Abstract: An air stabilization system employing two substantially parallel, codirectional Coanda nozzles, that are positioned adjacent a flexible moving web, with each nozzle exhausting gas at the same downstream machine direction, subjects the moving web to shear forces effective to stabilize the web. Each nozzle includes an elongated slot that is substantially perpendicular to the path of the moving web and a backstep located downstream of the direction of airflow extending from the Coanda slot. The two Coanda nozzles serve as separate points along the machine direction for controlling the height of the moving web. By modulating the velocities or other parameters of gases exiting the Coanda nozzles, the shape of the moving web between the nozzles can be manipulated to present a planar contour for measurements. The air stabilization system can be incorporated into a scanner head to measure the caliper of paper, plastic, and other flexible web products.

Abstract: An air stabilization system employing two parallel, opposite facing Coanda nozzles, that are positioned adjacent a flexible moving web, with each nozzle exhausting gas at opposite directions, subjects the moving web to opposing forces effective to stabilize the web. Each nozzle includes an elongated slot that is parallel to the path of the moving web. The two Coanda nozzles serve as separate points along the machine direction for controlling the height of the moving web. By modulating the flow, pressure and other parameters of gases exiting the Coanda nozzles, the shape of the moving web between the nozzles can be manipulated to present a planar contour for measurements. The air stabilization system can be incorporated into a scanner head to measure the caliper of paper, plastic, and other flexible web products.

Abstract: An air stabilization system employing two parallel, opposite-facing Coanda nozzles, with each nozzle exhausting gas at opposite directions, subjects a moving flexible web to opposing forces effective to create local tension within the web. Each nozzle includes an elongated slot that is perpendicular to the path of the moving web. The nozzles serve as separate points along the machine direction for controlling the height of the web. The operative surface with the nozzles can exhibit a flush surface. The nozzles can be formed on elevated structures on the operative surface. The operative surface can be covered with a transparent substrate to minimize shape distortions on the moving web and to prevent debris from collecting around the sensor. An internal baffle is employed to channel air flow within each nozzle. The baffle equalizes the gas pressure across the nozzle and directs air flow towards it.

Abstract: Embodiments of the invention contemplate a method, apparatus and system that are used to support, position, and rotate a substrate during processing. Embodiments of the invention may also include a method of controlling the transfer of heat between a substrate and substrate support positioned in a processing chamber. The apparatus and methods described herein remove the need for complex, costly and often unreliable components that would be required to accurately position and rotate a substrate during one or more processing steps, such as an rapid thermal processing (RTP) process, a chemical vapor deposition (CVD) process, a physical vapor deposition (PVD) process, atomic layer deposition (ALD) process, dry etching process, wet clean, and/or laser annealing process.

Abstract: An apparatus and method for supporting, positioning and rotating a substrate are provided. In one embodiment, a support assembly for supporting a substrate includes an upper base plate and a lower base plate. The substrate is floated on a thin layer of air over the upper base plate. A positioning assembly includes a plurality of air bearing edge rollers or air flow pockets used to position the substrate in a desired orientation inside above the upper base plate. A plurality of slanted apertures or air flow pockets are configured in the upper base plate for flowing gas therethrough to rotate the substrate to ensure uniform heating during processing.

Abstract: The substrate carrying device includes a carrying passage forming member forming a carrying passage along which a substrate is carried, exhaust grooves extending parallel to the carrying passage in the upper surface of the carrying passage forming member, a plurality of pairs each of right and left carrying gas flow grooves formed in the upper surface of the carrying passage forming member, inclined to a substrate carrying direction so as to approach the exhaust grooves from the right-hand side and the left-hand side of the exhaust grooves, respectively, and having inner ends joined to the exhaust grooves, respectively, and gas spouting pores formed near outer ends of the carrying gas flow grooves to spout a gas for causing the substrate to float and for creating substrate carrying gas flows flowing from the outer ends of the carrying gas flow grooves toward the inner ends of the carrying gas flow grooves.

Abstract: A method for transporting a molded object, in particular an ophthalmic lens, specifically a contact lens (CL), in which a molded object is lifted up from a supporting surface (1) and transported to a destination, such that the molded object is acted upon by a fluid so that it is lifted up from the supporting surface (1) and transported to the destination through a transport line (2).

Abstract: A pneumatic conveyor having upstream (1) and downstream (2) tubular transport channels which are interconnected by a switch device (3) and a support infrastructure (4). The switch device (3) takes the form of a transport and guiding device which is flexible in relation to the longitudinal axis thereof and which is a flexible blade. The flexible blade supports a device (10) for propelling products (6) to be transported, which includes individual rigid parallelepiped elements (18). One end (3?) of the flexible transport and guiding structure is fixed to the support infrastructure (4) or to an upstream (1) or downstream (2) transport case, such that the guide part thereof corresponds to that of a downstream (2) or upstream (1) transport case, while the other end (3) of the flexible transport and guiding structure is guided with possible angular displacement on the support infrastructure (4) or on an upstream (1) or downstream (2) transport case and is connected to a reciprocating displacement means (5).

Abstract: Discs roll along an inclined track through a chamber to expose opposite disc sides for cleaning. Energized fluid directed against the opposite sides removes particles from the discs, the fluid and particles exiting the chamber. Stop pins control a time period for cleaning and transporting the discs by selectively blocking or releasing the discs. The discs are stopped at many sections of a transducer, the sections being tailored to provide various cleaning characteristics. Within the chamber, the chamber is configured to minimize particles that originate other than by being adhered to the disc at a time when the disc is introduced into the chamber. Internal chamber configuration also minimizes retention of particles so that particles removed from one disc do not linger in the chamber for possible transfer to a disc that is cleaned in the same chamber at a later time.

Abstract: A device capable of causing a substrate to float by a gas can suppress the consumption of a gas. The device includes a carrying passage along which a substrate is carried. The gas spouted through the gas spouting pores causes the substrate to float and creates gas flows in the carrying gas flow grooves to propel the substrate in a carrying direction. The carrying passage is divided with respect to the carrying direction into passage sections, and the spouting of the gas through groups of the gas spouting pores assigned respectively to the passage sections is controlled to suporess the consumption of the gas.

Abstract: Provided is a support platform of a non-contact transfer apparatus. The support platform is arranged horizontally and includes first and second members adding a lift force to a first force for lifting peripheral portions of a transferred object, wherein the first force is lower than a second force lifting a central portion of the transferred object.

Abstract: A conveyor which can be used to route oriented objects, such as caps, covers, lids, etc. from a finishing machine of the type including a belt, a vibrating bowl or other. The conveyor includes a module having a vertical conveyor in the form of a column with an adjustable height and an intermediate conveyor in the form of a casing which is disposed between the finishing machine and the column. In addition, the module includes channel-type devices for guiding the objects and devices for propelling the objects, in the form of jets of air pulsed through eyes. The channel and the eyes form a continuous assembly between the finishing machine and the upper end of the column. The conveyor also includes devices enabling the automatic ejection of objects from grooves provided in the belt of the machine.

Abstract: Provided is a support platform of a non-contact transfer apparatus. The support platform is arranged horizontally and includes first and second members adding a lift force to a first force for lifting peripheral portions of a transferred object, wherein the first force is lower than a second force lifting a central portion of the transferred object.

Abstract: A conveyance system comprises a production machine for manufacturing a web of packaging cushions, a duct downstream from the production machine, a blower to provide an air flow through the duct to apply a conveyance force for conveying the web of packaging cushions, and a friction contact area downstream from the production machine and upstream from the duct entrance. The web of packaging cushions passes beneath and contacts the friction contact area to create a friction force opposing the conveyance force so that the conveyance force is not transmitted along the web of packaging cushions to the production machine.

Abstract: A stage apparatus in which a rectangular substrate which is levitated over a stage is transferred such that a pair of sides of the rectangular substrate are substantially parallel to a transfer direction and the other pair of sides of the rectangular substrate are substantially perpendicular to the transfer direction. The stage includes a plurality of gas spray ports to spray a gas and a plurality of suction ports to attract the rectangular substrate by suction. The rectangular substrate is levitated at a predetermined height from the surface of the stage in a substantially horizontal posture by means of suction of a suction mechanism through the plurality of suction ports and gas spray of a gas spray mechanism through the plurality of gas spray ports.

Abstract: The present invention provides a floating-type substrate conveying and processing apparatus that floats a substrate to be processed. The device includes a floating stage that floats the substrate, a liquid supplier placed above the floating stage via the substrate to supply a process liquid to a surface of the substrate, and a moving mechanism for holding the substrate as detachable at opposite ends of the substrate, at a floating height of the substrate, and for moving the substrate on the floating stage. The floating stage is formed of a porous member and has a plurality of suction apertures airtightly defined in a porous portion of the porous member. The floating stage injects gas through the porous portion and sucks gas through the suction apertures to float the substrate placed on the porous portion.

Abstract: An improvement to finishing machines that are used to orient objects. The finishing machine includes a hopper for receiving loose objects, such as lids, and an endless belt for extracting the lids from the hopper. The belt moves vertically upwards with the lids and sorts the lids automatically, such that only correctly-oriented lids are retained.

Abstract: A pour spout fitment (2) comprises a tubular spout body (4) insertable between a consumer's lips and for attachment by a flange (6) at an inner end thereof to a container, and a tear element (8) comprising a first portion (10; 32) of substantially flat cross-section throughout and closing the spout body (4) at an outer end of the body (4) and a second portion (12; 44) seizable by a consumer for pulling to tear a loop of weakness (14; 40) extending around the outer end of the spout body (4), the second portion (12; 44) iying beside an annular external surface of the body (4).

Abstract: A levitation transportation device capable of adjustment when an object being transported is displaced from the center of a transportation path, A levitation transportation device having a transportation path forming a transportation router for an object to be transported, a plurality of jetting nozzles for transporting the object in a levitated manner along the transportation path, one or more detection sections for detecting the direction of the transportation of the object being transported in the transportation path and a control section for independently controlling the plurality of jetting nozzles based on a detection result by the detection sections.

Abstract: An inner member having a supply port is installed at the inside of a housing, wherein the housing and the inner member are connected together by connecting bolts. Air is supplied to the supply port of the inner member and is directed and introduced through communication passages into an annular passage. Thereafter, the air is directed outwardly from a plurality of lead-out holes, which communicate with the annular passage, in a swirling direction with respect to an annular recess facing the workpiece. In addition, by having the air flow along the annular recess, which is formed with a substantially trapezoidal shape in cross section, the workpiece is maintained in a non-contact state with respect to a holding surface of the inner member.

Abstract: To ensure that the support force which is dependent on the pressure of a support fluid is essentially the same also in the edge area of an article (9), especially sheets of (flat) glass, which is to be held or transported, as the support force in the middle area of the surface of the article (9), the device (1) as claimed in the invention on at least one support wall (3 or 5) provides for feed openings (21) to which drain openings (23) are directly assigned.

Abstract: There is provided a support platform of a non-contact transfer apparatus. The support platform includes a plurality of first holes for introducing air on a surface of the support platform, and a plurality of second holes for removing the air introduced through the first holes. At least one of a size and a number of the first holes varies in a direction from a central portion of the support platform to peripheral portions of the support platform, and the second holes are identically formed to one another.

Abstract: The pneumatic conveyor permits the transport of articles suspended by means of air jets and comprises an article suspension and guide rail (6) and a support beam (7), mounted in a parallel manner at a level below that of suspension and guide rail (6), permitting the fitting of conveyor accessories. The beam (7) is preferably adjustable for height (direction Y) and supports guiding means (11) for the articles. Said guiding means (11) are particularly embodied as guides (11a) the lateral position (direction X) of which is adjustable.

Abstract: A pneumatic card transport system is disclosed. The system is configured to use pressurized air to transport a card inserted to a conveying duct inside a card passageway assembly from a first end to a second end. Air nozzles are configured to release the pressurized airstreams at an angle relative to the conveying duct so that the card is essentially floating when traveling along the conveying duct. Hence, the card makes zero or minimum contact with the inner surface of the conveying duct. This will not only reduce the wear and tear of the card, but also reduces the traveling time inside the conveying duct.

Abstract: An apparatus for supporting a stationary or moving substantially flat object without physical contact on an fluid-cushion. The object floats on a fluid cushion gap, the apparatus aimed for globally or locally adjusting the gap.

Abstract: A package sorting conveyor system including a conveying track, at least one unloading station and an air-film lubricated entrance chute upstream of the unloading station to receive the package. In one of the embodiments, the system further includes a positioner assembly for selectively positioning an outlet of the entrance chute. The air-film lubricated entrance chute includes: a plenum including a plurality of spaced apart apertures and an opening for communicating with an air supply; and a conveying surface in communication with the apertures.

Abstract: In a pneumatic conveyor comprising multiple, assembled conveyor sections, a conveyor section provides a curved conveyor path with a plenum through which pressurized air is delivered. The conveyor section includes a top plate including a series of apertures extending therethrough for delivering pressurized air from the plenum to an upper surface of the top plate. The apertures are arranged and configured to direct the pressurized air to move an article along the top plate in a conveying direction. A bottom plate is located beneath the top plate. A first stack of vertically aligned, individual strips are clamped together between the top plate and the bottom plate to define a first sidewall of the plenum. A second stack of vertically aligned, individual strips are clamped together between the top plate and the bottom plate to define a second sidewall of the plenum.

Abstract: The invention relates to an air conveyor (2) for bottles (3), comprising at least one guide channel (16) in which the bottles (3) are guided in a suspended manner. Said air conveyor (2) comprises at least one converter (7) provided with at least one displaceable guide channel section (17), a lifting device (20) and an unloading device (21). The air channel (15) of the air conveyor (2) is arranged perpendicular to the direction of transport and the displaceable guide channel (17).

Abstract: An apparatus for conveying fluidized high temperature finely divided dry material by gravity utilizes a multi-layered, gas permeable gas distributor member comprising (i) an upper layer a flat, rigid gas permeable, porous medium capable of withstanding temperatures up to about 2900° F. through which gas to fluidize the material will pass; (ii) a middle layer comprised of a gas permeable insulation material that maintains its physical integrity when exposed to temperature differentials ranging from about 500° F. to about 2900° F.; and (iii) a lower layer that supports the top and middle layers comprising a substantially flat plate having a plurality of openings therethrough through which fluidizing gas can pass.

Abstract: An appearance inspecting apparatus includes a parts feeder aligning rubber stoppers in tandem by torsionally vibrating a bowl having a spiral track formed therein, an air conveying portion conveying the rubber stoppers aligned in tandem by blowing compressed air thereto, first and second conveying tables conveying rubber stoppers by suction-holding a surface not to be inspected of the rubber stoppers, an inspecting portion inspecting a surface to be inspected of the rubber stoppers conveyed by the first and second conveying tables, and a selecting portion sorting out rubber stoppers that are determined to be defective, in accordance with the result of inspection by the inspecting portion. Objects to be inspected having a complicated shape are aligned preliminarily by using a vibration parts feeder, while highly accurate appearance inspection is conducted.

Abstract: In a pneumatic conveyor comprising multiple, assembled conveyor sections, a conveyor section provides a curved conveyor path with a plenum through which pressurized air is delivered. The conveyor section includes a top plate including a series of apertures extending therethrough for delivering pressurized air from the plenum to an upper surface of the top plate. The apertures are arranged and configured to direct the pressurized air to move an article along the top plate in a conveying direction. A bottom plate is located beneath the top plate. A first stack of vertically aligned, individual strips are clamped together between the top plate and the bottom plate to define a first sidewall of the plenum. A second stack of vertically aligned, individual strips are clamped together between the top plate and the bottom plate to define a second sidewall of the plenum.

Abstract: The invention relates to devices and apparatus for web guiding and cooling of webs during thin-film forming. A guiding device for contact-free guiding a web is provided with the device having a surface for facing the web and a multitude of gas outlets disposed in the surface and adapted for providing a hover cushion for the web. Further, an apparatus for coating a web and a method for contact-free guiding a web is provided that comprises moving the web over a surface and emitting a multitude of gas streams from the surface, thereby generating a hover cushion between the surface and the web. Further, a method for producing a thin-film solar cell is provided that comprises a method for contact-free guiding a web according to embodiments described herein. The method for producing a thin-film solar cell further comprises depositing a back contact on the web and depositing a transparent and conductive oxide layer.

Abstract: An air conveyor for transporting plastic bottles, in which bottles are driven by applying air in the area of the bottle openings. In a partial area of the air conveyor, means are provided to apply air to the bottle bodies. These means are arranged such that the bottles are essentially oriented vertically with the openings of the bottles facing upwards and the bottom of the bottles facing downwards.

Abstract: There is provided a workpiece conveyor including a workpiece conveying path which guides the conveyance of a workpiece; and a pair of air-blowing devices which are disposed on both sides of the workpiece conveying path and blow air uniformly to the workpiece on the workpiece conveying path from both sides to give propulsion to the workpiece for conveyance.

Abstract: A mobile digging and backfill system for removing and collecting material above a buried utility. The system comprises a mobile chassis, a collection tank mounted to the chassis, a water pump mounted to the chassis for delivering a pressurized liquid flow against the material for loosening the material at a location, a vacuum pump connected to the collection tank so that an air stream created by the vacuum pump draws the material and the fluid from the location into the collection tank, and at least one backfill reservoir mounted to the chassis for carrying backfill for placement at the location.

Abstract: An air conveyor for handling workpieces in a food grade environment has a cylindrical pipe with an elongated slot that extends along an axial length of the pipe. A track is snap fit in the elongated slot and has a base for supporting the workpieces. The base has air vents that provide directional airflow for pushing the workpieces along an axial length of the track on a cushion of air. A movable hanger assembly supports the pipe from above and captures the workpieces in the track.

Abstract: A device for realizing a predetermined orientation of singularized work pieces being transported on a sliding surface by means of an air current that acts upon the work pieces. The air current has an effective direction that is inclined relative to the moving direction of the work pieces in such a way that an air current resulting from the effective air current and the air current caused by the movement of the work pieces extends perpendicular to the moving direction of the work pieces. Since the resulting air current acts upon the work piece perpendicularly, optimal force ratios are achieved on the work piece such that a reliable orientation of the work pieces is ensured.

Abstract: Disclosed herein is a substrate transferring apparatus. The apparatus comprises air injection modules, which serve to float a substrate, and can be independently attached to or detached from the substrate transferring apparatus. Thus, even if any one of the air injection modules is damaged, the substrate is prevented from falling because other air injection modules serve to continuously float the substrate. Furthermore, with such a construction, the air injection modules have an advantage in view of maintenance.

Abstract: An inline transfer system and method are provided for the secure transport and efficient processing of substrates such as glass substrates or semiconductor devices. A rotary conveyor is provided that includes a plurality of air nozzles which inject air to move a substrate above the plurality of air nozzles without the plurality of air nozzles making contact with the substrate. At least two independent processing units are operably coupled to the rotary conveyor. Advantageously, because a plurality of substrates may be processed in parallel, greater efficiency and flexibility are provided. Because the substrate can be moved without physical contact between the structure of the air nozzles and the substrate, the transfer is secure, clean, and efficient.

Abstract: Process and apparatus for the continuous separation of crude oil from tar sands include using a hydrocarbon diluent and an aqueous solution in one or more settling vessels. The light components from the oil are collected and recycled to be used as the hydrocarbon diluent, and the aqueous solution is collected and recycled. A second aqueous solution is introduced in the second and subsequent vessels to prevent the formation of an oil film on the equipment.

Abstract: The invention discloses a transporting apparatus that transmits a drive force to a transported object in a state where the transported object is supported by a air-supplying-type support apparatus. In one implementation thereof, a device for transferring drive force to a transported object transfers drive force to one side in the width direction, which is perpendicular to the transporting direction. In another implementation thereof, the transporting apparatus can be switched between a horizontal state in which the transported object is supported substantially horizontally, and an upright state.

Abstract: This invention provides a manipulator having an arrangement which easily makes it possible to execute fine work such as attitude control while properly grasping even a minute target object. The manipulator of this invention has, at, e.g., the contact portion to a manipulation target object, an opening communicating with a pressure chamber whose pressure is controlled by a fluid control unit, and manipulates the target object by causing the fluid control unit to control inflow/outflow of a fluid through the opening.

Abstract: To reduce installation space for neutralization devices of neutralization of static electricity generated by work levitation air in an air levitation apparatus which levitates plate-shaped work by jettisoning of air. With an apparatus wherein multiple air jets are provided on a work levitation face for levitation of plate-shaped work, so as to levitate the work by jettisoning of air, an ionization device for ionizing the air is installed in the supply channel of the work levitation air, thereby neutralizing the static electricity generated by the work levitation air that is jettisoned.

Abstract: It is an object of the present invention to provide a plate-shaped work piece transporting apparatus that has a fan, a dust-removal filter disposed above this fan, and a plate-shape porous member disposed above the dust-removal filter. By forming a chamber in which air can accumulate between the porous member and the dust-removal filter, it is possible to suppress air pulsations. Further, by providing support members on the porous member, the plate-shaped work piece can be supported and damage thereto can be avoided when the plate-shaped work piece, which is supported by air from the fan, drops to below a set height.

Abstract: Disclosed herein is a warp detection system (200) for determining warping in a carrier (110) configured to carry substrates (120) for processing. In one embodiment, the system (200) includes a guide plate (210) configured to guide a path of the carrier (110) during the processing, where the guide plate (210) is positioned underneath the carrier (110). In addition, the system (220) includes a plurality of sensors (230) positioned within the guide plate (210), wherein each of the plurality of sensors (230) is configured to measure a distance of a respective area of the carrier (110) from the guide plate (210). Also in this embodiment, the system (200) includes a processing device (310) configured to receive the measured distances and determine warping in the carrier (110) based on differences between the measured distances.

Abstract: Implementations of an enhanced axial air mover system address various issues such as drying performance, transportability, storage, use, and assembly. Some implementations include ergonomic positioning of a carrying handle relative to positioning of a fan-assembly to make the system easier to carry. Enclosures with variable diameter profiles increase air flow performance. A floor edge allows for flush positioning of the air mover's outlet to improve flow of air. Various supports and engagement members allow for horizontal and/or vertical engagement of a plurality of the air movers for storage or increased air moving capacity for a given application. An alignment guide assists with positioning of the air mover with respect to a room wall to enhance air flow within the room. A cord retaining system provides an enhanced approach for securing the air mover's electrical cord. Grill guards have slotted ends to assist with assembly of the air mover.

Abstract: Implementations of an enhanced axial air mover system address various issues such as drying performance, transportability, storage, use, and assembly. Some implementations include ergonomic positioning of a carrying handle relative to positioning of a fan-assembly to make the system easier to carry. Enclosures with variable diameter profiles increase air flow performance. A floor edge allows for flush positioning of the air mover's outlet to improve flow of air. Various supports and engagement members allow for horizontal and/or vertical engagement of a plurality of the air movers for storage or increased air moving capacity for a given application. An alignment guide assists with positioning of the air mover with respect to a room wall to enhance air flow within the room. A cord retaining system provides an enhanced approach for securing the air mover's electrical cord. Grill guards have slotted ends to assist with assembly of the air mover.

Abstract: Implementations of an enhanced axial air mover system address various issues such as drying performance, transportability, storage, use, and assembly. Some implementations include ergonomic positioning of a carrying handle relative to positioning of a fan-assembly to make the system easier to carry. Enclosures with variable diameter profiles increase air flow performance. A floor edge allows for flush positioning of the air mover's outlet to improve flow of air. Various supports and engagement members allow for horizontal and/or vertical engagement of a plurality of the air movers for storage or increased air moving capacity for a given application. An alignment guide assists with positioning of the air mover with respect to a room wall to enhance air flow within the room. A cord retaining system provides an enhanced approach for securing the air mover's electrical cord. Grill guards have slotted ends to assist with assembly of the air mover.

Abstract: Implementations of an enhanced axial air mover system address various issues such as drying performance, transportability, storage, use, and assembly. Some implementations include ergonomic positioning of a carrying handle relative to positioning of a fan-assembly to make the system easier to carry. Enclosures with variable diameter profiles increase air flow performance. A floor edge allows for flush positioning of the air mover's outlet to improve flow of air. Various supports and engagement members allow for horizontal and/or vertical engagement of a plurality of the air movers for storage or increased air moving capacity for a given application. An alignment guide assists with positioning of the air mover with respect to a room wall to enhance air flow within the room. A cord retaining system provides an enhanced approach for securing the air mover's electrical cord. Grill guards have slotted ends to assist with assembly of the air mover.

Abstract: Embedded in a transport assembly are arrays of microelectromechanical sensors and actuators for detecting and propelling an object. A controller having defined therein local computational agents and a global controller controls the array of sensors and actuators. The global controller provides global operating constraints to the local computational agents. The global operating constraints are developed using an approximate specification of system behavior based on simplified assumptions of an idealized system as well as limited sensor information aggregated from the array of sensors. The local computational agents compute a desired local actuator response using sensor information from a localized grouping of sensor units. To improve the accuracy of the global operating constraints, the local computational agents reduce differences between a global actuator response, computed using the global operating constraints, and the desired local actuator response.