Abstract: A system includes a first drive module connected to a first end of a linkage arm and a second drive module connected to a second end of the linkage arm. Two magnetic wheels are connected to each of the first and second drive modules. The first and second drive modules may be independently controlled or controlled using a coordinated controller. The linkage arm may include a first linkage arm portion having at least one degree of freedom with respect to a connected second linkage arm portion, which may be connected via a hinged or ball-joint connection. One or both ends of the linkage arm may have at least one degree of freedom with respect to its respectively connected drive module. Additional linkage arms and drive modules may be connected to form a multi-segment system.

Abstract: Photovoltaic-powered reverse osmosis system. The system includes a photovoltaic panel for generating electricity and includes a heat exchanger in thermal contact with the photovoltaic panel. The salt-containing feed water is fed to a reverse osmosis unit to produce clean water therefrom. Fluid circuitry, including a pump, circulates the feed water through the heat exchanger to cool the photovoltaic panel and to heat the feed water. It also delivers the heated feed water to the reverse osmosis unit for desalination. Cooling the solar panel and heating the RO feed water increases the total amount of clean water produced. In a preferred embodiment, a thermal controller manages the temperatures of the photovoltaic panel and the feed water by controlling the flow of feed water through the fluid circuitry. The photovoltaic panel temperature is minimized and the temperature of the feed water is maximized subject to a constraint on maximum feed water temperature.