Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

Abstract: A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.

Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.

Abstract: Systems and methods related to roadmaps for robotic devices are provided. A computing device can receive a roadmap representing a plurality of paths through an environment. The computing device can discretize the roadmap to obtain a discrete planning graph having a plurality of states corresponding to discretized segments of the plurality of paths of the roadmap such that states corresponding to adjacent discretized path segments are connected in the discrete planning graph. The computing device can determine a Boolean equation representing at least a portion of the discrete planning graph. The computing device can determine a sequence of states from the plurality of states of the discrete planning graph such that the determined sequence of states satisfies the Boolean equation. The computing device can provide a route through the environment for a robotic device based on the determined sequence of states.

Abstract: A computing device can determine a roadmap having a path for a robotic device in an environment associated with starting and ending poses. The computing device can generate a plurality of trajectories from the starting pose, where each trajectory can include a steering position and a traction velocity directing the robotic device during a planning time interval. For each trajectory of the plurality of trajectories, the computing device can determine a score for the trajectory indicative of advancement from the starting pose toward the ending pose after simulating the steering position and the traction velocity for the planning time interval. The computing device can select, and then store, a nominal trajectory from among the scored plurality of trajectories. The computing device can receive a first request to provide a route though the environment and can send a first response that includes the stored nominal trajectory.

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

Abstract: The invention discussed in this application relates to vitamin B12-based compounds that are useful as quantitative standards, particularly for the assessment of vitamin B12 deficiency.

Abstract: An electrostatic discharge (ESD) circuit for use with motorized window shades includes an antenna connected to a motor controller having a printed circuit board, a receiver or transceiver, a microprocessor and memory that are connected to and operate a motor. The ESD circuit is connected to the line-in between the antenna and the downstream components of the printed circuit board. The ESD circuit includes an inductor in parallel with two anti-parallel diodes in reverse polarity to one another. The ESD circuit shunts damaging signals or ESD events to ground by providing a lower impedance or lower resistance path to ground for these signals, whereas the ESD circuit allows the signals of interest to pass by the ESD circuit as the ESD circuit provides a higher impedance or higher resistance path to ground as compared to the signal of interest passing through the receiver or transceiver of the motor controller.

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

Abstract: The invention comprises a method for mapping a volume of the Earth's subsurface encompassing a selected path within said volume, comprising dividing the volume of the Earth's subsurface into a three-dimensional grid of voxels and transforming detected seismic signals representing seismic energy originating from said volume of the Earth's subsurface when no induced fracturing activity is occurring along said selected path and conducted to a recording unit for recording into signals representing energy originating from the voxels included in said grid of voxels, and utilizing said transformed seismic signals to estimate spatially continuous flow paths for reservoir fluids through said volume of the Earth's subsurface to said selected path.

Abstract: A flame powered intermittent pilot combustion controller may include a first power source and a second power source separate from the first power source, a thermal electric and/or photoelectric device, an igniter and a controller. The thermal electric and/or photoelectric device may charge the first power source when exposed to a flame. The controller and the igniter may receive power from the first power source when the first power source has sufficient available power, and may receive power from the second power source when the first power source does not have sufficient available power.

Abstract: An embodiment in accordance with the present invention includes a method for estimating the permeability of fractured rock formations from the analysis of a slow fluid pressure wave, which is generated by pressurization of a borehole. Wave propagation in the rock is recorded with TFI™. Poroelastic theory is used to estimate the permeability from the measured wave speed. The present invention offers the opportunity of measuring the reservoir-scale permeability of fractured rock, because the method relies on imaging a wave, which propagates through a large rock volume, on the order of kilometers in size. Traditional methods yield permeability for much smaller rock volumes: well logging tools only measure permeability in the vicinity of a borehole. Pressure transient testing accesses larger rock volumes; however, these volumes are much smaller than for the proposed method, particularly in low-permeability rock formations.

Abstract: Disclosed herein are various embodiments of methods and systems for providing a graphical skeletonization representation of fractures and faults in a subsurface of the earth. According to some embodiments, as fracturing fluid is pumped into a target geologic formation through a well bore, and as the formation fractures or faults in response to the fracturing fluid being pumped under high pressure therein, seismic wavefronts are generated at points of fracture related to movement of a fluid pressure wave induced by fracturing or other fluids moving through the formation, or the extraction of fluids such as gas and/or oil from the formation, which are detected by surface and/or downhole sensors. Data corresponding to signals generated by the surface and/or downhole sensors are recorded and subsequently analyzed to determine in near real-time the locations of the fractures or faults using skeletonization data processing techniques and methods.

Abstract: A flame powered intermittent pilot combustion controller may include a first power source and a second power source separate from the first power source, a thermal electric and/or photoelectric device, an igniter and a controller. The thermal electric and/or photoelectric device may charge the first power source when exposed to a flame. The controller and the igniter may receive power from the first power source when the first power source has sufficient available power, and may receive power from the second power source when the first power source does not have sufficient available power.

Abstract: Tethered practice ball apparatus including: an elastic tether; ball or a ball substitute for the game being practised operatively secured to the elastic tether; and a harness for securing the tether to a practising athlete, the harness including a body mount forming a termination for the tether and which may be selectively and securely positioned on a user's torso whereby the rebound force vector applied by a stretched tether will direct the returning practice ball toward a selected target on or adjacent the practising athlete.

Abstract: According to one embodiment of the present invention, a system and method for conducting a wagering game on a plurality of gaming machines is disclosed. The method comprises the act of triggering a community event while conducting the wagering game on the plurality of gaming machines. Two or more gaming machines are selected to participate in the community event. The community event is selected from a plurality of independent community events. The gaming system comprises a plurality of gaming machines, at least one community display, and at least one controller. The controller is operative to select the two or more gaming machines to participate in the community event, and select the community event from the plurality of independent community events to display on the at least one community display.

Abstract: Described herein are various embodiments of methods and corresponding hardware and software that are configured to illuminate or image the permeability field around or near a well that is to be fracked, both prior to fracking and after various fracking stages. The methods and corresponding hardware and software disclosed herein permit the progress of the fracking operation to be monitored at different stages.

Abstract: Disclosed are various embodiments of methods for identifying faults and fractures, and other permeable features, within geologic layers during a drilling operation comprising; recording microseismic data during a drilling operation; recording times and positions of a drill bit in a well bore during the drilling operation; processing microseismic data at a plurality of selected times and locations to image microseismic events and identifying faults and fractures, and other permeable features, from corresponding images of microseismic events.