiled personalized data when processing user speech in order to understand a spoken form of a word or phrase that is associated with a user. This allows for responding to personal user speech, even when the speech interface device is unable to communicate with a remote speech processing system over a wide area network.

Abstract: Methods for welding a particle-matrix composite body to another body and repairing particle-matrix composite bodies are disclosed. Additionally, earth-boring tools having a joint that includes an overlapping root portion and a weld groove having a face portion with a first bevel portion and a second bevel portion are disclosed. In some embodiments, a particle-matrix bit body of an earth-boring tool may be repaired by removing a damaged portion, heating the particle-matrix composite bit body, and forming a built-up metallic structure thereon. In other embodiments, a particle-matrix composite body may be welded to a metallic body by forming a joint, heating the particle-matrix composite body, melting a metallic filler material forming a weld bead and cooling the welded particle-matrix composite body, metallic filler material and metallic body at a controlled rate.

Abstract: A method for determining a position of a tow ball in an image. The method includes obtaining at least one real-time image from a vehicle. The at least one real-time image is processed with a controller on the vehicle to obtain a feature patch (f) describing at least one real-time image. A convolution is performed of the feature patch (f) and each filter (h) from a set of filters (H) with the filter (h) being based on data representative of known tow hitches fixed to the vehicle. A location of a tow ball on the tow hitch is identified in the at least one real-time image is based on the convolution between the feature patch (f) and each filter (h) from the set of filters (H).

Abstract: A method of determining a tow hitch position. The method includes obtaining a two-dimensional image of a tow hitch in a three-dimensional scene. A model tow hitch is obtained in three dimensions. A three-dimensional rendering of a scene is generated that includes the model tow hitch. The model tow hitch in the three-dimensional rendering is positioned in an orientation corresponding with an orientation of the tow hitch in the three-dimensional scene.

Abstract: A method for autonomously parking a vehicle-trailer system is provided. The method includes receiving sensor system data from a sensor system supported by the vehicle. The sensor system data includes images of surroundings along a driving path of the vehicle-trailer system. The method includes determining a local map based on the sensor system data. The local map includes surroundings along the driving path. The method includes receiving a user selection of an image location within the images. The image location representing a position in the local map associated with a selected location within the surroundings. The method includes determining a parking path from a current location of the vehicle-trailer system to the position based on the local map and instructing a drive system to execute an autonomous parking behavior causing the vehicle-trailer system to autonomously drive along the parking path and autonomously park in the selected location.

Abstract: A junctional tourniquet apparatus and related methods of use. An exemplary tourniquet has an inverted cone shape, wherein a narrower end has a mushroom shaped base that is pressed against a compression target and a broader end has a plurality of pass-through slots for straps. Another exemplary tourniquet has a broad plate component and a handle component. The handle component has a mushroom shaped base on a first end and a handle on a second end. The handle component passes through the center of the plate component with threads that allow the handle component to compress a target by twisting the handle.

Abstract: A junctional tourniquet apparatus and related methods of use. An exemplary tourniquet has an inverted cone shape, wherein a narrower end has a mushroom shaped base that is pressed against a compression target and a broader end has a plurality of pass-through slots for straps. Another exemplary tourniquet has a broad plate component and a handle component. The handle component has a mushroom shaped base on a first end and a handle on a second end. The handle component passes through the center of the plate component with threads that allow the handle component to compress a target by twisting the handle.

Abstract: A method of detecting and localizing a coupler of a trailer hitch associated with a trailer positioned behind a tow vehicle is provided. The method includes determining a region of interest within images from a rear camera. The region of interest includes a representation of the trailer hitch. The method includes determining a three-dimensional (3D) point cloud representing objects inside the region of interest. The method includes determining a camera plane based on the images. The method includes projecting the cloud points onto the camera plane and determining a coupler location based on the projected cloud points onto the camera plane. The method includes determining a path based on the coupler location. The path ending when the tow vehicle is attached to the trailer. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive in a rearward direction along the path.

Abstract: A method for autonomously maneuvering a tow vehicle. The method includes receiving images from one or more cameras positioned on a back portion of the tow vehicle and receiving sensor data from an inertial measurement unit supported by the tow vehicle. The method also includes determining a pixel-wise intensity difference between a current received image and a previous received image. The method includes determining a camera pose and a trailer pose with respect to a world coordinate system. The camera pose and the trailer pose are based on the images, the sensor data, and the pixel-wise intensity difference. The method includes determining a tow vehicle path based on the camera pose and the trailer pose. The method also includes instructing a drive system supported by the tow vehicle to autonomously maneuver along the tow vehicle path in a reverse direction causing the tow vehicle to hitch with the trailer.

Abstract: A method of aligning a tow vehicle with a trailer positioned behind the tow vehicle is provided. The method includes determining a point cloud map of a rear environment of the tow vehicle. The rear environment includes the trailer. The method also includes determining a front face plane of the trailer based on the point cloud map. The method also includes determining a normal line of the front face plane. The method also includes determining a path from the tow vehicle to the trailer such that a fore-aft axis of the tow vehicle is aligned with the normal line of the front face plane.

Abstract: Pipe flange alignment leveling pins are disclosed to square a flange. The pins include a first and a second cylindrical magnet each configured to have a hollow axis and a positive radial pole and a negative radial pole. A first and a second chamfered hollow pin are engineered to axially receive a respective cylindrical magnet, the chamfer of each pin on an end configured complementary to a flange hole chamfer. A non-magnetic core is engineered to axially slide in and out of the hollow axis of the magnets received into respective pins wherein each of a pair of apparatus resemble a bow tie in cross section configured to align a pair of flanges in two places for a level operation. A level is set across a first and a second assembly of chamfered pins to determine a level flange ready for welding.

Abstract: A method for evaluating a collision condition for a vehicle includes providing a first polygon representative of the vehicle, determining the existence of an object near the vehicle, providing a second polygon representative of the object, calculating the Minkowski Difference between the first polygon and the second polygon to create a convex hull, determining the minimum distance between the convex hull and an origin of a coordinate system in which the first polygon and the second polygon are overlayed, determining whether there is a collision condition based on whether the minimum distance is below a threshold value, and initiating a vehicle response if a collision condition is detected.

Abstract: A system and method for real-time, a closed-loop, complete body hemodynamic simulation of a patient undergoing a surgical procedure is disclosed. A simplified model of blood circulation that is nevertheless comprehensive and derives input representative of the patient's entire circulatory system, is mathematically modeled by a combination of 1-D mathematical models, and lumped parameter models. The system allows a clinician to select an intended intervention that is then computationally simulated in real, or quasi-real, time. The results of the simulation are presented as a heartbeat by heartbeat simulation of clinician selected, relevant hemodynamic parameters, allowing the clinician to decide whether or not to proceed with the intervention. The system includes accurate simulation of the effects of gravity, respiration and natural compensatory mechanisms, including the baroreflex.

Abstract: A method for detecting and localizing a trailer coupler of a trailer is provided. The method includes receiving images from a camera positioned on a back portion of a tow vehicle and determining a region of interest within the images. The region of interest includes a representation of the trailer coupler. The method includes determining a camera plane and a road plane. In addition, the method includes determining a three-dimensional point cloud representing objects inside the region of interest and within the camera plane and the road plane. The method also includes receiving sensor data from a sensor system and determining a coupler location of the trailer coupler based on the 3D point cloud and the sensor data. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive along a path in a rearward direction towards the coupler location.