Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot. One of the methods includes: receiving user input that specifies: (i) a real-time session with a robot having multiple parts, (ii) multiple actions, and (iii) at least one custom reaction that represents a condition under which a first action triggers a real-time change in behavior involving a second action; generating control parameters from the user input and providing the control parameters to a real-time robotics control layer; and executing, by the real-time robotics control layer, the control parameters including, at each tick of a real-time control cycle: executing one or more respective commands for each action, determining whether the condition of the first action is satisfied, and in response to determining that the condition of the first action is satisfied, triggering the real-time change in behavior involving the second action.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for deblurring an image captured by a robot-mounted camera. One of the methods comprises capturing, using a camera that is attached to an arm of a robot, an image at a first time, wherein the image exhibits motion blur, and wherein the exhibited blur was caused by movement of the arm of the robot at the first time; receiving, from a robot control system of the robot, motion data characterizing the movement of the arm of the robot at the first time; generating a motion kernel using the received motion data; and generating a deblurred image by processing the image using the motion kernel.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for deblurring an image captured by a robot-mounted camera. One of the methods comprises capturing, using a camera that is attached to an arm of a robot, an image at a first time, wherein the image exhibits motion blur, and wherein the exhibited blur was caused by movement of the arm of the robot at the first time; receiving, from a robot control system of the robot, motion data characterizing the movement of the arm of the robot at the first time; generating a motion kernel using the received motion data; and generating a deblurred image by processing the image using the motion kernel.

Abstract: A container consisting of at least two layers, the inner layer consisting of a PE or PP film and the PCTFE layer consisting of a PCTFE film, and the thickness of the PCTFE layer being about 40-100 ?m, which container is equipped with a device where the liquid can be lead out through when desired and which container is transparent, shows superior properties for storing liquid pharmaceutical compositions, especially insulin compositions containing preservatives.

Abstract: The present invention relates to a coating system, in particular to a coating system for articles where plastic materials slide against flexible rubber materials. The coating system is a silicone oil based coating having a viscosity of at least 200,000 centistokes, i.e. a high viscosity coating. The coating comprises in a preferred embodiment a silicone oil based block or graft copolymer, or segmented copolymer. Further the invention relates to a process of producing a component of an article coated as described above, comprising adding the coating material to the component material prior to molding and subsequently molding the component from the mixture, or molding the component from the component material and subsequently applying the coating material to the at least one surface of the component, as well as an article coated with a silicone oil based coating as defined above. Such an article is preferably a medical article, such as a container or an injection cylinder and a stopper.

Abstract: The present invention relates to a coating system, in particular to a coating system for articles where plastic materials slide against flexible rubber materials. The coating system is a silicone oil based coating having a viscosity of at least 200,000 centistokes, i.e. a high viscosity coating. The coating comprises in a preferred embodiment a silicone oil based block or graft copolymer, or segmented copolymer. Further the invention relates to a process of producing a component of an article coated as described above, comprising adding the coating material to the component material prior to molding and subsequently molding the component from the mixture, or molding the component from the component material and subsequently applying the coating material to the at least one surface of the component, as well as an article coated with a silicone oil based coating as defined above. Such an article is preferably a medical article, such as a container or an injection cylinder and a stopper.