Abstract: In some examples, a method for determining feasible portions of a seam includes receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint for feasibility of welding. The method further includes modifying at least one constraint on at least a first waypoint of the plurality of waypoints and generating a weld path through the plurality of waypoints.

Abstract: In some examples, a method for determining weldable and unweldable portions of a seam comprises receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint from the plurality of waypoints for feasibility of welding. The method further includes generating a weld path through at least a subset of the plurality of waypoints in accordance with the feasibility of welding.

Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for techniques for manufacturing robots, such as path clearance planning techniques for manufacturing robots. For example, the techniques may generating, based on an end effectuator (EE), a joint, or a combination thereof of a robot arm of the robot for the robot arm in a first state, a plurality of candidate states. The techniques also include, based on the plurality of candidate states, determining a set of verified states. Each verified state may be included in the set of verified states satisfies a clearance threshold value with respect to an object. The techniques further include determining, based on a cost function, a trajectory between the first state and a second state, the second state included in the set of verified states. Other aspects and features are also claimed and described.

Abstract: Disclosed are systems, methods, and apparatuses, including computer programs encoded on computer storage media, for operation of a robotic welding system. In one aspect, a method for calibrating a tool center point (TCP) of the robotic welding system includes identifying, based on multiple images, a location of a tip of a protrusion extending from the weldhead. Each image of the multiple images including at least a portion of the protrusion extending from a tip of the weldhead. The tip of the weldhead is associated with a first frame of reference. The method also includes determining, based on the location of the terminal end of the protrusion, a second frame of reference that is offset from the first frame of reference. The method further includes generating one or more TCP calibration values based on the second frame of reference. Other aspects and features are also claimed and described.

Abstract: In some examples, a method for determining weldable and unweldable portions of a seam comprises receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint from the plurality of waypoints for feasibility of welding. The method further includes generating a weld path through at least a subset of the plurality of waypoints in accordance with the feasibility of welding.

Abstract: An example operation may include one or more processing transactions of a plurality of blocks of a blockchain of the blockchain network to determine a user of a plurality of users that is a party of the respective transaction and a mining pool of one or more mining pools that included the respective transaction in the blockchain, performing a statistical analysis of the transactions to determine if the transactions of a user of the plurality of users is distributed across the one or more mining pools in a statistically expected manner, determining that the user has a special relationship with one or more of the one or more mining pools if the transactions of the user are not distributed across the mining pools in a statistically expected manner, and for a user that is determined to have a special relationship, determining one or more of the mining pools with which the determined user has a special relationship.

Abstract: An example operation may include one or more of identifying a smart contract, processing the smart contract to create a smart contract definition, determining whether the smart contract has been accepted by identified parties, when the smart contract has been accepted by the identified parties, generating a smart contract definition hash, and forwarding the smart contract definition hash to one or more blockchains.

Abstract: An example operation may include one or more of identifying a transaction from a blockchain node to be committed to a blockchain, determining available channels for assignment, assigning a channel to the blockchain node, and transmitting the transaction to the blockchain on the assigned channel.

Abstract: An example operation may include one or more processing transactions of a plurality of blocks of a blockchain of the blockchain network to determine a user of a plurality of users that is a party of the respective transaction and a mining pool of one or more mining pools that included the respective transaction in the blockchain, performing a statistical analysis of the transactions to determine if the transactions of a user of the plurality of users is distributed across the one or more mining pools in a statistically expected manner, determining that the user has a special relationship with one or more of the one or more mining pools if the transactions of the user are not distributed across the mining pools in a statistically expected manner, and for a user that is determined to have a special relationship, determining one or more of the mining pools with which the determined user has a special relationship.

Abstract: An example operation may include one or more of identifying a smart contract, processing the smart contract to create a smart contract definition, determining whether the smart contract has been accepted by identified parties, when the smart contract has been accepted by the identified parties, generating a smart contract definition hash, and forwarding the smart contract definition hash to one or more blockchains.

Abstract: An example operation may include one or more of identifying a transaction from a blockchain node to be committed to a blockchain, determining available channels for assignment, assigning a channel to the blockchain node, and transmitting the transaction to the blockchain on the assigned channel.