Abstract: An autonomous assembly that includes a gantry subassembly, a carrier subassembly movably mounted on the gantry subassembly, a tool actuation subassembly mounted on the carrier subassembly, and an autonomous control system including a perception subsystem, a motion planning subsystem, and a motion control subsystem. The gantry subassembly includes a bridge member for laterally spanning a selected section of a work site and a gantry drive system for effecting travel of the gantry subassembly along a first path, generally in a longitudinally along the length of the selected portion of a work site. The carrier subassembly includes a carriage and a carriage drive system for effecting travel of the carriage along a second path, generally laterally along the bridge member.

Abstract: The invention features a control system for controlling the supply of bodyfeed to a filter for removing solids from a beer stream is described. By applying the bodyfeed at an appropriate rate and hence achieving appropriate effective bed voidage it is possible to maintain beer clarity while minimizing filter aid usage. The control system includes a means for determining turbidity of the liquid stream upstream of the filter, a means for determining the rate of pressure drop change across the filter, and a controller for altering the supply of bodyfeed to the filter in accordance with a calculated dose change.