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1. (WO2018143993) FUNCTIONAL ELEMENT POSE DETERMINATION
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CLAIMS

1 . A system to determine a pose of functional elements, comprising:

a set of functional elements, each of the functional elements including a housing and a processor, memory, power supply, sensor, and wireless communication module each within the housing; and

a position module to determine a position of a respective one of the functional elements based on a field of known intensity sensed by the

respective one of the functional elements in each a first orientation of the system, a second orientation of the system rotated relative to the first orientation of the system, and a third orientation of the system rotated relative to the second orientation of the system.

2. The system of claim 1 , wherein the field of known intensity comprises atmospheric pressure, and each of the functional elements is to sense a magnitude of the atmospheric pressure in each the first orientation, the second orientation, and the third orientation of the system.

3. The system of claim 1 , wherein the functional elements are submerged in liquid, wherein the field of known intensity comprises liquid pressure, and each of the functional elements is to sense a magnitude of the liquid pressure in each the first orientation, the second orientation, and the third orientation of the system.

4. The system of claim 1 , further comprising:

an orientation module to determine an orientation of the respective one of the functional elements based on a field of known structure sensed by the respective one of the functional elements in both the first orientation of the system and the second orientation of the system.

5. The system of claim 4, wherein the field of known structure comprises a gravitational field, and each of the functional elements is to sense a direction of the gravitational field in both the first orientation and the second orientation of the system.

6. The system of claim 4, wherein the field of known structure comprises a magnetic field, and each of the functional elements is to sense an orientation of the magnetic field in both the first orientation and the second orientation of the system.

7. The system of claim 1 , wherein the first orientation of the system comprises a first orientation of a container with the functional elements contained therein, the second orientation of the system comprises a second orientation of the container with the functional elements contained therein, and the third orientation of the system comprises a third orientation of the container with the functional elements contained therein, the third orientation of the container rotated relative to the second orientation of the container, and the second orientation of the container rotated relative to the first orientation of the container.

8. A system to determine a pose of functional elements, comprising:

an accumulation of functional elements, each of the functional elements including a housing and a processor, memory, power supply, sensor, and wireless communication module each within the housing;

each of the functional elements to sense a field of known intensity and a field of known structure; and

a pose of a respective one of the functional elements comprising an individual position based on the field of known intensity sensed in first, second, and third orientations of the system rotated relative to each other, and an individual orientation based on the field of known structure sensed in first and second orientations of the system rotated relative to each other.

9. A method of determining a pose of functional elements, comprising:

grouping a plurality of functional elements, each of the functional elements including a housing and a processor, memory, power supply, sensor, and wireless communication module each within the housing; and

determining an individual position of a respective one of the functional elements, including sensing a field of known intensity by the respective one of the functional elements in each a first orientation, a second orientation rotated relative to the first orientation, and a third orientation rotated relative to the second orientation.

10. The method of claim 9, wherein sensing the field of known intensity comprises sensing atmospheric pressure by the respective one of the functional elements in each the first orientation, the second orientation, and the third orientation.

1 1 . The method of claim 9, further comprising:

submerging the functional elements in liquid,

wherein sensing the field of known intensity comprises sensing liquid pressure by the respective one of the functional elements in each the first orientation, the second orientation, and the third orientation.

12. The method of claim 9, further comprising:

determining an individual orientation of the respective one of the functional elements, including sensing a field of known structure by the respective one of the functional elements in both the first orientation and the second orientation.

13. The method of claim 12, wherein sensing the field of known structure comprises sensing a direction of a gravitational field by the respective one of the functional elements in both the first orientation and the second orientation.

14. The method of claim 12, wherein sensing the field of known structure comprises sensing an orientation of a magnetic field by the respective one of the functional elements in both the first orientation and the second orientation.

15. The method of claim 9, wherein the first orientation comprises a first orientation of a container with the functional elements contained therein, the second orientation comprises a second orientation of the container with the functional elements contained therein, and the third orientation comprises a third orientation of the container with the functional elements contained therein, the third orientation of the container rotated relative to the second orientation of the container, and the second orientation of the container rotated relative to the first orientation of the container.