Abstract: Chlorotoxin derivatives containing amino acid sequence X0X1CMPCXS1XS2XS3DHXS4XS5ARRCX2X3CCGGYGX4CFGYQC LCX5X6X7X8 wherein (i) the N-terminal X0X1 cluster is AM, 0M, or 00; (ii) the solubility XS1XS2XS3XS4XS5 cluster is FTTQT, FTTES, SSSQT, SSSES, FSSQT, FSSES, or FSSQS; (iii) the internal X2X3X4 cluster is DKR, RDK, KDR, IKY, HKW, DRK, LKQ, KKK; and (iv) the C-terminal X5X6X7X8 cluster is N000, R000, NR00, NRG0, NRGY, NRRR, or RRRR; 0 denotes a position where no amino acid is present; the chlorotoxin derivative has a relative human MMP-2 binding that is at least 1.62 times higher than the wild-type chlorotoxin of SEQ ID NO: 1.

Abstract: A technique for determining an available delay budget for transmission of a packet by a base station to a user equipment, UE, in a cellular network is disclosed. A method implementation of the technique is performed by the base station and includes receiving a packet from a sending node, the packet including a timestamp set by the sending node when processing the packet, triggering determining a latency of the packet based on a difference between a time determined by the base station upon receipt of the packet and the timestamp set by the sending node in the packet, the base station and the sending node being synchronized in time, and triggering determining an available delay budget for transmission of the packet to the UE based on the latency of the packet.

Abstract: A client computing device (115) determines a desired adjustment to a transmission rate of a media stream (245) received from the content server device (110), and encodes the desired adjustment to the transmission rate in an object ordering priority (255) field of a request (250) for a media portion (215). The client computing device (115) sends the request (250) to the content server device (110) to adjust the transmission rate of the media stream (245) with respect to the media portion (215). The content server device (110) receives the request (25) for the media portion (215) from the client computing device (115), and adjusts the transmission rate of the media stream (245) based on the object ordering priority (255). The content server device (110) transmits the media portion (215) to the client computing device (115) via the media stream (245) at the adjusted transmission rate.

Abstract: Deployment devices include a locking mechanism configured to secure a medical device to the deployment device. Methods of operating a deployment device include securing a medical device positioned at least partially within at least one cannula of the deployment device with a locking mechanism and releasing the medical device and securing at least a portion of the at least one cannula of the deployment device with the locking mechanism.

Abstract: A technique for performing Quality of Service, QoS, control regarding control messages communicated from a robot controller to a robot via a mobile communication network in a cloud robotics system is disclosed. A method implementation of the technique comprises triggering applying a mapping of control messages communicated from the robot controller to the robot to QoS classes among a plurality of data session related QoS classes supported by the mobile communication network for transmission of traffic via the mobile communication network, wherein each of the control messages is mapped to a respective QoS class depending on a Quality of Control, QoC, tolerance associated with the respective control message.

Abstract: A method is provided for operating a resource reservation entity configured to reserve radio resources in a cellular network for user entities connected to the cellular network, the user entities comprising a first user entity connected to a robotic device, and a second user entity not connected to any robotic device, the method including: receiving a first message indicating future resource needs as needed by the first user entity to control a first task to be carried out by the robotic, reserving the radio resources for the user entities, wherein in the reserving, a priority assigned to the first user entity is increased for duration of a first time period relative to the priority assigned to the second user entity, and the priority assigned to the first user entity in the first time period is higher than the priority assigned to the second user entity.

Abstract: The invention relates to a method for controlling a robotic device (50) with modified control commands transmitted over a wireless network, wherein the robotic device (50) comprises a plurality of joints (53), wherein each joint represents one degree of freedom of the robotic device, the method comprising at a trajectory modification entity (100): -determining a load of the wireless network (30), -receiving a plurality of control commands controlling a planned trajectory of the robotic device (50) from a robotic control entity (70), each of the control commands configured to control one degree of freedom of a first number of degrees of freedom addressed by the plurality of control commands, -determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load, -determining the modified control commands based on the reduced number of degrees of freedom, wherein the modified control commands address a limited number of degrees of freedom

Abstract: A technique for providing reliable control of a robot (304) in a cloud robotics system (300) is disclosed. A computing unit configured to execute a concealment component (100) for concealing delayed or lost commands sent to the robot (304) by a robot controller (302) in the cloud robotics system (300) comprises at least one processor and at least one memory, wherein the at least one memory contains instructions executable by the at least one processor such that the concealment component (100) is operable to detect a missing command expected to be received by the robot (304) from the robot controller (302), the missing command detected based on a delay or loss of the command in a communication path between the robot (304) and the robot controller (302), generate a substitutional command corresponding to an expected instruction of the missing command, and send the substitutional command to the robot (304).

Abstract: We generally describe a method comprising: processing (S602) data relating to a path of movement of a robotic device (122) comprising or coupled to a sensor (124) in radio communication with a cloud platform (112); and updating (S604), based on the processed data, the path of movement to improve the radio communication.

Abstract: The present disclosure relates to a first Web server (102, 204, 60, 70) and a second Web server (108, 214, 80, 90), and methods therein for controlling of a robot device over a cloud interface. A hyper-text transfer protocol, HTTP, request for a trajectory between a start position and a goal position is sent (S120, S230, 302, 402) towards the second Web server. One or more calculated trajectories are obtained (S122, 304) based on information as received encoded in the request. A HTTP response is sent (306) towards the first WEB server, comprising one or more calculated trajectories. Executing (S126, S266; 308, 406) of a trajectory at least based said one or more of the received trajectories is performed by the first Web server (102, 204, 60, 70). A scalable robot device control method is thus proposed, which is advantageously uses stored calculated trajectories between start and goal positions, for the robot device.

Abstract: A technique for analyzing Quality of Experience, QoE, of a delay critical robotic application in a cloud robotics system is disclosed, the robotic application involving use of a cloud based service by a robot, the service being provided to the robot from a cloud using a connection over a mobile communication network. A method implementation of the technique comprises triggering (S202) determining whether a QoE measure associated with the robotic application exceeds a threshold to assess whether QoE degradation is present, and, when it is determined that QoE degradation is present, triggering (S204) identifying a root cause for the QoE degradation based on one or more performance indicators observed within the mobile communication network and associated with the connection.

Abstract: A device (150) is arranged on a source side of a wireless link (50) and receives data traffic from one or more source devices (201, 202, 203). The device (150) forwards the data traffic via the wireless link (50) and via a further device (11), which is arranged on a destination side of the wireless link (50), towards one or more destination devices (21, 22, 23, 24). The device (150) receives redundancy information from the further device (11). The redundancy information indicates redundant payload which is common to multiple data frames in the data traffic forwarded by the device (150). Based on the redundancy information, the device (150) removes the indicated redundant payload from at least a part of the data traffic to be forwarded by the device (150).

Abstract: The invention relates to a method for operating an orchestration entity (100) configured to control a plurality of control entities (50-53), wherein each of the plurality of control entities controls a device (20-24) with control commands transmitted over a cellular network (70), the method comprising: —determining a number of active control entities (50-53), —determining a number of devices (20-24) controlled by each of the active control entities, —determining, for each of the active control entities, a command cycle between consecutive control commands transmitted by the corresponding control entity over the cellular network to each of the devices under its control, —determining, for each of the active control entities, at least one start time when the corresponding control entity (50-53) should start transmitting the control commands to each of the devices under its control, —transmitting the at least one start time to each of the control entities.

Abstract: A technique for determining an available delay budget for transmission of a packet by a base station to a user equipment, UE, in a cellular network is disclosed. A method implementation of the technique is performed by the base station and includes receiving a packet from a sending node, the packet including a timestamp set by the sending node when processing the packet, triggering determining a latency of the packet based on a difference between a time determined by the base station upon receipt of the packet and the timestamp set by the sending node in the packet, the base station and the sending node being synchronized in time, and triggering determining an available delay budget for transmission of the packet to the UE based on the latency of the packet.

Abstract: An apparatus for selecting a transmission mode for wirelessly transmitting a message comprising control information for robotic device control is provided. The apparatus is configured to compare a current message with a previous message to identify a change in the control information, and to select one of a normal transmission mode and a robust transmission mode, wherein the robust transmission mode is selected if a change in the control information is identified. In another variant, the apparatus is configured to obtain a count of consecutively not correctly received messages, and to select one of a normal transmission mode and a robust transmission mode based on the obtained count, wherein the robust transmission mode is selected if the count equals or approaches a threshold. The apparatus is also configured to trigger wireless transmission of the current message with the selected transmission mode.

Abstract: An apparatus for parameter transformation between a robotic device and a controller for the robotic device is presented. The apparatus is configured to receive at least one non-transformed parameter indicative of at least one of a position and a velocity of or for the robotic device, wherein the non-transformed parameter is received from the robotic device or the controller, respectively. The apparatus is further configured to transform the received non-transformed parameter to a transformed parameter using a transformation between an ideal parameter domain of the controller and a real parameter domain of the robotic device, the ideal parameter domain including ideal parameters processable by the controller and the real parameter domain including real parameters measurable at the robotic device and capable of deviating from the associated ideal parameters.

Abstract: A controller (106) for determining control information to be wirelessly transmitted to a robotic device (102) is disclosed. The controller (106) is configured to obtain first control information comprising at least one first movement instruction for a trajectory of the robotic device (102) and obtain an indication of at least one wireless transmission requirement for a transmission resource and to determine that no wireless transmission resource is available which matches the wireless transmission requirement. The controller (106) is further configured to determine second control information based on the first control information, wherein the second control information comprises at least one second movement instruction for the trajectory which is different from the at least one first movement instruction and trigger wireless transmission of the second control information to the robotic device (102).

Abstract: A controller for controlling wireless command transmission to a robotic device is presented, wherein the robotic device is capable of selectively performing a collaborative task with another entity and a non-collaborative task. The controller is configured to identify if a task to be performed by the robotic device is a collaborative or non-collaborative task, and to trigger a setting of at least one transmission parameter for a wireless command transmission to have the robotic device perform the task, wherein the setting is dependent on whether the task to be performed is a collaborative or a non-collaborative task.

Abstract: The present disclosure relates to delivery of data traffic over a wireless connection. In more particular, it relates to methods, a tunneling unit (208), and system for emulating wired connectivity between two or more robot devices (202, 204) and a controller (222). Buffering (212) of data frames, from two or more robot devices, received up-streams a wireless access network (206) is performed. Based on the time-stamps extracted (210) from data frames a relative time offset is determined for the two or more robot devices. Buffered uplink frames are forwarded (216) to the controller in a pre-define order, enabling using the relative time offset when forwarding downlink frames (232), being received over the wireless access network (206), to said two or more robot devices, such the that the downlink frames reach each one of two or more robot devices simultaneously. A deterministic delivery of data frames over a wireless connection is provided.

Abstract: A system (1) for emulating remote control of a physical robot (5) via a wireless network (11) is disclosed. The system comprises a control module (2) for determining a trajectory for the physical robot and generating trajectory control data that comprises velocity data and positional data based on the determined trajectory. The system further comprises a first control loop (3), comprising a first feed forward controller (4). The first feed forward controller is configured to receive the trajectory control data, send, via the wireless network (11), and a first velocity command to a first control interface of the physical robot (5). The first velocity command is based on the trajectory data. The first feed forward controller (4) is further configured to receive, via the wireless network, a first set of sensor data from physical robot.