Abstract: A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.

Abstract: A controllable robotic arm system comprises a base unit and a moveable torso coupled to the base unit. The moveable torso is capable of moving in at least one degree of freedom independently of movement of the base unit. At least one robotic slave arm is moveably coupled to the torso. A master control system is operable to control the robotic slave arm and the moveable torso. The master control system includes an input interface by which a user can cause control signals to be communicated to the robotic slave arm and the moveable torso.

Abstract: Disclosed aspects relate to a flow meter comprising a flow target arranged to be disposed in a fluid flow path in a conduit; a beam coupled to the flow target and arranged to extend outside of the conduit; a sensor having a moveable sensor part coupled to the beam at a position which in use is outside of the conduit, and a static sensor part, wherein displacement of the moveable sensor part with respect to the static sensor part generates a signal. In use, fluid flow acting on the flow target causes displacement of the moveable sensor part, thereby generating a signal which is representative of the fluid flow rate.

Abstract: A method and system for gathering information from and setting up a surveillance network within an earth-surface environment that includes inserting one or more mobile robotic devices having a sensing subsystem, a communications subsystem, and a navigation subsystem into an earth-surface environment. The mobile robotic device may be configured into a traveling pose selected from a plurality of available traveling poses, and directed using the navigation subsystem to a sensing location within the earth-surface environment. The environment may be monitored and sensed information collected may be stored or communicated to a remote location. The mobile robotic device may be configured to operate with a vehicle carrier to facilitate insertion and deployment of the robotic vehicle into the earth-surface environment.

Abstract: A flow meter for monitoring fluid flow through a pipeline, the flow meter comprising a conduit having a fluid inlet and a fluid outlet for communication with respective sections of the pipeline; a target element positioned inside the conduit between the fluid inlet and the fluid outlet, the target element being mounted for resilient axial displacement under a pressure differential between the inlet and the outlet; an arm secured at an anchor point on one side of the conduit and extending radially across the conduit, the target element being coupled to the arm for applying a load to the arm, upon said axial displacement of the target element, so as to deflect the arm relative to the anchor point; a sensor arrangement for measuring deflection of the arm at a point on the opposite side of the applied load to the anchor point; and a processor configured for providing a signal representative of the steam flow through the conduit in response to said measured deflection.

Abstract: A condensate recovery system may comprise a plurality of drain lines for draining condensate from an associated steam plant. Each drain line may incorporate a steam trap and feeds into a common condensate return line running between the drain lines and a condensate receiver tank. The system further may comprise an acoustic sensor positioned along the common condensate return line, upstream of the receiver tank, for providing an acoustic output indicative of the collective steam loss through steam traps upstream of the sensor.

Abstract: There is disclosed a method of determining the phase compositions of a multiphase fluid flow in a fluid line, including obtaining a vibration signal from the fluid flow using a vibration sensor comprising a target disposed in the fluid flow which vibrates in response to fluid flow in the fluid line. The vibration signal is analysed to determine a first energy parameter which is related to the energy of the vibration signal within a first frequency band, and a second energy parameter which is related to the energy of the vibration signal within a second frequency band; and a phase composition parameter, such as a dryness parameter, relating to the phase compositions of the fluid flow is determined using the first and second energy parameters. There is also disclosed an apparatus for determining the phase compositions of a multiphase fluid flow in a fluid line.

Abstract: A steam trap comprises a housing defining a flow passage extending between an inlet and an outlet. A cap fitted to the housing has a stop face. In addition, the housing and the cap define a trap chamber. A movable valve element is located in the trap chamber. The steam trap further comprises a first temperature sensor having an inlet sensing portion in the flow path between the inlet and valve element. A second temperature sensor has an outlet sensing portion in the flow path between the valve element and the outlet.

Abstract: Disclosed aspects relate to a flow meter comprising a flow target arranged to be disposed in a fluid flow path in a conduit; a beam coupled to the flow target and arranged to extend outside of the conduit; a sensor having a moveable sensor part coupled to the beam at a position which in use is outside of the conduit, and a static sensor part, wherein displacement of the moveable sensor part with respect to the static sensor part generates a signal. In use, fluid flow acting on the flow target causes displacement of the moveable sensor part, thereby generating a signal which is representative of the fluid flow rate.

Abstract: There is disclosed a valve comprising a valve body having an upper sealing surface and a maintainable seat detachably attached to the valve body and having a lower sealing surface. A gasket is disposed between the upper and lower sealing surfaces so as to provide a seal between the valve body and the maintainable seat. At least one of the sealing surfaces is profiled. This results in the gasket being highly-compressed so as to form an effective seal.

Abstract: The invention relates to a monitoring apparatus for a steam plant, the apparatus comprising: a sensor unit (110) associated with a component of the steam plant, the sensor unit (110) being configured to provide an output indicative of the operating condition of the component; wherein the sensor unit (110) has a plurality of operating modes, each operating mode having a different resource usage; the apparatus further comprising: a selector (130) for selecting one of the plurality of operating modes; wherein the operating mode is chosen based on a current operating condition of the steam plant. The invention also relates to a method of operating such an apparatus.

Abstract: The invention relates to a monitoring apparatus for a steam plant, the apparatus comprising: a receiver (14) for receiving data from a sensor unit (10) associated with a component of the steam plant, the sensor unit (10) being configured to provide an output indicative of the operating condition of the component over a given period; a storage unit (16) which stores the data received by the receiver (14); and a trend analysis unit (18), the trend analysis unit (18) being configured to retrieve the data from the storage unit (16) and to process and analyse the data to thereby identify a trend in the operating condition of the component. The present invention also relates to a corresponding method of monitoring a steam plant.

Abstract: The invention relates to a monitoring apparatus (312) for a steam plant, the apparatus comprising: a vibro-acoustic sensor (311) associated with a component of the steam plant, the sensor (311) being configured to provide an output indicative of the operating condition of the component; and a condition monitoring unit (313) coupled to the sensor (311); wherein the condition monitoring unit (313) is configured to analyse the output of the sensor (311) in order to identify characteristics attributed to live steam and characteristics attributed to condensate and to estimate steam leakage and condensate load for the component based on the identified characteristics. The invention also relates to a corresponding method of monitoring a steam plant.

Abstract: A vent head for a steam system is provided. In one embodiment, the vent head may comprise a body defining a vent head chamber and having a vent head outlet. The vent head comprises a steam inlet conduit having a steam outlet that opens into the vent head chamber and a baffle disposed within the vent head chamber and above the steam outlet. The baffle may have an impingement region and a convex portion which is disposed between the impingement region and the edge of the baffle. In use, the steam outlet discharges steam into the vent head chamber which impinges on the impingement region of the baffle, thereby separating entrained liquid water from the steam.

Abstract: A vent head for a steam system is provided. In one embodiment, the head comprises a body defining a vent head chamber and having a vent head outlet. The vent head comprises a steam inlet conduit having a steam outlet that opens into the vent head chamber and a baffle disposed within the vent head chamber above the steam outlet. A drainage passageway is provided for fluid communication between the vent head chamber and the steam inlet conduit. In use, the steam outlet may discharge steam into the vent head chamber which impinges on the baffle, thereby separating entrained liquid water from the steam. The separated water is collected in the vent head chamber returned to the steam inlet conduit via the drainage passageway.

Abstract: Systems and methods are provided that relate to determining the phase compositions of a multiphase fluid flow in a fluid line, including determining a flow velocity parameter which is related to the flow velocity of the fluid flow in the fluid line using a flow sensor and obtaining a vibration signal from the fluid flow using a vibration sensor comprising a target disposed in the fluid flow which vibrates in response to fluid flow in the fluid line. The signal may be analysed to determine an energy parameter which is related to the energy of the vibration signal within a frequency band, and a phase composition parameter, such as a dryness parameter, relating to the phase compositions of the fluid flow is determined using the flow velocity parameter and the energy parameter. An apparatus for determining the phase compositions of a multiphase fluid flow in a fluid line is disclosed.

Abstract: The present invention relates in general to vortex shedding flow meters with enhanced sensitivity for sensing and measuring vortex frequencies.

Abstract: The disclosed embodiments concern a processing method for a beverage destined for human or animal consumption with the aim of increasing the sweetness of said beverage, characterized in that a yeast preparation inerted by enzymatic and/or physical-chemical treatment containing a peptide sweetener with a molecular weight equal to 2.750+/?0.1 kDa is added to the beverage. The disclosed embodiments also concern such a sweetener compound.

Abstract: A vent head for a steam system is provided. In one embodiment, the head comprises a body defining a vent head chamber and having a vent head outlet. The vent head comprises a steam inlet conduit having a steam outlet that opens into the vent head chamber and a baffle disposed within the vent head chamber above the steam outlet. A drainage passageway is provided for fluid communication between the vent head chamber and the steam inlet conduit. In use, the steam outlet may discharge steam into the vent head chamber which impinges on the baffle, thereby separating entrained liquid water from the steam. The separated water is collected in the vent head chamber returned to the steam inlet conduit via the drainage passageway.

Abstract: A vent head for a steam system is provided. In one embodiment, the vent head may comprise a body defining a vent head chamber and having a vent head outlet. The vent head comprises a steam inlet conduit having a steam outlet that opens into the vent head chamber and a baffle disposed within the vent head chamber and above the steam outlet. The baffle may have an impingement region and a convex portion which is disposed between the impingement region and the edge of the baffle. In use, the steam outlet discharges steam into the vent head chamber which impinges on the impingement region of the baffle, thereby separating entrained liquid water from the steam.