Abstract: A toilet training device comprises a processor, a housing, several light-based time of flight (TOF) sensors, several LEDs, a sensor enclosure, and a clip. The clip attaches the device to the rim of a toilet bowl pointing the TOF sensors towards the water surface inside the toilet bowl. Each TOF sensor projects several light beams towards the toilet bowl, receives light reflected, makes measurements of the distance to the nearby object, and makes measurements of the signal strength of the reflected light. The processor generates a contour map and identifies one or more zones of interest as the water surface based on the distant measurements, determines excrement is released in the toilet bowl changes in the signal strength measurements are outside a signal strength range, and displays LED light patterns in response to determining the excrement is released in the toilet bowl.

Abstract: Disclosed herein are embodiments related to end effectors in robotic systems. For example, an end effector for a robotic apparatus may be couplable to the robotic apparatus, and the end effector may include a communication port for coupling to the robotic apparatus, a camera, and a lighting device, wherein a lighting color of the lighting device is controllable via the communication port.