Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Abstract: The voltage requirements of a membrane-divided cell are decreased by operating the cell with a catholyte temperature significantly in excess of the anolyte temperature, generally at least 10.degree. C. greater and preferably at least 20.degree. C. greater. The invention is particularly useful in an electrochemical acidification process whereby aqueous sodium chlorate and sodium sesquisulfate solution is acidified for use in a chlorine dioxide generating process and aqueous sodium hydroxide is produced as a by-product.

Abstract: A novel seal for transversely sealing a bearing includes a seal body formed from a stiff, homogeneous material. The seal body is adapted to be received at outer race groove and inner race land. The seal is characterized by a set of annular hinges formed in the seal body in such a manner that the otherwise rigid seal will dynamically compensate for dimensional differences between the seal and the bearing races, thereby maintaining the seal integrity.