Abstract: A method of controlling a mobile robot capable of carrying out an operation within an environment, the method including: storing an environment map in a memory, the environment map including data to enable the robot to navigate the environment; further storing in the memory data corresponding to one or more hazard areas encountered by the mobile robot during previous operations; and reducing a tilt threshold of the robot when the mobile robot is navigating within an area of the environment that corresponds to a previously encountered hazard area.

Abstract: A cleaner head comprises an agitator supported for rotation about a rotation axis. The cleaner head has a spool which comprises a narrowed waist positioned axially between two radially enlarged portions. The axial end of the agitator terminates in a rim positioned radially outward from and axially in line with the narrowed waist, and is configured to allow hair wrapped around the agitator to travel axially along it and slip off the rim onto the narrowed waist.

Abstract: A cleaner head includes an agitator; a housing defining an agitator chamber and an aperture through which the agitator can be removed from the agitator chamber; and an end cap attachable to the housing to close the aperture, and releasable from the housing to open the aperture. The end cap is attachable and releasable by rotating at least a locking portion of the end cap about a locking axis between locked and unlocked positions relative to the housing. The cleaner head has a latch mechanism configured to prevent rotation of the locking portion to the unlocked position. The latch mechanism has a release member which is provided on the end cap, the release member being operable by hand to release the latch.

Abstract: A suction nozzle for a vacuum cleaner includes a suction chamber; an outlet duct; an underside for engaging a surface to be cleaned; a main suction opening in the underside, which opens into the suction chamber; an auxiliary suction path which opens into the suction chamber; and a bleed path in fluid communication with the outlet duct. The suction nozzle further includes a valve mechanism arranged to open and close the auxiliary suction path and the bleed path, the valve mechanism being movable between a first configuration in which the auxiliary suction path is closed and the bleed path is open, a second configuration in which the auxiliary suction path is open and the bleed path is closed, and a third configuration in which both the auxiliary suction path and the bleed path are closed.

Abstract: A suction nozzle for a vacuum cleaner includes a suction chamber; an outlet duct; an underside for engaging a surface to be cleaned; a main suction opening in the underside, which opens into the suction chamber; an auxiliary suction path which opens into the suction chamber; and a bleed path in fluid communication with the outlet duct. The suction nozzle further includes a valve mechanism arranged to open and close the auxiliary suction path and the bleed path, the valve mechanism being movable between a first configuration in which the auxiliary suction path is closed and the bleed path is open, a second configuration in which the auxiliary suction path is open and the bleed path is closed, and a third configuration in which both the auxiliary suction path and the bleed path are closed.

Abstract: A cleaner head includes an agitator; a housing defining an agitator chamber and an aperture through which the agitator can be removed from the agitator chamber; and an end cap attachable to the housing to close the aperture, and releasable from the housing to open the aperture. The end cap is attachable and releasable by rotating at least a locking portion of the end cap about a locking axis between locked and unlocked positions relative to the housing. The cleaner head has a latch mechanism configured to prevent rotation of the locking portion to the unlocked position. The latch mechanism has a release member which is provided on the end cap, the release member being operable by hand to release the latch.

Abstract: A method of treating finished garments comprising cellulosic material so as to cause cross-linking, which comprises the step of treating fabrics with an effective amount of a blocked cross-linking agent for cellulose, said cross-linking agent being thermally activated. A composition for use in the said method which comprises an effective amount of a blocked cross-linking agent for cellulose, said cross-linking agent being thermally activated.

Abstract: This invention relates to a fabric care composition comprising a thermoplastic elastomer and a textile compatible carrier, a method of treating fabric with such a composition as part of a laundering process and the use of a thermoplastic elastomer or a composition comprising a thermoplastic elastomer to improve the crease recovery properties and/or elasticity and/or shape retention of a fabric.

Abstract: A water-soluble, triazine-based, non-dye, cellulose cross-linking agent that has a highly flexible linking group between at least two, mono-reactive cross-linking moieties and further hydrophilic or non-hydrophilic substituents.

Abstract: Excellent cross-linking benefits, to improve wrinkle recovery can be obtained in laundry treatment by use of a triazine-based, cellulose cross-linking agent that has a highly flexible linking group between at least two, mono-reactive cross-linking moieties and cellulose unreactive substituent groups. The linking group acts as a ‘spring’ whereas the two end groups bind chemically to cotton fibres.

Abstract: This invention relates to a fabric care composition comprising a cross-linking agent and a amine-containing polymer, a method of treating fabric with such a composition and the use of such a composition to impart crease and/or wrinkle resistance to a fabric and/or to increase the tearing resistance of a fabric.

Abstract: Polyurethane/polyurea polymers can be electrostatically painted without first being coated with a conductive primer. Disclosed is an improvement in a process for electrostatically painting polyurethane/polyurea polymers, the improvement being to prepare the polymer from a formulation including a non-volatile metal salt conductivity inducing material. The polymers of the present invention can be charged with sufficient charge density to permit efficient paint transfer to the polymer surface. Also disclosed is a composition of at least two adjacent layers, one layer being an outer layer of electrostatically applied paint, and the other an inner layer of polyurethane/polyurea polymer.

Abstract: Polyurethane/polyurea polymers can be electrostatically painted without first being coated with a conductive primer. Disclosed is a process for electrostatically painting polyurethane/polyurea polymers, the process having a step of including a non-volatile metal salt conductivity inducing material. The conductivity of the polymers of the present invention can allow them to be charged with sufficient charge density to permit efficient paint transfer to the polymer surface. Also disclosed is a composition of at least two adjacent layers, one layer being an outer layer of electrostatically applied paint, and the other an inner layer of polyurethane/polyurea polymer.

Abstract: Compositions and a method for preparing a molded foamed polymeric article comprising (1) a relatively high molecular weight polyahl and a relatively low molecular weight polyol, in proportions such that the relatively high molecular weight polyahl and the relatively low molecular weight polyol are incompatible, (2) a polyisocyanate, (3) a blowing agent, and (4) an internal mold release/compatibilizing agent containing (a) a metal salt of a weak acid, wherein the metal is selected from elements of the Periodic Table of the Elements having Atomic Numbers 3-5, 11-14, 19-34, 37-52, 55-57, and 72-84, and (b) a compound containing at least one amine group, wherein the internal mold release/compatibilizing agent is present in an amount sufficient to provide mold release characteristics to the article and to compatibilize the relatively high molecular weight polyahl and the relatively low molecular weight polyol, are disclosed. In a preferred embodiment the blowing agent is water.

Abstract: Internal mold release compositions for use in preparing molded polymeric products are disclosed which contain (a) a primary or secondary amine, (b) a carboxylic acid or amido carboxylic acid salt of a group II metal or of aluminum, lithium, copper, iron, cobalt or nickel, and optionally (c) a carboxylic acid or amido carboxylic acid.

Abstract: A process for preparing molded polymeric products including reacting a polyisocyanate with an active hydrogen-containing composition having internal mold release components. In the process, the active hydrogen-containing composition contains (a) a primary or secondary amine, (b) a metal salt of an organic material having a carboxylic acid group and a siloxane chain wherein, said metal is selected from Groups I-B, II-B, IV-B, V-B, VI-B, VII-B or VIII, and optionally (c) an organic material containing at least one carboxylic acid group, phosphorus-containing acid group or boron-containing acid group wherein said organic material contains a siloxane chain or contains a terminal or pendant aliphatic hydrocarbon chain.

Abstract: A flexible or semi-flexible polyurethane foam composition prepared from a formulation comprising a catalytic amount of an additive containing (1) a urea compound, and (2) a transition metal salt of a carboxylic acid wherein the metal is selected from Groups I-B, II-B, V-A, IV-B, V-B, VI-B, VII-B or VIII of the Periodic Table of the Elements; the additive containing a sufficient quantity of at least one amine group-containing material such that the transition metal salt is soluble in the additive; and water as a blowing agent. In preferred embodiments water is the sole blowing agent. The polyurethanes exhibit relatively short demolding times and improved mold release properties. They also show a reduced tendency to cause discoloration or staining of vinyl-based polymeric calddings such as polyvinyl chloride.

Abstract: A compatibilized active hydrogen compound-alkylene glycol composition comprises components (A) a relatively high equivalent weight material having an average of at least about 1.8 active hydrogen containing groups per molecule and a weight from about 500 to about 5000 per active hydrogen containing group; (B) an alkylene glycol which is incompatible with component (A) at the relative proportions thereof present in the composition; said composition having dissolved therein: (C) a compatibilizing and catalytic amount of an additive containing (1) a urea compound and (2) a transition metal salt of a carboxylic acid wherein said metal is selected from Groups I-B, II-B, V-A, IV-B, V-B, VI-B, VII-B or VIII of the Periodic Table of the Elements; said composition containing a sufficient quantity of at least one amine group-containing material such that component (2) is soluble in said composition.

Abstract: An active hydrogen compound-alkylene glycol composition comprises components (A) a relatively high equivalent weight material having an average of at least about 1.8 active hydrogen containing groups per molecule and a weight from about 500 to about 5000 per active hydrogen containing group; (B) an alkylene glycol; and (C) a catalytic amount of at least one tin mercaptide; said composition containing at least one compound having at least one N--H containing group. Such compositions are useful in producing polyurethanes. The compositions can generally be stored without substantial loss of activity.