A device (10) for determining a parameter of a fluid flow includes an elastically deformable boom (23, 28, 33, 42, 47), with an inflow area (29, 31, 32, 37, 38, 39, 40, 44, 45, 46, 49, 50) for fluid and a measurement apparatus (16) measuring deformation of the boom. A section of the inflow area is aligned askew and/or curved to a main fluid inflow direction (25). The boom has an inflow structure (24, 30, 34, 43, 48) on one free end. The inflow structure has the fluid inflow area. To determine the parameter of the fluid flow at high resolution, in particular a high angle resolution, the boom has a reflection surface (27) on a side facing away from the inflow structure and the measurement apparatus (16) has a laser (17). A beam axis (26) of the laser (17) is directed to the reflection surface (27) of the boom.

A robotic vehicle (10) may include a chassis supporting a storage tank in which an aqueous solution is contained, a mobility assembly operably coupled to the chassis to provide mobility for the robotic vehicle about a service area (20), a positioning module (60) configured to provide guidance for the robotic vehicle (10) during transit of the robotic vehicle (10) over the service area (20), a spray assembly (90) and control circuitry (12).

Disclosed is inter alia an apparatus (63) for sensing a movement of an object (10, 11) relative to a fluid (12, 13), e.g. for sensing relative movements of a surf board in water. A particular characteristic of the invention is that the housing (21) is mounted in fixed arrangement to a surface (20) of the object, the housing receiving a spring member (62) having a plurality of blades (25a, 25b, 25c, 25d), wherein each blade has an outer end (27) which is fixed to the housing, and an inner end (28) which is connecting to a center portion (65) of the spring, the plurality of blades defining a plane (73), wherein a plurality of strain gauges (26a, 26b, 26c, 26d) is positioned on the blades, and wherein a rigid pin (17) is mounted on the center portion of the spring member which is extending in a direction of a normal vector (74) of the plane and which is protruding from the surface (20) of the object and configured to dip into the fluid.

A device (10) for determining a parameter of a fluid flow includes an elastically deformable boom (23, 28, 33, 42, 47), with an inflow area (29, 31, 32, 37, 38, 39, 40, 44, 45, 46, 49, 50) for fluid and a measurement apparatus (16) measuring deformation of the boom. A section of the inflow area is aligned askew and/or curved to a main fluid inflow direction (25). The boom has an inflow structure (24, 30, 34, 43, 48) on one free end. The inflow structure has the fluid inflow area. To determine the parameter of the fluid flow at high resolution, in particular a high angle resolution, the boom has a reflection surface (27) on a side facing away from the inflow structure and the measurement apparatus (16) has a laser (17). A beam axis (26) of the laser (17) is directed to the reflection surface (27) of the boom.

Disclosed is inter alia an apparatus (63) for sensing a movement of an object (10, 11) relative to a fluid (12, 13), e.g. for sensing relative movements of a surf board in water. A particular characteristic of the invention is that the housing (21) is mounted in fixed arrangement to a surface (20) of the object, the housing receiving a spring member (62) having a plurality of blades (25a, 25b, 25c, 25d), wherein each blade has an outer end (27) which is fixed to the housing, and an inner end (28) which is connecting to a center portion (65) of the spring, the plurality of blades defining a plane (73), wherein a plurality of strain gauges (26a, 26b, 26c, 26d) is positioned on the blades, and wherein a rigid pin (17) is mounted on the center portion of the spring member which is extending in a direction of a normal vector (74) of the plane and which is protruding from the surface (20) of the object and configured to dip into the fluid.

A sensor for measuring movement of an object relative to a fluid has a housing fixed to a surface of the object and a spring on the housing formed by a plurality of blades each having an outer end fixed to the housing and an inner end connecting to a hub, with the plurality of blades defining a plane. Respective strain gauges are carried on the blades. A rigid pin is mounted on the hub of the spring, extends in a direction generally perpendicular to the plane, and projects from the surface of the object and into the fluid.

A flow angle probe is provided having (a) a probe flap for contacting a moving fluid within a fluid conduit; (b) a probe body mechanically coupled to the probe flap; (c) a force sensor disposed within the probe body and operationally coupled to the probe flap; and optionally (d) a probe shaft coupled to the probe body. A deflection of the probe flap caused by contact with the moving fluid produces a corresponding force sensor signal output which is minimized by rotation of the probe flap. The angle between this point of minimum deflection and a reference position is taken to be the flow angle of the moving fluid in the vicinity of the probe flap. The novel flow angle probes disclosed herein may be used in a wide variety of turbomachines and fluid processing systems, and applications, including turbomachine design and operational control, and in flow assurance.