Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Abstract: A refrigeration system both cools and heats frozen dessert mix in at least two hoppers and at least two freezing cylinders. A liquid line solenoid valve at the inlet of each of the hoppers and the freezing cylinders controls the flow of refrigerant from the condenser. A hot gas solenoid valve at the inlet of each of the hoppers and the freezing cylinders controls the flow of hot refrigerant from the compressor. The system further includes a hot gas bypass valve that is opened when only the hoppers are being cooled to provide additional compressor load. An EPR valve proximate to the hopper discharges varies the temperature of the refrigerant exchanging heat with the mix in the hoppers. A CPR valve controls the inlet pressure of the compressor by reducing the amount of hot refrigerant flowing into the compressor suction. A TREV valve injects liquid refrigerant to the compressor suction to control excessive compressor discharge during the cool cycle.

Abstract: A refrigeration system both cools and heats frozen dessert mix in at least two hoppers and at least two freezing cylinders. A liquid line solenoid valve at the inlet of each of the hoppers and the freezing cylinders controls the flow of refrigerant from the condenser. A hot gas solenoid valve at the inlet of each of the hoppers and the freezing cylinders controls the flow of hot refrigerant from the compressor. The system further includes a hot gas bypass valve that is opened when only the hoppers are being cooled to provide additional compressor load. An EPR valve proximate to the hopper discharges varies the temperature of the refrigerant exchanging heat with the mix in the hoppers. A CPR valve controls the inlet pressure of the compressor by reducing the amount of hot refrigerant flowing into the compressor suction. A TREV valve injects liquid refrigerant to the compressor suction to control excessive compressor discharge during the cool cycle.