1. A method of removing buildup in cryogenic equipment, the method comprising:
a. closing a first exit valve, a second inlet valve, and a second exit valve of a pumping vessel;
b. opening a first inlet valve of the pumping vessel, wherein the first inlet valve controls the supply of a solvent into the pumping vessel;
c. closing the first inlet valve of the pumping vessel upon reaching a predetermined maximum solvent level within the pumping vessel;
d. opening the second inlet valve of the pumping vessel to re-pressurize the pumping vessel with a process gas;
e. opening the first exit valve of the pumping vessel upon re-pressurization of the pumping vessel;
f. continuously operating the second inlet valve to maintain a predetermined pressure level within the pumping vessel;
g. delivering the solvent from the pumping vessel into the cryogenic equipment via the first exit valve;
h. closing the first exit valve of the pumping vessel upon reaching a predetermined minimum solvent level in the pumping vessel;
i. closing the second inlet valve of the pumping vessel;
j. opening the second exit valve of the pumping vessel, wherein opening the second exit valve of the pumping vessel decreases the pressure within the pumping vessel;
k. continuously measuring the pressure level and the solvent level within the pumping vessel, wherein measuring indicators continuously monitor the pressure level and the solvent level by continuously delivering readings of the pressure level and the solvent levels to an automated control system; and
l. repeating steps (a)-(j) until the buildup in the cryogenic equipment is removed.
2. The method according to claim 1, wherein the pumping vessel is a positive displacement pump.
3. The method according to claim 2, wherein the pumping vessel is a quasi-positive displacement pump.
4. The method according to claim 1, wherein the pumping vessel is a blowcase.
5. The method according to claim 1, wherein the pumping vessel is a mechanical pressure power pump.
6. The method according to claiml, wherein the solvent is any solvent capable of removing buildup in cryogenic equipment.
7. The method according to claim 6, wherein the solvent is liquid hydrocarbon.
8. The method according to claim 6, wherein the solvent is about 0.1 to about 80 volume percent methane, ethane, propane, butane, and hexane of distillation.
9. The method according to claim 6, wherein the solvent is liquid petroleum gas.
10. The method according to claim 1, wherein the process gas is capable of existing with or become soluble within the solvent without negatively impacting the integrity of the solvent.
11. The method according to claim 10, wherein the process gas is a motive gas.
12. The method according to claim 11, wherein the process gas is a high pressure motive gas.
13. The method according to claim 1, wherein the solvent is delivered to the cryogenic equipment at a controlled flow rate.
14. The method according to claim 1, wherein the solvent is delivered to the cryogenic equipment at an operationally practical flow rate.
15. The method according to claim 1, wherein the first inlet valve is any valve capable of either manual or automated operation.
16. The method according to claim 1, wherein the first exit valve is any valve suitable for manual or automated operation.
17. The method according to claim 1, wherein the second inlet valve is a gas pressure regulating control valve suitable for manual or automated operation based on the measure pressure in the pumping vessel.
18. The method according to claim 1, wherein the second exit valve is any valve suitable for manual or automated operation.
19. A method of removing buildup in cryogenic equipment, the method comprising:
a. closing a first exit valve, a second inlet valve, and a second exit valve of a pumping vessel;
b. opening a first inlet valve of the pumping vessel, wherein the first inlet valve is any valve capable of either manual or automated operation, wherein the first inlet valve controls the supply of a solvent into the pumping vessel, wherein the solvent is any solvent capable of removing buildup in cryogenic equipment;
c. closing the first inlet valve of the pumping vessel upon reaching a predetermined maximum solvent level within the pumping vessel;
d. opening the second inlet valve of the pumping vessel to re-pressurize the pumping vessel with a process gas, wherein the second inlet valve is a gas pressure regulating control valve suitable for manual or automated operation based on the measure pressure in the pumping vessel, wherein the process gas is capable of existing with or become soluble within the solvent without negatively impacting the integrity of the solvent;
e. opening the first exit valve of the pumping vessel upon re-pressurization of the pumping vessel, wherein the first exit valve is any valve suitable for manual or automated operation;
f. continuously operating the second inlet valve to maintain a predetermined pressure level within the pumping vessel;
g. delivering the solvent from the pumping vessel into the cryogenic equipment via the first exit valve, wherein the solvent is delivered to the cryogenic equipment at an operationally practical flow rate;
h. closing the first exit valve of the pumping vessel upon reaching a predetermined minimum solvent level in the pumping vessel;
i. closing the second inlet valve of the pumping vessel;
j. opening the second exit valve of the pumping vessel, wherein the second exit valve is any valve suitable for manual or automated operation, wherein opening the second exit valve of the pumping vessel decreases the pressure within the pumping vessel;
k. continuously measuring the pressure level and the solvent level within the pumping vessel, wherein measuring indicators continuously monitor the pressure level and the solvent level by continuously delivering readings of the pressure level and the solvent levels to an automated control system; and
l. repeating steps (a)-(j) until the buildup in the cryogenic equipment is removed.
20. The method according to claim 19, wherein the pumping vessel is a positive displacement pump.
21. The method according to claim 20, wherein the pumping vessel is a quasi-positive displacement pump.
22. The method according to claim 19, wherein the pumping vessel is a blowcase.
23. The method according to claim 19, wherein the pumping vessel is a mechanical pressure power pump.
24. The method according to claim 19, wherein the solvent is liquid hydrocarbon.
25. The method according to claim 19, wherein the solvent is about 0.1 to about 80 volume percent methane, ethane, propane, butane, and hexane of distillation.
26. The method according to claim 19, wherein the solvent is liquid petroleum gas.
27. The method according to claim 19, wherein the process gas is a motive gas.
28. The method according to claim 27, wherein the process gas is a high pressure motive gas.
29. The method according to claim 19, wherein the solvent is delivered to the cryogenic equipment at a controlled flow rate.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A robotic joint assembly comprising:
a first structural member;
a second structural member; and
a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members, wherein:
the rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member; and
the first and second flexible hinge members cross one another between the first and second structural members.
2. The robotic joint assembly of claim 1 wherein the first and second flexible hinge members are first and second ribbons.
3. The robotic joint assembly of claim 1 including a third flexible hinge member having one end secured to the first structural member and an opposing end secured to the second structural member, wherein the third flexible hinge member crosses the second flexible hinge member between the first and second structural members and the second flexible hinge member is interposed between the first and third flexible hinge members.
4. The robotic joint assembly of claim 1 wherein;
the first structural member has a first end surface and first and second side surfaces on opposed sides of the first end surface;
the second structural member has a second end surface and third and fourth side surfaces on opposed sides of the second end surface, the third side surface being substantially aligned with the first side surface, and the second side surface being substantially aligned with the fourth side surface;
the first flexible hinge member is secured to the first side surface, extends across the first and second end surfaces, and is secured the fourth side surface; and
the second flexible hinge member is secured to the second side surface, extends across the first and second end surfaces, and is secured the third side surface.
5. The robotic joint assembly of claim 1 wherein at least the first structural member is compliant.
6. The robotic joint assembly of claim 5 wherein the first structural member is a compliant inflatable structure.
7. The robotic joint assembly of claim 6 wherein the second structural member is a compliant inflatable structure.
8. The robotic joint assembly of claim 6 wherein:
the first and second structural members each include an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;
the inner structural membrane contains a compressed gas; and
the second structural membrane restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure.
9. The robotic joint assembly of claim 1 wherein the rolling flexure joint includes at least one flexible collateral ligament secured to each of the first and second structural members to provide torsional and lateral stability to the rolling flexure joint.
10. An inflatable robotic assembly comprising:
a support member;
an end effector mounted on an end of the support member, the end effector including first and second inflatable finger members connected to enable the first and second fingers to be moved selectively between an open position and a closed position; and
an actuator configured to move the fingers between the open and closed positions.
11. The inflatable robotic assembly of claim 10 wherein the first finger has first and second, relatively moveable, inflatable phalanges.
12. The inflatable robotic assembly of claim 11 including a rolling flexure joint joining the first and second phalanges to provide at least one degree of freedom between the first and second phalanges.
13. The inflatable robotic assembly of claim 12 including a second rolling flexure joint joining the first finger and the support member to provide at least one degree of freedom between the first finger and the support member.
14. The inflatable robotic assembly of claim 10 including a rolling flexure joint joining the first finger and the support member to provide at least one degree of freedom between the first finger and the support member.
15. The inflatable robotic assembly of claim 10 wherein the end effector is under-actuated.
16. The inflatable robotic assembly of claim 10 wherein:
the first and second inflatable fingers each include an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;
the inner structural membrane contains a compressed gas; and
the second structural membrane restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure.
17. An inflatable robotic assembly comprising:
an inflatable structural member; and
an inflation pressure control system operable to selectively control inflation pressure in the inflatable structural member and to thereby selectively tune compliance of the inflatable structural member.
18. The inflatable robotic assembly of claim 17 wherein the inflation pressure control system includes a compressor or a supply of compressed inflation gas, and a controller.
19. The inflatable robotic assembly of claim 17 wherein the inflatable structural member is a beam.
20. The inflatable robotic assembly of claim 17 wherein the inflatable structural member is a load bearing arm or limb of a robot.
21. The inflatable robotic assembly of claim 17 wherein:
the inflatable structural member forms a part of a joint structure; and
the inflation pressure control system is operable to selectively tune a stiffness andor a freedom of movement of a joint between two joined structural members.
22. The inflatable robotic assembly of claim 17 wherein:
the inflatable structural member includes an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;
the inner structural membrane contains a compressed gas; and
the second structural membrane restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure.
23. The inflatable robotic assembly of claim 17 including a body and wherein the inflatable structural member is an inflatable limb member connected to the body to transit the body
24-26. (canceled)
27. A robot comprising:
a mobile base; and
a robotic arm assembly mounted on the base, the robotic arm assembly including an inflatable structural member that can be stowed in or on the mobile base in a deflated condition and can be inflated to deploy the robotic arm assembly.
28-32. (canceled)