Abstract: Described is a system for training a neural network for estimating surface normals for use in operating an autonomous platform. The system uses a parallelizable k-nearest neighbor sorting algorithm to provide a patch of points, sampled from the point cloud data, as input to the neural network model. The points are transformed from Euclidean coordinates in a Euclidean space to spherical coordinates. A polar angle of a surface normal of the point cloud data is estimated in the spherical coordinates. The trained neural network model is utilized on the autonomous platform, and the estimate of the polar angle of the surface normal is used to guide operation of the autonomous platform within the environment.

Abstract: A coin changer including a coin changer housing comprising a coin storage cassette. The coin storage cassette comprises a plurality of coin stores. A light source is located within the housing that directs light onto the coin stores with the light source providing sufficient light to allow a user to substantially view the coin stores in the absence of another light source.

Abstract: A cassette having a plurality of coin stores for storing and dispensing coins in a coin changer, the coin stores arranged in a plurality of rows of coin stores, and a coin reject path for transporting coins that have been rejected by the coin changer, the coin reject path being disposed between rows of the coin stores.

Abstract: A coin changer having a funnel portion, a coin changer body, and an acceptor removably mounted to the coin changer body. The funnel portion has a front funnel portion, two side funnel portions and a rear funnel portion. The rear funnel portion is attached to the coin changer body and the front funnel portion is attached to the acceptor.

Abstract: A device for the payout of coins includes a plurality of coin payout tubes, a plurality of coin discharge members, and an endless element having an engagement pin. Each coin payout tube has a coin discharge member located at one end of the coin payout tube. The coin discharge members are each physically adapted to rotate about a pivot point such that when the coin discharge members are rotated in a first direction the coin discharge members cause a coin to be ejected from its respective coin payout tube. When the coin discharge members are rotated in a second direction a coin is not discharged from its respective coin payout tube. The endless element and engagement pin are physically arranged to allow the engagement pin to rotate the coin discharge members in the first direction when the endless element is rotated in a first direction and to rotate the coin discharge members in the second direction when the endless element is rotated in a second direction.

Abstract: A coin changer including a coin changer housing comprising a coin storage cassette. The coin storage cassette comprises a plurality of coin stores. A light source is located within the housing that directs light onto the coin stores with the light source providing sufficient light to allow a user to substantially view the coin stores in the absence of another light source.

Abstract: A cassette having a plurality of coin stores for storing and dispensing coins in a coin changer, the coin stores arranged in a plurality of rows of coin stores, and a coin reject path for transporting coins that have been rejected by the coin changer, the coin reject path being disposed between rows of the coin stores.

Abstract: A coin changer having a funnel portion, a coin changer body, and an acceptor removably mounted to the coin changer body. The funnel portion has a front funnel portion, two side funnel portions and a rear funnel portion. The rear funnel portion is attached to the coin changer body and the front funnel portion is attached to the acceptor.