Abstract: An apparatus for preheating particulate material in which the particulate material is transferred from one or more upper storage bins to a circular lower chamber that has an outer, essentially annular, portion which serves as a gas flow passage. The particulate material is directed from the feed bin or bins into a plurality of essentially vertical cylindrical feed cassettes via intermediate feed ducts. The lower chamber has a flat roof which is in contact with the bottom portion of the vertical feed cassettes. The vertical feed cassettes are approximately evenly spaced on top of the outer perimeter of the flat roof. The particulate material is preheated in the annular flow passage by hot kiln gases flowing in countercurrent heat exchange relationship with the particulate material.

Abstract: A method for controlling operation of a remotely piloted vehicle by an operator. The method includes the steps of accepting an operator directional command from a control device, accepting a control device compass reading, adding the operator directional command to the control device compass reading to generate a heading command, and sending the remotely piloted vehicle the heading command. In this manner, the method of the present invention relieves the operator of having to orient himself relative to the direction of the vehicle in order to control the vehicle and thereby provides for instinctive control of the vehicle through elimination of observer translation.