Abstract: Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more sections.

Abstract: Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more sections.

Abstract: A method of conducting a distillation process and a cross-corrugated structured packing for use in such a process in which ascending vapor phases and descending liquid phases are contacted in such packing. The cross-corrugated structured packing contains corrugated sheets fabricated of an open cell foam-like material. The liquid phase produces a liquid film descending along struts forming cells of the material and the vapor phase ascends within the cross-corrugated structured packing and enters the cells and contacts the liquid film. The cross-corrugated structured packing is configured such that a superficial velocity at which ambient air would flow through the cross-corrugated structured packing at a pressure drop of 0.3? wc/ft is no greater than 20 times a reference superficial velocity at which the ambient air would flow through the foam-like material making up the corrugated sheets at the same pressure drop to ensure that vapor enters the cells of the foam-like material.

Abstract: A method of conducting a distillation process and a cross-corrugated structured packing for use in such a process in which ascending vapor phases and descending liquid phases are contacted in such packing. The cross-corrugated structured packing contains corrugated sheets fabricated of an open cell foam-like material. The liquid phase produces a liquid film descending along struts forming cells of the material and the vapor phase ascends within the cross-corrugated structured packing and enters the cells and contacts the liquid film. The cross-corrugated structured packing is configured such that a superficial velocity at which ambient air would flow through the cross-corrugated structured packing at a pressure drop of 0.3? wc/ft is no greater than 20 times a reference superficial velocity at which the ambient air would flow through the foam-like material making up the corrugated sheets at the same pressure drop to ensure that vapor enters the cells of the foam-like material.

Abstract: A heat exchange system and processes for a magnetic annealing tool is provided. The system includes a process chamber housing workpieces to be processed; an element chamber partly surrounding the periphery of the process chamber, at least one means for drawing a vacuum in fluid communication with the process chamber and separately with the element chamber in order to apply a vacuum to either or both of the process and element chamber so as to promote radiation heating of the workpieces; at least one supply of fluid in communication with the process chamber and separately with the element chamber to supply a cooling gas so as to promote conductive cooling of the workpieces; a cooling chamber disposed to surround the element chamber; and means for generating a magnetic field disposed on the outer periphery of the cooling chamber.

Abstract: A method of producing a carbon dioxide product stream from a synthesis gas stream formed within a hydrogen plant having a synthesis gas reactor, a water-gas shift reactor, located downstream of the synthesis gas reactor to form the synthesis gas stream and a hydrogen pressure swing adsorption unit to produce a hydrogen product recovered from the synthesis gas stream. In accordance with the method the carbon dioxide from the synthesis gas stream by separating the carbon dioxide from the synthesis gas stream in a vacuum pressure swing adsorption system, thereby to produce a hydrogen-rich synthesis gas stream and a crude carbon dioxide stream and then purifying the crude carbon dioxide stream by a sub-ambient temperature distillation process thereby to produce the carbon dioxide product. A hydrogen synthesis gas feed stream to the hydrogen pressure swing adsorption unit is formed at least in part from the hydrogen rich stream.

Abstract: A heat exchange system and processes for a magnetic annealing tool is provided. The system includes a process chamber housing workpieces to be processed; an element chamber partly surrounding the periphery of the process chamber, at least one means for drawing a vacuum in fluid communication with the process chamber and separately with the element chamber in order to apply a vacuum to either or both of the process and element chamber so as to promote radiation heating of the workpieces; at least one supply of fluid in communication with the process chamber and separately with the element chamber to supply a cooling gas so as to promote conductive cooling of the workpieces; a cooling chamber disposed to surround the element chamber; and means for generating a magnetic field disposed on the outer periphery of the cooling chamber.

Abstract: A system and apparatus for the delivery of a high purity carbon dioxide fluid is provided. The system includes at least two separate semiconductor applications, wherein one of said applications requires refrigeration. A first portion of the carbon dioxide stream is drawn off the supply line and directing it to a first semiconductor application. A second portion is drawn off the supply line and routed to a second semiconductor application across a pressure-reduction device thereby reducing the temperature and pressure of the second gas, entering the second semiconductor application.

Abstract: A process and system for purifying an impure gas to produce a purified gas in a gas purification system and protecting the system from damage by a) passing a portion of a first gas stream into a reactor vessel, which exits as a second purified gas stream; b) combining a portion of the second purified gas stream with another portion of the first gas stream to form a combined gas stream; and c) passing the combined gas stream into a sensing device to regulate the flow of the first and second gas streams into the reactor vessel.

Abstract: Trace amounts of carbon monoxide and optionally hydrogen are removed from gaseous feed streams by passing the feed stream through a carbon monoxide adsorbent (33) prior to passing it through a supported metal catalyst (34). The invention saves significant capital and operational costs over existing processes.

Abstract: Provided is a novel method and system for supplying high-pressure carbon dioxide to an application having a variable carbon dioxide flow requirement. The method includes providing a high-pressure carbon dioxide feed stream to a buffer volume and determining the amount of carbon dioxide to be delivered to the application tool. The pressure in the buffer volume is maintained at a pressure that exceeds the pressure required by the application tool. The temperature in the buffer volume is further adjusted to modify the density of the carbon dioxide and based thereon the size of the buffer volume. Thereafter, the carbon dioxide from the buffer volume is delivered at a variable flow rate as required by the application tool.