Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Abstract: Disclosed are mixtures of dyes of the formula ##STR1## wherein R is alkyl of 1-4 carbons; R.sup.1 is H or alkyl of 1-4 carbons; R.sup.2 is alkyl of 1-7 carbons, or ethoxyethoxyethyl; R.sup.3 is H or methoxy; and R.sup.4 is H, methyl, or --NHCOCH.sub.3. These mixtures exhibit improved properties such as reduced energy of application, for example, in the dyeing of polyester and cellulose diacetate or triacetate fibers and their blends with other synthetic and natural fibers.