Abstract: ETA (estimated time of arrival) calculation for a mobile machine is disclosed. The ETA of the mobile machine to a destination is calculated by obtaining a current pose of the mobile machine, obtaining a global path from the current pose of the mobile machine to the destination, obtaining a local path, calculating a dynamic ETA for each pair of the consecutive poses in the local path and summing the calculated dynamic ETAs, calculating a baseline ETA for each pair of consecutive poses from a pose in the global path that is closest to the last pose in the local path to the last pose in the global path and summing the calculated baseline ETAs, and obtaining a total ETA to the destination based on the dynamic ETA and the baseline ETA.

Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.

Abstract: Embodiments of the disclosure provide methods and systems for implementing a function for an application using a middleware on a computer. An exemplary method may include initializing an application node in the middleware corresponding to the application, the initializing comprising binding the function to the application node and associating the application node with a cryptor, connecting the middleware to a remote device through a transport layer using the cryptor, publishing a message to invoke the function from the application node, through the middleware, to the cryptor, and communicating with the remote device to invoke the function, using the cryptor, based on the message.

Abstract: Embodiments of the disclosure provide methods and systems for implementing a function for an application using a middleware on a computer. An exemplary method may include initializing an application node in the middleware corresponding to the application, the initializing comprising binding the function to the application node and associating the application node with a cryptor, connecting the middleware to a remote device through a transport layer using the cryptor, publishing a message to invoke the function from the application node, through the middleware, to the cryptor, and communicating with the remote device to invoke the function, using the cryptor, based on the message.

Abstract: A mobile robot control method includes: acquiring a first image that is captured by a camera on a robot when the robot is in a desired pose; acquiring a second image that is captured by the camera on the robot when the robot is in a current pose; extracting multiple pairs of matching feature points from the first image and the second image, and projecting the extracted feature points onto a virtual unitary sphere to obtain multiple projection feature points, wherein a center of the virtual unitary sphere is coincident with an optical center of coordinates of the camera; acquiring an invariant image feature and a rotation vector feature based on the multiple projection feature points, and controlling the robot to move until the robot is in the desired pose according to the invariant image feature and the rotation vector feature.

Abstract: A system for providing medication to a customer includes a movable structure with a robotic arm including one or more joints, actuators, and segments, each of which is structured to move a robotic manipulator coupled to an end of the robotic arm. The robotic manipulator is configured to retrieve and release a container containing the medication. The robotic arm further includes a camera and microphone, as well as a computing system that includes at least one processor coupled to a memory storing instructions. When executed by the at least one processor, the memory causes the computing system to capture identifying data regarding a customer; identify the customer based on the identifying data; associate the customer with a medication order; and retrieve.

Abstract: ETA (estimated time of arrival) calculation for a mobile machine is disclosed. The ETA of the mobile machine to a destination is calculated by obtaining a current pose of the mobile machine, obtaining a global path from the current pose of the mobile machine to the destination, obtaining a local path, calculating a dynamic ETA for each pair of the consecutive poses in the local path and summing the calculated dynamic ETAs, calculating a baseline ETA for each pair of consecutive poses from a pose in the global path that is closest to the last pose in the local path to the last pose in the global path and summing the calculated baseline ETAs, and obtaining a total ETA to the destination based on the dynamic ETA and the baseline ETA.

Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.

Abstract: A mobile robot control method includes: acquiring a first image that is captured by a camera on a robot when the robot is in a desired pose; acquiring a second image that is captured by the camera on the robot when the robot is in a current pose; extracting multiple pairs of matching feature points from the first image and the second image, and projecting the extracted feature points onto a virtual unitary sphere to obtain multiple projection feature points, wherein a center of the virtual unitary sphere is coincident with an optical center of coordinates of the camera; acquiring an invariant image feature and a rotation vector feature based on the multiple projection feature points, and controlling the robot to move until the robot is in the desired pose according to the invariant image feature and the rotation vector feature.