An autonomous earth moving system can determine a desired state for a portion of the EMV including at least one control surface. Then the EMV selects a set of control signals for moving the portion of the EMV from the current state to the desired state using a machine learning model trained to generate control signals for moving the portion of the EMV to the desired state based on the current state. After the EMV executes the selected set of control signals, the system measures an updated state of the portion of the EMV. In some cases, this updated state of the EMV is used to iteratively update the machine learning model using an online learning process.

An autonomous earth moving system can determine a desired state for a portion of the EMV including at least one control surface. Then the EMV selects a set of control signals for moving the portion of the EMV from the current state to the desired state using a machine learning model trained to generate control signals for moving the portion of the EMV to the desired state based on the current state. After the EMV executes the selected set of control signals, the system measures an updated state of the portion of the EMV. In some cases, this updated state of the EMV is used to iteratively update the machine learning model using an online learning process.

An apparatus includes a top portion and a middle portion. The top portion includes an inlet for receiving peat moss. A feeding mechanism delivers the peat moss from the top portion to the middle portion. A compression mechanism housed in the middle portion includes at least one roller assembly for at least partially dewatering the peat moss. The roller assembly can include upper and lower rollers. Peat moss passing between the rollers can be pressed to reduce moisture content of the peat moss. The lower roller can include perforations allowing moisture to drain away from the peat moss. Speeds of rotation of the rollers and/or a distance between the rollers can be adjustable. A bottom portion underneath the middle portion can include an outlet for discharging the peat moss.

An apparatus includes a top portion and a middle portion. The top portion includes an inlet for receiving peat moss. A feeding mechanism delivers the peat moss from the top portion to the middle portion. A compression mechanism housed in the middle portion includes at least one roller assembly for at least partially dewatering the peat moss. The roller assembly can include upper and lower rollers. Peat moss passing between the rollers can be pressed to reduce moisture content of the peat moss. The lower roller can include perforations allowing moisture to drain away from the peat moss. Speeds of rotation of the rollers and/or a distance between the rollers can be adjustable. A bottom portion underneath the middle portion can include an outlet for discharging the peat moss.

A deep sea mining method includes providing a deep sea mining system for mining matter from a bottom of a body of water, the mining system including: a slurry line coupled with a pump system to transport the slurry from the bottom of the body of water; and a return line in fluid communication with the slurry line and distinguishable from the slurry riser, for transporting non valuable slurry part to the bottom of the body of water, the return line having a return line outlet proximate the bottom. The deep sea mining method further includes spreading the non valuable slurry part over the bottom of the body of water in a controlled manner.

A deep sea mining method includes providing a deep sea mining system for mining matter from a bottom of a body of water, the mining system including: a slurry line coupled with a pump system to transport the slurry from the bottom of the body of water; and a return line in fluid communication with the slurry line and distinguishable from the slurry riser, for transporting non valuable slurry part to the bottom of the body of water, the return line having a return line outlet proximate the bottom. The deep sea mining method further includes spreading the non valuable slurry part over the bottom of the body of water in a controlled manner.