Abstract: An autonomous mobile robot comprise: a chassis having a drive system in communication with a control system; a cleaning head assembly having a lower cage and mounted to the chassis; a debris collection bin mounted to the chassis; a vacuum airway having a vacuum inlet and an airway outlet positioned adjacent the debris collection bin, and configured to deliver debris from the cleaning head assembly to a debris collection bin, the vacuum airway extending between the cleaning assembly and debris collection bin and being in fluid communication with an impeller disposed within the debris collection bin; and a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube and an adjacent rear roller including a rear shape-changing resilient tube rotatably opposing therewith beneath the vacuum inlet.

Abstract: An autonomous coverage robot includes a cleaning assembly having forward roller and rearward rollers counter-rotating with respect to each other. The rollers are arranged to substantially maintain a cross sectional area between the two rollers yet permitting collapsing therebetween as large debris is passed. Each roller includes a resilient elastomer outer tube and a partially air-occupied inner resilient core configured to bias the outer tube to rebound. The core includes a hub and resilient spokes extending between the inner surface of the outer tube and the hub. The spokes suspend the outer tube to float about the hub and transfer torque from the hub to the outer tube while allowing the outer tube to momentarily deform or move offset from the hub during impact with debris larger than the cross sectional area between the two rollers.

Abstract: An autonomous coverage robot includes a cleaning assembly having forward roller and rearward rollers counter-rotating with respect to each other. The rollers are arranged to substantially maintain a cross sectional area between the two rollers yet permitting collapsing therebetween as large debris is passed. Each roller includes a resilient elastomer outer tube and a partially air-occupied inner resilient core configured to bias the outer tube to rebound. The core includes a hub and resilient spokes extending between the inner surface of the outer tube and the hub. The spokes suspend the outer tube to float about the hub and transfer torque from the hub to the outer tube while allowing the outer tube to momentarily deform or move offset from the hub during impact with debris larger than the cross sectional area between the two rollers.

Abstract: A robot cleaning system includes a debris collection volume, a vacuum airway configured to deliver debris to the debris collection volume, and a cleaning head in pneumatic communication with the vacuum airway. The cleaning head includes two shape-changing resilient tubes separated by an air gap opposing the vacuum airway. The cleaning head is operable in a first configuration, where the two shape-changing resilient tubes rotate against a cleaning surface engaged by the cleaning head to agitate debris on the cleaning surface to pass through the air gap and into the vacuum airway, and a second configuration, where both shape changing resilient tubes deform opposite one another to roll an object larger than the air gap to pass into the vacuum airway.

Abstract: An autonomous coverage robot includes a chassis having forward and rearward portions. A drive system is mounted to the chassis and configured to maneuver the robot over a cleaning surface. A cleaning assembly is mounted on the forward portion of the chassis and has two counter-rotating rollers mounted therein for retrieving debris from the cleaning surface, the longitudinal axis of the forward roller lying in a first horizontal plane positioned above a second horizontal plane on which the longitudinal axis of the rearward roller lies. The cleaning assembly is movably mounted to the chassis by a linkage affixed at a forward end to the chassis and at a rearward end to the cleaning assembly. When the robot transitions from a firm surface to a compressible surface, the linkage lifts the cleaning assembly from the cleaning surface.

Abstract: A robot cleaning system includes a debris collection volume, a vacuum airway configured to deliver debris to the debris collection volume, and a cleaning head in pneumatic communication with the vacuum airway. The cleaning head includes two shape-changing resilient tubes separated by an air gap opposing the vacuum airway. The cleaning head is operable in a first configuration, where the two shape-changing resilient tubes rotate against a cleaning surface engaged by the cleaning head to agitate debris on the cleaning surface to pass through the air gap and into the vacuum airway, and a second configuration, where both shape changing resilient tubes deform opposite one another to roll an object larger than the air gap to pass into the vacuum airway.

Abstract: An autonomous coverage robot includes a cleaning assembly having forward roller and rearward rollers counter-rotating with respect to each other. The rollers are arranged to substantially maintain a cross sectional area between the two rollers yet permitting collapsing therebetween as large debris is passed. Each roller includes a resilient elastomer outer tube and a partially air-occupied inner resilient core configured to bias the outer tube to rebound. The core includes a hub and resilient spokes extending between the inner surface of the outer tube and the hub. The spokes suspend the outer tube to float about the hub and transfer torque from the hub to the outer tube while allowing the outer tube to momentarily deform or move offset from the hub during impact with debris larger than the cross sectional area between the two rollers.

Abstract: An autonomous coverage robot includes a chassis having forward and rearward portions. A drive system is mounted to the chassis and configured to maneuver the robot over a cleaning surface. A cleaning assembly is mounted on the forward portion of the chassis and has two counter-rotating rollers mounted therein for retrieving debris from the cleaning surface, the longitudinal axis of the forward roller lying in a first horizontal plane positioned above a second horizontal plane on which the longitudinal axis of the rearward roller lies. The cleaning assembly is movably mounted to the chassis by a linkage affixed at a forward end to the chassis and at a rearward end to the cleaning assembly. When the robot transitions from a firm surface to a compressible surface, the linkage lifts the cleaning assembly from the cleaning surface.

Abstract: An autonomous mobile robot comprise: a chassis having a drive system in communication with a control system; a cleaning head assembly having a lower cage and mounted to the chassis; a debris collection bin mounted to the chassis; a vacuum airway having a vacuum inlet and an airway outlet positioned adjacent the debris collection bin, and configured to deliver debris from the cleaning head assembly to a debris collection bin, the vacuum airway extending between the cleaning assembly and debris collection bin and being in fluid communication with an impeller disposed within the debris collection bin; and a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube and an adjacent rear roller including a rear shape-changing resilient tube rotatably opposing therewith beneath the vacuum inlet.

Abstract: Methods and devices for performing hip replacement surgery are described. According to one embodiment, a method comprising providing an incision locator, the incision locator comprising at least one location indicator and at least one incision indicator, the location indicator configured to align with a central axis of the femur, and the incision indicator configured to guide a proper placement of a surgical incision when the location indicator is aligned, aligning the location indicator with at least one anatomical feature of the patient, making an incision in the proper location as guided by the incision indicator, and completing the surgical procedure is described.

Abstract: A reamer especially well suited for use in minimally invasive hip replacement arthroplasty. The reamer is for preparation of a requisite concave surface in the patient's acetabulum suitable for the acetabular cup member of a hip prosthesis. The reamer comprises a plurality of raised edges, or cutting teeth, for cutting bone and cartilage, and a plurality of openings through which cut fragments of bone and cartilage enter the reamer body. The bone and cartilage fragments are contained within the reamer body and periodically removed so as not to contaminate the surgical site. The reamer according to certain aspects and embodiments of the present invention is easier to insert and withdraw though a minimally invasive incision in the patients body, and, also, effectively restricts bone fragments from escaping into the surgical wound. The improved reamer according to certain aspects and embodiments of the present invention is not limited to use in minimally invasive surgery.

Abstract: Provided are low-irritation personal care compositions comprising a low-DP polymerized surfactants. Also provided are methods of making and using such compositions.

Abstract: Methods and devices for performing hip replacement surgery are described. According to one embodiment, a method comprising providing an incision locator comprising a first wing and a second wing, the first wing adapted to be oriented generally along the femoral axis of a femur forming the hip on which the surgery is being conducted, positioning a proximal portion of the first wing adjacent to the greater trochanter, positioning other portions of first wing generally parallel to the femoral axis, indicating a proper placement of an incision based at least in part on the position of the second wing of the incision locator, performing an incision using at least one incision guide in at least one of the first and second wings, and completing the surgical procedure is described.

Abstract: Provided are methods of reducing the irritation associated with a personal care composition comprising an anionic surfactant, the methods comprising combining a hydrophobically-modified material capable of binding a surfactant thereto with an anionic surfactant to produce a reduced irritation personal care composition, and methods of using such compositions to cleanse the hair or skin with reduced irritation.

Abstract: Methods and devices for performing hip replacement surgery are described. According to one embodiment, a method comprising providing an incision locator, the incision locator comprising at least one location indicator and at least one incision indicator, the location indicator configured to align with a central axis of the femur, and the incision indicator configured to guide a proper placement of a surgical incision when the location indicator is aligned, aligning the location indicator with at least one anatomical feature of the patient, making an incision in the proper location as guided by the incision indicator, and completing the surgical procedure is described.

Abstract: A panel system for forming poured concrete walls. The system includes a first panel having a top, a bottom and a planar side lying in a first plane. A second panel also has a top, a bottom and a planar side lying in a second plane. A brick ledge form includes first and second adjacent sections, each section having a top and bottom surface. The bottom surface of the first section of the brick ledge form is secured to the top of the first panel such that the second section of the brick ledge form lies in a plane generally perpendicular to the first plane of the first panel. The bottom of the second panel is then positioned on the top surface of the second section of the brick ledge form so that the second plane of the second panel is positioned in a plane parallel to the first plane, but spaced apart from the first plane by a predetermined distance equal to the width of a conventional brick.

Abstract: Provided are methods of reducing the irritation associated with a personal care composition comprising an anionic surfactant, the methods comprising combining a hydrophobically-modified material capable of binding a surfactant thereto with an anionic surfactant to produce a reduced irritation personal care composition, and methods of using such compositions to cleanse the hair or skin with reduced irritation.

Abstract: Provided are methods of reducing the irritation associated with a personal care composition comprising an anionic surfactant, the methods comprising combining a hydrophobically-modified material capable of binding a surfactant thereto with an anionic surfactant to produce a reduced irritation personal care composition, and methods of using such compositions to cleanse the hair or skin with reduced irritation.

Abstract: Provided are methods of reducing the irritation associated with a personal care composition comprising an anionic surfactant, the methods comprising combining a hydrophobically-modified material capable of binding a surfactant thereto with an anionic surfactant to produce a reduced irritation personal care composition, and methods of using such compositions to cleanse the hair or skin with reduced irritation.

Abstract: A reamer especially well suited for use in minimally invasive hip replacement arthroplasty. The reamer is for preparation of a requisite concave surface in the patient's acetabulum suitable for the acetabular cup member of a hip prosthesis. The reamer comprises a plurality of raised edges, or cutting teeth, for cutting bone and cartilage, and a plurality of openings through which cut fragments of bone and cartilage enter the reamer body. The bone and cartilage fragments are contained within the reamer body and periodically removed so as not to contaminate the surgical site. The reamer according to certain aspects and embodiments of the present invention is easier to insert and withdraw though a minimally invasive incision in the patients body, and, also, effectively restricts bone fragments from escaping into the surgical wound. The improved reamer according to certain aspects and embodiments of the present invention is not limited to use in minimally invasive surgery.