Abstract: In a cable-driven three-dimensional crane system, an end-effector is moved within an operating volume defined by dynamically shifting draw points. Winch assemblies pull the end-effector toward the respective draw points. Each winch assembly includes a cable router that manages travel of its drive cable through the associated draw point. Cable length encoders determine the effective length of each drive cable, from which one method of end-effector position calculations can be made. Draw point angle trackers assess the instantaneous lateral and vertical angles of each drive cable as it vectors away from its draw point toward the carrier from which another method of end-effector position calculations can be made as well as enabling self-calibration techniques. Sensitive mechanical and electrical components are sheltered in heated enclosures that wipe debris from the drive cable and track with its changing position. Multi-zone applications allow sharing of winch assemblies.

Abstract: A system using electrical discharge plasma (EDP) for treating a liquid, such as water or waste water to degrade or destroy polar contaminants such as per- and polyfluoroalkyl substances (PFAS) compounds, the system includes a sealed process tank and multiple submerged EDP channels stacked horizontally. Each EDP channel consists of a cathode and an anode, a gas hood, and a gas diffuser. The basic submerged EDP channel is bounded by a plate at the bottom and a submerged gas hood at the top which creates a gas headspace, and hence, a local water surface to provide a local gas/liquid interface in each channel. The cathode lies above the local water surface and anode lies below the local water surface. Each EDP channel may have a gas diffuser at the bottom of the EDP channel for introducing a process gas into the liquid creating bubbles that carry contaminants in the liquid to the local gas/liquid interface.

Abstract: In a cable-driven three-dimensional crane system, an end-effector is moved within an operating volume defined by dynamically shifting draw points. Winch assemblies pull the end-effector toward the respective draw points. Each winch assembly includes a cable router that manages travel of its drive cable through the associated draw point. Cable length encoders determine the effective length of each drive cable, from which one method of end-effector position calculations can be made. Draw point angle trackers assess the instantaneous lateral and vertical angles of each drive cable as it vectors away from its draw point toward the carrier from which another method of end-effector position calculations can be made as well as enabling self-calibration techniques. Sensitive mechanical and electrical components are sheltered in heated enclosures that wipe debris from the drive cable and track with its changing position. Multi-zone applications allow sharing of winch assemblies.

Abstract: A system with electrical discharge plasma for treating a liquid, the system includes a sealed process tank and multiple EDP channels. The EDP channel consists of a cathode and an anode, a gas hood and a gas diffuser. The EDP channel possesses cathode above the water surface and anode below the water surface. The EDP channel possesses gas hood at the top of the EDP channel and gas diffuser at the bottom of the EDP channel. The system with electrical discharge plasma used for destruction of contaminants in water or wastewater.