A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

In a control method of a drive stage device, a stage is floated on an air bearing, then a height of the stage while floating on the air bearing is measured as a first height. A work piece is placed on the stage and a height of the stage while holding the work piece is measured as a second height. A difference between the first height and the second height is calculated as a drop amount, and a weight of the work piece is calculated based on the drop amount. An upper limit speed of one of rotational drive and horizontal movement of the stage is determined based on the calculated work piece weight. A speed of the one of the rotational drive and the horizontal movement of the stage is controlled so as to not exceed the upper limit speed.

In a control method of a drive stage device, a stage is floated on an air bearing, then a height of the stage while floating on the air bearing is measured as a first height. A work piece is placed on the stage and a height of the stage while holding the work piece is measured as a second height. A difference between the first height and the second height is calculated as a drop amount, and a weight of the work piece is calculated based on the drop amount. An upper limit speed of one of rotational drive and horizontal movement of the stage is determined based on the calculated work piece weight. A speed of the one of the rotational drive and the horizontal movement of the stage is controlled so as to not exceed the upper limit speed.

A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

In a control method of a drive stage device, a stage is floated on an air bearing, then a height of the stage while floating on the air bearing is measured as a first height. A work piece is placed on the stage and a height of the stage while holding the work piece is measured as a second height. A difference between the first height and the second height is calculated as a drop amount, and a weight of the work piece is calculated based on the drop amount. An upper limit speed of one of rotational drive and horizontal movement of the stage is determined based on the calculated work piece weight. A speed of the one of the rotational drive and the horizontal movement of the stage is controlled so as to not exceed the upper limit speed.

In a control method of a drive stage device, a stage is floated on an air bearing, then a height of the stage while floating on the air bearing is measured as a first height. A work piece is placed on the stage and a height of the stage while holding the work piece is measured as a second height. A difference between the first height and the second height is calculated as a drop amount, and a weight of the work piece is calculated based on the drop amount. An upper limit speed of one of rotational drive and horizontal movement of the stage is determined based on the calculated work piece weight. A speed of the one of the rotational drive and the horizontal movement of the stage is controlled so as to not exceed the upper limit speed.

Hardware and computational systems for measuring plant weight in hydroponic grow systems. The combined weight of hydroponic grow modules that grow plants using a small amount of water covering the roots is accessible via automated robotic systems. The individual weights of grow infrastructure, plant mass, and available water are convolved. The amount of water in a growing tray can be estimated separately by slightly tipping the module, allowing water to move to one side, and measuring the weight at each of the corners of the module. After controlling for unevenness of the surface where the module is held, a machine learning model predicts the amount of water in a grow module and, subsequently, the plant mass. Reliable estimation of plant mass and water volume allows for both maintenance of precise amounts of water in growing trays and estimation of harvestable product in the grow space.

Hardware and computational systems for measuring plant weight in hydroponic grow systems. The combined weight of hydroponic grow modules that grow plants using a small amount of water covering the roots is accessible via automated robotic systems. The individual weights of grow infrastructure, plant mass, and available water are convolved. The amount of water in a growing tray can be estimated separately by slightly tipping the module, allowing water to move to one side, and measuring the weight at each of the corners of the module. After controlling for unevenness of the surface where the module is held, a machine learning model predicts the amount of water in a grow module and, subsequently, the plant mass. Reliable estimation of plant mass and water volume allows for both maintenance of precise amounts of water in growing trays and estimation of harvestable product in the grow space.