Abstract: A method of operating an exoskeleton system that includes obtaining a first set of sensor data from one or more sensors associated with one or more leg actuator units of an exoskeleton system during a user activity, the first set of sensor data indicating a first configuration state of the one or more actuator units; determining, based at least in part on the first set of obtained sensor data, to change configuration of the one or more leg actuator units to a second configuration state to support a user during the user activity; and introducing fluid to one or more fluidic actuators of the one or more leg actuator units to generate the second configuration state by causing the one or more fluidic actuators to apply force at the one or more actuator units.

Abstract: A method for controlling a managed pressure drilling system including a drillstring located in a borehole, a pump that delivers drilling fluid, and a choke that controls the flow of the drilling fluid from an annulus formed between the drillstring and the wall of the borehole. During drilling, the drilling fluid flows downwardly through the drillstring from the pump and through a drill bit, and returns through the annulus to the choke. The method includes determining a correction ?Vcorr in the volume of the fluid in the annulus to achieve a target pressure in the fluid; calculating a choke flow rate correction term ?qcorr by dividing ?Vcorr by a factor related to the acoustic travel time ta of a pressure wave in the fluid travelling the length of the annulus; and determining a flow demand from the choke on the basis of the flow rate correction term ?qcorr.

Abstract: A method for controlling a managed pressure drilling system including a drillstring located in a borehole, a pump that delivers drilling fluid, and a choke that controls the flow of the drilling fluid from an annulus formed between the drillstring and the wall of the borehole. During drilling, the drilling fluid flows downwardly through the drillstring from the pump and through a drill bit, and returns through the annulus to the choke. The method includes determining a correction ?Vcorr in the volume of the fluid in the annulus to achieve a target pressure in the fluid; calculating a choke flow rate correction term ?qcorr by dividing ?Vcorr by a factor related to the acoustic travel time to of a pressure wave in the fluid travelling the length of the annulus; and determining a flow demand from the choke on the basis of the flow rate correction term ?qcorr.