Abstract: A system and method of obstacle and cliff detection for an autonomous or a semi-autonomous cleaning device utilizing a calibration health monitor and occupancy grid filters. A calibration health monitor is used for monitoring and making minor adjustments to camera calibration over time. An occupancy grid filter is a 3D occupancy grid for probabilistically observing obstacles with 3d sensors that are susceptible to noise or other inaccuracies.

Abstract: A system and method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. Embodiments described herein relate to a system that provides semi-autonomous cleaning of surfaces by a semi-autonomous cleaning device. The system provides for improved reliable obstacle detection and avoidance, improved sensing, improved design, improved failure detection, advanced diagnostics and expandability capabilities.

Abstract: A system for withdrawing samples of fluids comprises a pitot tube assembly, a flow sensor to measure a flow rate of the sample, and a pump connected to the pitot tube assembly to withdraw a sample, wherein the system is configured to match a sample flow velocity to the flow velocity sensed by a flow sensor on a pitot wand. The pitot tube assembly comprises a housing with a sample outlet and a return sample inlet, an extendable/retractable pitot wand within the housing, wherein the pitot wand includes a passage extending the length thereof to transfer a sample from a pitot tube end to a sealed compartment in the housing connected to the sample outlet; wherein the return sample inlet is connected to a passage in the housing leading to an outlet from the housing, and a flow sensor on an end of the pitot wand.

Abstract: A system for withdrawing samples of fluids comprises a pitot tube assembly, a flow sensor to measure a flow rate of the sample, and a pump connected to the pitot tube assembly to withdraw a sample, wherein the system is configured to match a sample flow velocity to the flow velocity sensed by a flow sensor on a pitot wand. The pitot tube assembly comprises a housing with a sample outlet and a return sample inlet, an extendable/retractable pitot wand within the housing, wherein the pitot wand includes a passage extending the length thereof to transfer a sample from a pitot tube end to a sealed compartment in the housing connected to the sample outlet; wherein the return sample inlet is connected to a passage in the housing leading to an outlet from the housing, and a flow sensor on an end of the pitot wand.

Abstract: A method and system for taking a sample of ballast water. The method includes withdrawing a sample of ballast water via a tube inserted in a ballast water pipe, wherein the tube includes a sample inlet, and isokinetic flow is achieved via a pump that controls the flow of the sample ballast water through the tube inlet by comparing a flow of the ballast water pipe with a flow of the sample ballast water through the tube; and controlling the flow of water through the sample tube inlet when a flow of the ballast water pipe is sensed to be different; withdrawing a portion of the sample ballast water for testing; and returning remaining sample ballast water to the ballast water pipe.