Abstract: The invention provides a method for the preparation of a foamed drink comprising the steps of: providing a capsule containing a foamable ingredient; providing a receptacle positioned to collect fluid escaping from the capsule; injecting liquid into the capsule to mix with the foamable ingredient; allowing the foamable ingredient mixed with the liquid to escape from the capsule into the receptacle; followed by injecting further liquid into the receptacle in a jet having a diameter of from about 0.5 to about 2 mm to produce foamed liquid in the receptacle. The invention also provides capsules, apparatus and systems specifically adapted for use in the method. Preferably, the food ingredient is a milk powder, and the method produces a hot foamed beverage such as a cappuccino coffee.

Abstract: A method and apparatus for establishing a route for an autonomous vehicle, the method including: determining localization information for the vehicle with respect to a first frame of reference that is fixed with respect to a current state of the vehicle; determining localization information for the vehicle with respect to a second frame of reference that is fixed with respect to an entity (e.g. Earth), the vehicle being moveable with respect to the entity; establishing a route for the vehicle with respect to the second frame using the localization information for the vehicle with respect to the second frame; transforming the route from the second frame to the first frame; and determining a route for the vehicle with respect to the first frame using the localization information for the vehicle with respect to the first frame and the transformed route.

Abstract: A method and apparatus for establishing a route for an autonomous vehicle, the method including: determining localisation information for the vehicle with respect to a first frame of reference that is fixed with respect to a current state of the vehicle; determining localisation information for the vehicle with respect to a second frame of reference that is fixed with respect to an entity (e.g. Earth), the vehicle being moveable with respect to the entity; establishing a route for the vehicle with respect to the second frame using the localisation information for the vehicle with respect to the second frame; transforming the route from the second frame to the first frame; and determining a route for the vehicle with respect to the first frame using the localisation information for the vehicle with respect to the first frame and the transformed route.

Abstract: An automated baby formula dispenser for preparing bottles of formula at programmable time intervals includes a housing, a formula reservoir designed for holding dry formula, a water reservoir, and a water dispensing line that extends into the formula reservoir. A dispensing nozzle is in environmental communication with the formula reservoir for dispensing mixed baby formula through the dispensing nozzle. A filter prevents unmixed dry formula from being dispensed through the dispensing nozzle. A tray is positioned beneath the dispensing nozzle. Bottles are positionable on the tray and the tray is rotatable such that the bottles are fillable in succession with mixed baby formula dispensed from the dispensing nozzle. A control unit is operationally coupled to the water reservoir and the tray for dispensing water into the formula reservoir and rotating the tray.

Abstract: The invention provides a method for the preparation of a foamed drink comprising the steps of: providing a capsule containing a foamable ingredient; providing a receptacle positioned to collect fluid escaping from the capsule; injecting liquid into the capsule to mix with the foamable ingredient; allowing the foamable ingredient mixed with the liquid to escape from the capsule into the receptacle; followed by injecting further liquid into the receptacle in a jet having a diameter of from about 0.5 to about 2 mm to produce foamed liquid in the receptacle. The invention also provides capsules, apparatus and systems specifically adapted for use in the method. Preferably, the food ingredient is a milk powder, and the method produces a hot foamed beverage such as a cappuccino coffee.

Abstract: The invention provides a method for the preparation of a foamed drink comprising the steps of: providing a capsule containing a foamable ingredient; providing a receptacle positioned to collect fluid escaping from the capsule; injecting liquid into the capsule to mix with the foamable ingredient; allowing the foamable ingredient mixed with the liquid to escape from the capsule into the receptacle; followed by injecting further liquid into the receptacle in a jet having a diameter of from about 0.5 to about 2 mm to produce foamed liquid in the receptacle. The invention also provides capsules, apparatus and systems specifically adapted for use in the method. Preferably, the food ingredient is a milk powder, and the method produces a hot foamed beverage such as a cappuccino coffee.

Abstract: A hydro-energy converter comprises a rotary member (9, 57) for converting energy of running water into rotary motion, means (3, 65, 67) for securing the rotary member in a position such that water can run past the rotary member, and baffle means (21, 63) for creating a head of water upstream of the rotary member.