Abstract: Systems and techniques for determining a trajectory for use in controlling a vehicle are described. A trajectory determination system may generate a variety of trajectories for potential use in controlling a vehicle, including a maximum braking trajectory that enables the maximum application of the vehicle's brakes. A vehicle computing system may determine a distance between vehicle and an obstacle and stopping distances for the various trajectories and implement the maximum braking trajectory after determining that the distance to stop for that trajectory is the same as, but not substantially greater than, the distance between the vehicle and the obstacle.

Abstract: A server system that integrates jukebox emulation technique and network storage technique. According to the invention, a CD-ROM server is emulated to create, store and access virtual CD-ROMs across any TCP/IP network. Users can run CD-ROMs from the server system without the actual CD-ROMs. Image files can be mounted by the administrator or from remote client terminals.

Abstract: A machine includes a number of saw blades rotatably supported on a spindle for cutting a timber into a number of panels. One or more feeder rollers may feed the timber through the saw blades. A number of cutter elements are disposed between the saw blades for forming a gap between the saw blades and for machining a rounded edge to each of the panels. A milling cutter is rotatably supported in front of the saw blades and includes one or more milling blades for machining the timber to form a number of rounded bulges before the timber is cut into the panels by the saw blades.

Abstract: An apparatus and method for gas backwashing a granular media supported upon a lateral underdrain is disclosed. The lateral underdrain includes a plurality of dispersion apertures therethrough and at least one liquid return conduit extending to a discharge at a level below the dispersion apertures. The present invention provides for equal distribution of backwash gas across the entire lateral underdrain by directing backwash gas through the dispersion apertures into the granular media and directing liquid from the granular media through the liquid return conduit without obstructing backwash gas flow through said apertures from a gas pocket formed underneath said apertures.

Abstract: An apparatus and method for gas backwashing a granular media supported upon a lateral underdrain is disclosed. The lateral underdrain includes a plurality of dispersion apertures therethrough and at least one liquid return conduit extending to a discharge at a level below the dispersion apertures. The present invention provides for equal distribution of backwash gas across the entire lateral underdrain by directing backwash gas through the dispersion apertures into the granular media and directing liquid from the granular media through the liquid return conduit without obstructing backwash gas flow through said apertures from a gas pocket formed underneath said apertures.

Abstract: A substantially benzene-free product suitable for gasoline blending is formed from a benzene-containing refinery stream. At least about 30% of the benzene initially present in the stream is catalytically alkylated with C.sub.2 -C.sub.4 olefins to form alkylated products. Most preferably, the alkylation zone is present in the distillation column and the alkylated products drop to the lower portion of the column and are recovered with the heavy fraction. Alternatively, the alkylation zone is downstream of the distillation column and a secondary distillation column removes the heavier alkylated products. The remaining light fraction is hydrogenated to convert substantially all of the remaining non-alkylated benzene to cyclohexane and is isomerized to boost the octane of C.sub.5 -C.sub.7 paraffins, preferably in a single reactor.

Abstract: A process is disclosed for reducing the concentration of light aromatics, especially benzene, in a refinery stream by catalytic alkylation using an olefin-containing stream in a distillation column.

Abstract: Apparatus for liquid feed dispersion in fluid catalytic cracking systems is disclosed wherein an improved fluidized catalytic cracking nozzle assembly having a nozzle unit so constructed that substantially all liquid fed through the unit is converted to mist-sized particles over a wide-angle dispersion pattern, the unit being recessed within a protective pipe having a shield on the inside thereof in the area of the recess, without concurrent addition of steam to affect liquid that may flow therethrough.

Abstract: Method and apparatus for liquid feed dispersion in fluid catalytic cracking systems wherein an improved fluidized catalytic cracking nozzle assembly having a nozzle unit so constructed that substantially all liquid fed through the unit is converted to mist-sized particles over a wide-angle dispersion pattern, the unit being recessed within a protective pipe having a shield on the inside thereof in the area of the recess, is disclosed.

Abstract: An improved tar sands derived bitumen and coal liquification process is disclosed wherein substantial percentages of subdivided coal particles and tar sands derived bitumen liquids are mixed and then corefined with hydrogen under hydrocracking conditions, but in the absence of a separate catalyst, at a temperature range of 800.degree. to 900.degree. F. and a pressure of about 2400 psig. The resutling fluid after removal of residual solids is a suitable liquid feedstock for conventional refinery equipment to produce petroleum fractions useful as transportation and heating fuels. Preferably, a portion of the corefined bitumen-coal liquid product may be recycled for mixture with the bitumen liquid and coal. Raw or native tar sands may also be mixed with the liquid butumen and coal in the process.

Abstract: A process for the production of transportation fuels from heavy hydrocarbonaceous feedstock is provided comprising a two-stage, close-coupled process, wherein the first stage comprises a hydrothermal zone into which is introduced a mixture comprising a feedstock and finely ground hydroprocessing catalyst having coke-suppressing and demetalizing activity, and hydrogen; and the second, close-coupled stage comprises a hydrocatalytic zone into which substantially all the effluent from the first stage is directly passed and processed under hydrocracking conditions. The first-stage ground catalyst may also be spent catalyst from which most metals have been removed.

Abstract: Bitumen recovered from tar sand by direct solvent extraction followed by washing of the sand tailings with countercurrent solvent flow and a solvent/aqueous phase separation step to recover solvent and residual bitumen.

Abstract: A method for the gasification of a carbonaceous material is disclosed wherein a carbonaceous material containing potassium nitrate and a solid heat-transfer material comprising sintered bauxite are introduced into a reaction vessel, then the carbonaceous material is reacted with steam to form a hot char and a gaseous product, wherein the heat necessary for said reaction is supplied by the heat-transfer material. Preferably, the carbonaceous material contains from 2 percent to 15 percent potassium nitrate. More preferably, the carbonaceous material is petroleum coke mixed with about 5 percent potassium nitrate.

Abstract: A method for reduction of sulfur oxides generated by a coal gasification process is disclosed wherein a regenerable sorbent absorbs the sulfur oxide in an oxidizing atmosphere and releases the sulfur oxides in the form of hydrogen sulfide in a reducing atmosphere.