Abstract: Systems and methods including: a UAV comprising: a sensor configured to measure sensor data and a UAV propeller; a mobile platform; a tether attached to the UAV and to the mobile platform; and a digital processing device comprising: at least one processor, an operating system configured to perform executable instructions, a memory, and a computer program including instructions executable by the digital processing device to create a tethered UAV application comprising: a transmission module receiving the sensor data from the sensor at a selected rate; a locational module estimating a relative three-dimensional position of the UAV to the mobile platform, based on the sensor data; and a navigation module directing the UAV propeller and the mobile platform, based on the relative three-dimensional position, to adjust the relative three-dimensional position within a set value.

Abstract: A mobile oxygen point of use apparatus includes a standalone and portable mounting panel having a first side and a second side and is configured to be portably relocated within a facility by at least one human operator. A first set of oxygen flow regulators are mounted on the first side of the mounting panel and have multiple first oxygen inputs and multiple first oxygen outputs. A second set of oxygen flow regulators are mounted on the second side of the mounting panel and have multiple second oxygen inputs and multiple second oxygen outputs. A low pressure oxygen input is mounted on the mounting panel and a single pipeline or hose is configured to be connected from the low pressure oxygen input to a source of oxygen. Distribution plumbing connects the low pressure oxygen input to the multiple first oxygen inputs and the multiple second oxygen inputs.

Abstract: A heatable high pressure cleaning appliance is provided with an undercarriage and a housing lower part, arranged on the undercarriage, in which a motor and a pump driven by the motor for pressurizing water are arranged, and with a fuel-operated heat exchanger for heating the water and a fuel tank for storing liquid fuel for the heat exchanger. In order to further develop the heatable high pressure cleaning appliance in such a way that it has a high mechanical stability and is producible in a cost-effective manner, it is proposed that the fuel tank is configured as a one-piece plastic hollow body, which forms the housing lower part and is held on a rigid support frame, wherein the support frame forms a shock protector that at least partially surrounds the fuel tank in the circumferential direction.

Abstract: A method and system for determining center coordinates of a circular arc uses a position sensor, such as a GPS receiver, for receiving position coordinates for a plurality of points along the circular arc. The position coordinates for the plurality of points are then processed using an algorithm developed based on the geometric relationship for a cone inscribed in a sphere, with the sphere representing the Earth, the position coordinates defining points along a base perimeter of the cone, and an apex of the cone being located at the center of the Earth. A regression model is used to determine the center coordinates of the circular arc in a three-dimensional coordinate system without converting the position coordinates into two-dimensional coordinates. The method and system can be used to determine center coordinates for a center pivot sprinkler monitoring system or a vehicle guidance system.

Abstract: A method and system for performing painting using an unmanned aerial vehicle is disclosed herein. The system comprises an unmanned aerial vehicle and a user computing device. The unmanned aerial vehicle comprises a plurality of nozzles, at least one camera, at least one sensor, at least one software module, a plurality of paint containers, lidar, and a plurality of blades.

Abstract: A mobile pressure washer can include a wheeled chassis, a power plant supported by the wheeled chassis, a fluid pump a fluid pump coupled to and driven by the power plant, a sprayer in fluid communication with the pump, a chemical solution container, and a container holder for supporting the chemical solution container. In some examples, the container holder has a frame operably connected to the wheeled chassis and has a container support mounted to the frame, the container support including a base wall and a sidewall defining a receptacle for receiving and supporting a container in fluid communication with the pump.

Abstract: A wheel for a cart comprises a hollow cylindrical body. The hollow cylindrical body is formed of a stiff material and has a corrugated outer surface and a corrugated inner surface.

Abstract: The present invention provides a cleaning machine capable of selecting a spray head independently of a rotational phase of a nozzle. The cleaning machine includes a slide, a pump, a main valve, a nozzle switching valve, a compressed air source, a swivel joint, a motor, and a nozzle block. The nozzle switching valve has an inflow chamber, a first chamber, a second chamber, a stem, a conical first valve element abuttable against the first valve seat, a conical second valve element abuttable against the second valve seat, a piston, and a spring. The swivel joint has a swivel housing, a swivel shaft, a first nozzle flow path and a second nozzle flow path. The nozzle block has a first nozzle connected to the first nozzle flow path and a second nozzle connected to the second nozzle flow path.

Abstract: A robotic device for working on a surface includes a body including: a tool for working on the surface; a controller moving the body along the surface; a first set of at least two rotors mounted to the body and generating thrust in a first direction towards the surface; and a second set of at least two rotors mounted to the body and generating thrust in a second direction away from the surface. A sensor measures a distance between the body and the surface, and a computer adjusts the first set of rotors and the second set of rotors in response to the sensor to place the body in position to work on the surface. In particular, the first set of rotors and the second set of rotors generate a net force on the body to it in non-contact position to work on the surface.

Abstract: An aerial dispensing method includes obtaining a wind velocity of a wind that causes a drift to a substance dispensed from an unmanned aerial vehicle (UAV), and controlling one or more components of the UAV based on the obtained wind velocity to cause at least mitigation to the drift.

Abstract: Some embodiments of a gearbox for an irrigation system can comprise a housing, a worm gear within the housing, a bull gear within the housing and configured to be engaged with the worm gear, a diaphragm, and a vent. The diaphragm can define a chamber configured for expansion and contraction and configured to be positioned inside the housing to relieve pressure build-up within the housing. The vent can be configured to allow air to flow between the atmosphere and the chamber.

Abstract: A hydrodynamic intelligent robot and a control method thereof, the robot includes a moving platform, a hydrodynamic system and a dynamic intelligent system. The hydrodynamic system includes at least one nozzle mounted on the moving platform and a hydrodynamic device electrically connected to the dynamic intelligent system and connected to the at least one nozzle by a pipeline for spraying water so that the moving platform is rotated and moved by spraying water through the nozzle; the dynamic intelligent system is configured to control the hydrodynamic device according to input instructions, so as to indirectly realize vector control of the nozzle's water quantity and control the moving platform to move autonomously and intelligently. The present disclosure can monitor states of the moving platform by pre-inputting control instructions, and automatically determine numerical parameters needed to be adjusted by algorithm, so as to realize autonomous intelligent motion of the moving platform.

Abstract: A steering mechanism and guidance system for a milling attachment device provides steering capability without impeding cutting depth control. The steering mechanism has at least one wheel that is rotated by an actuating mechanism such as an extending cylinder, synchronized actuators, or the like. The steering mechanism may be integrated with depth control by using a parallelogrammic structure with pivot points to assist in the depth control or may operate independent of and without impeding depth control.

Abstract: A UAV-based external wall spray printing system and a spraying method thereof, wherein a spray nozzle is disposed on the UAV. The method comprises: A. controlling a UAV to fly along edges of an external wall, and measure an area to be sprayed; B. calculating a spray trajectory for a pattern, before acquiring various positioning coordinates, establishing corresponding relationships between the coordinates and spray feature data; C. controlling the UAV to fly to positions of the area according to the respective coordinates of the spray trajectory, and calling the corresponding spray feature data to control the nozzle to spray a coating material, thus completing spraying the pattern. The spray printing system and method can rapidly spray and print an advertisement on a wall by using a UAV, thereby reducing the labor intensity and construction difficulty for construction workers.

Abstract: A method to distribute water from a private water tank to a user site includes connecting the private water tank to three parallel low pressure Variable Frequency Drive (VFD) pumps, two parallel high pressure VFD pumps, a pressure reducing valve (PRV), a tank level control valve, a flow meter, two pressure gauges, and two pressure transducers; controlling the three parallel low and two high pressure VFD pumps using a PLC programmed with at least first, second, and third low pressure pump set operation curves (LPPSOCs) each specifying a low pressure pump operation set point (B) and a PRV operation set point (F) at each of first, second, and third flow rates and first and second high pressure pump set operation curves (HPPSOCs) each specifying a high pressure pump operation set point (G) and a high pressure pump energizing set point (E) at each of fourth and fifth flow rates.

Abstract: A single axis driving system includes a housing with a central portion defining a cavity and a pair of parallel spaced apart flanges formed as an integral part. Coaxial openings are formed through the flanges to define a mounting structure for an axle rotatably mounted in the coaxial openings. An opening is formed between the flanges in the surface of the central portion extending into the cavity. A gear plate is affixed to the axle and positioned to extend through the opening into the cavity for limited rotation with the axle. The gear plate has an arcuate set of gear teeth positioned along a periphery thereof. A driving gear is rotatably mounted in the housing so as to mesh with the arcuate set of gear teeth and a drive motor is mounted on the housing and attached to the driving gear for rotation of the driving gear.

Abstract: A UAV includes a body and rotor coupled to the body. The UAV may include a boom coupled to the body, and a nozzle coupled to a distal end of the boom, wherein an operational configuration of the nozzle is responsive to a second control signal. The rotor, boom, and nozzle are arranged such that the nozzle is disposed further away from the body than the rotor. The UAV may further include a sensor disposed on either the body or the boom, wherein the sensor is configured to generate a detection signal associated with a distance between the sensor and a surface disposed proximate to the sensor.

Abstract: Provided is a seeder assembly for an aerial vehicle as shown and described. The distribution assembly includes a frame selectively attachable to an aerial vehicle and at least one distribution device attached to the frame. The distribution device having a body defining a cavity to receive a plurality of products and a barrel to discharge the plurality of products. A control device configured to communicate with the aerial vehicle and the distribution device to coordinate the timing that products are discharged and a spacing of a subsequent discharged product relative to the speed of the aerial vehicle. A system, method, and cartridge device associated with the distribution assembly are also contemplated by this disclosure.

Abstract: A system for painting an interior wall of housing is disclosed. The system includes a semi-automatic painting robot 106 and a user device 104. The semi-automatic painting robot 106 includes a microprocessor 304, a servo drive module 306, a DC motor drive module 316, a magnetometer 312, a distance sensor module 318, a first servo motor 708, a second servo motor 714, a spray gun 710, and a belt driven linear actuator 804. A user device 104 captures one or more images of the interior wall to be painted, processes and sends the one or more images to the microprocessor 304 in co-ordinates of the interior wall. The microprocessor 304 receives the co-ordinates and performs the operations of painting on the interior wall using one or more painting strokes. The user 102 may control the semi-automatic painting robot 106 with the user interface present in the user device 104.

Abstract: A surface washing drone with a modular cleaning head unit. The surface washing drone may also include a safety failover mechanism. The surface washing drone communicates and works together with other surface washing drones in a group.

Abstract: A modular sprayer system for use with heavy-lift unmanned aerial vehicles includes a liquid storage tank for receiving and storing any type of agricultural products. A mounting unit is located along the top of the tank and includes hardware for securing the system to a UAV. Skid-type landing gear is permanently secured to the outside of the tank, and an electric pump is disposed within the tank. The location of the pump dampens movement of fluid within the tank during flight. One or more elongated booms are in fluid communication with the pump and terminate into dispensing units having one or more nozzles for releasing the fluid. A control unit is in electrical communication with one or both of the UAV to which the system is secured and a system operator. A tank level sensor and imaging systems are communicatively linked with the control unit.

Abstract: A rotational joint is provided for an agricultural machine having hinged frame sections, each frame section carrying one or more plumbing lines for moving a carrier fluid. The rotational joint includes first and second joint parts. Each joint part has a coupler defining a flow passage leading to an interface opening. The joints parts are coupled to allow for relative rotation about a rotation axis passing through the interface openings. In at least one angular orientation of the joint parts, the flow passages of the couplers are in fluid communication.

Abstract: Systems and methods of coating an installed overhead conductor with an unmanned aerial vehicle are disclosed. The unmanned aerial vehicles can attach to an installed overhead conductor and can apply a coating composition from one or more canisters.

Abstract: A vehicle platform comprises a central body that can support one or more implement configurations, such as sprayer booms, or planting row units. A plurality of adjustable legs extends downward from the central body. An arm assembly has a first end and a second end opposite the first end. The first end is pivotably coupled the central body and the second end coupled to a support beam. A plurality of nozzle assemblies is supported from the support beam. An arm actuator is arranged to control a transverse position of the support beam and the nozzle assemblies with respect to a reference point on the central body, such that each nozzle assembly may be aligned with a row of seeds or plants.

Abstract: A method of controlling a fluid delivery machine configured to deliver fluid on a worksite is disclosed. In the method, operation of a power source of the fluid delivery machine is controlled with a control module. Fluid delivery on the worksite is also controlled by the control module.

Abstract: Device for cleaning solar modules, of both the photovoltaic and solar thermal type, by projection of a cleaning liquid onto the surface of said modules in the form of spray, is described. The device is of the towed type, for mounting on a tractor vehicle or similar, and is implemented based on an articulated unit which comprises a coupled parallelogram structure, having the possibility of pivoting around a support structure solidarily joined to the carrier vehicle, joined by the opposite end to a telescopic arm which articulately includes a projection bar on its distal end, with variable positioning, integrating a multiplicity of nozzles for projecting cleaning liquid. The projection bar includes mechanical sensors for positioning thereof on the surface. The different movements are carried out in a controlled manner by actuation of hydraulic cylinders and the articulated joint between the projection bar and the telescopic bar includes a means for adjusting the maximum inclination angle of the projection bar.

Abstract: A system and method are provided for automated control of application of fluid to a surface. A surface map is annotated with shapes designating zones for spraying, and excluding others. A control system in a vehicle uses the annotated map and GPS to assist the operator of the vehicle avoid spraying on excluded zones, and provides a record of the spraying operation including locations sprayed and fluid spray rates. The control system operates valves to control spraying from a container on the vehicle, based on several parameters, so as to avoid spraying excluded zones and steep slopes, to avoid overlaps, and to limit fluid spray rates below pre-determined maximums. The system further assists the operator by providing a visual guide on a display. A kit can be provided to retrofit a vehicle for landspraying.

Abstract: Handle configurations are disclosed for powered implements having a shaft, allowing the implements to be holdable by both hands of a user. An exemplary implement has an elongated shaft having first and second end portions. A first handhold is adjustably mounted to the shaft and extends outwardly therefrom. A second handhold is adjustably mounted either to the shaft or to an elongated member coupled to the shaft. The elongated member can include a mounting portion and a handle portion providing the second handhold. The mounting portion mounts to the first end portion at a mounting location. The first and second handholds allow operation of the implement by a user with arms in respective neutral arm positions and hands in respective neutral gripping positions. The elongated member allows transmission of a force applied to the second handhold by the user through the elongated member and to the elongated shaft at the mounting location.

Abstract: A mobile pressure washer wand holder for securely holding the wand of a pressure washer which provide physical assistance in holding the wand while allowing for more consistent and effective cleaning. The pressure washer wand holder comprises a hollow base structure mounted on two weighted plastic, and a wand holding clamp securely attached to the top of the base structure. The hollow base structure is configured to be filled with liquid prior to be operated so as to increase the weight so that it, in addition to the wheels, can effectively counteract the upward force created by the spraying of pressurized water. The wheels allow the base structure with any wand being held to be moved. The clamp is configured to receive the wand, provide for it to be locked in place, and hold it securely at a 45 degree angle relative to the surface below the base structure.

Abstract: A hose-fed lateral move irrigation system and method that utilizes a pipe with a plurality of sprinklers attached to a wheeled cart that drags a flexible hose assembly therebehind while traveling laterally with the pipe and sprinklers relative to a field so that alternating the flexible hose assembly from one side of the cart to another as the cart traverses back and forth along a cart path is facilitated while kinking in the flexible hose assembly is avoided.

Abstract: A dust suppression apparatus comprising: (a) a turntable; (b) an engine; (c) a water mist blower comprising an air conduit, a plurality of water nozzles positioned so as to supply a spray of water to the air conduit, and a fan positioned so as to supply a stream of air through the air conduit, the water mist blower and the engine mounted on the turntable, the turntable adapted to permit the air conduit to be rotated horizontally, and the air conduit mounted so as to permit the air conduit to tilt vertically; (d) a water conduit adapted to supply pressurized water to the plurality of water nozzles; (e) a belt drive connected to the engine and adapted to supply power to the fan, and (f) a constant velocity joint connecting the belt drive to the fan.

Abstract: A control system for stopping or reversing movement of an irrigation system comprises an electronic proximity sensor and a control device. The electronic proximity sensor is configured for mounting to the irrigation system and operable to detect a target. The control device is responsive to the electronic proximity sensor for stopping or reversing movement of the irrigation system when the electronic proximity sensor detects the target.

Abstract: The present invention is a device which has an extended tube structure attached at one end to a manifold with wheels and slits to allow substance to enter or exit and attached at the other end to a source of air, vacuum, or liquid substance. The device is designed to allow ease and efficiency in storing and shipping.

Abstract: An orifice selector module for use with flow gauges in a sprayer environment. The orifice selector module is retrofit into existing or new flow gauge assemblies and is placed in line between the spray nozzles and the flow gauges. The orifice selector module includes a rotatable cap which rotates a rotor which in turn rotates an orifice plate which features numerous orifices of different sizes. These orifices can be switched on the fly manually by the vehicle operator to increase or decrease flow through a particular hose from a particular flow gauge.

Abstract: A positioning system for positioning a positioning unit along a longitudinal axis includes: a linear guide arrangement for enabling a linearly guided motion parallel to the axis; a motor includes a moving motor member operatively connected to the linear guide arrangement and an elongated stationary motor member extending parallel to the axis; and a force transmission arrangement operatively connecting the moving motor member to the positioning unit, wherein the force transmission arrangement is arranged to provide a semi-rigid engagement between the positioning unit and the moving motor member, wherein the positioning unit and the moving motor member, respectively, are operatively connected to the linear guide arrangement by at least two guide engaging carriages, and wherein the positioning unit is attached to the guide engaging carriages by rigid or resilient positioning unit holders.

Abstract: A manifold trailer comprises at least one main line having a plurality of discharge connectors and a plurality of articulating arm assemblies which are each connected to a corresponding discharge connector. Each arm assembly comprises a connector member which includes an inlet port, an outlet port and a third port which is located generally opposite the outlet port and is closed by a removable plug member. Each arm assembly also includes an articulating conduit assembly which comprises a first end that is connected to the inlet port and a riser swivel which is connected to the outlet port. During deployment of the arm assembly, a second end of the conduit assembly is connectable to a pumping unit to thereby fluidly connect the pumping unit to the main line.

Abstract: A hose-fed lateral move irrigation system and method that utilizes a pipe with a plurality of sprinklers attached to a wheeled cart that pulls a flexible-hose assembly therebehind using at least one onboard winch and travels laterally with the pipe and sprinklers relative to a field so that a sufficient amount of hose may be used to enable total automation of the system.

Abstract: A mobile pressure washing system is provided. The system comprises a frame with hinged elements for transitioning the frame between an upright position of use and a compact position for secure transport and storage of the system. System features further include a removable and replaceable tank adapted to fit on a portion of the frame, storage features, and pressure washing features such as a motor and pump.

Abstract: A riding rotary pressure washer comprising of a four wheeled powered vehicle, a circular cover that houses a balance spray bar assembly, the circular cover is adjustably attached to the four wheeled vehicle and is positioned between the wheels of the vehicle, a first L-shaped hose guide, the first L-shaped hose guide is attached to the rear of the four wheeled vehicle, a hose, the hose is attached to the balance spray bar assembly and guided through the first L-shaped hose guide, and a remote pressure washer system, the remote pressure washer system attaches to the hose of the riding rotary pressure washer.

Abstract: A powder spray for lengthy parts includes a booth wall structure comprised primarily of doors. A moveable roof may be raised and lowered to clean powder overspray from the interior surfaces of the booth. A cleaning process may be performed with a sideways extraction mode and a downward extraction mode. The mode change occurs when a bulkhead that travels with the moveable roof blocks the inlet duct to the recovery system. The recovery system may be a cyclone system for example. The doors of the booth are hinged so that they can be positioned for spraying operations and cleaning operations. Live hinge designs are provided and hose stress relief designs are also provided. The roof may carry accumulators for pressurized air that feed cleaning nozzles as the roof descends. In addition, exhaust air may be used to assist cleaning the interior surfaces as the roof descends. All of the energy provided for cleaning and color change may be provided by accumulators.

Abstract: A surface cleaning apparatus comprises a supply tank and a distributor for delivering fluid to a surface to be cleaned. A constant flow of fluid can be delivered from the supply tank to the distributor via a regulator tank in fluid communication with the supply tank for exchanging liquid and air with the supply tank.

Abstract: The present invention relates to an attachment for a pressure washer wand comprising: a plate having a front end, a rear end, top end, and a bottom end; a first wheel connected to the front end of the plate; a second wheel connected to the rear end of the plate; an angle bracket connected to the plate; a clamp connected to the angle bracket; and optionally a spray wand connected to the clamp. The design of the spray wand attachment of the present invention allows for cleaning a narrow area (only a few inches wide) from the edge of the hard surface. The edger of the present invention is not designed to clean the entire areas of the hard surface because the plate needs to be in contact with the edges of the hard surface, which prevents the device from moving away from the edges.

Abstract: A method and apparatus is provided for starting and stopping a high pressure spray washer having a combustion engine driving a pump to provide high pressure fluid to a spray gun activated by a trigger. Pulling the trigger causes water to flow through the nozzle and pump and a sensor by the pump sends a flow start signal to a control module that activates an electric starter when an engine switch is turned on, thus starting the engine when it wasn't running. When the trigger is released flow to the pump stops and the sensor sends a flow stop signal to the control module. If a predetermined time passes before the sensor detects fluid flow to the pump as occurs when the trigger is pulled, then the engine is shut off. The time can be varied to adjust the time between releasing the trigger and shutting off the engine.

Abstract: A multiple-line irrigation system includes a plurality of spans extending from a central pivot, a first pipeline for carrying water, and a second pipeline for carrying chemicals. Each span includes a distribution assembly which draws water and chemicals from the first and second pipelines independently of distribution assemblies in the other spans so as to distribute the water and chemicals as a mixture onto a field according to the requirements of the field under each span. Auxiliary lines coupled to the pipelines in the distribution assembly in each span include valves to regulate the supply of water and chemicals from the pipelines.

Abstract: A dust suppression apparatus comprising: (a) a turntable; (b) an engine; (c) a water mist blower comprising an air conduit, a plurality of water nozzles positioned so as to supply a spray of water to the air conduit, and a fan positioned so as to supply a stream of air through the air conduit, the water mist blower and the engine mounted on the turntable, the turntable adapted to permit the air conduit to be rotated horizontally, and the air conduit mounted so as to permit the air conduit to tilt vertically; (d) a water conduit adapted to supply pressurized water to the plurality of water nozzles; (e) a belt drive connected to the engine and adapted to supply power to the fan, and (f) a constant velocity joint connecting the belt drive to the fan.

Abstract: A rolling spray applicator has a low profile so that it can be utilized between closely spaced upper and lower surfaces so that a spray coating can be applied thereto simultaneously. The spray applicator includes an elongated spray bar including a plurality of nozzles on upper and lower surfaces thereof. A fluid supply is connected to the elongated spray bar. A frame supports the elongated spray bar and includes a plurality of wheels for rollingly supporting the frame. A handle is attached to either one of the frame or the elongated spray bar so that the device can be rolled between closely spaced upper and lower surfaces for applying a spray coating thereon.

Abstract: The invention relates to an agricultural machine for spraying a phytosanitary liquid over cultivated land, said machine comprising means for moving the machine, a spray boom having at least one arm, a mechanism for inclining the boom and/or at least one of the arms in relation to a frame of the machine and vertically when the machine is on a flat and horizontal surface, and a mechanism for raising/lowering the boom along an axis fixed in relation to the frame of the machine. At least one of the arms is provided with at least one sensor, each sensor measuring a distance between the surface of the land and said sensor or, if necessary, between the crop and the sensor. The control unit is connected to each sensor, provided with a memory for storing information provided by each sensor, and able to control the raising/lowering mechanism according to information stored in the memory.

Abstract: A vegetation control system for use with chemically-based treatments includes at least one distribution apparatus and at least one reservoir mounted onto a mobile unit. Routed within a passageway or passageways in the distribution apparatus are one or more conduits. These conduits are configured to route the chemically-based treatment from the reservoir through the passageway(s) to an end of the distribution apparatus, having one or more nozzles. The vegetation control system may be used by an operator to target specific branches and other specified areas of vegetation for treatment. The distribution apparatus is mounted onto the mobile unit for application of the treatment in various areas.

Abstract: A track assembly for a mobile tower of an irrigation system includes: a mounting bracket configured to be attached to the mobile tower; a gearbox assembly and rotatable drive wheel hub attached to the mounting bracket; a drive wheel attached to the drive hub; rotatable tension wheel hub attached to the mounting bracket and spaced from the drive hub; a tension wheel attached to the tension wheel hub; and a track trained over the drive wheel and the tension wheel and driven by the drive wheel to propel the mobile tower.

Abstract: The invention provides an improved method and robotic apparatus for preparing and applying a structural member while significantly mitigating hazardous emissions. The remotely controlled robot comprised a series of expandable and interchangeable chambers that allow of site-specific customization. The chambers are linked together by means of flexible interface that allow for the apparatus to conform to the tank radius. A set of synchronized steerable tractor drives are at each end of the apparatus and provide motion across the surface. The chambers have a flexible vacuum seal for the mitigation of harmful emissions. A detachable umbilical with product delivery lines, pneumatic lines, electrical power and signal and video lines contained within remains attached to the robot during the lining operation. The system is suspended from the surface by means of a support structure and center trunnion.