Abstract: A method of delivery of fluid through a computer controlled fluid network, the network including; regulators to control the flow of fluid to deliver a predetermined amount thereof to at least one customer; a first control system for opening and closing the regulators, which collects data based on timed measurements of fluid levels upstream and downstream of respective regulators and the opening positions of respective regulators, using data analysis to provide models for prediction of fluid levels between regulators; a second control system that is a supervisory layer interacting with the first control system to provide adjustments to the controlling of the regulators based on constraint and future flow load; and a third control system interacting with the first and second control systems, which processes fluid delivery requests from the at least one customer to provide a flow load delivery schedule based on the hydraulic capacity of the network.

Abstract: A method of delivery of fluid through a computer controlled fluid network, the network including: regulators to control the flow of fluid to deliver a predetermined amount thereof to at least one customer; a first control system for opening and closing the regulators, which collects data based on timed measurements of fluid levels upstream and downstream of respective regulators and the opening positions of respective regulators, using data analysis to provide models for prediction of fluid levels between regulators; a second control system that is a supervisory layer interacting with the first control system to provide adjustments to the controlling of the regulators based on constraint and future flow load; and a third control system interacting with the first and second control systems, which processes fluid delivery requests from the at least one customer to provide a flow load delivery schedule based on the hydraulic capacity of the network.

Abstract: A method of implementing an optimal avoidance filter for interposing between a human operator issued movement commands and a corresponding machine control system of a movable machine, for the avoidance of collisions with objects. The method: includes inputting a detailed representation of objects in the vicinity of the movable machine; and formulating a hierarchical set of bounding boxes around the objects. The hierarchical set including refinement details depending on the current positional state of the movable machine, with objects closer to the machine having higher levels of refinement details. The method further includes utilizing the resultant hierarchical set as a set of constraints for a mixed integer optimization problem to determine any alterations to the issued movement commands so as to avoid collisions with any objects.

Abstract: A method of implementing an optimal avoidance filter for interposing between a human operator issued movement commands and a corresponding machine control system of a movable machine, for the avoidance of collisions with objects. The method: includes inputting a detailed representation of objects in the vicinity of the movable machine; and formulating a hierarchical set of bounding boxes around the objects. The hierarchical set including refinement details depending on the current positional state of the movable machine, with objects closer to the machine having higher levels of refinement details. The method further includes utilizing the resultant hierarchical set as a set of constraints for a mixed integer optimisation problem to determine any alterations to the issued movement commands so as to avoid collisions with any objects.