Abstract: An automated order fulfillment system and mobile robot are disclosed, where the mobile robot includes a compliant drive for moving between levels of a multilevel storage structure. In one example, the compliant drive comprises a drive shaft having splines configured to provide rotational play that prevents jamming of a vertical drive gear on the end of the shaft with a rack in a vertical track.

Abstract: A process and apparatus for the recovery of oil from aqueous oil refinery waste involves mixing the waste with a fluidizing oil and evaporating the water from the mixture in a plurality of stages. The dewatered mixture is fed to a delayed coking system in which a conventional coker feedstock is being used. The heavy hydrocarbon portion of the dewatered mixture changes to coke and light hydrocarbon material, the inert solids become trapped in the coke, and the fluidizing oil vaporizes. A stream of heavy coker gas oil is fed from a fractionator in the delayed coking system to a fluidizing tank where it is mixed with the sludge to define the fluidizing oil. Another hot stream of hydrocarbon material from the coker fractionator is sent to the evaporator section to provide the heat for evaporation.

Abstract: A method for conditioning delayed coke includes allowing coke to form in a first chamber or coke drum, while simultaneously conditioning coke in a second coke drum by flowing through it a hydrocarbon conditioning fluid recirculated from another portion of the coking apparatus, said conditioning fluid having a temperature of more than 750.degree. F. and less than 1000.degree. F., and decoking a third coke drum. The coking, conditioning and decoding operations are sequentially switched among the coke drums.