Abstract: The present disclosure provides a method for controlling actuators of a humanoid robot, comprising setting kinematic parameters for a footstep including swing period, determining a horizontal trajectory for the footstep, obtaining sensor data from sensors associated with the robot, determining terrain heights at points along the horizontal trajectory based on the trajectory and sensor data, formulating a quadratic programming problem to determine a vertical trajectory that minimizes a cost function subject to constraints including initial state constraint, final state constraint, and terrain avoidance constraints requiring vertical position at each point to be greater than or equal to terrain height plus height buffer, solving the quadratic programming problem to determine the vertical trajectory, and controlling actuators to execute the footstep based on the determined horizontal and vertical trajectories.

Abstract: The present disclosure provides a system for managing operational modes of a humanoid robot. The system comprises stateless controllers, each associated with a predefined operational domain defining a subset of robot state-space where the controller is valid. The system comprises composable modes with composable structures of stateless controllers arranged from highest to lowest priority. The system comprises a mode manager communicatively coupled to the stateless controllers and configured to, for each control cycle: iterate through the composable structure of an active composable mode from the highest-priority controller; select the first controller whose predefined operational domain includes the current robot state; and execute only the selected controller to control the humanoid robot for the control cycle duration.

Abstract: A method for installing a sensor assembly in a fire hydrant includes sequentially feeding components of the sensor assembly through an aperture in an upper standpipe of the fire hydrant. The components of the sensor assembly include a sensor unit, a conduit coupled with the sensor unit and extending away therefrom, and a series of rigid tubes surrounding the conduit and arranged in an end-to-end manner. The conduit is fed through the aperture along with the series of rigid tubes, and at least one of the series of rigid tubes has a length greater than a diameter of an interior of the fire hydrant.

Abstract: A non-volatile 1-bit state storage including a first signal converter for converting a digital input signal into an analog intermediate signal and a second signal converter for converting the analog intermediate signal into a digital output signal. The first signal converter is provided with a non-volatile memory so that after an outage of a power supply voltage, the previously output analogue intermediate signal is restored. A bistable solid-state relay that assumes a bistable switching state by means of the non-volatile 1-bit state storage and restores this state after an outage of the power supply voltage.

Abstract: A method for installing a sensor assembly in a fire hydrant includes sequentially feeding components of the sensor assembly through an aperture in an upper standpipe of the fire hydrant. The components of the sensor assembly include a sensor unit, a conduit coupled with the sensor unit and extending away therefrom, and a series of rigid tubes surrounding the conduit and arranged in an end-to-end manner. The conduit is fed through the aperture along with the series of rigid tubes, and at least one of the series of rigid tubes has a length greater than a diameter of an interior of the fire hydrant.

Abstract: A sensor assembly includes a sensor unit including a generally rigid sensor housing and at least one electronic sensor component, a conduit coupled with the sensor unit and extending away from the sensor housing, and a rigid support structure supporting a portion of at least one of the conduit or the sensor housing at a first end adjacent the sensor unit and extending away from the sensor unit to a length of at least about 6 feet. The rigid support structure configured to maintain the sensor unit within an internal structure for monitoring using the electronic sensor component.

Abstract: Systems and methods for monitoring the bottom of the doors to an elevator to increase safety in and around the elevator cab and prevent dangerous conditions when a hallway or cab door to the elevator is damaged, loose, misaligned, or malfunctioning.

Abstract: System and method for interacting with at least one artwork display, including the at least one artwork display, and a user device configured to interact with the at least one artwork display by providing, on the user device via a display of the user device, a visual popularity indicator for the at least one artwork display and/or a visual sale status indicator for the at least one artwork display.

Abstract: System and method for interacting with at least one item, such as at least one artwork display, including at least one display device including a housing, a visual indictor element, a processor, a memory, and wireless communication capabilities, the at least one display device disposed beside or in a vicinity of the at least one item, and a user device configured to interact with the at least one display device by providing, on the at least one display device via the visual indictor element and/or the user device via a display screen of the user device, a visual popularity indicator and a visual sale status indicator for the at least one item.

Abstract: An elevator level warning system is provided, along with methods of use thereof. An elevator level warning system may include a controller, a laser, a sensor, and a reflector. The reflector may be a structured reflector. The elevator level warning system may also include a sensor board. The elevator level warning system may also include an indicator. The elevator level warning system may be used with an elevator system. The elevator level warning system may be used to detect that-and/or warn users that-a front cab-floor edge and a landing plane are misaligned and have a drop between them of greater than a threshold distance.

Abstract: A sensor assembly includes a sensor unit including a generally rigid sensor housing and at least one electronic sensor component, a conduit coupled with the sensor unit and extending away from the sensor housing, and a rigid support structure supporting a portion of at least one of the conduit or the sensor housing at a first end adjacent the sensor unit and extending away from the sensor unit to a length of at least about 6 feet. The rigid support structure configured to maintain the sensor unit within an internal structure for monitoring using the electronic sensor component.

Abstract: Embodiments disclosed herein are directed towards noise reduction pipes, vacuum-assisted toilet systems including the same, and methods of using the same. An example noise reduction pipe includes a first end and a second end that is opposite the first end. The first end is configured to be coupled to an outlet of a toilet bowl and the second end is configured to be coupled to an inlet of a flush valve. The noise reduction pipe defines a fluid flow path that extends between the first end and the second end such that waste may flow from the first end to the second end. The noise reduction pipe also includes one or more bends. Each of the bends exhibits a radius of curvature that is greater than about 5 cm or a length that is greater than about 30 cm.

Abstract: A power supply circuit for powering components of a facility are disclosed. The power supply circuit may include a power transformer, a power input terminal, a power output terminal, a bridge, a relay, and a control circuit. The relay is connected between the power input terminal and the power output terminal. A primary side of the power transformer is coupled between the relay and the power output terminal. The bridge is coupled to the secondary side of the power transformer. In a normal power mode, the control circuit closes the relay and operates the bridge as a rectifier. In an emergency power mode, the control circuit opens the relay and operates the bridge as a pulse width modulator. In this manner, the bridge and the power transformer can be used both to charge a battery during normal operation and generate emergency AC power from the battery.

Abstract: An elevator pit safety system is provided, along with methods of use thereof. An elevator pit safety system may include a control system, an emergency stop switch, and a power switch. The emergency stop switch may be configured to stop an elevator cab. The power switch may be configured to operate a lighting system. The control system may prevent either from being used without the other. The elevator pit safety system may be configured to allow overriding the safety features.

Abstract: Embodiments disclosed herein are directed towards noise reduction pipes, vacuum-assisted toilet systems including the same, and methods of using the same. An example noise reduction pipe includes a first end and a second end that is opposite the first end. The first end is configured to be coupled to an outlet of a toilet bowl and the second end is configured to be coupled to an inlet of a flush valve. The noise reduction pipe defines a fluid flow path that extends between the first end and the second end such that waste may flow from the first end to the second end. The noise reduction pipe also includes one or more bends. Each of the bends exhibits a radius of curvature that is greater than about 5 cm or a length that is greater than about 30 cm.

Abstract: A power supply circuit for powering components of a facility are disclosed. The power supply circuit may include a power transformer, a power input terminal, a power output terminal, a bridge, a relay, and a control circuit. The relay is connected between the power input terminal and the power output terminal. A primary side of the power transformer is coupled between the relay and the power output terminal. The bridge is coupled to the secondary side of the power transformer. In a normal power mode, the control circuit closes the relay and operates the bridge as a rectifier. In an emergency power mode, the control circuit opens the relay and operates the bridge as a pulse width modulator. In this manner, the bridge and the power transformer can be used both to charge a battery during normal operation and generate emergency AC power from the battery.

Abstract: A triple flap nipple reconstruction is shown with preoperative incision markup lines guided by a template. The incision lines made on a patient's skin rims of flaps that are to form a reconstructed nipple. The marked-up lines define three flaps where each flap has one side in common with each of the other two flaps and also has one side in common with a part of the skin which is to be removed or de-epithelized. Also, the marked-up lines define parts of the patient's skin to be removed or de-epithelized. The surgical method thus consists of making the markup with the template with three single pedicled local dermal-fat flaps from the patient's skin and then de-epithelizing designated areas of the patient's skin, making incisions and forming, i.e., raising three flaps, forming base and elevating nipple by joining sides of de-epithelized areas, and jointing the three flaps.

Abstract: A hose end adaptor for holding an inner component to be nested within an outer tube of a hose includes a first support portion for receiving the outer tube and a second support portion on which a component to be nested within the outer tube is mountable.

Abstract: This invention provides transcription regulatory control sequences, the activity of which function as biomarkers for a variety of biological responses. This invention also provides expression constructs in which a biomarker transcription regulatory sequence is operably linked with a sequence for a reporter. Cells that comprise these expression constructs can be used in assays to identify conditions that modulate activity of the biological response.

Abstract: A hose arrangement includes an outer tube of flexible material and an inner tube of an elastic material for carrying fluid. Due to an action of the elastic inner tube, the hose has a shorter length in a contracted state in the absence of fluid pressure in the interior of the inner elastic tube and a longer length in an expanded state when the fluid pressure is applied to the interior of the elastic inner tube. The tube has an undulating state in the contracted state and controls and contains expansion of the inner tube when the hose is in the expanded state. At least one sleeve portion is provided between the elastic inner tube and the outer tube along a part of the elastic inner tube where undulation of the outer tube occurs in the contracted state for protecting the elastic inner tube from abrasion undulations of the outer tube.