Abstract: There is presented a gully sensor for deployment within, and detecting the presence of matter contained in, a gully. The gully sensor may be arranged to detect when the gully has become blocked, and may further be arranged to notify an external party of such an event. The gully sensor may comprise an elongate body, the body further comprising a first portion which accommodates a light source and a second portion which accommodates a light detector for detecting light emitted from the light source along a light path towards the detector. The gully sensor may further comprise a cross section that is orientated along at least a portion of the light path shaped to allow the matter to intersect at least a portion of the light path, and which joins the first and second portions via the elongate body.

Abstract: A mobile robot with a chassis including one or more drive mechanisms and at least a first arm pivotably connected to the chassis and configured to pitch up and down. A ski structure is attached on an underside of the first arm for raising the chassis as the arm is pitched down so the drive mechanisms can traverse a riser in the path of the chassis.

Abstract: In accordance with the present invention, systems and methods for reconfiguring an autonomous robot are provided. By using a system interface, the present invention provides an approach for distributing the complex and costly robotic components of the conventional autonomous robots. By distributing these components, users, such as software developers, may develop interactive software for robots without having any understanding of robotics. The present invention includes a processing device, a system interface, and a robot. The processing device at least partially executes an interactive robotic application that is configured to receive an instruction for the robot from a user. In response to receiving the instruction, the instruction is transmitted to the robot control interface.

Abstract: A method of optimizing the yield of a vanadium-phosphorus catalyst during the oxidation of butane to maleic anhydride, which comprises establishing the temperature at which the catalyst provides the desired percentage conversion and yield of maleic anhydride with the established feed composition and then maintaining that temperature by continuously introducing an amount of a suitable phosphorus compound necessary to prevent a decline in selectivity to maleic anhydride without significantly increasing the temperature.

Abstract: A cyclic method for recovering alkali values from subterranean trona deposits. The ore is contacted via solution mining with an aqueous mining solvent containing sodium hydroxide, the resulting Na.sub.2 CO.sub.3 -containing solution is withdrawn and carbonated, and sodium sesquicarbonate and/or sodium bicarbonate is crystallized and separated from the solution. The crystallized solids are calcined in a direct coal-fired calciner, and the resultant anhydrous soda ash is recrystallized in water to form sodium carbonate monohydrate or anhydrous sodium carbonate, which is recovered as a dense alkali product. Aqueous mining solvent is regenerated by causticization of one or more of the various liquor streams, and the recovery cycle is repeated.

Abstract: A method for removing small concentrations of phosphine contained in a carbon monoxide gas mixture by preferentially oxidizing the phosphine, in which the phosphine is oxidized with air at a temperature of from 500.degree. C. to 800.degree. C. to form phosphorus pentoxide, which is recovered from the gas mixture preferably as phosphoric acid.

Abstract: Off gases from electric furnace production of phosphorus, consisting essentially of carbon monoxide and phosphine, are heated to 700.degree.-800.degree. C. to decompose the phosphine to red phosphorus and hydrogen; the red phosphorus is separated from the gas--most desirably by passing the gas through aqueous hydrogen peroxide which oxidizes the phosphorus to phosphoric acid,--to obtain a clean gas which can be used as a fuel.

Abstract: Process for producing high bulk density sodium carbonate monohydrate crystals from sodium carbonate solutions wherein the sodium carbonate monohydrate is crystallized in the presence of at least 30 parts per million soluble aluminum ions.

Abstract: Process for producing sodium carbonate monohydrate crystals having a high bulk density, blocky crystal shape, and uniform particle size distribution from sodium carbonate solutions wherein the sodium carbonate monohydrate is crystallized in the presence of magnesium ions and sodium dodecylbenzenesulfonate.

Abstract: This invention involves a process for producing high bulk density sodium carbonate from crude trona wherein sodium carbonate monohydrate purge streams containing high amounts of organic impurities are passed to an anhydrous crystallizer operated at temperatures above about 109.degree.C wherein anhydrous sodium carbonate crystals are formed having high bulk densities of about 60 to about 80 lbs/ft.sup.3.