Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

Abstract: An identification of a connectivity template to be applied to a design of a computer network is received. The design of the network is automatically analyzed to identify eligible application points in the design of the network where the connectivity template is eligible to be applied. A specification of one or more specific ones of the identified eligible application points where the connectivity template is to be applied is received. The connectivity template is applied to the specified one or more specific ones of the identified eligible application points to configure the computer network.

Abstract: An apparatus for in-situ reconditioning of a media used in an effluent treatment bed is disclosed, in which passage of effluent has become impeded by clogging matter within the media, the bed having been planted with vegetation having roots extending into the media. The apparatus includes a frame supporting a superstructure operable to be disposed above a surface of the bed when in operation, a pair of spaced apart arms having distal ends extending downwardly from the frame, and an agitator extending between the pair of arms and having tines for sub-surface tilling of the media. The agitator is coupled to a drive system operable to cause rotation thereof. A lifter bar is disposed between the arms above the agitator such that when the frame is advanced through the bed the lifter bar passes through the bed below a primary root zone of the vegetation lifting and separating the primary root zone while the agitator tills the media below causing clogging matter to be separated from the media.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.

Abstract: A method of operating a solar energy plant and a solar plant are disclosed. Thermal energy produced in the plant is used to heat a first volume of water and charge a hot store in the plant. Electricity produced in the plant operates a heat engine or other device, such as a refrigeration unit, to extract heat and consequently cool a second volume of water and charge a cold store. As desired, energy is transferred from the hot store to a heat engine and energy is transferred from the heat engine to the cold store to operate the heat engine to produce power in the plant.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.

Abstract: Provided are soluble leukemia inhibitory factor receptor (LIFR) polypeptides, soluble glycoprotein 130 (gp130) polypeptides, and soluble fusion proteins and dimers including such polypeptides. The soluble polypeptides bind to leukemia inhibitory factor (LIF). In certain aspects, the soluble polypeptides exhibit increased binding affinity for LIF relative to the corresponding wild-type polypeptides. Also provided are nucleic acids encoding such soluble polypeptides, expression vectors including such nucleic acids, and cells including such nucleic acids and/or expression vectors. Methods of using the soluble polypeptides, including methods of inhibiting LIF activity in an individual in need thereof (e.g., to treat cancer), are also provided.

Abstract: In some embodiments, a method for performing at least one of enhancement, decoding, or rendering of a multichannel audio signal in response to compression feedback or feedback from a smart amplifier. For example, the compression feedback may be indicative of amount of compression applied to each of multiple frequency bands, of the audio signal or an enhanced audio signal generated in response thereto. The enhancement (e.g., bass enhancement) may include dynamic routing of audio content of the input audio signal between channels of an enhanced audio signal generated in response thereto. The enhancement and compression may be performed on a per speaker class basis. Other aspects are systems (e.g., programmed processors) and devices (e.g., devices having physically-limited bass reproduction capabilities, such as, for example, a notebook or laptop computer, tablet, soundbar, mobile phone, or other device with small speakers) configured to perform any embodiment of the method.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system.

Abstract: A provider network (and associated methods) permits virtual machine instances to be terminated but imposes some checks to reduce the risk that an instance is unintentionally terminated. In one example, a safety stock threshold is imposed for a group of instances. If terminating instances within that group would cause a violation of the safety stock threshold, the provider network requests confirmation for the instances to be terminated. In another example, a time delay is imposed after receipt of an instance termination request before the instance is actually terminated. During the time delay, the instance is transitioned to an idle state but otherwise persists on its host computer thereby allowing time to revoke the instance termination. In yet another example, the provider network obtains independent confirmation of the identities of all instances to be terminated before such instances can be terminated pursuant to a termination request.

Abstract: A method and imaging system for operating imaging computed tomography using at least one radiation source and at least one detector to generate an image of an object. The method includes: defining desired image characteristics; and performing calculations to determine the pattern of fluence to be applied by the at least one radiation source, to generate said desired image quality or characteristics. Then, the at least one radiation source is modulated, to generate the intended pattern of fluence between the beam source and the object to be imaged. The desired image characteristics can provide at least one of: desired image quality in at least one defined region of interest; and at least one desired distribution of said image quality.

Abstract: A system for providing security services to a mobile device where the mobile device is in communication with a public network through a first network path that is subject to interference by a third party. The system includes a security server and a private network. The security server is operative to communicate with the mobile device through the private network. The security server is also operative to communicate with the public network through a second network path that is less susceptible to the interference by the third party than is the first network path. The security server communicates with the public network through the second network path to provide security services to the mobile device that are delivered over the private network.

Abstract: Methods and devices for controlling system settings of a computing device are described herein. One example embodiment comprises: determining configuration data associated with a software application, wherein the configuration data identifies one or more new system settings to be temporarily enforced on the computing device during an execution of the software application, and wherein the configuration data is digitally signed; and in response to an initiation of the execution of the software application, reconfiguring system settings on the computing device; wherein the reconfiguring comprises verifying at least one digital signature associated with the digitally signed configuration data; wherein if the at least one digital signature associated with the digitally signed configuration data successfully verifies, then the reconfiguring further comprises temporarily enforcing new system settings for the duration of the execution of the software application.

Abstract: A method and apparatus for reacting to an alert message, such as a commercial mobile alert system (CMAS) message, is provided. A mobile device in receipt of an alert message automatically obtains status information such as mobile device position, for example via GPS, and prompts a user for status information such as emergency preparedness. A response message is automatically generated and transmitted to designated recipients, such as address book contacts or a datacentre.

Abstract: Methods and devices for controlling system settings of a computing device are described herein. One example embodiment comprises: determining configuration data associated with a software application, wherein the configuration data identifies one or more new system settings to be temporarily enforced on the computing device during an execution of the software application, and wherein the configuration data is digitally signed; and in response to an initiation of the execution of the software application, reconfiguring system settings on the computing device; wherein the reconfiguring comprises verifying at least one digital signature associated with the digitally signed configuration data; wherein if the at least one digital signature associated with the digitally signed configuration data successfully verifies, then the reconfiguring further comprises temporarily enforcing new system settings for the duration of the execution of the software application.