Abstract: Collision detection useful in motion planning for robotics advantageously represents planned motions of each of a plurality of robots as obstacles when performing motion planning for any given robot in the plurality of robots that operate in a shared workspace, including taking into account the planned motions during collision assessment. Edges of a motion planning graph are assigned cost values, based at least in part on the collision assessment. Obstacles may be pruned as corresponding motions are completed. Motion planning requests may be queued, and some robots skipped, for example in response to an error or blocked condition.

Abstract: A motion planner performs motion planning with collision assessment, using a motion planning lattice that represents configuration states of a primary agent (e.g., autonomous vehicle) as nodes and transitions between states as edges. The system may assign cost values to edges, the cost values representing probability or likelihood of collision for the corresponding transition. The cost values may additionally or alternatively represent a severity of collision, for example generated via a parametric function with two or more parameters and one or more weights. A primary agent and/or dynamic obstacles may be represented as respective oriented bounding boxes. Some obstacles (e.g., road markings, edge of road) may be represented as curves.

Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.

Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.

Abstract: A system for motion planning for autonomous vehicles can include a plurality of sensors, a plurality of detectors in electrical communication with the plurality of sensors, and a motion planning module in electrical communication with the plurality of detectors and a computing system of an autonomous vehicle. The motion planning module stores a planning graph with each node representing, explicitly or implicitly, time and variables defining a state of the autonomous vehicle, an operating environment, or both the state of the autonomous vehicle and the operating environment. A reconfigurable processor can include a collision detection module and, optionally, a shortest path module. Pre-computed collision data and planning graph data reflecting logical/physical node mapping can be communicated to the processor during a programming phase and used during runtime.

Abstract: A filtering system intended to be attached to the water tap in a shower. The system preferably uses two distinct filtering media in order to filter water—charcoal and kinetic degradation fluxion (“KDF”) media. The present invention preferably includes a bypass valve which allows the user to properly gauge and adjust the temperature of the water prior to passing the water through the filter. The present invention preferably includes two check valves as well. One such check valve is located at the filter entrance, and the other check valve is located at the filter exit. While the shower is activated, the pressure from the water forces each valve open. However, when the shower is not activated, each valve automatically closes (the valves are normally closed valves). The check valve system allows the KDF media to remain in a saturated state, which increases the efficacy and lifespan of the filtering media.

Abstract: A filtering system intended to be attached to the water tap in a shower. The system preferably uses two distinct filtering media in order to filter water—charcoal and kinetic degradation fluxion (“KDF”) media. The present invention preferably includes a bypass valve which allows the user to properly gauge and adjust the temperature of the water prior to passing the water through the filter. The present invention preferably includes two check valves as well. One such check valve is located at the filter entrance, and the other cheek valve is located at the filter exit. White the shower is activated, the pressure from the water forces each valve open. However, when the shower is not activated, each valve automatically closes (the valves are normally closed valves). The check valve system allows the KDF media to remain in a saturated state, which increases the efficacy and lifespan of the filtering media.

Abstract: A portable passenger boarding ramp assembly includes a main chassis having a plurality of drive wheels; a ramp structure carried by the main chassis, the ramp structure including a lower ramp sloping upwardly to the main chassis; a lower turndeck carried by the main chassis at an upper end of the lower ramp; a mid ramp carried by the main chassis, the mid ramp sloping upwardly from the lower turndeck; an upper turndeck carried by the main chassis at an upper end of the mid ramp; an upper ramp carried by the main chassis, the upper ramp sloping upwardly from the upper turndeck; and a level deck carried by the main chassis and disposed in vertically pivoting relationship to the upper ramp; and a drive system drivingly engaging the plurality of drive wheels.

Abstract: A ramp assembly for deplaning passengers from and boarding passengers on an airplane includes a level deck having a front deck edge, at least one bridge connector assembly carried by the level deck at the front deck edge and at least one floating upper bridge carried by the at least one bridge connector assembly. The at least one bridge connector assembly facilitates horizontal pivoting movement, vertical pivoting movement and side-to-side movement of the at least one floating upper bridge relative to the level deck. A passenger deplaning and boarding method is also disclosed.

Abstract: A ramp assembly for deplaning passengers from and boarding passengers on an airplane includes a level deck, at least one bridge connector assembly carried by the level deck and at least one floating upper bridge carried by the at least one bridge connector assembly. The at least one bridge connector assembly facilitates horizontal pivoting movement, vertical pivoting movement and side-to-side movement of the at least one floating upper bridge relative to the level deck. A passenger deplaning and boarding method is also disclosed.

Abstract: Disclosed is an easy-open envelope comprising a pocket for receiving and storing objects. The pocket further comprises a flap configured to be positioned in an open and closed position. The flap is further configured such that when positioned in a closed position, contents may not be added to or removed from the pocket. At least one of the flap interior or pocket exterior comprises an adhesive configured such that when the adhesive has been activated and the flap closed, the flap is secured to the pocket, and contents of the envelope pocket may not be accessed without destructively tearing some portion of the envelope. The easy-open envelope further comprises an embedded access device. The embedded access device is configured to permit easy access to the content of the easy-open envelope if the envelope has been sealed. A method for making the easy-open envelope is also provided.

Abstract: A retainer apparatus and method is disclosed for retaining a form mold in a selected position that includes a beam having a longitudinal axis and a retaining member slidably engaged to the beam allowing for free movement along the longitudinal axis when said retaining member is in a free state. The retaining member has a lengthwise axis substantially perpendicular to the longitudinal axis in the free state, with the retaining member also including a leg substantially parallel to the lengthwise axis, the leg extending from the slidable engagement and terminating in a form mold interface portion. The retaining member also including a head portion extending from the slidable engagement being substantially oppositely disposed from the leg. The retainer apparatus is place into the locked state by applying a force to the leg to substantially lock the slidable engagement and retaining the form mold.

Abstract: The present invention provides an amino-pyridine compound of formula I The present invention also provides methods for the use thereof to inhibit ?-secretase (BACE) and treat ?-amyloid deposits and neurofibrillary tangles.

Abstract: The present invention provides a 2-amino-5-heteroaryl-5-phenylimidazolone compound of formula I The present invention also provides methods for the use thereof to inhibit ?-secretase (BACE) and treat ?-amyloid deposits and neurofibrillary tangles

Abstract: The present invention provides an amino-pyridine compound of formula I The present invention also provides methods for the use thereof to inhibit ?-secretase (BACE) and treat ?-amyloid deposits and neurofibrillary tangles.

Abstract: The present invention provides a 2-amino-5-heteroaryl-5-phenylimidazolone compound of formula I The present invention also provides methods for the use thereof to inhibit ?-secretase (BACE) and treat ?-amyloid deposits and neurofibrillary tangles.

Abstract: This invention provides estrogen receptor modulators having the structure: wherein R1 to R7 are as defined in the specification; or a pharmaceutically acceptable salt thereof.

Abstract: The present invention provides a 2-amino-5-[4-(difluoromethoxy)phenyl]-5-phenylimidazolone compound of formula I The present invention also provides methods for the use thereof to inhibit ?-secretase (BACE) and treat ?-amyloid deposits and neurofibrillary tangles.

Abstract: The present invention provides a 2-amino-5-heteroaryl-5-phenylimidazolone compound of formula I The present invention also provides methods for the use thereof to inhibit ?-secretase (BACE) and treat ?-amyloid deposits and neurofibrillary tangles

Abstract: The present invention provides a substituted thienyl or furyl acylguanidine compound of formula I The present invention also provides methods for the inhibition of ?-secretase (BACE) and for the treatment of ?-amyloid deposits and neurofibrillary tangles.