1. A dual powered actuator assembly comprising:
a precision actuator capable of maintaining position control while moving an article;
a coarse actuator capable of applying boost forces to the precision actuator;
an active regulator configured for controlling the coarse actuator to provide a first boost pressure to the precision actuator in a first direction of travel and a second boost pressure different than the first boost pressure to the precision actuator in a second direction of travel different than the first direction; and
a controller cooperatively activating the active regulator and the precision actuator.
2. The actuator assembly of claim 1 wherein the first direction is substantially perpendicular to a gravitational force bias.
3. The actuator assembly of claim 1 wherein the coarse actuator is a pneumatic cylinder.
4. The actuator assembly of claim 1 wherein the coarse actuator is a hydraulic cylinder.
5. The actuator assembly of claim 1 wherein the precision actuator is a servo controlled motor.
6. The actuator assembly of claim 1 wherein the first direction is substantially parallel to a gravitational force bias.
7. An actuator assembly comprising:
an end effector engaging an article for displacement in directions non-perpendicular to a gravitational force, the gravitational force establishing a gravitational force bias upon the article;
a precision actuator capable of maintaining position control of the end effector during displacement;
a coarse actuator capable of applying boost forces to the precision actuator; and
a controller cooperatively activating the coarse actuator and the precision actuator for boosting the precision actuator with a first boost force when moving the end effector in a first direction against the gravitational force bias and boosting the precision actuator with a second boost force less than the first boost force when moving the end effector in a second direction with the gravitational force bias.
8. The actuator assembly of claim 7 wherein the coarse actuator is a pneumatic cylinder.
9. The actuator assembly of claim 7 wherein the coarse actuator is a hydraulic cylinder.
10. The actuator assembly of claim 7 wherein the precision actuator is a servo controlled motor.
11. The actuator assembly of claim 7 wherein the first direction is substantially parallel to the gravitational force bias.
12. The assembly of claim 1 wherein the precision actuator is further responsive to the controller for maintaining velocity control while moving the article.
13. The assembly of claim 12 wherein the precision actuator is further responsive to the controller for maintaining acceleration control while moving the article.
14. The assembly of claim 13 wherein the precision actuator is further responsive to the controller for maintaining velocity control of the end effector during displacement.
15. The assembly of claim 14 wherein the precision actuator is further responsive to the controller for maintaining acceleration control of the end effector during displacement.
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. An alkoxylated glycerol acetals acetal according to Formulas (Ia) and (Ib)
wherein R1 represents a linear or branched, saturated or unsaturated and optionally substituted hydrocarbyl residue comprising 6 to 22 carbon atoms and 0 or 1 to 3 double bonds, a benzyl or furfuryl radical, R2 is selected from hydrogen, an alkyl, alkenyl or hydroxyalkyl group having 2 to 22 carbon atoms or an acyl group having 2 to 22 carbon atoms and 0 or 1 to 3 double bonds, AO represents a mixture of ethylene oxide (EO) and propylene oxide (PO), units, and n is an integer of about 1 to about 100.
2. The alkoxylated glycerol acetal of claim 1, wherein R1 represents a linear or branched alkyl radical having 8 to 12 carbon atoms.
3. The alkoxylated glycerol acetal of claim 1, wherein R2 is selected from hydrogen, an alkyl radical having 4 to 8 carbon atoms, or an acyl radical having 4 to 8 carbon atoms.
4. The alkoxylated glycerol acetal of claim 1, wherein AO represents mixtures of ethylene and propylene units, either randomised or blockwise.
5. The alkoxylated glycerol acetal of claim 1, wherein n is an integer of about 4 to about 20.
6-13. (canceled)
14. A method of preparing agrochemical compositions or lacquers and paints, the method comprising adding to the agrochemical compositions, lacquers and paints alkoxylated glycerol acetals as additives.
15. An agrochemical composition comprising
(a) a biocide, and
(b) the alkoxylated glycerol acetal according to claim 1.
16. The alkoxylated glycerol acetal of claim 5 comprising n-octyl glycerol acetal 4PO and 4EO.
17. The alkoxylated glycerol acetal of claim 5 comprising n-decyl glycerol acetal, 4PO, and 4EO.
18. The alkoxylated glycerol acetal of claim 5 comprising iso-nonyl glycerol acetal, and 3PO, and 3EO.
19. The alkoxylated glycerol acetal of claim 5 comprising iso-nonyl glycerol acetal, 3EO, and 1PO.