Abstract: Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.

Abstract: There is provided an apparatus comprising means for: receiving a first image of a first feature of a load; receiving a second image of a second feature of the load; determining image plane coordinates of the features of the load based on the first image and the second image; determining one or more action candidates based on the image plane coordinates; evaluating the one or more action candidates using an intermediate medium embodying historical experience information within a finite time horizon; choosing a control action based on the evaluation, wherein the control action causes a spreader to move with respect to the load.

Abstract: Disclosed is an arrangement and a method for hitch-angle estimation for a tractor-trailer combination. The arrangement comprising one or more sensors for providing one or more point clouds comprising a representation for the trailer as seen from one or more measurement positions at the tractor, a first measurement for the speed of the tractor, and a second measurement for an orientation of the tractor. The arrangement also comprises a computing unit configured to obtain one or more first values indicating the hitch angle between the tractor and the trailer, determined from the one or more point clouds, obtain a second value indicating the rate of change for the hitch angle, determined from the first and the second measurement, and fuse the one or more first values and the second value to provide an estimate for the hitch angle between the tractor and the trailer.

Abstract: A method of preparing a catalytic structure the method including the steps of: providing a solution of a precursor compound in a solvent at ambient conditions; providing a suspension of a support material having a specific surface area of at least 1 m2/g in a solvent at ambient conditions; mixing the solution of the precursor compound and the suspension of the support material; providing a reactive solvent in a supercritical or subcritical state; admixing the mixture of the solution of the precursor compound and the suspension of the support material in the supercritical or subcritical reactive solvent to form a reaction solution; injecting the reaction solution into a reactor tube via an inlet; allowing a reaction of the precursor compound in the supercritical or subcritical reactive solvent in the reactor tube to form the catalyst nanoparticles on the support material to provide the catalytic structure.

Abstract: The present invention relates to a method for preparing carbon nitride material wherein organic rodanide is simply pyrolyzed to give carbon nitride material in an efficient, economical, and ecologically friendly manner. The present invention accomplishes preparation of graphitic carbon nitride materials having a carbon to nitrogen molar ratio of about 3:4. The employed starting materials are cheap and can be easily removed and/or washed away.

Abstract: The present invention relates to a method for preparing carbon nitride C3N4 wherein alkali metal thiocyanate is simply pyrolysed to give carbon nitride C3N4 in an efficient, economical and ecologically friendly manner. The employed starting materials are cheap and formed side products are essentially non-toxic and can be easily removed and/or washed away.

Abstract: The present invention relates to a method for preparing carbon nitride material wherein organic rodanide is simply pyrolysed to give carbon nitride material in an efficient, economical and ecologically friendly manner. The present invention accomplishes preparation of graphitic carbon nitride materials having a carbon to nitrogen molar ratio of about 3:4. The employed starting materials are cheap and can be easily removed and/or washed away.

Abstract: The present invention relates to a method for preparing carbon nitride C3 N4 wherein alkali metal thiocyanate is simply pyrolysed to give carbon nitride C3N4 in an efficient, economical and ecologically friendly manner. The employed starting materials are cheap and formed side products are essentially non-toxic and can be easily removed and/or washed away.