Abstract: In one embodiment, a method includes accessing an image of one or more target buildings captured by a device; detecting target building planes of the one or more target buildings in the image using a machine learning program; for each of the target building planes: generating a target embedding and target feature points for the target building plane; querying a three-dimensional (3D) map using the target embedding to identify at least one matching building plane for the target building plane; using the target feature points to identify matching feature points of the at least one matching building plane; and determining three-dimensional (3D) locations of the matching feature points using the 3D map; and determining a pose of the device by comparing the target feature points of the target building planes and the 3D locations of the matching feature points associated with the target building planes.

Abstract: Disclosed is an optimized process and apparatus for more efficiently and economically carrying out the liquid-phase oxidation of an oxidizable compound. Such liquid-phase oxidation is carried out in a bubble column reactor that provides for a highly efficient reaction at relatively low temperatures. When the oxidized compound is para-xylene and the product from the oxidation reaction is crude terephthalic acid (CTA), such CTA product can be purified and separated by more economical techniques than could be employed if the CTA were formed by a conventional high-temperature oxidation process.

Abstract: A process is disclosed that relates to the removal of impurities and the recovery of a mother liquor and wash filtrate from an oxidizer purge stream produced in the synthesis of carboxylic acid, typically terephthalic. More particularly, the process involves the removal of impurities and the recovery of a mother liquor and wash filtrate from an oxidizer purge stream and then routing the mother liquor and or wash filtrate to an oxidation zone.

Abstract: A process is disclosed that relates to the removal of impurities and the recovery of a mother liquor and wash filtrate from an oxidizer purge stream produced in the synthesis of carboxylic acid, typically terephthalic. More particularly, the process involves the removal of impurities and the recovery of a mother liquor and wash filtrate from an oxidizer purge stream and then routing the mother liquor and or wash filtrate to an oxidation zone.

Abstract: Disclosed is an optimized process and apparatus for more efficiently and economically carrying out the liquid-phase oxidation of an oxidizable compound. Such liquid-phase oxidation is carried out in a bubble column reactor that provides for a highly efficient reaction at relatively low temperatures. When the oxidized compound is para-xylene and the product from the oxidation reaction is crude terephthalic acid (CTA), such CTA product can be purified and separated by more economical techniques than could be employed if the CTA were formed by a conventional high-temperature oxidation process.

Abstract: Disclosed is an optimized process and apparatus for more efficiently and economically carrying out the liquid-phase oxidation of an oxidizable compound. Such liquid-phase oxidation is carried out in a bubble column reactor that provides for a highly efficient reaction at relatively low temperatures. When the oxidized compound is para-xylene and the product from the oxidation reaction is crude terephthalic acid (CTA), such CTA product can be purified and separated by more economical techniques than could be employed if the CTA were formed by a conventional high-temperature oxidation process.

Abstract: Disclosed is an optimized process and apparatus for more efficiently and economically carrying out the liquid-phase oxidation of an oxidizable compound. Such liquid-phase oxidation is carried out in a bubble column reactor that provides for a highly efficient reaction at relatively low temperatures. When the oxidized compound is para-xylene and the product from the oxidation reaction is crude terephthalic acid (CTA), such CTA product can be purified and separated by more economical techniques than could be employed if the CTA were formed by a conventional high-temperature oxidation process.

Abstract: A device for automatic identification and counting of tagged articles massed together in a prescribed size bundles during linen cleaning and sorting processes. A three dimensional scanning of the bundles by multiple passes of a directional RF antenna oriented in different axial planes during each scan within a predescribed vertical path around the bundle.