Abstract: A method for controlling a dual fuel engine system includes determining a gas flow target for an internal combustion engine of the dual fuel engine system, where the gas flow target is based on a gas power target of the internal combustion engine, a thermal efficiency estimate of the internal combustion engine, and a lower heating value (LHV) within the internal combustion engine. The method also includes adjusting the gas flow target based on at least one of a measured gas temperature or a measured gas injector pressure and determining at least one base gas injector command based on the adjusted gas flow target, a gas substitution rate estimate, and a gas substitution rate target. The method further includes determining, based on the at least one base gas injector command, a gas injector command for at least one engine bank.

Abstract: A vaporizer device includes various modular components. The vaporizer device includes a first subassembly. The first subassembly includes a cartridge connector that secures a vaporizer cartridge to the vaporizer device and includes at least two receptacle contacts that electrically communicate with the vaporizer cartridge. The vaporizer device includes a second subassembly. The second subassembly includes a skeleton defining a rigid tray that retains at least a power source. The vaporizer device also includes a third subassembly. The third subassembly includes a plurality of charging contacts that supply power to the power source, and an end cap that encloses an end of the vaporizer device.

Abstract: A method for controlling a dual fuel engine system includes determining a friction power loss amount of an internal combustion engine of the dual fuel engine system, where the friction power loss amount is based on an engine speed of the internal combustion engine and a friction torque estimate. The method also includes determining an accessory power loss amount of a power of the internal combustion engine, where the accessory power loss amount is based on the engine speed and an accessory torque estimate. The method further includes estimating a net engine power amount based on the accessory power loss amount and a brake power amount of the internal combustion engine, estimating an indicated diesel power, and estimating, based on the estimated net engine power, a first indicated engine power and a first gas power.

Abstract: A method for controlling a dual fuel engine system includes estimating a total indicated engine load, where the total indicated engine load is based on a sum of a measured engine power and a power loss estimate. The method further includes determining a total fueling amount based on an engine speed and the total indicated engine load, where the total fueling amount includes a gas fueling amount and a diesel fueling amount. The method also includes controlling the dual fuel engine system using the total fueling amount.

Abstract: Adaptive control systems and methods of using the same to control aspects of material processing systems are described. The adaptive control systems may incorporate techniques that use heuristic modeling, and apply those techniques to control processing of biomass feedstock.

Abstract: Systems and methods relating to an augmented virtuality system are disclosed. A method of operating an augmented virtuality system may comprise displaying imagery of a real-world environment in an operating picture. The method may further include displaying a plurality of virtual icons in the operating picture representing at least some assets of a plurality of assets positioned in the real-world environment. Additionally, the method may include displaying at least one virtual item in the operating picture representing data sensed by one or more of the assets of the plurality of assets and remotely controlling at least one asset of the plurality of assets by interacting with a virtual icon associated with the at least one asset.

Abstract: A facility selects a unit of content to include in an instance of a content container. For each of a plurality of units of content, across a plurality of other instances of the content container distributed during a foregoing period of time that included the unit of content, the facility determines both an average level of success achieved by including the unit of content, and a measure of the level of variability of the level of success achieved by including the unit of content. The facility scores each unit of content by selecting a value from a probability distribution that is based on the determined average level of success and measure of the level of variability of the level of success. The facility selects one of the units of content to include in the instance of the content container based on the determined scores.

Abstract: A facility selects a unit of content to include in an instance of a content container. For each of a plurality of units of content, across a plurality of other instances of the content container distributed during a foregoing period of time that included the unit of content, the facility determines both an average level of success achieved by including the unit of content, and a measure of the level of variability of the level of success achieved by including the unit of content. The facility scores each unit of content by selecting a value from a probability distribution that is based on the determined average level of success and measure of the level of variability of the level of success. The facility selects one of the units of content to include in the instance of the content container based on the determined scores.

Abstract: Systems and methods relating to an augmented virtuality system are disclosed. A method of operating an augmented virtuality system may comprise displaying imagery of a real-world environment in an operating picture. The method may further include displaying a plurality of virtual icons in the operating picture representing at least some assets of a plurality of assets positioned in the real-world environment. Additionally, the method may include displaying at least one virtual item in the operating picture representing data sensed by one or more of the assets of the plurality of assets and remotely controlling at least one asset of the plurality of assets by interacting with a virtual icon associated with the at least one asset.

Abstract: A control system for controlling and coordinating a plurality of moving machines includes a global coordinator; a first subsystem controlled by the global coordinator, the first subsystem including a plurality of automated moving machines, the machines including sensors and actuators, including actuators for automated guidance and movement; and a local control system, under guidance of the global coordinator coupled to the sensors and actuators of one of the machines and configured to control automated functions for the machine, including automated guidance and movement; and an intelligent communications system configured to allow communications between the first subsystem and the global coordinator or a second subsystem.

Abstract: Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for a robot to follow a target in its environment. The method includes receiving a target bearing and sensing whether the robot is blocked front. If the robot is blocked in front, then the robot's motion is adjusted to avoid the nearest obstacle in front. If the robot is not blocked in front, then the method senses whether the robot is blocked toward the target bearing and if so, sets the rotational direction opposite from the target bearing, and adjusts the rotational velocity and translational velocity. If the robot is not blocked toward the target bearing, then the rotational velocity is adjusted proportional to an angle of the target bearing and the translational velocity is adjusted proportional to a distance to the nearest obstacle in front.

Abstract: A vehicular guidance method involves providing a user interface using which data can be input to establish a contour for a vehicle to follow, the user interface further configured to receive information from a differential global positioning system (DGPS), determining cross track and offset data using information received from the DGPS, generating control values, using at least vehicular kinematics, the cross track, and the offset data, and providing an output to control steering of the vehicle, using the control values, in a direction to follow the established contour while attempting to minimize the cross track and the offset data.

Abstract: The present invention provides a modular, flexible system for deploying multiple video perception technologies. The telepresence system of the present invention is capable of allowing an operator to control multiple mono and stereo video inputs in a hands-free manner. The raw data generated by the input devices is processed into a common zone structure that corresponds to the commands of the user, and the commands represented by the zone structure are transmitted to the appropriate device. This modularized approach permits input devices to be easily interfaced with various telepresence devices. Additionally, new input devices and telepresence devices are easily added to the system and are frequently interchangeable. The present invention also provides a modular configuration component that allows an operator to define a plurality of views each of which defines the telepresence devices to be controlled by a particular input device.

Abstract: A vehicular guidance method involves providing a user interface using which data can be input to establish a contour for a vehicle to follow, the user interface further configured to receive information from a differential global positioning system (DGPS), determining cross track and offset data using information received from the DGPS, generating control values, using at least vehicular kinematics, the cross track, and the offset data, and providing an output to control steering of the vehicle, using the control values, in a direction to follow the established contour while attempting to minimize the cross track and the offset data.

Abstract: A telepresence system includes a camera pair remotely controlled by a control module affixed to an operator. The camera pair provides for three dimensional viewing and the control module, affixed to the operator, affords hands-free operation of the camera pair. In one embodiment, the control module is affixed to the head of the operator and an initial position is established. A triangulating device is provided to track the head movement of the operator relative to the initial position. A processor module receives input from the triangulating device to determine where the operator has moved relative to the initial position and moves the camera pair in response thereto. The movement of the camera pair is predetermined by a software map having a plurality of operation zones. Each zone therein corresponds to unique camera movement parameters such as speed of movement. Speed parameters include constant speed, or increasing or decreasing. Other parameters include pan, tilt, slide, raise or lowering of the cameras.

Abstract: A pipe crawler tractor may comprise a half tractor assembly having a first base drive wheel, a second base drive wheel, and a top drive wheel. The drive wheels are mounted in spaced-apart relation so that the top drive wheel is positioned between the first and second base drive wheels. The mounting arrangement is also such that the first and second base drive wheels contact the inside surface of the pipe at respective first and second positions and so that the top drive wheel contacts the inside surface of the pipe at a third position, the third position being substantially diametrically opposed to the first and second positions. A control system connected to the half tractor assembly controls the rotation of the first base wheel, the second base wheel, and the top drive wheel to move the half tractor assembly within the pipe.