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 sonar system includes a forward looking array which is embedded in a cavitator for generating a gaseous cavity which minimizes hydrodynamic noise resulting from turbulent pressure fluctuations. A marine vessel incorporating the sonar system includes a hull, a hydrofoil suspended beneath the hull by a strut, and a cavitator for generating a laminar flow over the hydrofoil and for creating a cavity for eliminating turbulent flow contact. The cavitator is located at a leading edge area of the hydrofoil. The sonar array is embedded into the cavitator.

Abstract: A method for computing three dimensional unsteady flows about an object. An allowable error is established for the vorticity term calculations, and object geometry is provided giving surface points on an object and a region of interest. A mesh is established incorporating points on the object. Initial flow conditions are set at the surface. Vorticity values that will satisfy boundary conditions are set at the provided surface points. A new mesh is established incorporating the provided points and other points in the region of interest. Boxes are generated containing the provided points and other points. Velocities and pressures at each point are calculated from the flow conditions, vorticity values and boundary conditions., A time variable is incremented and each point is moved by applying the calculated velocity. Vorticity at each point is then recalculated. The method is iterated starting with the step of satisfying boundary conditions until the incremented time variable exceeds a predetermined value.

Abstract: Fluid flow characteristics are calculated directly from a two dimensional rface model of the object. A plurality of surface nodes with defined boundary conditions are established on the surface model. Consecutive layers of nodes are created a preset distance outward from said surface model. Curved panels are defined passing through three nodes at a layer, and a surface shape function is established for each panel from previous panels or from the boundary conditions. The fluid flow velocity for the next layer is developed from the velocities calculated at the previous layer and the shape function. Triangular elements are created by connecting a node on the next layer with two nodes from the previous layer to form an element. First and second vorticity gradients can be calculated for the current node at a time segment from the parameters associated with the previous layer of interest nodes at that time increment.

Abstract: A method and apparatus for predicting flow over an object such as an air l or hydrofoil. The vortex strength for each of a plurality of vortex segments is obtained over an area of interest. The vortex segments are grouped into a series of square area defined by a series of boxes having different sizes. Initially a vortex strength is established for each of the smallest boxes and the coefficients then provide characteristic vortex strengths for a given box. The conversion of these vortex strengths into velocities is accomplished by directly computing the velocity of a given vorticity segment as influenced by all the vorticity segments in the box containing the given vorticity segment and the direct influence of each vortex segment in that box and any neighboring boxes. The influence of other vorticity segments outside the neighboring boxes is provided by using the influence of the average vortex strength of a given box or group of boxes.