Abstract: A method and an apparatus for removing residues from an inner wall surface of a liquid-filled vessel includes a submergible carrier unit drivable in liquid; a coaxial, multi-pole electrode system mounted on the carrier unit; an arrangement for steering the carrier unit to a desired location at the wall surface; and a high-power pulse generator connected with the electrode system for generating a shock wave to be applied to the wall surface at the desired location, whereby the push-pull effect of the forces derived from the shock wave causes the residues to loosen and drop off the wall surface.

Abstract: A method of determining vehicle rotation rates while suppressing interferences caused by sensor principles. In particular, the time-dependent drift of prior art gyro systems is to be avoided in the navigation of driverless transportation systems, and faulty reactions of wheel sensors with respect to the direction information of the vehicle, for example when passing through potholes, are to be avoided. This is accomplished by a method according to which a rotation rate signal (18) generated in a gyro arrangement (12) passes through a highpass filter (20) and a rotation rate signal (22) generated by wheel sensors passes through a lowpass filter (24), and the two then occurring individual signals (18', 22') are combined for a determination of the actual vehicle rotation rate.