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: A method comprising: a) selecting a loading variable from operating variables, the loading variable being directly related to total energy input into the system and equipment constraint of the system; b) selecting a performance specification variable which is required to be kept within a defined target at all times during operation of the system; and c) pairing the performance specification variable with a manipulated variable having a mass/balance relationship to the performance specification which is not the loading variable and; d) controlling the manipulated variable to maintain the performance specification variable with the defined target.

Abstract: A method comprising: