Abstract: A semiconductor device, a memory system, and a fabricating method are provided. The semiconductor device comprises a memory structure bonded with a circuit structure. The memory structure comprises: first transistors each comprising a semiconductor body extending in a vertical direction, a semiconductor layer on a lateral side of the first transistors, a first isolation structure extending through the semiconductor layer and laterally encircling a first portion of the semiconductor layer, a first contact structure extending through the first portion of the semiconductor layer, and a first contact pad above the first portion of the semiconductor layer and connected with the first contact structure. A lateral dimension of the first contact pad is less than a lateral dimension of the first portion of the semiconductor layer. The circuit structure comprises a second transistor, and the first contact pad is electrically connected to the second transistor by the first contact structure.

Abstract: A computing device for generating a navigational path for a mobile automation apparatus includes: a memory storing, for each of a plurality of pairs of poses having predetermined orientations, a group of pre-computed path segments, each path segment traversing the pair of poses and corresponding to one of a set of entry poses and one of a set of exit poses; a navigational controller configured to: obtain a coarse path defined by a sequence of guide poses each having one of the predetermined orientations, the coarse path having a start location and an end location; for each successive pair of the guide poses, retrieve a selected one of the path segments from memory based on orientations of (i) the pair of guide poses, (ii) a preceding guide pose, and (iii) a following guide pose; and generate a final path for navigation by the apparatus by combining the selected path segments.

Abstract: A method of dynamic path generation in a navigational controller includes: generating (i) a plurality of paths extending from a starting location to a goal location, and (ii) a cost for each of the paths; selecting, based on the costs, an optimal path for execution from the plurality of paths; storing a subset of the costs in a cost history queue; responsive to detecting an obstacle during execution of the optimal path, retrieving one of the costs from the cost history queue; determining an initial re-planning search space based on the cost retrieved from the cost history queue; and initiating generation of a re-planned path within the initial re-planning search space.

Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.

Abstract: A method for dynamic target feature mapping in a mobile automation apparatus includes, at a navigational controller of the apparatus: obtaining mapping trajectory data defining a trajectory traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse the trajectory; generating a sequence of keyframes and corresponding estimated mobile automation apparatus poses in a facility frame of reference during traversal of the trajectory, using a navigational sensor of the mobile automation apparatus; simultaneously with generating a target-associated one of the keyframes, detecting a target feature using an environmental sensor of the mobile automation apparatus; storing a relative target location of the target feature, defined relative to the estimated pose of the target-associated keyframe; generating a map of the facility based on the sequence of keyframes; and storing a final target location for the target feature, defined in the facility frame of reference.

Abstract: A method of dynamic path generation in a navigational controller includes: generating (i) a plurality of paths extending from a starting location to a goal location, and (ii) a cost for each of the paths; selecting, based on the costs, an optimal path for execution from the plurality of paths; storing a subset of the costs in a cost history queue; responsive to detecting an obstacle during execution of the optimal path, retrieving one of the costs from the cost history queue; determining an initial re-planning search space based on the cost retrieved from the cost history queue; and initiating generation of a re-planned path within the initial re-planning search space.

Abstract: A computing device for generating a navigational path for a mobile automation apparatus includes: a memory storing, for each of a plurality of pairs of poses having predetermined orientations, a group of pre-computed path segments, each path segment traversing the pair of poses and corresponding to one of a set of entry poses and one of a set of exit poses; a navigational controller configured to: obtain a coarse path defined by a sequence of guide poses each having one of the predetermined orientations, the coarse path having a start location and an end location; for each successive pair of the guide poses, retrieve a selected one of the path segments from memory based on orientations of (i) the pair of guide poses, (ii) a preceding guide pose, and (iii) a following guide pose; and generate a final path for navigation by the apparatus by combining the selected path segments.

Abstract: A laser material processing system comprises: a housing defining an engraving chamber, an xy laser beam steering system, a non-telescoping focus mechanism, and a camera system that facilitates production of engravings that exceed the xy dimensions of the engraving chamber and/or facilitates placement of an engraving depicted in a software user interface in a specific location in the work area. The housing includes a removable bottom panel that allows processing of workpieces of infinite thickness. The focus mechanism includes a carriage mirror subassembly, a sliding member moveably attached to the carriage mirror subassembly, and a focusing lens subassembly attached to a lower portion of the sliding member. The carriage mirror subassembly and focusing lens subassembly are configured to receive and focus a laser beam to a focal point. The focusing lens subassembly is adjusted along a z-axis by vertically sliding the sliding member.

Abstract: A laser material processing system comprises: a housing defining an engraving chamber, an xy laser beam steering system, a non-telescoping focus mechanism, and a camera system that facilitates production of engravings that exceed the xy dimensions of the engraving chamber. The housing includes a removable bottom panel that allows processing of workpieces that exceed dimensions of the engraving chamber. The focus mechanism includes a carriage mirror subassembly, a sliding member moveably attached to the carriage mirror subassembly, and a focusing lens subassembly attached perpendicularly to a lower portion of the sliding member. The carriage mirror subassembly and focusing lens subassembly are configured to receive and focus a laser beam to a focal point. The focusing lens subassembly is adjusted along a z-axis by disengaging the locking component and vertically sliding the sliding member and is locked into a position by engaging the locking component with the sliding member.

Abstract: A laser material processing system comprises: a housing defining an engraving chamber, an xy laser beam steering system, a non-telescoping focus mechanism, and a camera system that facilitates production of engravings that exceed the xy dimensions of the engraving chamber. The housing includes a removable bottom panel that allows processing of workpieces that exceed dimensions of the engraving chamber. The focus mechanism includes a carriage mirror subassembly, a sliding member moveably attached to the carriage mirror subassembly, and a focusing lens subassembly attached perpendicularly to a lower portion of the sliding member. The carriage mirror subassembly and focusing lens subassembly are configured to receive and focus a laser beam to a focal point. The focusing lens subassembly is adjusted along a z-axis by disengaging the locking component and vertically sliding the sliding member and is locked into a position by engaging the locking component with the sliding member.