Abstract: An image capturing method, comprising: scanning with a light detection and ranging (LIDAR) sensor an environment of the LIDAR sensor, wherein the LIDAR sensor progressively rotates about a rotation axis at a step angle, and when scanning each step angle the LIDAR sensor generates a point cloud of a portion of the environment in a predetermined pattern; scanning with an image sensor assembly mechanically coupled to the LIDAR sensor the environment in synchronization with the scanning by the LIDAR sensor to generate on an imaging plane of the image sensor assembly a sequence of image pixel rows of a portion of the environment corresponding to the point cloud of the portion of the environment; and combining the point cloud with the sequence of image pixel rows for the scanning of each step angle to obtain a fused image of the portion of the environment.

Abstract: A carbon molecular sieve (CMS) membrane having improved separation characteristics for separating olefins from their corresponding paraffins is comprised of carbon with at most trace amounts of sulfur and a group 13 metal. The CMS membrane may be made by pyrolyzing a precursor polymer devoid of sulfur in which the precursor polymer has had a group 13 metal incorporated into it, wherein the metal is in a reduced state. The pyrolyzing for the precursor having the group 13 metal incorporated into it is performed in a nonoxidizing atmosphere and at a heating rate and temperature such that the metal in a reduced state (e.g., covalently bonded to carbon or nitrogen or in the metal state).

Abstract: The invention is an improved method of making an improved carbon molecular sieve (CMS) membrane in which a precursor polymer (e.g., polyimide) is pyrolyzed at a pyrolysis temperature to form a CMS membrane that is cooled to ambient temperature (about 40° C. or 30° C. to about 20° C.). The CMS membrane is then reheated to a reheating temperature of at least 250° C. to 400° C. to form the improved CMS membrane. The CMS have a novel microstructure as determined by Raman spectroscopy. The improved CMS membranes have shown an improved combination of selectivity and permeance as well as stability for separating light hydrocarbon gas molecules such as C1 to C6 hydrocarbon gases (e.g., methane, ethane, propane, ethylene, propylene, butane, butylene).

Abstract: A carbon molecular sieve (CMS) membrane having improved separation characteristics for separating olefins from their corresponding paraffins is comprised of carbon with at most trace amounts of sulfur and a group 13 metal. The CMS membrane may be made by pyrolyzing a precursor polymer devoid of sulfur in which the precursor polymer has had a group 13 metal incorporated into it, wherein the metal is in a reduced state. The pyrolyzing for the precursor having the group 13 metal incorporated into it is performed in a nonoxidizing atmosphere and at a heating rate and temperature such that the metal in a reduced state (e.g., covalently bonded to carbon or nitrogen or in the metal state).

Abstract: A method of making a hollow fiber carbon molecular sieve is comprised of heating a hollow polymer fiber to a carbonization temperature in an atmosphere that is non-oxidizing to form a hollow fiber carbon molecular sieve, wherein during at least a portion of the heating a tensile force is applied to the hollow polymer fiber. The method may improve the separation of gases similar in size such a propylene from propane.

Abstract: A carbon molecular sieve (CMS) membrane having improved separation characteristics for separating olefins from their corresponding paraffins is comprised of carbon with at most trace amounts of sulfur and a group 13 metal. The CMS membrane may be made by pyrolyzing a precursor polymer devoid of sulfur in which the precursor polymer has had a group 13 metal incorporated into it, wherein the metal is in a reduced state. The pyrolyzing for the precursor having the group 13 metal incorporated into it is performed in a nonoxidizing atmosphere and at a heating rate and temperature such that the metal in a reduced state (e.g., covalently bonded to carbon or nitrogen or in the metal state).

Abstract: A carbon molecular sieve (CMS) membrane having improved separation characteristics for separating olefins from their corresponding paraffins is comprised of carbon with at most trace amounts of sulfur and a transition metal, wherein the transition metal is one or more of a group 4-10 and 12 transition metal. The CMS membrane may be made by pyrolyzing a precursor polymer devoid of sulfur in which the precursor polymer has had a transition metal incorporated into it. The pyrolyzing for the precursor having the transition metal incorporated into it is performed in a nonoxidizing atmosphere and at a heating rate and temperature such that the metal has a valence greater than zero (i.e., not metal bonded) to a valence desirably closer to its maximum valence.

Abstract: The invention is an improved method of making an improved carbon molecular sieve (CMS) membrane in which a precursor polymer (e.g., polyimide) is pyrolyzed at a pyrolysis temperature to form a CMS membrane that is cooled to ambient temperature (about 40° C. or 30° C. to about 20° C.). The CMS membrane is then reheated to a reheating temperature less than the pyrolysis temperature to form the improved CMS membrane. The improved CMS membranes have shown an improved combination of selectivity and permeance as well as stability for separating hydrogen from gas molecules (e.g., methane, ethane, propane, ethylene, propylene, butane, carbon dioxide, nitrogen, butylene, and combinations thereof).

Abstract: A carbon molecular sieve (CMS) membrane may advantageously be made by pyrolyzing a membrane precursor composition comprised of a carbon forming polymer (e.g., polyimide) blended with a polyvinylidene chloride copolymer (PVDC), the polyvinylidene chloride copolymer being the reaction product of at least 60% to 97% by weight of vinylidene chloride and at least one other comonomer and the carbon forming polymer to polyvinylidene chloride copolymer has a weight ratio of greater than 1 to 99. The membrane precursor composition may be formed by dissolving the carbon forming polymer and PVDC in a solvent to form a dope solution. The dope solution may be shaped, for example, into an asymmetric hollow fiber. The asymmetric hollow fiber may be heated to a temperature to dehydrochorinate the PVDC and then subsequently heated in a non-oxidizing atmosphere to carbonize the polymers of the shaped membrane to form the CMS membrane.

Abstract: An asymmetric polyvinylidene chloride copolymer membrane is made by a method using a dope solution comprised of a polyvinylidene chloride copolymer and a solvent that solubilizes the polyvinylidene chloride copolymer that is shaped to form an initial shaped membrane. The initial shaped membrane is then quenched in a liquid comprised of a solvent that is miscible with the solvent that solubilizes the polyvinylidene chloride copolymer but is immiscible with the polyvinylidene chloride copolymer to form a wet asymmetric polyvinylidene chloride copolymer membrane. The solvents are removed from the wet membrane to form the asymmetric polyvinylidene chloride (PVDC) copolymer membrane. The membrane then may be further heated to form a carbon asymmetric membrane in which the porous support structure and separation layer of the PVDC membrane is maintained.

Abstract: An asymmetric hollow fiber (CMS) carbon molecular sieve is made by providing a dope solution comprised of a polvimide and a solvent, at a temperature greater than 250° C. that is less than the storage modulus at a temperature of 250° C., but no more than ten times less as measured using dynamic mechanical thermal analysis from 250° C. to a temperature where the polyimide carbonizes. The polvimide is shaped into a hollow polvimide fiber, the solvent removed and the polyimide hollow fiber is heated to pyroiyze the polvimide and form the asymmetric hollow carbon molecular sieve. The asymmetric hollow fiber carbon molecular sieve has a wall that is defined by an inner surface and outer surface of said fiber and the wall has an inner porous support region extending from the inner surface to an outer raicroporous separation region that extends from the inner porous support region to the outer surface.

Abstract: A cross-linked polyimide of the reaction product of a crosslinking agent and a polyimide. The cross-linking agent having at least two cross-linking moieties and the polyimide has a plurality of polyimide chains having an aryl constituent with a moiety comprised of a reactive substituent. The polyimide has crosslinks from the reaction of the reactive substituent of the aryl constituents of the polyimide chains and the cross-linking moieties of the cross-linking agent. The cross-linking may be induced by thermally treating a mixture of the polyimide and crosslinking agent above about 150° C. to a temperature where the polyimide begins to decompose under an inert atmosphere. The membrane can be used for separations involving gases such as hydrogen and light hydrocarbons.

Abstract: The invention is an improved method of making a carbon molecular sieve (CMS) membrane in which a precursor polymer is pyrolyzed to form a carbon molecular sieve membrane that is then exposed to a conditioning atmosphere comprised of a target permeate gas molecule such as ethylene when the membrane is desired to separate it from a light hydrocarbon gas stream. The exposure to the ethylene desirably occurs prior to the CMS permeance and selectivity combination substantially changing (e.g., within 5 days) of cooling from the pyrolyzing temperature. The CMS membranes have shown an improved combination of selectivity and permeance as well as stability and are useful to separate gases in gas streams such methane from natural gas, oxygen from air and ethylene or propylene from light hydrocarbon streams.

Abstract: The invention is an improved method of making a carbon molecular sieve (CMS) membrane in which a polyimide precursor polymer is pyrolyzed to form a carbon molecular sieve membrane by heating, in a furnace, said polyimide precursor polymer to a final pyrolysis temperature of 600 C to 700 C at a pyrolysis heating rate of 3 to 7 C/minute from 400 C to the final pyrolysis temperature, the final pyrolysis temperature being held for a pyrolysis time of at most 60 minutes in a non-oxidizing atmosphere. In a particular embodiment, the cooling rate from the pyrolysis temperature is accelerated by methods to remove heat. The CMS membranes have shown an improved combination of selectivity and permeance as well as being particularly suitable to separate gases in gas streams such methane from natural gas, oxygen from air and ethylene or propylene from light hydrocarbon streams.

Abstract: The invention is an improved method of making an improved carbon molecular sieve (CMS) membrane in which a precursor polymer (e.g., polyimide) is pyrolyzed at a pyrolysis temperature to form a CMS membrane that is cooled to ambient temperature (about 40° C. or 30° C. to about 20° C.). The CMS membrane is then reheated to a reheating temperature less than the pyrolysis temperature to form the improved CMS membrane. The improved CMS membranes have shown an improved combination of selectivity and permeance as well as stability for separating hydrogen from gas molecules (e.g., methane, ethane, propane, ethylene, propylene, butane, carbon dioxide, nitrogen, butylene, and combinations thereof).

Abstract: The invention is an improved method of making an improved carbon molecular sieve (CMS) membrane in which a precursor polymer (e.g., polyimide) is pyrolyzed at a pyrolysis temperature to form a CMS membrane that is cooled to ambient temperature (about 40° C. or 30° C. to about 20° C.). The CMS membrane is then reheated to a reheating temperature of at least 250° C. to 400° C. to form the improved CMS membrane. The CMS have a novel microstructure as determined by Raman spectroscopy. The improved CMS membranes have shown an improved combination of selectivity and permeance as well as stability for separating light hydrocarbon gas molecules such as C1 to C6 hydrocarbon gases (e.g., methane, ethane, propane, ethylene, propylene, butane, butylene).

Abstract: A controller area network (CAN) communication system is provided. The CAN communication system comprises: a CAN bus; at least one electronic control unit (ECU) coupled to the CAN bus; a host module coupled to the CAN bus for controlling the operation of the at least one ECU. The host module comprises: a controller; and at least two adapters coupled between the CAN bus and the controller for communication therebetween. The controller is configured to monitor a communication between a first adapter of the at least two adapters and the CAN bus by a second adapter of the at least two adapters when the controller is communicating with the CAN bus through the first adapter, and to switch its communication with the CAN bus from through the first adapter to through the second adapter when a failure of the communication between the first adapter and the CAN bus is determined.

Abstract: An image capturing method, comprising: scanning with a light detection and ranging (LIDAR) sensor an environment of the LIDAR sensor, wherein the LIDAR sensor progressively rotates about a rotation axis at a step angle, and when scanning each step angle the LIDAR sensor generates a point cloud of a portion of the environment in a predetermined pattern; scanning with an image sensor assembly mechanically coupled to the LIDAR sensor the environment in synchronization with the scanning by the LIDAR sensor to generate on an imaging plane of the image sensor assembly a sequence of image pixel rows of a portion of the environment corresponding to the point cloud of the portion of the environment; and combining the point cloud with the sequence of image pixel rows for the scanning of each step angle to obtain a fused image of the portion of the environment.

Abstract: A carbon molecular sieve (CMS) membrane having improved separation characteristics for separating olefins from their corresponding paraffins is comprised of carbon with at most trace amounts of sulfur and a group 13 metal. The CMS membrane may be made by pyrolyzing a precursor polymer devoid of sulfur in which the precursor polymer has had a group 13 metal incorporated into it, wherein the metal is in a reduced state. The pyrolyzing for the precursor having the group 13 metal incorporated into it is performed in a nonoxidizing atmosphere and at a heating rate and temperature such that the metal in a reduced state (e.g., covalently bonded to carbon or nitrogen or in the metal state).