A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided. The system comprises a mobile remote inspection and/or manipulation device including a carrier movable within the confined space and an inspection and/or manipulation tool, such as an inspection camera, pose sensors arranged on the movable carrier for providing signals indicative of the position and orientation of the movable carrier, and distance sensors arranged on the movable carrier for providing signals indicative of the distance to interior surfaces of the confined space. The localization method makes use of probalistic sensor fusion of the measurement data provided by the pose sensors and the distance sensors in order to precisely determine the actual pose of the movable carrier and localize data generated by the inspection and/or manipulation tool.

A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided. The system comprises a mobile remote inspection and/or manipulation device including a carrier movable within the confined space and an inspection and/or manipulation tool, such as an inspection camera, pose sensors arranged on the movable carrier for providing signals indicative of the position and orientation of the movable carrier, and distance sensors arranged on the movable carrier for providing signals indicative of the distance to interior surfaces of the confined space. The localization method makes use of probalistic sensor fusion of the measurement data provided by the pose sensors and the distance sensors in order to precisely determine the actual pose of the movable carrier and localize data generated by the inspection and/or manipulation tool.

Providing a fast response to a process step while allowing a sensor response to remain relatively slow. A mechanical component generates a response to a step change in a physical property and an electrical component generates an analog electrical signal indicative of the response generated by the mechanical component over a period of time. The analog electrical signal is converted into digital values and the digital values are used to indicate the final value of the step change in the physical property before the period of time has elapsed.

Providing a fast response to a process step while allowing a sensor response to remain relatively slow. A mechanical component generates a response to a step change in a physical property and an electrical component generates an analog electrical signal indicative of the response generated by the mechanical component over a period of time. The analog electrical signal is converted into digital values and the digital values are used to indicate the final value of the step change in the physical property before the period of time has elapsed.

A solvent storage and depressurization system is described. The system allows a volume of solvent to be stored and used at low pressure, thereby providing safety benefits and regulatory simplicity. The system includes an external expansion tank that is located outside of an extraction facility and that contains a solvent. The system also includes an internal storage tank that is located inside of the extraction facility and that provides a solvent supply to a solvent user, such as a phytochemical extraction system. The external and internal tanks are separated and connected via a duplex manifold. The manifold allows gas below a first pressure level to pass from the external expansion tank to the internal storage tank, and allows gas above a second pressure level to pass from the internal storage tank back to the external expansion tank, wherein the second pressure level is greater than the first pressure level.

A fuel management method for long term stationary truck use is provided. This method includes a truck with at least a first saddle tank or a second saddle tank integral to the truck. Each saddle tank has a fuel level sensor to measure the fuel level. A fuel trailer provides supplemental fuel, and a fuel pump downstream of the fuel trailer and upstream of the truck pressurizes the fuel from the fuel trailer. The method includes supplying fuel to local users from saddle tanks, activating the fuel pump when the fuel level of both the saddle tanks is less than a first predetermined threshold, thereby transferring fuel from the fuel trailer to the first saddle tank and the second saddle tank, deactivating the fuel pump when the fuel level of either the saddle tanks is greater than a second predetermined threshold.

A fuel management method for long term stationary truck use is provided. This method includes a truck with at least a first saddle tank or a second saddle tank integral to the truck. Each saddle tank has a fuel level sensor to measure the fuel level. A fuel trailer provides supplemental fuel, and a fuel pump downstream of the fuel trailer and upstream of the truck pressurizes the fuel from the fuel trailer. The method includes supplying fuel to local users from saddle tanks, activating the fuel pump when the fuel level of both the saddle tanks is less than a first predetermined threshold, thereby transferring fuel from the fuel trailer to the first saddle tank and the second saddle tank, deactivating the fuel pump when the fuel level of either the saddle tanks is greater than a second predetermined threshold.

A closure is provided for a pressure vessel or pipelines that can provide quick and easy access to the interior of a pressure vessel or pipeline, and means for a pressure tight seal between the hub and door. The closure can incorporate means for mechanically fastening the door to the hub using an external split clamp ring actuated by a toggle mechanism. A locking mechanism can be provided to safeguard against unintended closure actuation, and provides a layer of redundancy to the holding characteristics of the toggle mechanism. The locking mechanism can be interlocked to a pressure alert system to ensure any differential pressure condition contained within the closure is detected prior to disengaging the locking mechanism and actuating the toggle mechanism.

A closure is provided for a pressure vessel or pipelines that can provide quick and easy access to the interior of a pressure vessel or pipeline, and means for a pressure tight seal between the hub and door. The closure can incorporate means for mechanically fastening the door to the hub using an external split clamp ring actuated by a toggle mechanism. A locking mechanism can be provided to safeguard against unintended closure actuation, and provides a layer of redundancy to the holding characteristics of the toggle mechanism. The locking mechanism can be interlocked to a pressure alert system to ensure any differential pressure condition contained within the closure is detected prior to disengaging the locking mechanism and actuating the toggle mechanism.

In one example, a portable fuel gas system includes: a portable enclosure; a fuel gas supply manifold; a throttle in fluid communication with the fuel gas supply manifold. The fuel gas supply manifold includes a first pressure zone and a second pressure zone separated from one another by the throttle; and a fuel gas shutoff valve in fluid communication with the fuel gas supply manifold and operative to control a flow of a fuel gas in the fuel gas supply manifold, wherein the fuel gas supply manifold, the throttle, and the fuel gas shutoff valve are disposed within the portable enclosure.