Abstract: Systems and methods for selecting a trajectory for an autonomous vehicle based on perceived risk are provided. A trajectory is selected that satisfies objective safety constraints and minimizes an overall cost based at least in part on cost components representing the perceived risk of the trajectory. The vehicle is navigated according to the selected (e.g., optimized) trajectory.

Abstract: An apparatus for moving an object in and/or out of a housing, for example for moving a support structure for a mask out of a housing of a lithographic apparatus. The apparatus includes a first guiding mechanism moveable in a first direction and which is rotatably connectable to a first part of the object, and a second guiding mechanism moveable in a second direction and which is rotatably connectable to a second part of the object, wherein the second part is different from the first part and the second direction is different from the first direction. The rotatable connections define a rotation around an axis which extends in a third direction which is substantially perpendicular to the first direction and the second direction.

Abstract: A system for condensing steam includes a steam supply duct, a supply riser, a supply manifold, a pair of condensing panels, a return manifold, and a condensate return. The steam supply duct is configured to convey steam from a steam generator. The supply riser is configured to convey steam from the steam supply duct. The supply manifold is configured to convey steam from the supply riser. The pair of condensing panels is configured to receive steam from the supply manifold. The supply manifold bifurcates with each bifurcation being configured to supply a respective condensing panel of the pair of condensing panels. The return manifold is configured to receive condensate from the pair of condensing panels. The condensate return duct is configured to convey condensate from the return manifold to the steam generator.

Abstract: The present invention relates to a natural draft cooling tower that employs an air cooled condenser. The aforementioned cooling tower operates by natural draft and achieves the exchange of heat between two fluids such as atmospheric air, ordinarily, and another fluid which is usually steam. The aforementioned cooling tower utilizes a central steam duct riser supplying steam to perimeter ducting via radial ducting.

Abstract: A system for condensing steam includes a steam supply duct, a supply riser, a supply manifold, a pair of condensing panels, a return manifold, and a condensate return. The steam supply duct is configured to convey steam from a steam generator. The supply riser is configured to convey steam from the steam supply duct. The supply manifold is configured to convey steam from the supply riser. The pair of condensing panels is configured to receive steam from the supply manifold. The supply manifold bifurcates with each bifurcation being configured to supply a respective condensing panel of the pair of condensing panels. The return manifold is configured to receive condensate from the pair of condensing panels. The condensate return duct is configured to convey condensate from the return manifold to the steam generator.

Abstract: The present invention relates to a natural draft cooling tower that employs an air cooled condenser. The aforementioned cooling tower operates by natural draft and achieves the exchange of heat between two fluids such as atmospheric air, ordinarily, and another fluid which is usually steam. The aforementioned cooling tower utilizes a central steam duct riser supplying steam to perimeter ducting via radial ducting.