Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.

Abstract: The present application discloses a system, a method, and a computer system for detecting objects that require special handling. The method includes (i) receiving image data from one or more cameras associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the image data, that an item requiring special handling has entered the source conveyor, and (iii) providing an output indicating that the item requiring special handling has been detected.

Abstract: A robotic system comprising an end effector-mounted sensor is disclosed. In various embodiments, a robotic arm is manipulated to move a sensor to a position such that an object of interest is within a read range of the sensor. A sensor data read by the sensor is received via a communication interface. The sensor data is used to determine an attribute of the object; and the determined attribute of the object is used to determine a plan to grasp and move the object.

Abstract: A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.

Abstract: A method of manufacturing an electrode-forming slurry includes mixing together an active material, an electrically conducting material and optionally a solid state electrolyte with a low-polar solvent. The low-polar solvent has a dipole moment of less than 4 and a boiling point greater than 100° C. to form a first slurry, where the active material is an anode active material or a cathode active material. A polymeric binder and an ether-based solvent are mixed to form second slurry. The first slurry and the second slurry are mixed to form the electrode-forming slurry.

Abstract: A bipolar solid-state battery cell includes a plurality of battery cells, wherein each cell includes a separator, an anode disposed on a first side of the separator and a cathode disposed on a second side of the separator; where the second side is opposedly disposed to the first side. The anode is in electrical communication with an anode current collector and the cathode is in electrical communication with a cathode current collector. A capacitor wall is disposed parallel to at least one external surface of the anode or cathode, where the capacitor wall includes a capacitor active material.

Abstract: A solid state battery cell includes an anode, a cathode, and a solid state electrolyte disposed between the anode and the cathode. The anode is a lithium metal composite anode that comprises a lithium metal layer and a metal sulfide. A method of manufacturing a battery cell includes disposing a lithium metal composite anode on an anode current collector, where the lithium metal composite anode comprises a lithium metal layer and a metal sulfide. A solid state electrolyte is then disposed on the lithium metal composite anode. A cathode active layer is disposed on the solid state electrolyte and a cathode current collector is disposed on the cathode active layer.

Abstract: An electrolyte for use in an electrochemical cell. The electrolyte includes a first layer having a thickness of about 1 ?m to about 40 ?m and a second layer having a thickness of about 5 ?m to about 60 ?m. The first layer includes, based on a total weight of the first layer, about 10 wt. % to about 40 wt. % of first solid-state electrolyte particles, about 1 wt. % to about 15 wt. % of lithium, and about 1 wt. % to about 65 wt. % of fibrils including carbon and fluorine, The second layer includes second solid-state electrolyte particles.

Abstract: A polymeric gel electrolyte for an electrochemical cell, such as a solid-state battery, is provided herein as well an electrochemical cell including the polymeric gel electrolyte. The polymeric gel electrolyte includes a lithium salt comprising sulfur and fluorine, a lithium salt comprising boron, a fluorinated plasticizer, a non-fluorinated plasticizer, and a polymeric host. A w/w ratio of the fluorinated plasticizer to the non-fluorinated plasticizer is 9:1 to 1:9.

Abstract: Lithium-ion batteries are provided that include a columnar silicon anode including a carbon fiber network on exposed surfaces of the columnar silicon anode. The columnar silicon is formed by plasma vapor deposition. Also disclosed are processes for forming the carbon fiber network, which generally includes spraying a dilute carbon fiber precursor solution including carbon nanotubes, an optional polymeric dispersing agent and a solvent, which is then subjected to facile evaporation at an elevated temperature to remove the solvent and form the carbon fiber network. The carbon fiber network is uniformly and multi-directionally provided on the exposed surfaces of the columnar silicon anode. The presence of the carbon fiber network provides high electronic pathways to enhance battery power capability especially at the higher current rates.

Abstract: A novel rheology modifier which comprises a quaternary ammonium containing polyamide for use in aqueous paint, and that can provide excellent pigment suspension and rheological properties to the aqueous based coating without being affected by pH fluctuation.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

Abstract: A multicamera image processing system is disclosed. In various embodiments, image data is received from each of a plurality of sensors associated with a workspace, the image data comprising for each sensor in the plurality of sensors one or both of visual image information and depth information. Image data from the plurality of sensors is merged to generate a merged point cloud data. Segmentation is performed based on visual image data from at least a subset of the sensors in the plurality of sensors to generate a segmentation result. One or both of the merged point cloud data and the segmentation result is/are used to generate a merged three dimensional and segmented view of the workspace.

Abstract: The present application discloses a system, a method, and a computer system for detecting objects that require special handling. The method includes (i) receiving image data from one or more cameras associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the image data, that an item requiring special handling has entered the source conveyor, and (iii) providing an output indicating that the item requiring special handling has been detected.

Abstract: Performing a “cold start” of a robotic stacking operation is disclosed. In various embodiments, estimated state information representing an estimated state of one or both of a receptacle and one or more objects stacked on or in the receptacle is stored. An indication is received that the estimated state information is not suitable to make a next placement decision with respect to a next object to be stacked on or in the receptacle. Constructed estimated state information is generated at least in part by processing sensor information generated by one or more sensors positioned and configured to generate sensor information providing an at least partial view of one or both of the receptacle and the one or more objects stacked on or in the receptacle.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.

Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.