A method and processes to solubilize and transform phosphorus contents of rock phosphate (RP) into bio-organo-phosphate (BOP) fertilizer have been developed and integrated. The methods include collecting and sorting of organic wastes; blending with RP; subjecting the blend to biocomposting; collection, isolation, selection and growth optimization of consortia of efficient phosphorus solubilizing microorganisms (PSM) and novel plant growth regulating microorganisms (PGRM); where in PSM produce organic acids and other organic compounds using compost substrate at mesophillic stage, whereas the organic acids released during composting also act in synergism of PSM, thus forming a carbon rich acidic culture resulting in the solubilization of rock phosphate.

A composition comprising at least one nutrient element, wherein the at least one nutrient element possesses a relative energy-state value greater than the relative energy-state value of the at least one nutrient element in a preexisting state, the composition being effective, perhaps because of the greater energy-state value, to improve the ability of a soil, when combined with the composition, to support plant growth better than the soil, when not combined with the composition. Also a composition comprising at least one nutrient element, wherein the composition possesses an energy spectrum more positive than the energy spectrum of the composition in a preexisting state, the composition being effective, perhaps because of the more positive energy spectrum, to improve the ability of a soil, when combined with the composition, to support plant growth better than the soil, when not combined with the composition. Methods of making and using the same for improving soil, plants, plant growth, seeds, and/or plant products, including quality of plant products, are also disclosed, as well as improved soil, seeds, including quality of seeds, plants, and/or plant products, including quality of plant product.

The invention relates to novel compositions for preventing caking and crust formation in several types of manures or fertilizers in the form of granular solids. Said compositions comprise at least one phosphoric ester and at least one fatty trialkylamine of formula (III) whereinR1 represents a linear or branched alkyl, alkenyl or alkynyl group containing between 6 and 24 carbon atoms,R2 represents an alkyl group containing between 1 and 5 carbon atoms,R3 represents a linear or branched alkyl group containing between 1 and 5 carbon atoms, or alkyl, alkenyl or alkynyl group containing between 6 and 24 carbon atoms.

The present disclosure is directed toward a composition and method of treating and preventing infection of pathogenic microorganisms and endopyhtic microorganisms in a plant through the use of phosphite compositions.

Method for the stabilization of contaminants within a material selected from soils, mining tailings and by-products, sludge wastes and industrial wastes, by mixing the material with an alum sludge composition. The composition includes one or more aluminum compound(s) and/or complex(es) together with a reactive carbon material.

A method for producing urea granules having low moisture absorption capacity, with a urea granulator, having a granule flow inlet side and oppositely a granule flow outlet side, forming an axis alongside which granules from a urea solution and a urea/ammonium salt-stream are formed, whereby the solution and the salt-stream are sprayed as a mixture or separately via a feed system unit via various nozzles into the granulator onto a seed material. In this process the highest amount of the salt-stream is sprayed into the granulator at the granule flow inlet side and the amount of the salt-stream is decreased alongside the axis of the granulator from the granule flow inlet side to the granule flow outlet side.

The invention employs composites of zeolite and ferric oxide hydroxide for removal of inorganic nitrogen and phosphorus wastes from animal environments.

A method for preparing a boron fertilizer, including: (1) heating boric acid to a temperature of 180-200° C., maintaining the temperature for 20-30 min for dehydration of the boric acid to yield pyroboric acid; and (2) cooling down the pyroboric acid to a temperature of 40-60° C., crushing, and screening to yield a powdered, weakly acidic, high-content boron fertilizer. The method is energy-saving, environmentally friendly, and low in cost. The resulting boron fertilizer is weakly acidic, fast in dissolution rate, and has excellent in compounding performance

The present invention relates to compositions comprising an effective amount of sulphur, an effective amount of zinc sulphate or zinc oxide and at least one agrochemically acceptable excipient.

A locking system is mounted to a door with three rods extending therefrom. The rods have a locked position extending beyond the periphery of the door and an unlocked position not extending beyond the periphery of the door. Three rod receivers are adapted to receive the three rods in the locked position. A handle rotatably engages cam plates which are operatively engaged with the rods whereby rotation of the handle rotates the cam which moves the rod ends from one position to the other. A locking tab extends forwardly from the lower cam plate into a recess and is engaged by a circular lock while the recess prevents movement of the engaged circular lock. A second locking tab extends forwardly from the rod-locking link and a stationary locking tab is aligned thereto. Both locking tabs are engaged by a padlock preventing movement of the rod-locking link.

The present invention provides a fertilizer utilizing the inexpensive waste and by-product materials of biosolids, gypsum, and/or other phosphorus binding agents, such as iron or aluminum chemicals or by-products with elevated levels of iron and aluminum. The combination of biosolids, gypsum and other phosphorus binding agents, such as iron or aluminum chemicals or by-products with elevated levels of iron and aluminum produces a fertilizer that provides for soil nitrogen needs while limiting the availability of phosphorous to minimize environmental pollution.

A system for the production of ammonium sulfate granules including a pipe cross reactor (PCR) configured to contact concentrated sulfuric acid with anhydrous ammonia to produce a PCR product comprising ammonium sulfate; and a granulator fluidly connected to the PCR, whereby PCR product extracted from the PCR can be introduced into the granulator, an inlet for ammonium sulfate seed material, an ammonia sparger configured to spray liquid anhydrous ammonia directly onto a bed of ammonium sulfate granules within the granulator, a granulator vent configured for extraction of a vapor comprising unreacted ammonia from the granulator, and a granulator product outlet configured for extraction of granulator product comprising ammonium sulfate granules from the granulator. A method of producing ammonium sulfate granules is also provided.

An agricultural fertigation method includes the continuous charging of crop-quality-enhancer-feedstock comprised of one or more crop-quality enhancers (fertilizers, soil amendments and the like) to an irrigation system upstream of the agricultural field being irrigated. The crop-quality-enhancer-feedstock is diluted upon so charging to a level within the system solubility limits and the stream of flowing irrigation water dampens the resultant dissolution exotherm. A system wherein crop-quality enhancers are efficiently continuously fed to the irrigation system main line or a side-arm mixing chamber efficiently implements the method.

Fertilizer granules and methods of producing fertilizer granules. The fertilizer granules are formed from a fertilizer composition, such as a phosphate fertilizer, includes a fibrous material for the purpose of increasing the granule strength preventing or reducing attrition or dusting formation during storage, transport, and/or handling of the fertilizer. Dust formation can be reduced fifty percent or more. The base fertilizer composition can include a phosphate fertilizer, such as monoammonium phosphate (MAP) or diammonium phosphate (DAP), and optionally one or more micronutrients or secondary nutrients, such as elemental sulfur. The fibrous material is pulp or paper sludge, for example.

The invention relates to a fertilizing compound for application to plants and crops, especially fruits, intended for increasing the amount of calcium and subsequently improving the state of health of the plants and the preservation thereof after harvesting. The compound consists of a combination of components such as calcium nitrate, calcium lignosulfonate, organic acids, menadione sodium bisulphite, amino acids and water. The compound is in the form of a liquid preparation, packed in containers of between 20 and 1000 liters, is water-soluble and is applied by fertigation, spraying or in a localized form by border irrigation.

An agricultural fertigation method includes the continuous charging of crop-quality-enhancer-feedstock comprised of one or more crop-quality enhancers (fertilizers, soil amendments and the like) to an irrigation system upstream of the agricultural field being irrigated. The crop-quality-enhancer-feedstock is diluted upon so charging to a level within the system solubility limits and the stream of flowing irrigation water dampens the resultant dissolution exotherm. A system wherein crop-quality enhancers are efficiently continuously fed to the irrigation system main line or a side-arm mixing chamber efficiently implements the method.

An agricultural fertigation method includes the continuous charging of crop-quality-enhancer-feedstock comprised of one or more crop-quality enhancers (fertilizers, soil amendments and the like) to an irrigation system upstream of the agricultural field being irrigated. The crop-quality-enhancer-feedstock is diluted upon so charging to a level within the system solubility limits and the stream of flowing irrigation water dampens the resultant dissolution exotherm. A system wherein crop-quality enhancers are efficiently continuously fed to the irrigation system main line or a side-arm mixing chamber efficiently implements the method.

Disclosed are methods of enhancing plant growth, comprising treating seed at least one month prior to planting with an effective amount of a plant signal molecule, wherein upon harvesting the plant exhibits at least one of increased plant yield measured in terms of bushels/acre, increased root number, increased root length, increased root mass, increased root volume and increased leaf area, compared to plants harvested from untreated seed, or compared to plants harvested from seed treated with the signal molecule just prior to or within a week or less of planting.

The steps of the irrigation method include: flowing a stream of water having input and output and intermediate location; interposing a feeding device into the stream of water at the intermediate location, the feeding device having input and output ends; inserting a quantity of nutrient fertilizer into the feeding device; converting the nutrient fertilizer from the viscous state to the less viscous state through the flow of water through the feeding device; and intermixing the viscous nutrient fertilizer with the water entering the feeding device whereby the water leaving the device to plants and soil will include a fertilizer.

An electromagnetic radiation activated device comprises a property changing material and at least one functionalized fullerene that upon irradiation of the functionalized fullerenes with electromagnetic radiation of one or more frequencies a thermally activated chemical or physical transformation occurs in the property changing material. The thermal activated transformation of the property changing material is triggered by the heating or combustion of the functionalized fullerenes upon their irradiation. The device can include a chemical agent that is embedded in the property changing material and is released when the material is heated by the functionalized fullerenes upon irradiation.

The present invention relates to a method and arrangement for the treatment of liquid material based on organic waste products, in particular sludge from sewage disposal plants and the like, wherein the sludge material is added and mixed with chemicals, in particular sulphuric acid, nitric acid, and/or ammonia, during the vaporization and degasification of liquid from the material to increase the solids content thereof. The present invention is characterized, inter alia, in that the material is continuously introduced at the upper part of a vertical mixing vessel (1), in which the material is subject to mixing, after which the material is passed on into a reactor tank (8) for sulphuric acid treatment and at the same time, while sinking through the sulphuric acid treatment reactor tank (8), is exposed to an impact action from a number of rotary processing means (9) disposed in the reactor tank (8), after which the material is passed on into a reactor tank (14) for ammonia treatment and at the same time, while sinking through the ammonia treatment reactor tank (14), is exposed to an impact action from a number of rotary processing means (9) disposed in the reactor tank (14), after which the material is finally passed on into a drier (15) in which the material is dried until a desired solids content is achieved.

A granular agrochemical composition is disclosed including a granular core material having a water soluble portion with a first coating layer applied on the surface of the core material and a second coating layer applied on the surface of the first coating layer. The first coating layer includes a wax composition having a biologically active ingredient incorporated therein and the second coating layer includes a polymeric composition. The granular agrochemical composition exhibits a controlled rate of release of the biologically active ingredient therefrom over a period greater than about 30 days from the date of initial exposure of the granular composition to moisture whereby essentially all of the biologically active ingredient incorporated in the wax material of the first coating layer is released from the granular composition before the water soluble portion of the granular core material is released from the granular composition.

A composition of matter comprising: a combination of a phytate and a plurality of microorganisms comprising a Trichoderma virens fungus, a Bacillus amyloliquefaciens bacterium, and one or a plurality of mycorrhizae fungi that is placed in the vicinity of a plant root in a manner that allows the microorganisms in the composition of matter to colonize said plant root; and a method for increasing plant yield comprising: placing a combination of a phytate and a plurality of microorganisms comprising a Trichoderma virens fungus, a Bacillus amyloliquefaciens bacterium, and one or a plurality of mycorrhizae fungi in the vicinity of a plant root in a manner that allows the microorganisms in the composition of matter to colonize said plant root.

The present invention is related to the field of environmental protection, more specifically, to a foliage silicon fertilizer and a method for production of the fertilizer, which is a molybdenum-silica compound sol used for reducing heavy metal and nitrates in vegetables. The fertilizer, which is a molybdenum-silica compound sol, comprises 10-25 wt % silica, 0.05-5.5 wt % molybdenum ions. More preferably, the fertilize, which is a rare earth-molybdenum-silica compound sol, comprises 10-25 wt % silica, 0.05-5.5 wt % molybdenum ions and 0.1-7.5 wt % rare earth ions. By the combination of silica with molybdenum in the present invention, it is effective for preventing the absorption/accumulation of nitrates in vegetables. In addition, by the further combination with rare earth element, the prevention ability of the fertilizer from absorbing heavy metal and nitrates into vegetables is even enhanced. With a preparation method with normal pressure and relatively, low temperature, that is, with mild condition, simple process and high operability, large scale production of the present invention may be readily executed.

An engineered topsoil for use in soil reclamation and a method of producing the same are disclosed that seek to replicate undisturbed native reference topsoil from near the site in need of land reclamation. The engineered topsoil is formed from a base amount of subsoil and amendment comprised of an effective amount of surrogate humin material sufficient to replicate the estimated humin organic carbon content of the native reference topsoil, and an effective amount of plant residue material sufficient to replicate the estimated non-humin organic carbon content of the native reference topsoil.

A method and system for treatment of biological wastes for preparation of fertilizers is provided. The method and system involves mixing a biological waste with a dilute sulfuric acid in a predetermined ratio. The mixture of the biological waste and the dilute sulfuric acid is then filtered to obtain an organic slurry and an acidic liquid. Thereafter, the organic slurry is thermally cracked at an elevated temperature to obtain at least one of an ammonia gas, one or more flue gases, and char and ash. The method and system further involves utilizing the ammonia gas, the char and ash, and the acidic liquid for preparation of the fertilizers.

A composition includes a first chelating agent, a second chelating agent, and a plurality of metal ions. In one embodiment, the second chelating agent includes citric acid and is different than the first chelating agent. A method for forming a composition includes mixing a first chelating agent, a second chelating agent, and a metal salt together to form a mixture and processing the mixture to form at least one of a granulated composition and a powdered composition. In some embodiments, the second chelating agent includes citric acid and is different than the first chelating agent.

An improved composition comprising substantial spherical UFP particles and an active agent, such as NBPT, and optionally other components is used as an additive for liquid and solid fertilizers, typically containing urea. Methods of making the compositions and their use are also disclosed.

A device is provided, which makes it possible to perform a failure diagnostics for a filter more accurately even in the case of an internal combustion engine which is constructed to be capable of using both of gaseous fuel and liquid fuel. The device of the invention comprises judging means which judges any failure of the filter by comparing the added-up amount of the particulate matter contained in the exhaust gas as detected by a PM amount detecting sensor during a predetermined period and the added-up amount of the particulate matter contained in the exhaust gas as estimated by PM amount estimating means during the predetermined period, wherein the PM amount estimating means estimates the added-up amount of the particulate matter contained in the exhaust gas on the basis of the predetermined parameter and only a fuel injection amount of the liquid fuel out of a fuel injection amount of the gaseous fuel and the fuel injection amount of the liquid fuel.

A combustion speed, for example, is estimated or evaluated, with a required accuracy, more simply than the conventional art, while reducing man-hours to produce a heat generation rate waveform of an internal combustion engine. An increase rate of a heat generation rate relative to a change in a crank angle in a heat generation rate increasing period (e.g., a first-half combustion period a) in which the heat generation rate increases after ignition of an air-fuel mixture is defined as a heat generation rate gradient b/a that is one of characteristic values of the heat generation rate waveform. The heat generation rate gradient is estimated based on a fuel density (e.g., fuel density ρfuel@dQpeak at heat generation rate maximum time) at a predetermined time set in advance in the heat generation rate increasing period so as to produce the heat generation rate waveform using the estimated heat generation rate gradient.

A method for detecting and controlling a load weight of a vehicle by means of a tire pressure of the vehicle and a device are provided. The method includes the steps of installation setting, detecting the load weight, and controlling an electric switch. The device includes tire pressure detectors installed on rear wheels of the vehicle and connected with a processor which is input with a preset tire pressure value and able to receive the tire pressure detected by the tire pressure detectors. The processor is connected with an electric switch of the vehicle. The processor compares the tire pressure detected by the tire pressure detectors with the preset tire pressure value, and controls the electric switch to turn on/off a power source of the vehicle. The device is capable of detecting and controlling the load weight of the vehicle by detecting a change of the tire pressure.

A method and a system for control of a torque Tqdemand requested from an engine in a vehicle, wherein the engine provides a dynamic torque Tqfw in response to the torque Tqdemand. Control of the requested torque Tqdemand is performed such that the control provides a desired value Tqfw_req for the dynamic torque and/or a desired derivative Tqfw_req for the dynamic torque. This is achieved by basing the control on at least one current value Tqfw_pres for the dynamic torque, on one or several of the desired value Tqfw_req and the desired derivative Tqfq_req for the dynamic torque, and on a total delay time tdelay_total elapsing from determination of at least one parameter value, to when a change of the dynamic torque Tqfw based on the determined at least one parameter value, has been effected.

In one embodiment, a method may include retrieving, via a processor, a fundamental frequency of a cylinder type from a memory communicatively coupled to the processor, receiving, via the processor, a first signal from a first knock sensor disposed on a cylinder. The cylinder is disposed in an engine. The method may also include deriving whether a number of amplitudes of the first signal at the fundamental frequency and one or more harmonic frequencies exceed an undesired installation threshold value, and identifying an asymmetric piston as having an undesired installation if the undesired installation threshold value exceeds the number of amplitudes of the first signal and the one or more harmonic frequencies.

While a vehicle is traveling in a state where any one of gear positions of a mechanical stepped transmission unit is established, until an estimated input torque that is obtained from the equation of motion for an electrical differential unit changes, a hydraulic pressure of a non-engaged intended hydraulic friction engagement device is increased, and a pack end pressure is learned on the basis of the hydraulic pressure at that time. Therefore, irrespective of feedback control, or the like, over motor generators of the electrical differential unit, it is possible to appropriately learn the pack end pressure, so it is possible to appropriately execute hydraulic control over the hydraulic friction engagement devices, that is, engaging and releasing control, or the like, at the time of shifting, irrespective of individual differences of the portions, aging of friction materials, or the like.

An in-vehicle system as a road curvature detection device calculates a curvature of a road in front of a vehicle based on an acquired front scene image. The in-vehicle system receives gradient information from the data map. The gradient information corresponds to a current road section on the road on which the vehicle drives. The in-vehicle system detects a gradient accuracy of the received gradient information. When the current road section has a gradient, i.e. the road is an uphill or downhill road, the in-vehicle system selects an appropriate special detection methods based on the gradient accuracy of the received gradient information, and calculates a road curvature by using the selected special detection method. Each of the special detection methods calculates a road curvature while effectively suppressing influence of a road gradient indicated by the received gradient information.

A travel distance estimation device is provided. The travel distance estimation device includes an estimated velocity determination unit that successively estimates an estimated velocity of a movable object based on an acceleration integrated value and a velocity initial value a travel distance calculation unit that successively calculates an estimated travel distance of the movable object based on the estimated velocity, and a past velocity correction unit that determines corrected past velocities by correcting pre-correction past estimated velocities so that the corrected past velocities are continuous with the velocity initial value determined this time. The pre-corrected past estimated velocities are the estimated velocities that were successively determined. The travel distance estimation device further includes a travel distance correction unit that recalculates based on the corrected past velocities an estimated travel distance.

A navigation system includes at least one inertial sensor configured to detect motion of the system and generate inertial data; at least one aiding device configured to generate aiding device measurement data; at least one processing unit configured to generate an un-smoothed navigation solution inclusive of navigation state variable error resets based on the inertial data and the aiding device measurement data; wherein the at least one processing unit is further configured to sum the state variable error resets into a cumulative sum of the state variable error resets; wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets; and wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets from the un-smoothed navigation solution to generate a smoothed navigation solution.

A computing system includes: a control circuit configured to: determine environment measurements representing conditions measured about a building structure located at a geographic location; generate a map based on the environment measurements for mapping a tier of the building structure along a vertical direction; and a storage circuit, coupled to the control circuit, configured to store the map for representing the building structure.

A position information correcting device includes a reception processing unit receiving position information transmitted from a nearby mobile object, a position correcting unit performing a position correcting process for correcting, based on map data, the position information of the nearby mobile object such that a corrected position of the nearby mobile object is on a running area of a road, a nearby mobile object type acquiring unit acquiring a mobile object type of the nearby mobile object, and a correction performance determining unit determining, based on the mobile object type acquired by the nearby mobile object type acquiring unit, whether the position correcting process needs to be performed to the position information of the nearby mobile object. The position correcting process is performed to the position information of the nearby mobile object only when the correction performance determining unit determines that the position correcting process needs to be performed.

An embodiment of the invention provides a method that identifies GPS shifting fields for road segments, the GPS shifting fields including areas around the road segments that include false GPS readings of objects that traveled on the road segments. The GPS shifting fields can be revised with a road segment attribute and/or at a driver preference. The road map network can be partitioned into space units, where the road map network can include at least two GPS readings of the object. For each space unit that includes a road segment, a probability that the object was located on the road segment can be calculated for each road segment based on the GPS readings of the object and the GPS shifting fields. The trajectory of the object can be determined based on the computing of the probabilities.

Aspects of the present disclosure include a navigation system and computer-implemented methods for proactively re-routing vehicles to control traffic flow. Consistent with some embodiments, the navigation system seeks to reduce traffic flow along primary navigation routes (e.g., routes with relatively short travel times) by re-routing vehicles to alternative navigation routes (e.g., routes with relatively longer travel times) using incentives. As an example, upon detecting a vehicle traveling along an alternative route instead of a primary route, the navigation system updates a data structure that represents a user account of a vehicle occupant to reflect an increased account balance. Consistent with some embodiments, the amount of value provided to an occupant of a vehicle traveling along an alternative routes may be obtained from user accounts of occupants of other vehicles that are traveling along a primary route.

A method and an electronic device for personalized navigation. The electronic device for personalized navigation acquire history data of a user, the history data comprising location information associated with active time of the user; plan a routine active path of the user according to the acquired history data; acquire navigation paths of the user; and classify the navigation paths into the routine active path and a non-routine active path according to the planned routine active path of the user, and provide navigation information to the user according to the classification result.

Aspects of the present disclosure include a navigation system and computer-implemented methods for proactively re-routing vehicles based on an analysis of input component data obtained from the navigation-enabled devices. The navigation system scores the input component data to obtain a measure of frustration (e.g., a feeling of being upset or annoyed) of the user of the navigation-enabled device. The navigation system may provide a detour suggestion for display on the navigation-enabled device to persuade the user of the device to direct their vehicle to depart from its current location or route in an effort to remove the vehicle from traffic, and thereby reduce the frustration level of the user. The detour suggestion may include an alternative route to the original destination, or an alternative destination.

A destination information provider server is disclosed. The destination information provider server is configured to obtain position information of an information providing target vehicle, recognize a target link, which corresponds to a link of a road on which the information providing target vehicle is traveling, based on the position information, and transmit destination information to the information providing target vehicle, the destination information being indicative of destinations of other vehicles which travel on the target link.

A trip gauge for a vehicle information display may convey vehicle trip information and vehicle range information graphically to assist drivers in qualitatively visualizing and determining whether they can successfully make it to their destination before an on-board energy source is depleted. The trip gauge may include indicators corresponding to the relative locations of the vehicle, the destination, and a projected zero charge location associated with the vehicle's range or distance to empty value. Moreover, the positions of the indicators relative to one another may indicate whether the excess energy is available for the vehicle to reach the destination or whether the energy available is insufficient. Accordingly, drivers may be either reassured that they are expected to reach their destination successfully or warned if they are not so the drivers can modify their driving behavior or change their destination.

A remotely controlled motile device system comprises a remotely controlled motile device, and a mobile smart device that comprises a data processor operatively connected to a display screen, a memory, a user input interface, a camera, and a wireless transceiver. The memory stores computer-readable instructions that, when executed by the data processor, cause the mobile smart device to capture images of an optical reference background and the remotely controlled motile device, present the images on the display screen, register a target position relative to the optical reference background and entered via the user input interface, determine a pose of the remotely controlled motile device relative to the optical reference background, and transmit commands to the remotely controlled motile device to move to the target position.

Semi-autonomous vehicle apparatus which is controlled by a plurality of control sources includes a vehicle which may function autonomously and apparatus for control of the vehicle by either an onboard driver or a driver not situated onboard. The vehicle may also be controlled by an off-vehicle computational device. Hierarchy setting apparatus determines which of the possible control entities take priority. Persons using the apparatus are identified by either a password or, preferably by providing identification based on a biologic feature. Management of impaired vehicle operators is provided for.

A method for controlling an aerial system with a rotor enclosed by a housing, including: operating the rotor in a flight mode, detecting a grab event indicative of the aerial system being grabbed, and automatically operating the rotor in a standby mode. A method for controlling an aerial system including a central axis extending normal to a lateral plane of the aerial system, including: generating a first aerodynamic force with a set of rotors enclosed by a housing, detecting that an acute angle between the central axis and a gravity vector is greater than a threshold angle, and operating each rotor of the set of rotors to cooperatively generate a second aerodynamic force less than the first aerodynamic force with the set of rotors.

Techniques for navigating semi-autonomous mobile robots are described. A semi-autonomous mobile robot moves within an environment to complete a task. A navigation server communicates with the robot and provides the robot information. The robot includes a navigation map of the environment, interaction information, and a security level. To complete the task, the robot transmits a route reservation request to the navigation server, the route reservation request including a priority for the task, a timeslot, and a route. The navigation server grants the route reservation if the task priority is higher than the task priorities of conflicting route reservation requests from other robots. As the robot moves within the environment, the robot detects an object and attempts to classify the detected object as belonging to an object category. The robot retrieves an interaction profile for the object, and interacts with the object according to the retrieved interaction profile.

Arrangements related to operating an autonomous vehicle in view-obstructed environments are described. At least a portion of an external environment of the autonomous vehicle can be sensed to detect one or more objects located therein. An occupant viewable area of the external environment can be determined. It can be determined whether one or more of the detected one or more objects is located outside of the determined occupant viewable area. Responsive to determining that a detected object is located outside of the determined occupant viewable area, one or more actions can be taken. For instance, the action can include presenting an alert within the autonomous vehicle. Alternatively or in addition, the action can include causing a current driving action of the autonomous vehicle to be modified.