Abstract: Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.

Abstract: A wireless power system has a wireless power transmitting device and a wireless power receiving device. The wireless power transmitting device may include ASK decoding circuitry. An inverter controller may supply control signals to an inverter based on a clock signal. To improve wireless transmission at various frequencies of interest, the clock signal used by the inverter controller may be dithered using a modulating signal. To mitigate bit errors in ASK decoding caused by the dithering of the clock signal in the wireless power transmitting device, ASK communication receiving circuitry in the wireless power transmitting device may receive information regarding the modulating signal used to dither the clock signal. The ASK communication receiving circuitry may receive a clock signal that has been dithered using the modulating signal, dither an analog-to-digital converter sampling rate using the modulating signal, or include notch filtering circuitry with parameters determined based on the modulating signal.

Abstract: A wireless power transmitter can receive the results of a characterizing signal transmitted by the wireless power receiver, compute at least two parameters of a model characterizing an in-band communications channel based on the received results of the characterizing signal transmitted by the wireless power receiver, compute a plurality of equalizing filter taps from the at least two parameters, and apply the computed equalizing filter to subsequent signals received by the wireless power transmitter via the in-band communications channel. A first parameter can correspond to a time constant of the channel, and a second parameter can correspond to a damping value of the communications channel. The wireless power transmitter can transmit to a wireless power receiver a request to transmit a characterizing signal through the in-band communication channel, wherein the characterizing signal transmitted by the wireless power receiver is sent in response to the transmitted request.

Abstract: A wireless power transmitter can receive the results of a characterizing signal transmitted by the wireless power receiver, compute at least two parameters of a model characterizing an in-band communications channel based on the received results of the characterizing signal transmitted by the wireless power receiver, compute a plurality of equalizing filter taps from the at least two parameters, and apply the computed equalizing filter to subsequent signals received by the wireless power transmitter via the in-band communications channel. A first parameter can correspond to a time constant of the channel, and a second parameter can correspond to a damping value of the communications channel. The wireless power transmitter can transmit to a wireless power receiver a request to transmit a characterizing signal through the in-band communication channel, wherein the characterizing signal transmitted by the wireless power receiver is sent in response to the transmitted request.

Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.

Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.

Abstract: A wireless power transmitter can receive the results of a characterizing signal transmitted by the wireless power receiver, compute at least two parameters of a model characterizing an in-band communications channel based on the received results of the characterizing signal transmitted by the wireless power receiver, compute a plurality of equalizing filter taps from the at least two parameters, and apply the computed equalizing filter to subsequent signals received by the wireless power transmitter via the in-band communications channel. A first parameter can correspond to a time constant of the channel, and a second parameter can correspond to a damping value of the communications channel. The wireless power transmitter can transmit to a wireless power receiver a request to transmit a characterizing signal through the in-band communication channel, wherein the characterizing signal transmitted by the wireless power receiver is sent in response to the transmitted request.

Abstract: A sensor power management arrangement includes a signal processing circuit configured to receive signal from a sensor, to test the signal against at least one criterion, and to pass the signal for further processing in response to the signal passing the at least one criterion. In this way, only signals that are of a sufficient importance or significance will consume the maximum amount of processing energy and through processing by later processes or circuitry. Should a signal from a sensor not be strong enough or meet other criteria, power will not be wasted in preparing that signal for provision to the microcontroller or microprocessor. Additional flexibility in the sensor power management can be realized by adjusting the criteria against which the sensor signal is compared based on a status of the sensor apparatus.

Abstract: An LED (light-emitting diode) driver for a photoplethysmography system, including a switched-mode operational amplifier for driving a driver transistor with a source-drain path in series with the LED. In a first clock phase in which the LED is disconnected from the driver transistor, the amplifier is coupled in unity gain mode, and a sampling capacitor stores a voltage corresponding to the offset and flicker noise of the amplifier; the gate of the driver transistor is precharged to a reference voltage in this first clock phase. In a second clock phase, the sampled voltage at the capacitor is subtracted from the reference voltage applied to the amplifier input, so that the LED drive is adjusted according to the sampled noise. A signal from the transmitter channel is forwarded to a noise/ripple remover in the receiving channel, to remove transmitter noise from the received signal.

Abstract: A structure of a floating, semi-submersible wind turbine platform is provided. The floating wind turbine platform includes three elongate stabilizing columns, each having a top end, a keel end, and an outer shell containing an inner shaft. Each stabilizing column further includes a water entrapment plate. The floating wind turbine platform also includes three truss members, each truss member including two chord members and two diagonal members. The truss members connect the stabilizing columns to form a triangular cross-section. An elongate wind turbine tower is disposed over the top end of one of the three stabilizing columns.

Abstract: A structure of a floating, semi-submersible wind turbine platform is provided. The floating wind turbine platform includes three elongate stabilizing columns, each having a top end, a keel end, and an outer shell containing an inner shaft. Each stabilizing column further includes a water entrapment plate at its keel cantilevered in a plane perpendicular to a longitudinal axis of the stabilizing column. The floating wind turbine platform also includes three truss members, each truss member including two horizontal main tubular members and two diagonal tubular members. The truss members connect the stabilizing columns to form a triangular cross-section. An elongate wind turbine tower is disposed over the top end of one of the three stabilizing columns such that the longitudinal axis of the tower is substantially parallel to the longitudinal axis of the stabilizing column.

Abstract: A structure of a floating, semi-submersible wind turbine platform is provided. The floating wind turbine platform includes three elongate stabilizing columns, each having a top end, a keel end, and an outer shell containing an inner shaft. Each stabilizing column further includes a water entrapment plate at its keel cantilevered in a plane perpendicular to a longitudinal axis of the stabilizing column. The floating wind turbine platform also includes three truss members, each truss member including two horizontal main tubular members and two diagonal tubular members. The truss members connect the stabilizing columns to form a triangular cross-section. An elongate wind turbine tower is disposed over the top end of one of the three stabilizing columns such that the longitudinal axis of the tower is substantially parallel to the longitudinal axis of the stabilizing column.

Abstract: An analog to digital converter (ADC) system that includes a first amplifier configured to amplify an analog input signal to produce an amplified direct current (DC) signal, an ADC configured to receive the amplified DC signal and convert the amplified DC signal into a digital DC signal, a digital to analog converter configured to receive the digital DC signal and convert the digital DC signal into an analog DC signal, and a second amplifier configured to receive an analog alternating current (AC) signal comprising the analog DC signal subtracted from the analog input signal and amplify the analog AC signal to produce an amplified AC signal. The ADC is further configured to receive the amplified AC signal and produce a digital AC signal. The second amplifier has a gain greater than a gain of the first amplifier.

Abstract: A network of sensor and controller nodes having the ability to be dynamically programmed and receive updated software from one another, and from a host system. Each network node includes multiple state machines, at least some of which are operable relative to physical pins at the network node; the physical pins correspond to inputs from sensor functions or outputs to control functions. The network nodes include microcontrollers that are operable in an operating mode to execute a state machine and respond to commands from other nodes or the host, and in a read mode to receive and store program instructions transmitted from other nodes or the host. A learn mode is also provided, by way of which a network node can store program code corresponding to instructions and actions at the node when under user control.

Abstract: A periphery band is around an excluded region. For automatically counting physical objects within the periphery band and the excluded region, an imaging sensor captures: a first image of the periphery band and the excluded region; and a second image of the periphery band and the excluded region. In response to the first image, a first number is counted of physical objects within the periphery band and the excluded region. Relevant motion is automatically detected within the periphery band, while ignoring motion within the excluded region. In response to the second image, a second number is counted of physical objects within the periphery band and the excluded region. In response to determining that a discrepancy exists between the detected relevant motion and the second number, the discrepancy is handled.

Abstract: The circuitry of an optical receiver reduces the ambient DC component and the pleth DC component to leave a pleth signal with substantially only a pleth AC component. The circuitry also provides gain control and can provide transmit power control to change the range of the pleth AC component to occupy a desired input range of an analog-to-digital converter.

Abstract: An analog to digital converter (ADC) system that includes a first amplifier configured to amplify an analog input signal to produce an amplified direct current (DC) signal, an ADC configured to receive the amplified DC signal and convert the amplified DC signal into a digital DC signal, a digital to analog converter configured to receive the digital DC signal and convert the digital DC signal into an analog DC signal, and a second amplifier configured to receive an analog alternating current (AC) signal comprising the analog DC signal subtracted from the analog input signal and amplify the analog AC signal to produce an amplified AC signal. The ADC is further configured to receive the amplified AC signal and produce a digital AC signal. The second amplifier has a gain greater than a gain of the first amplifier.

Abstract: Reduced noise and power with rapid settling time and increased performance in multi-modal analog multiplexed data acquisition systems. An example apparatus arrangement includes a circuit input configured to receive a plurality of analog input signals; an analog to digital converter circuit configured to output a digital representation of an analog voltage; a selection circuit configured to select one of the analog input signals received at the circuit input; a buffer coupled to receive the selected one of the analog input signals; a filter coupled to the buffer and configured to perform a high bandwidth sample operation and a low bandwidth sample operation and having a filter output, responsive to a control signal; and a sampling capacitor coupled to the filter to sample the filter output, and having an output coupled to the analog to digital converter. Methods and additional apparatus arrangements are disclosed.

Abstract: An LED (light-emitting diode) driver for a photoplethysmography system, including a switched-mode operational amplifier for driving a driver transistor with a source-drain path in series with the LED. In a first clock phase in which the LED is disconnected from the driver transistor, the amplifier is coupled in unity gain mode, and a sampling capacitor stores a voltage corresponding to the offset and flicker noise of the amplifier; the gate of the driver transistor is precharged to a reference voltage in this first clock phase. In a second clock phase, the sampled voltage at the capacitor is subtracted from the reference voltage applied to the amplifier input, so that the LED drive is adjusted according to the sampled noise. A signal from the transmitter channel is forwarded to a noise/ripple remover in the receiving channel, to remove transmitter noise from the received signal.

Abstract: An optical system includes an optical illumination source, an optical receiver, a correlation determination circuit, and an ambient condition control circuit. The optical illumination source is configured to emit a light in the direction of a target object. The optical receiver is configured to receive a combined optical signal that includes an ambient light component combined with an interrogation component. The correlation determination circuit is configured to compare the combined optical signal with an ambient light signal to identify a correlation factor. The ambient condition control circuit is configured to compare the correlation factor to a low correlation threshold value and a high correlation threshold value, and, based on the correlation factor exceeding the low threshold value and being less than the high correlation threshold value, cancel the ambient light component from the combined optical signal to produce an interrogation signal including the interrogation component.