Abstract: Disclosed is crystalline Form B of 6-(cyclopropanecarboxamido)-4-((2-methoxy-3-(1-methyl-1H-1,2,4-triazol-3-yl)phenyl) amino)-N-(methyl-d3)pyridazine-3-carboxamide. Form B is the HCl salt of a neat crystalline form. Characterization data for Form B are disclosed.

Abstract: A method of controlling an industrial robot, including a robot controller, a programming interface, which is separate from the robot controller, and a robot manipulator with a plurality of actuators. The method includes: receiving a first release signal via a first safe input means; receiving actuator-selection data, which indicates one or more of the actuators, via an arbitrary input means at the programming interface; receiving a second release signal via a second safe input means at the programming interface after having received the actuator-selection data; and, in response to determining that the first and second release signals are still received, causing the actuators indicated by the actuator-selection data to enter a movement-without-drive-power mode.

Abstract: A fireproof safe cover designed to provide protection against fire, excessive heat, and smoke for safes such as gun safes used for storing valuable items. The cover includes a rear wall, side walls, a top surface, and a zippered front surface and can be slipped directly over a safe in a closed orientation with front surface zippered/fastened. The zippers mounted along opposing edges of the front surface can be unfastened for easy access of the safe in an open orientation. The cover is available in different sizes and colors and is made of fire-resistant material to safeguard the safe and its contents. The rear wall of the cover has openings for electrical wiring, and the cover can be personalized with embroidered logos or indicia. In some embodiments, the cover has recessed, reinforced, and/or pass-through areas for easy access of the safe and to accommodate protrusions of the safe.

Abstract: In general, techniques are described for leveraging a configuration framework for an orchestration platform to configure software that implements a control plane for a containerized network router in a cloud-native SDN architecture. In an example, a method comprises receiving, by a server executing a containerized routing protocol process, configuration data generated from a Network Resource configuration object managed by a custom resource controller; configuring, by the server, the containerized routing protocol process with the configuration data; and programming, by the containerized routing protocol process, based on the configuration data generated from the Network Resource configuration object, a virtual router data plane to forward network traffic.

Abstract: Systems and methods for recovery of molten metal are generally described. Certain systems comprise a reactor (e.g., a reduction cell such as an electrolytic cell comprising an anode, a cathode, and an electrolyte) comprising molten metal within a container; and a collection vessel at least partially contained within the container of the reactor, the collection vessel comprising an opening fluidically connected to the container of the reactor. Some systems comprise a reactor; and a collection vessel comprising a first opening fluidically connected to the reactor and a second opening fluidically connected to a source of gas (e.g., inert gas) and to a source of negative pressure.

Abstract: A method for reducing kinematic error in a joint includes providing an acceleration sensor; selecting a trajectory to be followed by the acceleration sensor; estimating expected acceleration values the sensor will experience along the trajectory; outputting initial commands for moving the sensor along the trajectory; obtaining corrected commands by adding to a parameter specified in an initial command a kinematic error correction and inputting the corrected commands into a joint controller; recording acceleration values to which the sensor is subject while moving according to the corrected commands; judging whether a deviation between the expected acceleration values and the recorded acceleration values exceeds a predetermined threshold, and when the deviation is judged to exceed the threshold, modifying the kinematic error correction so as to reduce the deviation.

Abstract: A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.

Abstract: A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.

Abstract: In general, techniques are described for leveraging a configuration framework for an orchestration platform to configure software that implements a control plane for a containerized network router in a cloud-native SDN architecture. In an example, a method comprises receiving, by a server executing a containerized routing protocol process, configuration data generated from a Network Resource configuration object managed by a custom resource controller; configuring, by the server, the containerized routing protocol process with the configuration data; and programming, by the containerized routing protocol process, based on the configuration data generated from the Network Resource configuration object, a virtual router data plane to forward network traffic.

Abstract: Embodiments are generally directed to an emergency driver (10) and an intelligent module (20) for the emergency driver (10). An embodiment of the emergency driver (10) may include a digital communication interface (12), a DC power supply (14) and a controller (16). The digital communication interface (12) may be configured to receive an input signal (41) via a control bus (18). The DC power supply (14) may be configured to provide a DC output (45) to the control bus (18). The controller (16) may be coupled to the digital communication interface (12) and the DC power supply (14) and may be configured to control the emergency driver (10) to operate in a first operation mode. The input signal (41) received at the digital communication interface (12) may be a digital input signal when the emergency driver is operating in a first operation mode.

Abstract: A dental attachment assembly and method anchors a dental appliance with an implant and has an abutment member attached to the implant, a retention member in releasable snap engagement with the abutment member, and a cap secured in a recess of the dental appliance and in releasable swivel engagement with the retention member to position and secure the dental appliance onto the implant. The cap includes a cavity with a rounded, concave inner surface which engages with the retention member, an interior top surface of the cavity with a concave recess extending radially along an outer periphery of the interior top surface of the cavity to allow for rotation of the retention member within the cap. A central portion of the interior top surface of the cavity surrounded by the concave recess therefore protrudes vertically into the cavity to minimize vertical displacement of the retention member as it rotates.

Abstract: This disclosure describes techniques for using multiple route distinguishers assigned to a single VRF to provide same-destination path diversity in a VPN. In an example, a method includes storing, by a device, to a single virtual routing and forwarding instance (VRF) of one or more VRFs configured for a network device of a network, a plurality of routes for a common address prefix of a virtual private network (VPN); and sending, by the device to a network router, each of the plurality of routes for the common address prefix with a different, corresponding route distinguisher.

Abstract: A robot system comprises a manipulator and a controller therefore, wherein the controller supports impedance-based control of a lead-through operation mode, characterized in that the controller is switchable between impedance-based and admittance-based control of the lead-through mode.

Abstract: A system includes a propeller assembly comprising a propeller, a drive shaft coupled to the propeller assembly, wherein the drive shaft when in operation generates rotation of the propeller, a reduction gearbox coupled to the drive shaft, wherein the reduction gearbox when in operation alters a rotation speed between a power turbine shaft and the drive shaft, and an electric motor disposed between the propeller assembly and the reduction gearbox, wherein the electric motor is coupled to the drive shaft, wherein the electric motor when in operation imparts torque to at least partially rotate the drive shaft.

Abstract: A method for operating a resolver, the resolver comprising at least one stator winding and at least one rotor winding which is rotatable with respect to said at least one stator winding and inductively coupled thereto, a monitoring phase of the method comprising: a) exciting the rotor winding with an alternating current, b) deriving a first sampling voltage value by sampling a voltage induced in the at least one stator winding by the alternating current flowing in the rotor winding at a predetermined first phase of the excitation current, and c) deciding that the resolver is defective when the first sampling voltage value deviates significantly from a DC component of the induced voltage.

Abstract: Techniques are disclosed for a computing system comprising processing circuitry having access to a storage device, the processing circuitry configured to encode, by a network controller executing in a software defined network (SDN), one or more attributes with information identifying a network service, wherein the one or more attributes conform to a routing protocol. The processing circuitry is also configured to generate, by the network controller, an advertisement in a first network cluster executing within a container orchestration platform of the SDN, wherein the advertisement conforms to the routing protocol and includes the one or more attributes. The processing circuitry is also configured to broadcast, by the network controller and to a second network cluster executing within the container orchestration platform of the SDN, the advertisement in accordance with the routing protocol.

Abstract: Embodiments are generally directed to an emergency driver (10) and an intelligent module (20) for the emergency driver (10). An embodiment of the emergency driver (10) may include a digital communication interface (12), a DC power supply (14) and a controller (16). The digital communication interface (12) may be configured to receive an input signal (41) via a control bus (18). The DC power supply (14) may be configured to provide a DC output (45) to the control bus (18). The controller (16) may be coupled to the digital communication interface (12) and the DC power supply (14) and may be configured to control the emergency driver (10) to operate in a first operation mode. The input signal (41) received at the digital communication interface (12) may be a digital input signal when the emergency driver is operating in a first operation mode.

Abstract: A method for monitoring a resolver having first and second winding assemblies, the first winding assembly having a sine winding and a cosine winding arranged so that when inductive coupling between the sine winding and the second winding assembly is zero, inductive coupling between the cosine winding and the second winding assembly is at a maximum, and when inductive coupling between the cosine winding and the second winding assembly is zero, inductive coupling between the sine winding and the second winding assembly is at a maximum, the method including obtaining a master amount of total inductive coupling between the first and second winding assemblies of the resolver; obtaining a current amount of total inductive coupling at a current instant in time; and deciding that the resolver is defective when a difference between the current amount and the master amount exceeds a predetermined threshold.

Abstract: A resolver comprises a pair of stator windings and a rotor winding that is rotatable with respect to the stator windings and inductively coupled to these. A method for monitoring the resolver comprises exciting the rotor winding with an alternating current having an oscillation frequency and a first phase, obtaining voltages induced in the stator windings by the alternating current flowing in the rotor winding, deciding that the resolver is defective when a shift between phases of a first one of said induced voltages and of the alternating current differs from a nominal phase shift by more than a predetermined phase threshold.

Abstract: A dental attachment assembly and method anchors a dental appliance with an implant and has an abutment member attached to the implant, a retention member in releasable snap engagement with the abutment member, and a cap secured in a recess of the dental appliance and in releasable swivel engagement with the retention member to position and secure the dental appliance onto the implant. The cap includes a cavity with a rounded, concave inner surface which engages with the retention member, an interior top surface of the cavity with a concave recess extending radially along an outer periphery of the interior top surface of the cavity to allow for rotation of the retention member within the cap. A central portion of the interior top surface of the cavity surrounded by the concave recess therefore protrudes vertically into the cavity to minimize vertical displacement of the retention member as it rotates.