1. Apparatus for detecting the presence of undesired objects on the surface of a monitored area, said apparatus comprising:
a mobile vehicle carrying one or more sensors for the detection of undesired objects; and
an external constraining means; wherein,
the vehicle is equipped for autonomous operation within a predetermined operating area;
the external constraining means constrains the vehicle to operate within the predetermined operating area; and
the predetermined operating area is situated outside the monitored area.
2. Apparatus according to claim 1, further comprising means for generating an alarm in response to the detection of an undesired object.
3. Apparatus according to claim 1, further comprising means for estimating the location of a detected undesired object.
4. Apparatus according to claim 1, further comprising telecommunications equipment for transmitting signals in response to the detection of a undesired object.
5. Apparatus according to claim 4, wherein the telecommunications equipment operates according to standards defined for mobile telephony.
6. Apparatus according to claim 4, wherein the telecommunications equipment operates according to wireless network standards.
7. Apparatus according to claim 5, wherein the signals include a representation of the estimated location of the undesired object.
8. Apparatus according to claim 1, equipped with an optical camera arranged to be responsive to certain predetermined artifacts of the external means, thereby enabling the vehicle to maintain its position within the predetermined area.
9. Apparatus according to claim 7, wherein the optical camera is arranged to be responsive to artifacts representing a transition between grass and paved surfaces.
10. Apparatus according to claim 7, wherein the optical camera is arranged to be responsive to artifacts representing suitably positioned binary acquisition targets.
11. Apparatus according to claim 1, wherein the external constraining means comprises mechanical means such as one or more rail(s).
12. Apparatus according to claim 1, wherein the vehicle is constrained to operate within the predetermined area by operation in response to location-sensitive circuitry within the vehicle.
13. Apparatus according to claim 12, wherein the circuitry contains a sensor responsive to the proximity of a conductor buried under a surface whereupon the vehicle is arranged to move.
14. Apparatus according to claim 12, wherein the circuitry comprises a navigation system such as a satellite guided location system.
15. Apparatus according to claim 1, further equipped with on-board data processing equipment.
16. Apparatus according to claim 1, further equipped to remove a detected undesired object from the monitored area.
17. Apparatus according to claim 1, equipped so as to minimize interference with other equipment such as aircraft landing systems.
18. A system for the detection of undesired objects on the surface of a monitored area comprising at least two sensors, at least one of said sensors being fixed in a stationary position to monitor a part of the monitored area, and at least one further of said sensors being attached to a mobile sensor apparatus as defined in claim 1.
19. A system according to claim 18, wherein each sensor is arranged to provide an output signal indicative of the detection of an artifact resembling an undesired object, further comprising means for directing a plurality of the sensors to inspect the region of the detected artifact, thereby to provide validation of the detection of a undesired object.
20. Apparatus or a system according to claim 1, wherein at least one sensor comprises at least one of the following set of types of sensor: a synthetic-aperture radar; a radio meter; a camera; a stereo camera set; a radar transceiver; a multi-static radar transceiver; an ultrasonic detector device; a light sensor; a lidar device; a scanning laser device.
21. A system or apparatus according to claim 1, comprising a synthetic aperture radar as a sensor, and constrained to run along a track or rail adjacent to the monitored area.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
What is claimed is:
1. A hair-straightening formulation comprising:
i. an acceptable diluent;
ii. about 0.25% to about 30% by weight of at least one alkanoic acid; and
iii. about 5% to about 40% by weight of polyethylene glycol mono stearate, wherein the polyethylene glycol mono stearate is from about 200 to 6,000 Daltons.
2. The formulation of claim 1 wherein said diluent comprises water, said formulation comprises about 0.25% to about 30% alkanoic acid by weight and greater than about 40% water by weight.
3. The formulation of claim 1 further comprising less than about 30% by weight of at least one auxillary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
4. The formulation of claim 1 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
5. The formulation of claim 1 wherein the polyethylene glycol mono stearate is from about 200 to about 1,000 Daltons.
6. The formulation of claim 1 where the polyethylene glycol mono stearate is PEG-200, PEG-400, PEG-600, PEG-1,000, PEG-4,400 or PEG-6,000.
7. The formulation of claim 1 where the polyethylene glycol mono stearate is PEG-400.
8. A formulation according to claim 1 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening or a formulation to be applied between two stages of hair-straightening.
9. A hair-straightening formulation comprising:
about 0.25% to about 30% by weight of at least one alkanoic acid diluted in greater than 40% water by weight;
about 5% to about 40% by weight of polyethylene glycol mono stearate where the polyethylene glycol mono stearate is from about 200 to about 5,000 Daltons;
and less than about 30% by weight of at least one auxiliary component selected from a fragrance, odor masker, conditioner, penetration enhancer, and gelling agent.
10. The formulation of claim 9 having a pH value of less than 7.0 effective for straightening hair.
11. A formulation for hair-straightening maintenance, maintaining the style and set of curly and straightened hair, softening of hair, relaxation of curl, prevention and reduction of frizziness of hair having a pH greater than about 2.4 comprising about 8% to about 30% by weight of at least one alkanoic acid; and about 5% to about 40% by weight of polyethylene glycol mono stearate, wherein the polyethylene glycol mono stearate is from about 200 to about 6,000 Daltons.
12. The formulation according to claim 11 having a pH of 5.5 or lower.
13. The formulation of claim 11 further comprising a diluent, the diluent comprises water, and comprising about 0.25% to about 30% alkanoic acid by weight and greater than about 40% water by weight.
14. The formulation of claim 11 further comprising less than 30% of at least one auxiliary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
15. The formulation of claim 11 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
16. The formulation of claim 11 wherein the polyethylene glycol mono stearate is from about 200 to about 1,000 Daltons.
17. The formulation of claim 11 where the polyethylene glycol mono stearate is PEG-200, PEG-400, PEG-600, PEG-1,000, PEG-4,400 or PEG-6,000.
18. The formulation of claim 11 where the polyethylene glycol is PEG-400 mono stearate.
19. A formulation according to claim 11 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening or a formulation to be applied between two stages of hair-straightening.
20. The formulation according to claim 11 wherein said alkanoic acid is acetic acid, and further comprising water, a conditioner comprising methylsulfonylmethane or dimethylsulfone, andor a thickener comprising xanthan gum.
21. A method for straightening hair comprising:
(i) contacting said hair with a composition about 8% to about 30% by weight of at least one alkanoic acid; and about 5% to about 40% by weight of polyethylene glycol mono stearate where the polyethylene glycol mono stearate is from about 200 to about 6,000 Daltons.
(ii) optionally washing said hair with a shampoo; and
(iii) optionally conditioning said hair.
22. The method of claim 21 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, 2-hexenoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
23. A hair straightening formulation comprising an alkanoic acid and an enzyme.
24. The formulation of claim 23 wherein said alkanoic acid is about 8% to about 40% by weight.
25. The formulation of claim 23 wherein the enzyme is a selected from the group consisting of amylase, protease, peptidase, lipase, proteinase, endoprotease and aminopeptidase.
26. The formulation of claim 23 wherein said enzyme is a protease and said protease has endopeptidase activity.
27. The formulation of claim 23 wherein said enzyme is a protease and said protease has aminopeptidase activities.
28. The formulation of claim 23 wherein said enzyme is Alcalase 2.4L protease.
29. The formulation of claim 23 wherein said enzyme is Flavourzyme aminopeptidase.
30. The formulation of claim 23 further comprising a diluent, the diluent comprises water, and comprising about 0.25% to about 30% alkanoic acid by weight and greater than about 40% water by weight.
31. The formulation of claim 23 further comprising less than 30% of at least one auxilIary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
32. The formulation of claim 23 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
33. A formulation according to claim 23 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening or a formulation to be applied between two stages of hair-straightening.
34. A formulation for maintaining the style of curly or straightened hair comprising:
i. an acceptable diluent;
ii. about 0.25% to about 30% by weight of at least one alkanoic acid; and
iii. about 5% to about 40% by weight of polyethylene glycol mono stearate, wherein the polyethylene glycol mono stearate is from about 200 to 6,000 Daltons.
35. The formulation of claim 34 wherein said diluent comprises water, said formulation comprises about 0.25% to about 30% alkanoic acid by weight and greater than about 40% water by weight.
36. The formulation of claim 34 further comprising less than about 30% by weight of at least one auxillary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
37. The formulation of claim 34 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
38. The formulation of claim 34 in which the alkanoic acid is acetic acid.
39. The formulation of claim 34 wherein the polyethylene glycol mono stearate is from about 200 to about 1,000 Daltons.
40. The formulation of claim 34 where the polyethylene glycol mono stearate is PEG-200, PEG-400, PEG-600, PEG-1,000, PEG-4,400 or PEG-6,000.
41. The formulation of claim 34 where the polyethylene glycol mono stearate is PEG-400.
42. A formulation according to claim 34 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening.
43. A method maintaining the style of curled and straightened hair comprising:
(i) contacting said hair with a composition about 8% to about 30% by weight of at least one alkanoic acid; and about 5% to about 40% by weight of polyethylene glycol mono stearate where the polyethylene glycol mono stearate is from about 200 to about 6,000 Daltons.
(ii) optionally washing said hair with a shampoo; and
(iii) optionally conditioning said hair.
44. The method of claim 43 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, 2-hexenoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
45. A hair straightening and style-maintaining formulation comprising an alkanoic acid and an enzyme.
46. The formulation of claim 45 wherein said alkanoic acid is about 8% to about 40% by weight.
47. The formulation of claim 45 wherein the enzyme is a selected from the group consisting of amylase, protease, peptidase, lipase, proteinase, endoprotease and aminopeptidase.
48. The formulation of claim 45 wherein said enzyme is a protease and said protease has endopeptidase activity.
49. The formulation of claim 45 wherein said enzyme is a protease and said protease has aminopeptidase activities.
50. The formulation of claim 45 wherein said enzyme is Alcalase 2.4L protease.
51. The formulation of claim 45 wherein said enzyme is Flavourzyme aminopeptidase.
52. The formulation of claim 45 further comprising a diluent, the diluent comprises water, and comprising about 0.25% to about 30% alkanoic acid and greater than about 40% water by weight.
53. The formulation of claim 45 further comprising less than 30% of at least one auxillary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
54. The formulation of claim 45 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
55. The formulation of claim 45 in which the alkanoic acid is acetic acid.
56. A formulation according to claim 45 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening or a formulation to be applied between two stages of hair-straightening.
57. A formulation to prevent frizz of hair comprising:
i. an acceptable diluent;
ii. about 0.25% to about 30% by weight of at least one alkanoic acid; and
iii. about 5% to about 40% by weight of polyethylene glycol mono stearate, wherein the polyethylene glycol mono stearate is from about 200 to 6,000 Daltons.
58. The formulation of claim 57 wherein said diluent comprises water, said formulation comprises about 0.25% to about 30% alkanoic acid by weight and greater than about 40% water by weight.
59. The formulation of claim 57 further comprising less than about 30% by weight of at least one auxiliary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
60. The formulation of claim 57 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
61. The formulation of claim 57 in which the alkanoic acid is acetic acid.
62. The formulation of claim 57 wherein the polyethylene glycol mono stearate is from about 200 to about 1,000 Daltons.
63. The formulation of claim 57 where the polyethylene glycol mono stearate is PEG-200, PEG-400, PEG-600, PEG-1,000, PEG-4,400 or PEG-6,000.
64. The formulation of claim 57 where the polyethylene glycol mono stearate is PEG-400.
65. A formulation according to claim 57 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening.
66. A method for preventing frizz of hair comprising:
(i) contacting said hair with a composition about 8% to about 30% by weight of at least one alkanoic acid; and about 5% to about 40% by weight of polyethylene glycol mono stearate where the polyethylene glycol mono stearate is from about 200 to about 6,000 Daltons.
(ii) optionally washing said hair with a shampoo; and
(iii) optionally conditioning said hair.
67. The method of claim 66 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, 2-hexenoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
68. A hair straightening and style-maintaining formulation comprising an alkanoic acid and an enzyme.
69. The formulation of claim 68 wherein said alkanoic acid is about 8% to about 40% by weight.
70. The formulation of claim 68 wherein the enzyme is a selected from the group consisting of amylase, protease, peptidase, lipase, proteinase, endoprotease and aminopeptidase.
71. The formulation of claim 68 wherein said enzyme is a protease and said protease has endopeptidase activity.
72. The formulation of claim 68 wherein said enzyme is a protease and said protease has aminopeptidase activities.
73. The formulation of claim 68 wherein said enzyme is Alcalase 2.4L protease.
74. The formulation of claim 68 wherein said enzyme is Flavourzyme aminopeptidase.
75. The formulation of claim 68 further comprising a diluent, the diluent comprises water, and comprising about 0.25% to about 30% alkanoic acid by weight and greater than about 40% water by weight.
76. The formulation of claim 68 further comprising less than about 30% by weight of at least one auxiliary component selected from a fragrance, odor masker, conditioner, gelling agent, and penetration enhancer.
77. The formulation of claim 68 in which the alkanoic acid is selected from the group consisting of acetic, methanoic, ethanoic, 2-methylbutanoic, propanoic, 2-methylpropanoic, 2,2 dimethylpropanoic, decanoic, octanoic, hex-2-enoic, heptanoic, 6-methylheptanoic, 3-ethylpentanoic, 3-chloropentanoic, 2-hydroxypropanoic, 2-chloro-4-hydroxyhexanoic, hexanedioic, octadecanoic, 4-oxopentanoic, and 6-hydroxy-4-oxonanoic acids.
78. The formulation of claim 77 in which the alkanoic acid is acetic acid.
79. The formulation according to claim 68 wherein said composition is in the form of a shampoo, liquid, gel, cream, solid, mousse, paste, aerosol, a rinse-off or leave-in conditioner, the composition is to be applied before or after dyeing, bleaching, permanent waving or hair-straightening.