A computer-implemented method for operating a shut-off device for a fluid includes: using a mathematical model to calculate a current static fluid pressure at a location of interest within a shut-off device as a function of at least one measured state variable of the fluid; determining a vapor pressure of the fluid; comparing a current static fluid pressure with a cavitation limit value which is dependent on a vapor pressure of the fluid; and in the event of the calculated current static fluid pressure falling below the cavitation limit value dependent on the vapor pressure of the fluid, signaling the presence or expected presence of cavitation at the location of interest of the shut-off device. A related shut-off device is also disclosed.

A computer-implemented method for operating a shut-off device for a fluid includes: using a mathematical model to calculate a current static fluid pressure at a location of interest within a shut-off device as a function of at least one measured state variable of the fluid; determining a vapor pressure of the fluid; comparing a current static fluid pressure with a cavitation limit value which is dependent on a vapor pressure of the fluid; and in the event of the calculated current static fluid pressure falling below the cavitation limit value dependent on the vapor pressure of the fluid, signaling the presence or expected presence of cavitation at the location of interest of the shut-off device. A related shut-off device is also disclosed.

A pool automation system is connectable with one or more pieces of equipment associated with a swimming pool or spa. The pool automation system may receive a demand event with a requested load reduction, and the pool automation system may determine a demand response for the one or more pieces of equipment associated with the swimming pool or spa based on the demand event and based on information gathered by the pool automation system about the at least one piece of equipment. The demand response may be based on a prioritization of the one or more pieces of equipment associated with the swimming pool or spa. The pool automation system may implement control of the one or more pieces of equipment associated with the swimming pool or spa responsive to the demand event.

A pool automation system is connectable with one or more pieces of equipment associated with a swimming pool or spa. The pool automation system may receive a demand event with a requested load reduction, and the pool automation system may determine a demand response for the one or more pieces of equipment associated with the swimming pool or spa based on the demand event and based on information gathered by the pool automation system about the at least one piece of equipment. The demand response may be based on a prioritization of the one or more pieces of equipment associated with the swimming pool or spa. The pool automation system may implement control of the one or more pieces of equipment associated with the swimming pool or spa responsive to the demand event.

A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.

This machining program generation device is provided with: a storage unit that stores machining conditions for respective tool regions determined on the basis of the number of effective edges in a multi-blade tool; a contact region calculation unit that calculates a tool region which comes into contact with a workpiece during machining on the basis of the shapes of the workpiece and the edge portion of the tool and of a tool path; and a machining program generation unit that generates a machining program on the basis of the tool path and the machining conditions stored in the storage unit in association with the tool region coming into contact with the workpiece.

The present application discloses an automated restaurant comprising: a kitchen; a customer-tracking area comprising a dining area; and a plurality of vehicles. The kitchen comprises a storage apparatus to store ingredient containers, a transfer apparatus to move ingredient containers, and one or more cooking stations. Each vehicle is configured to move one or more food containers from cooking stations to dining tables. A tracking system comprises cameras, lidars, etc., which are fixedly mounted. The tracking system can dynamically map out the fixtures, humans and vehicles in the restaurant. Information from the tracking system is used to control the motion of the vehicles. The tracking system can dynamically track the positions of customers in the customer-tracking area, so that foods ordered by specific customers may be automatically sent by vehicles to the customers' locations.

The present application discloses an automated restaurant comprising: a kitchen; a customer-tracking area comprising a dining area; and a plurality of vehicles. The kitchen comprises a storage apparatus to store ingredient containers, a transfer apparatus to move ingredient containers, and one or more cooking stations. Each vehicle is configured to move one or more food containers from cooking stations to dining tables. A tracking system comprises cameras, lidars, etc., which are fixedly mounted. The tracking system can dynamically map out the fixtures, humans and vehicles in the restaurant. Information from the tracking system is used to control the motion of the vehicles. The tracking system can dynamically track the positions of customers in the customer-tracking area, so that foods ordered by specific customers may be automatically sent by vehicles to the customers' locations.

A controller controls a plurality of drives of a lifting device, wherein the controller is configured to perform a kinematic transformation of spatial position and orientation coordinates of a body and controls the drives based on the kinematic transformation. The drives can be electric drives. At least six drives are provided and regulated, so that their number exceeds the number of spatial position and orientation coordinates of the body. The lifting device is thus overdetermined.

A controller controls a plurality of drives of a lifting device, wherein the controller is configured to perform a kinematic transformation of spatial position and orientation coordinates of a body and controls the drives based on the kinematic transformation. The drives can be electric drives. At least six drives are provided and regulated, so that their number exceeds the number of spatial position and orientation coordinates of the body. The lifting device is thus overdetermined.