Abstract: A valve, controlling pressure differential by regulating fluid flow between a tank and a canister, includes: a valve opening; a first moving element carrying a first sealing device making a leaktight seal and movable relative to the valve opening between a closed and an opened position allowing a first flow between the tank and the canister, through a first passageway with a first size; a second moving element carrying a second sealing device making a leaktight seal and movable relative to the valve opening between a closed and an opened position allowing a second flow between the tank and the canister, through a second passageway with a second size. The second moving element includes a central hole having a frustoconical surface partly defining the first passageway. The first sealing device has a complementary frustoconical surface cooperating with the frustoconical surface of the central hole of the second moving element.

Abstract: A valve, controlling pressure differential by regulating fluid flow between a tank and a canister, includes: a valve opening; a first moving element carrying a first sealing device making a leaktight seal and movable relative to the valve opening between a closed and an opened position allowing a first flow between the tank and the canister, through a first passageway with a first size; a second moving element carrying a second sealing device making a leaktight seal and movable relative to the valve opening between a closed and an opened position allowing a second flow between the tank and the canister, through a second passageway with a second size. The second moving element includes a central hole having a frustoconical surface partly defining the first passageway. The first sealing device has a complementary frustoconical surface cooperating with the frustoconical surface of the central hole of the second moving element.

Abstract: A method for controlling a system or robot having at least one effector. An initial sequence of control points is computed. The system or the robot is evaluated by a global cost function that uses internal simulation based on the control points. The sequence of control points are updated based on the evaluation. The evaluation of the system or the robot and the updating of the sequence of control points are repeated until a given termination criterion is met.