Abstract: The A surgical apparatus including an adapter and a shaft assembly. The adapter includes a casing having an opening, and a rotary head sleeved onto the opening and configure d to be rotatable relative to the casing. The rotary head includes a first through hole and a first guide member disposed in the first through hole. The shaft assembly is detachably connected to the adapter, and includes a firing sleeve and a coupling component. The coupling component is configured to insert into the opening of the casing after passing through the first through hole of the rotary head. The couple component includes a coupling casing and a second guide member provided on the couple casing. The first guide member and the second guide member are engaged with each other in a snap-fit manner to maintain the rotary head and the shaft assembly in a locked position.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath daemon is provided. The datapath daemon is a run-to-completion process that performs various data-plane packet-processing operations at the edge of the network. The datapath daemon dispatches packets to other processes or processing threads outside of the daemon by utilizing a user space network stack.

Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

Abstract: Disclosed are a method and apparatus for estimating a rotor position angle of an electric machine, an electric machine control system comprising the apparatus, and a computer-readable storage medium. The method comprises obtaining a back emf of a stator of the electric machine; performing a second-order generalized integrator operation on the back emf, to obtain a signal with a phase lag of 90 degrees with respect to the back emf; dividing the phase-lagging signal by a resonant frequency of the back emf to obtain a stator flux linkage of the stator, then subtracting an inductive magnetic flux of the stator from the stator flux linkage to obtain a rotor flux linkage; and computing a rotor position angle based on the rotor flux linkage.

Abstract: Some embodiments provide a method for handling failure at one of several peer centralized components of a logical router. At a first one of the peer centralized components of the logical router, the method detects that a second one of the peer centralized components has failed. In response to the detection, the method automatically identifies a network layer address of the failed second peer. The method assumes responsibility for data traffic to the failed peer by broadcasting a message on a logical switch that connects all of the peer centralized components and a distributed component of the logical router. The message instructs recipients to associate the identified network layer address with a data link layer address of the first peer centralized component.

Abstract: According to an aspect of an embodiment, operations may comprise accessing high definition (HD) map data of a region, presenting, via a user interface, information describing the HD map data, receiving instructions, via the user interface, for modifying the HD map data by adding one or more synthetic objects to locations in the HD map data, modifying the HD map data based on the received instructions, and generating a synthetic track in the modified HD map data comprising, for each of one or more vehicle poses, generated synthetic sensor data based on the one or more synthetic objects in the modified HD map data.

Abstract: A network system that includes a first set of network hosts in a first domain and a second set of network hosts in a second domain. Within each of the domains, the system includes several edge switching elements (SEs) that each couple to the network hosts and forward network data to and from the set of network hosts. Within the first domain, the system includes (i) an interior SE that couples to a particular edge SE in order to receive network data for forwarding from the edge SE when the edge SE does not recognize a destination location of the network data and (ii) an interconnection SE that couples to the interior SE, the edge SE, and the second domain through an external network. When the edge SE receives network data with a destination address in the second domain, it forwards the network data directly to the interconnection SE.

Abstract: Some embodiments provide a method for providing dynamic host configuration protocol (DHCP) services to different data compute nodes (e.g., virtual machines) that belong to different logical networks (e.g., for different tenants in a datacenter). In some embodiments, the method inserts a logical network identifier (LNI) value to each DHCP packet and forwards the packet to a DHCP server module for processing the DHCP request. Based on the LNI value, the DHCP server of some embodiments identifies the logical network from which the DHCP packet is received. The DHCP server then provides the requested DHCP service (e.g., assigning an IP address to a data compute node that has originated the DHCP packet, assigning a domain name, etc.) according to a DHCP service configuration for the identified logical network.

Abstract: Camera based localization performed to determine a current pose of an autonomous vehicle without the aid of depth sensors such as LiDAR. The vehicle comprises an imaging system configured to capture image frames depicting portions of the surrounding area. Based on an initial pose of the vehicle, edgels corresponding to three-dimensional locations are loaded and mapped to corresponding edge pixels of the captured image frame. A pose of the vehicle is optimized based upon the determined correspondences by identifying a transformation that minimizes a distance between the edgels and their corresponding edge pixels. The determined transformation can be applied to the initial pose to determine an updated pose of the vehicle.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath pipeline is provided. The datapath pipeline includes multiple stages for performing various data-plane packet-processing operations at the edge of the network. The processing stages include centralized routing stages and distributed routing stages. The processing stages can include service-providing stages such as NAT and firewall. The gateway caches the result previous packet operations and reapplies the result to subsequent packets that meet certain criteria. For packets that do not have applicable or valid result from previous packet processing operations, the gateway datapath daemon executes the pipelined packet processing stages and records a set of data from each stage of the pipeline and synthesizes those data into a cache entry for subsequent packets.

Abstract: Some embodiments provide a system for implementing a logical network that includes a set of end machines, a first logical middlebox, and a second logical middlebox connected by a set of logical forwarding elements. The system includes a set of nodes. Each of several nodes includes (i) a virtual machine for implementing an end machine of the logical network, (ii) a managed switching element for implementing the set of logical forwarding elements of the logical network, and (iii) a middlebox element for implementing the first logical middlebox of the logical network. The system includes a physical middlebox appliance for implementing the second logical middlebox.

Abstract: Some embodiments provide a method for a network controller that manages several logical networks. The method receives a specification of a logical network that includes at least one logical forwarding element attached to a logical service (e.g., DHCP). The method selects at least one host machine to host the specified logical service from several host machines designated for hosting logical services. The method generates logical service configuration information for distribution to the selected host machine. In some embodiments, the method selects a master host machine and a backup host machine for hosting logical service. In some embodiments, a particular one of the designated host machines hosts at least two DHCP services for two different logical networks as separate processes operating on the particular host machine.

Abstract: For a network controller for managing hosts in a network, a method for configuring a host to resolve network addresses is described. The method configures an address resolution module in a host to resolve a network address. The method configures a managed forwarding element in the host to (1) avoid sending a request to resolve the network address to another host by using the address resolution module to resolve the network address and (2) forward packets using the resolved network address.

Abstract: A network system that includes a first set of network hosts in a first domain and a second set of network hosts in a second domain. Within each of the domains, the system includes several edge switching elements (SEs) that each couple to the network hosts and forward network data to and from the set of network hosts. Within the first domain, the system includes (i) an interior SE that couples to a particular edge SE in order to receive network data for forwarding from the edge SE when the edge SE does not recognize a destination location of the network data and (ii) an interconnection SE that couples to the interior SE, the edge SE, and the second domain through an external network. When the edge SE receives network data with a destination address in the second domain, it forwards the network data directly to the interconnection SE.

Abstract: Some embodiments provide a method for handling failure at one of several peer centralized components of a logical router. At a first one of the peer centralized components of the logical router, the method detects that a second one of the peer centralized components has failed. In response to the detection, the method automatically identifies a network layer address of the failed second peer. The method assumes responsibility for data traffic to the failed peer by broadcasting a message on a logical switch that connects all of the peer centralized components and a distributed component of the logical router. The message instructs recipients to associate the identified network layer address with a data link layer address of the first peer centralized component.

Abstract: According to an aspect of an embodiment, operations may comprise accessing high definition (HD) map data of a region, presenting, via a user interface, information describing the HD map data, receiving instructions, via the user interface, for modifying the HD map data by adding one or more synthetic objects to locations in the HD map data, modifying the HD map data based on the received instructions, and generating a synthetic track in the modified HD map data comprising, for each of one or more vehicle poses, generated synthetic sensor data based on the one or more synthetic objects in the modified HD map data.

Abstract: Some embodiments provide a system for implementing a logical network that includes a set of end machines, a first logical middlebox, and a second logical middlebox connected by a set of logical forwarding elements. The system includes a set of nodes. Each of several nodes includes (i) a virtual machine for implementing an end machine of the logical network, (ii) a managed switching element for implementing the set of logical forwarding elements of the logical network, and (iii) a middlebox element for implementing the first logical middlebox of the logical network. The system includes a physical middlebox appliance for implementing the second logical middlebox.

Abstract: For a managed network including multiple host machines implementing multiple logical networks, some embodiments provide a method that reduces the memory and traffic load required to implement the multiple logical networks. The method generates configuration data for each of multiple host machines including (i) data to configure a host machine to implement a set of logical forwarding elements that belong to a set of routing domains and (ii) identifiers for each routing domain in the set of routing domains. The method then receives data regarding tunnels endpoints operating on each of the host machines and an association with the routing identifiers sent to the host machines. The method then generates a routing domain tunnel endpoint list for each routing domain based on the data received from each of the host machines including a list of the tunnel endpoints associated with the routing domain which the host machines can use to facilitate packet processing.

Abstract: A novel design of a gateway that handles traffic in and out of a network by using a datapath pipeline is provided. The datapath pipeline includes multiple stages for performing various data-plane packet-processing operations at the edge of the network. The processing stages include centralized routing stages and distributed routing stages. The processing stages can include service-providing stages such as NAT and firewall. The gateway caches the result previous packet operations and reapplies the result to subsequent packets that meet certain criteria. For packets that do not have applicable or valid result from previous packet processing operations, the gateway datapath daemon executes the pipelined packet processing stages and records a set of data from each stage of the pipeline and synthesizes those data into a cache entry for subsequent packets.