Patent Publication Number: US-2021190271-A1

Title: Frictional temperature regulation of a fluid

Description:
FIELD 
     Among other things, the present application discloses techniques for regulating the temperature of a fluid mixture through the controlled application of friction. A homogenizer (e.g., an inline disperser) can generate the friction by rotating a cutting tool submerged in the mixture. 
     BACKGROUND 
     Production of materials such as grease can involve heating of fluid. Heating can be accomplished through fluid temperature conditioning or electrical (also called “resistive”) temperature conditioning. An example of fluid temperature conditioning is flowing a heated (e.g., kettle-conditioned) or cooled working fluid through a heat exchanger in thermal communication with the target material. An example of electrical temperature conditioning is flowing electric current through resistive heating elements in thermal communication with the target material. 
     Grease, such as urea grease, can be used to lubricate and/or cool mechanical interfaces. For example, grease can appear within bearings (e.g., roller bearings) to ensure that a load and heat transferring film separates the races from the roller elements. U.S. Pat. No. 8,258,088 to Bodesheim et al. (assigned to Klüber Lubrication München KG and hereby incorporated by reference) discloses exemplary grease applications and compositions. 
     SUMMARY 
     Disclosed is a production method, which can include: flowing a heterogeneous fluid mixture into contact with a homogenizing cutting tool, measuring a fluid mixture temperature so as to obtain a measured fluid mixture temperature, and determining a target fluid mixture temperature. The fluid mixture can be frictionally heated so as to obtain a heated and homogenized fluid mixture by driving the cutting tool at a rate based on (i) the target fluid mixture temperature and (ii) the measured fluid mixture temperature. The heated and homogenized fluid mixture can be flowed away from the cutting tool. 
     Disclosed is a production system that can include a processing system and a homogenizing cutting tool. The production system can be configured to: flow a heterogeneous fluid mixture into contact with the homogenizing cutting tool; frictionally heat the fluid mixture by driving the cutting tool so as to obtain a heated and homogenized fluid mixture; and flow the heated and homogenized fluid mixture away from the cutting tool. 
     The processing system can include one or more processors configured to: measure a fluid mixture temperature so as to obtain a measured fluid mixture temperature and determine a target fluid mixture temperature; and drive the cutting tool at the rate based on (i) the target fluid mixture temperature and (ii) the measured fluid mixture temperature. 
     Disclosed is a urea grease production system that can include a first tank, a second tank, a premixer, and a first inline disperser. The first tank can be for storing the first precursor and the second tank can be for storing a second precursor. The premixer can be for producing a first fluid mixture comprising urea thickener particles heterogeneously dispersed in a base oil from the first precursor and the second precursor. 
     The premixer can be disposed downstream of the first and second tanks and include: a first inlet for receiving the first precursor, a second inlet for receiving the second precursor, a stirring assembly disposed in a mixing chamber for producing the first fluid mixture, and an outlet for continuously flowing the first fluid mixture toward the first inline disperser. 
     The first inline disperser can be for producing a second fluid mixture comprising urea grease by heating and homogenizing the first fluid mixture. The first inline disperser can be disposed downstream of the premixer and include: an inlet for receiving the first fluid mixture, an outlet for flowing the second fluid mixture toward the second inline disperser, and a cutting tool disposed in a mixing chamber and including a plurality of radially alternating rotor stages and stator stages. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the present invention will be described below based on the exemplary figures. The invention is not limited to the exemplary embodiments. All features described and/or illustrated herein can be used alone or combined in different combinations in embodiments of the invention. Although the relative dimensions shown in the figures serve as original support, the invention is not limited to any relative dimensions unless explicitly stated otherwise. The features and advantages of various embodiments of the present invention will become apparent by reading the following detailed description with reference to the attached drawings which illustrate the following: 
         FIG. 1  is a block diagram of an exemplary chemical production system. The system can be used to produce lubricants such as urea grease. Alternatively, the system can be used to produce non-lubricant compounds. 
         FIG. 2  is a block diagram of a portion of the exemplary chemical production system illustrating components of an exemplary flow control package. 
         FIG. 3  is a block diagram of the exemplary chemical production system illustrating exemplary flow control package locations. 
         FIG. 4  is an isometric view of an exemplary processing machine for use in the exemplary chemical production system. The processing machine can perform pre-mixing. 
         FIG. 5  is an elevational view of the exemplary pre-mixer of  FIG. 4 . 
         FIG. 6  is a cross-sectional elevational view of the exemplary pre-mixer of  FIG. 4  from plane  6 - 6  in  FIG. 5 . 
         FIG. 7  is a bottom plan view of the exemplary pre-mixer of  FIG. 4  from plane  7 - 7  in  FIG. 5 . 
         FIG. 8  is a cross-sectional elevational view of the exemplary pre-mixer of  FIG. 4  from plane  8 - 8  in  FIG. 7 . 
         FIG. 9  is an isometric view of an exemplary inline disperser for use in the exemplary chemical production system. A portion of an outer shell of the inline disperser is omitted to offer a cut-away perspective. Various inline dispersers are available from Ystral® at ystral.com/en/machines/z-inlinedispersers/. 
         FIG. 10  is a perspective view of an exemplary rotor and stator for use in the exemplary inline disperser of  FIG. 9 . 
         FIG. 11  schematically depicts an exemplary operation of the cutting tool shown in  FIG. 10 . 
         FIG. 12  is a cross-sectional elevational view of an embodiment of the exemplary inline disperser of  FIG. 9 . 
         FIG. 13  is a block diagram of an exemplary method of controlling a processing machine as the exemplary inline disperser of  FIG. 9 . 
         FIG. 14  is a block diagram of an exemplary method of controlling a processing machine such as the exemplary inline disperser of  FIG. 9 . 
         FIG. 15  schematically presents an exemplary asymmetric deadband set. 
         FIG. 16  is a block diagram of an exemplary processing system. The processing system can be configured to perform any of the methods (e.g., operations) disclosed in the present application. 
     
    
    
     DETAILED DESCRIPTION 
     I 
       FIG. 1  is a block diagram of a chemical production system  100 . The present application describes features of production system  100  in the exemplary context of lubricant (e.g., urea grease) production. The subject matter disclosed in the present application, however, is not limited to any particular application or environment. Therefore, system  100  can be used to manufacture non-urea greases and/or non-grease chemical compounds. 
     Production system  100  can be configured to homogenize a first fluid mixture including agglomerated particles heterogeneously suspended within a base liquid. The homogenizing can yield a second mixture in which the particles are de-agglomerated and homogeneously dispersed within the base liquid. Regulating a temperature of the material experiencing homogenization can cause the second chemical mixture to exhibit desirable properties. 
     As discussed above, temperature regulation can include fluid and/or electrical temperature conditioning. Fluid/electrical temperature conditioning, however, can pose obstacles in the context of homogenization. 
     First, fluid/electrical temperature conditioning may be unable to uniformly regulate the temperature of material experiencing homogenization (also called “reacted material”). An unacceptable temperature gradient can form between reacted material directly adjacent the active fluid/electrical conditioning elements (e.g., fluid heat exchangers or resistors) and reacted material remote from the active fluid/electrical conditioning elements. During urea grease production, the fluid/electrical temperature conditioning elements may be required to occupy temperatures above (e.g., 30-50° C. above) a desired average temperature (e.g., 150-200° C.) of the urea grease. As a result, portions of the urea grease proximate the fluid/electrical temperature conditioning elements can exhibit 200-300° C. while remote portions may exhibit 150° C. Put differently, because urea grease has a low heat transfer coefficient, fluid or electrical temperature conditioning requires a large temperature gradient, which can lead to poor grease properties such as side reactions, oxidation, discoloration, cracking, and others. 
     Second, fluid and electrical temperature conditioning can suffer from an unacceptable hysteresis (also called “control lag”) where the fluid/electrical temperature conditioning elements slowly implement desired temperature adjustments. In the meantime, the grease can be damaged. 
     Consequently, mixtures (e.g., urea greases) produced with fluid or electrical temperature conditioning can disadvantageously experience the above-discussed damage such as poor grease properties such as side reactions, oxidation, discoloration, cracking, and others. These effects can significantly impair mixture quality. 
     Addressing these obstacles, the present application discloses, among other things, temperature regulation through controlled application of friction (i.e., mechanical heating). As further discussed below, frictional temperature regulation can be implemented by actively controlling forces (e.g., shear forces) reacted during a homogenizing process. For example, a rotational speed of an inline-disperser (also called a “homogenizer”) driveshaft can be controlled based on a measured temperature (e.g., a measured temperature of reacted material exiting the inline-disperser) and a predetermined target temperature (e.g., a desired temperature of reacted material exiting the inline-disperser). 
     If the measured temperature exceeds the target temperature, then the rotational speed of the inline-disperser can be decelerated to decrease the amount of friction applied by a cutting tool while if the target temperature exceeds the measured temperature, then the rotational speed of the inline-disperser can be accelerated to increase the amount of friction applied by the cutting tool. 
     Because friction can be applied across the spinning surface area of the cutting tool, the reacted material can exhibit an advantageous uniform temperature (e.g., an acceptable temperature gradient). Because the rotational speed of the inline-disperser can be more responsive to command signals than the working fluid/resistive heating elements of fluid/electrical temperature conditioning systems, hysteresis can be advantageously reduced. 
     According to an embodiment, a homogenizer (e.g., second processing machine  106 —further discussed below) performs frictional temperature regulation in conjunction with fluid/electrical temperature conditioning. According to another embodiment, the homogenizer performs frictional temperature regulation to the exclusion of fluid/electrical temperature conditioning. These embodiments are further discussed below. 
     II 
     Disclosed is a production method, which can include: flowing a heterogeneous fluid mixture into contact with a homogenizing cutting tool; measuring a fluid mixture temperature so as to obtain a measured fluid mixture temperature and determining a target fluid mixture temperature; frictionally heating the fluid mixture so as to obtain a heated and homogenized fluid mixture by driving the cutting tool at a rate based on (i) the target fluid mixture temperature and (ii) the measured fluid mixture temperature; and flowing the heated and homogenized fluid mixture away from the cutting tool. 
     In an embodiment, (i) the target fluid mixture temperature is a target temperature of the heated and homogenized fluid mixture and (ii) the measured fluid mixture temperature is a measured temperature of the heated and homogenized fluid mixture. In an embodiment, the heterogeneous fluid mixture includes urea thickener heterogeneously dispersed within a base oil and the heated and homogenized fluid mixture includes urea grease. In an embodiment, the fluid mixture is a lubricant. In an embodiment, the lubricant is selected from a group consisting of oils, emulsions, greases, soaps, and combinations thereof. 
     In an embodiment, the rate is a target rotational speed, the measured fluid mixture temperature is a current measured fluid mixture temperature, and the method further includes updating the target rotational speed based on (i) the target fluid mixture temperature, (ii) the current measured fluid mixture temperature, and (iii) an asymmetric deadband set. In an embodiment, the asymmetric deadband set includes an inner deadband and an outer deadband and the method further includes: updating the target rotational speed based on a deadband status of a previous measured fluid mixture temperature when the current measured fluid mixture temperature is outside the inner deadband and inside the outer deadband. 
     The method can include: updating the target rotational speed based on the deadband status of the previous measured fluid mixture temperature by: setting the updated target rotational speed as being equal to a current target rotational speed when the current measured fluid mixture temperature is outside the inner deadband, inside the outer deadband, and a last measured fluid mixture temperature inside the inner deadband is more recent than a last measured fluid mixture temperature outside the outer deadband; and calculating the updated target rotational speed based on a difference between the current measured fluid mixture temperature and the target temperature when the current measured fluid mixture temperature is outside the inner deadband, inside the outer deadband, and a last measured fluid mixture temperature inside the inner deadband is less recent than a last measured fluid mixture temperature outside the outer deadband. 
     The method can include quantizing the updated target rotational speed to one of a plurality of discrete values to lower a resolution of rotational speed control. The method can include: mixing a plurality of precursors into the heterogeneous fluid mixture; and determining the target fluid mixture temperature and the asymmetric deadband set based on a flow rate of each precursor. 
     In an embodiment, the homogenizing cutting tool includes a rotor affixed to a driveshaft and a stator, the rotor including a rotor ring disposed in a circumferential channel defined between sequential stator rings. The method can include: continuously flowing a plurality of precursors into a pre-mixer to produce the heterogeneous fluid mixture; continuously flowing the heterogeneous fluid mixture into an inlet of a first inline disperser including the homogenizing cutting tool; and continuously introducing an additive into the heated and homogenized fluid mixture at a location downstream of the first inline disperser and continuously flowing the combination within a second inline disperser including a second homogenizing cutting tool. 
     Disclosed is a production system including a processing system and a homogenizing cutting tool. The production system can be configured to: flow a heterogeneous fluid mixture into contact with the homogenizing cutting tool; frictionally heat the fluid mixture by driving the cutting tool so as to obtain a heated and homogenized fluid mixture; and flow the heated and homogenized fluid mixture away from the cutting tool. 
     In an embodiment, the processing system includes one or more processors configured to: measure a fluid mixture temperature so as to obtain a measured fluid mixture temperature and determine a target fluid mixture temperature; and drive the cutting tool at the rate based on (i) the target fluid mixture temperature and (ii) the measured fluid mixture temperature. 
     In an embodiment, (i) the target fluid mixture temperature is a target temperature of the heated and homogenized fluid mixture and (ii) the measured fluid mixture temperature is a measured temperature of the heated and homogenized fluid mixture. In an embodiment, the heterogeneous mixture includes urea thickener heterogeneously dispersed within a base oil and the heated and homogenized mixture includes urea grease. 
     The production system can be configured to: continuously flow a plurality of precursors into a pre-mixer to produce the heterogeneous fluid mixture; continuously flow the heterogeneous fluid mixture into an inlet of a first inline disperser including the homogenizing cutting tool; and continuously introduce an additive into the heated and homogenized fluid mixture and continuously flowing the combination within a second inline disperser including a second homogenizing cutting tool. 
     In an embodiment, the rate is a target rotational speed, the measured fluid mixture temperature is a current measured fluid mixture temperature, and the one or more processors are configured to: update the target rotational speed based on (i) the target fluid mixture temperature, (ii) the current measured fluid mixture temperature, and (iii) an asymmetric deadband set including an inner deadband and an outer deadband. 
     The production system can be configured to update the target rotational speed based on a deadband status of a previous measured fluid mixture temperature when the current measured fluid mixture temperature is outside the inner deadband and inside the outer deadband by: setting the updated target rotational speed as being equal to a current target rotational speed when the current measured mixture temperature is outside the inner deadband, inside the outer deadband, and a last measured mixture temperature inside the inner deadband is more recent than a last measured mixture temperature outside the outer deadband; and calculating the updated target rotational speed based on a difference between the current measured mixture temperature and the target temperature when the current measured mixture temperature is outside the inner deadband, inside the outer deadband, and a last measured mixture temperature inside the inner deadband is less recent than a last measured mixture temperature outside the outer deadband. 
     Disclosed is a urea grease production system including a first tank, a second tank, a premixer, and a first inline disperser. The first tank can be for storing a first precursor and the second tank can be storing a second precursor. The premixer can be for producing a first fluid mixture including urea thickener particles heterogeneously dispersed in a base oil from the first precursor and the second precursor. The premixer can be disposed downstream of the first and second tanks and include: a first inlet for receiving the first precursor, a second inlet for receiving the second precursor, a stirring assembly disposed in a mixing chamber for producing the first fluid mixture, and an outlet for continuously flowing the first fluid mixture toward the first inline disperser. 
     The first inline disperser can be for producing a second fluid mixture including urea grease by heating and homogenizing the first fluid mixture. The first inline disperser can be disposed downstream of the premixer and include: an inlet for receiving the first fluid mixture, an outlet for flowing the second fluid mixture toward the second inline disperser, and a cutting tool disposed in a mixing chamber and including a plurality of radially alternating rotor stages and stator stages. 
     In an embodiment, the stirring assembly includes: a stator assembly including a plurality of longitudinally displaced columns statically disposed within the mixing chamber; and a driveshaft mounting multiple paddles, a plurality of which are configured to rotate through gaps defined between consecutive columns. 
     The production system can include a processing system including one or more processors configured to: control a rotational speed of the plurality of rotor stages based on a target fluid mixture temperature, a measured fluid mixture temperature, and an asymmetric deadband set including an inner deadband and an outer deadband. 
     In an embodiment, the measured fluid mixture temperature is a measured current fluid mixture temperature, the asymmetric deadband set includes an inner deadband and an outer deadband, and the one or more processors are configured to: control the rotational speed of the plurality of rotor stages based on a deadband status of a measured previous fluid mixture temperature when the measured current fluid mixture temperature is outside the inner deadband and inside the outer deadband. In an embodiment, the one or more processors are configured to: quantize a target rotational speed of the plurality of rotor stages to one of a plurality of predetermined discrete values to reduce a resolution of rotational speed control. 
     III 
     Referring to  FIG. 1 , a plurality of different precursor chemicals  122 ,  122 A,  122 B,  122 C,  122 D,  122 E (also called “doses”, “solutions”, “fluids”, or “substances”) can be independently stored in tanks  102 ,  102 A,  102 B,  102 C,  102 D,  102 E (also called “supplies”). Each tank  102  can include active heating and/or stirring features. Precursor chemicals  122  can be homogeneous fluids, heterogeneous fluids in which solids are suspended, or solids. Although five are shown, any number of precursors (e.g., two, ten, etc.) can be provided. 
     Each precursor  122  can flow toward a downstream processing machine in a predetermined stoichiometric ratio. In  FIG. 1 , first, second, third precursors  122 A,  122 B,  122 C are configured for direct flow into a first processing machine  104  (also called a “mixer” and a “pre-mixer”) while fourth and fifth precursors  122 D,  122 E are configured for direct flow into a fluid line directly upstream of a third processing machine  106 . 
     According to an embodiment, first tank  102 A can store amine dissolved in oil as a first precursor  122 A while second tank  102 B can store isocyanate dissolved in oil as a second precursor  122 B. The isocyanate dissolved in oil can be stored at 50-60° C. and continuously stirred within second tank  102 B. Third tank  102 C and third precursor  122 C can be absent. Fourth tank  102 D can store additives mixed in oil. Fifth tank  102 E can store pure oil. 
     According to another embodiment, first tank  102 A can store pure amine as first precursor  122 A, second tank  102 B can store pure isocyanate as a second precursor  122 B, third tank  102 C can store pure oil as a third precursor  122 C, fourth tank  102 D can store first additives mixed in oil, and fifth tank  102 E can store second additives mixed in oil or pure oil. 
     Additives can include one or more of: chelate compounds, radical scavengers, UV stabilizers, reaction layer forming agents, organic or inorganic solid lubricants (e.g., polyimides, polytetrafluoroethylene (PTFE), graphite, metal oxides, boron nitride, molybdenum sulfide and phosphate). Additives can additionally or alternatively include one or more of: compounds containing phosphorus and sulfur (e.g., zinc dialkyl dithiophosphate), boric acid esters as antiwear/extreme pressure additives, aromatic amino, phenols, sulfur compounds as antioxidants, metal salts, esters, nitrogen compounds, heterocyclic compounds as agents to prevent corrosion, glycerol mono- or diesters as friction preventives, and polyisobutylene or polymethacrylate as viscosity enhancers. 
     Although  FIG. 1  illustrates parallel flow of the precursor chemicals into first processing machine  104 , other flow paths are contemplated. For example, first precursor  122 A can mix with second precursor  122 B upstream of first processing machine  104  and the resulting combination can mix with third precursor  122 C within first processing machine  104 . The same concept applies to the additive flow paths. 
     First processing machine  104  can be configured to continuously output a first mixture  124  (also called a “fluid”, a “first fluid mixture”, and “first intermediate composition”). In an embodiment, the precursor chemicals  122  react within first processing machine  104  to continuously yield urea thickener in oil as first mixture  124 . In an embodiment, the urea thickener can be formed by a divalent isocyanate and a monovalent amine in a molar ratio of 1:2. First mixture  124  can be formed as a viscous fluid including agglomerated particles heterogeneously suspended within a base liquid. As discussed below, system  100  can transform first mixture  124  into a second mixture  126 , and second mixture  126  into a third mixture  128 , etc. The numerical labels can identify location and not necessarily an irreversible chemical reaction. For example, fourth mixture  130  can be the same compound as third mixture  128 . As used herein, fluids can be highly viscous semi-solids. 
     In an embodiment, first processing machine  104  can include multiple (e.g., two, three) pre-mixers (further discussed below) connected in series. Precursors  122  can enter the first of the pre-mixers. First mixture  124  can flow from the last of the pre-mixers. 
     First mixture  124  (e.g., the urea thickener in oil) can continuously flow from first processing machine  104  into a second processing machine  106 , which can heat and/or mix first mixture  124  to produce second mixture  126  (also called a “second intermediate composition”). First mixture  124  can exhibit a higher viscosity while second mixture  126  can exhibit a lower viscosity. In an embodiment, second processing machine  106  is an inline disperser (also called a “homogenizer”) configured to blend first mixture  124  into second mixture  126 . 
     The inline disperser can include a homogenizing cutting tool (e.g., a rotor/stator combination). Friction applied by the cutting tool (also called a “cutting assembly”) can be controlled (e.g., via rotational speed regulation) to regulate temperature of the material reacted within second processing machine  106 . In an embodiment, second mixture  126  is urea grease. Exemplary features of the homogenizer and control thereof are further discussed below. 
     In an embodiment, temperature of material reacted within second processing machine  106  is exclusively actively regulated through rotational speed control of the cutting tool. In an embodiment, friction between the reacted material and the cutting tool is responsible for at least 85, 90, 95, or 99% of heat absorbed into reacted material within second processing machine  106 . 
     Heat absorbed into reacted material within second processing machine  106  can be measured by capturing the temperature, composition (and thus heat capacity), and/or mass flow rate of material entering second processing machine  106  (e.g., second mixture  126 ) and of material exiting second processing machine  106  (e.g., third mixture  128 ). Although temperature of material reacted within second processing machine  106  can be exclusively actively regulated through rotational speed control of the cutting tool, second processing machine  106  can include collateral temperature conditioning elements (e.g., fans) configured to cool internal mechanical/electrical components (e.g., motors, inverters, bearings). 
     Second mixture  126  can continuously egress from second processing machine  106  at a uniform temperature (e.g., exhibit a narrow temperature band such as less than 10, 5, 2, or 1° C.). Second mixture  126  can continuously flow into a third processing machine  108 . As shown in  FIG. 1 , one or more precursors (e.g., fourth precursor  122 D and fifth precursor  122 E) can intersect second mixture  126  upstream of third processing machine  108 . 
     In an embodiment, third processing machine  108  is a second inline disperser (i.e., “homogenizer”) configured to blend second mixture  126 , fourth precursor  122 D (e.g., additives), and fifth precursor  122 E (e.g., pure oil) into a homogeneous third mixture  128 . The algorithm for controlling third processing machine  108  can be different than the algorithm for controlling second processing machine  106 . 
     In an embodiment, the rotational speed of the cutting tool in third processing machine  108  is controlled independent of any mixture temperature. In another embodiment, the rotational speed of the cutting tool in third processing machine  108  is controlled via the same algorithm used for controlling rotational speed of the cutting tool in second processing machine  106 . 
     Third processing machine  108  can continuously produce third mixture  128 . In an embodiment, third mixture  128  is urea grease with homogeneously dispersed additives. Third mixture  128  can flow into a fourth processing machine  110 . Fourth processing machine  110  can mix and/or cool third mixture  128 . Fourth processing machine  110  can include active temperature conditioning (e.g., a refrigeration cycle including a heat exchanger, a fan, etc.) for cooling third mixture  128 . 
     Fourth processing machine  110  can be configured for non-continuous batch operation such that a predetermined amount of the continuously flowing third mixture  128  is metered into one fourth processing machine  110 . Thereafter, a valve can switch such that the predetermined amount of the continuously flowing third mixture  128  is metered into another fourth processing machine  110 , etc. From fourth processing machine  110 , fourth mixture  130  can flow to a filling station  112 . 
     Filling station  112  can meter predetermined quantities of fourth mixture  130  into respective tanks. The tanks can be sealed and commercially distributed. The techniques disclosed herein can be used to produce any lubricating grease composition disclosed in U.S. Pat. No. 8,258,088 to Bodesheim et al. (assigned to Klüber Lubrication München KG and hereby incorporated by reference). 
     Referring to  FIGS. 2 and 3 , and as further discussed below, a processing system  200  can be configured to automatically implement each and every operation (e.g., function) disclosed herein. As shown in  FIG. 2 , a flow control package  210  can include one or more of a fluid actuator  220  (e.g., a fluid pump and/or valve) and a sensor package  230  (e.g., one or more of a mass/volume flow sensor (e.g., a Coriolis mass flow meter), a viscosity sensor, a pressure sensor, and a temperature sensor) can be disposed along any flow line  114  disclosed herein. 
       FIG. 3  illustrates exemplary locations of flow control packages  210  across chemical production system  100 . For example, and as shown in  FIG. 3 , a respective flow control package  210  can be disposed along every flow line  114  of production system  100 . A respective flow control package  210  can be disposed within each tank  102 , processing machine  104 - 110 , and filling station  112 . 
     Referring to  FIG. 3 , processing system  200  can be configured to actively control (e.g., adjust) each fluid actuator  220  and any actuator (e.g., cutting tool) of tank  102 , processing machines  104 - 110 , and filling station  112 . Processing system  200  can include a unidirectional or bidirectional wired or wireless communication path  202  (in  FIG. 3 , communication paths  202  are truncated for clarity) with each sensor and actuatable component. 
     IV 
       FIGS. 4-8  illustrate an exemplary pre-mixer  400 . As described above, first processing machine  104  can include only one or a plurality of pre-mixers  400  connected in series.  FIG. 4  is an isometric view of pre-mixer  400  when fully assembled.  FIG. 5  is an elevational view thereof.  FIG. 6  is a cross-sectional elevational view thereof from plane  6 - 6  in  FIG. 5 .  FIG. 7  is a bottom plan view thereof from plane  7 - 7  in  FIG. 5 .  FIG. 8  is a cross-sectional elevational view thereof from plane  8 - 8  in  FIG. 7 . 
     Pre-mixer  400  can be configured to continuously receive one or more precursors  122  and to continuously output first mixture  124 . Referring to  FIGS. 4-8 , pre-mixer  400  can include a plurality of inlets  402 , a core  404 , and an outlet  406 . Core  404  can include an annular outer cover  412  surrounding a driveshaft  414 . An electric motor  450  can rotationally power driveshaft  414 . Processing system  200  can control the rotational speed of driveshaft  414  through electric motor  450 . 
     After ingressing via inlets  402 , precursors  122  can mix in the annular chamber  470  defined between a static outer cover  412  and rotatable inner shaft  414 . In an embodiment, each precursor  122  can remain separate until reaching the interior of pre-mixer  400 . Multiple paddles  416  can radially extend from inner shaft  414  and radially terminate before contacting outer cover  412 . The rotation of paddles  416  can facilitate mixing. 
     Each paddle  416  can be a prism (e.g., box-shaped) including a rectangular face  418  defining a predetermined angle (e.g., 45° with respect to the longitudinal axis of inner shaft  414 . As shown in  FIGS. 6 and 8 , paddles  416  can be oriented such that during clockwise rotation CW-R (or counterclockwise according to another embodiment) of driveshaft  414 , rectangular faces  418  push fluid within core  404  toward outlet  406 . 
     To enhance stirring, rods  420  (also called stators) can extend through outer cover  412  and into inner shaft  414 . Rods  420  can exhibit axial spacing  442  ( FIG. 8 ) to enable uninterrupted rotation of paddles  416 . Paddles  416  can extend from driveshaft  414  in sets  430  where each set occupies a respective plane normal to driveshaft  414 . The combination of driveshaft  414 , paddles  416 , and rods  420  can be called a stirring assembly. 
     For example, and referring to  FIG. 8 , paddles  416 A and  416 B can form a first set  430 A while paddles  416 C and  416 D can form a second set  430 A. First set  430 A (e.g., paddles  416 A and  416 B) can rotate in a plane above first rod  420 A. Second set  430 B (e.g., paddles  416 C and  416 D) can rotate in a plane between first rod  420 A and second rod  420 B. Third set  430 C can rotate in a plane defined between second rod  420 B and third rod  420 C. 
     In an embodiment, each set  430  includes three, four, or five paddles  416  circumferentially disposed about driveshaft  414  at regular intervals. In  FIGS. 4-8 , each set  430  includes four regularly spaced paddles  416 . As shown in  FIGS. 7 and 8 , consecutive sets (e.g., first set  430 A and second set  430 B) can be angularly offset by 45° while alternating sets (e.g., first set  430 A and third set  430 C) can be aligned (e.g., exhibit zero angular offset). As a result, only fifth set  430 E and sixth set  430 F of sets  430  visible from the plan perspective of  FIG. 7 . 
     Referring to  FIGS. 6-8 , a bearing assembly  460  (e.g., a roller bearing assembly) can be disposed within chamber  470 . Radial supports  462  can extend from outer cover  412  to statically affix an outer race (not labeled) of bearing assembly  460 . An inner race thereof (not labeled) can affixed to driveshaft  414  and rotatably journaled (e.g., via roller bearings) within the outer race. 
     In an embodiment (not shown), each of the precursors  122  to first mixture  124  combine within annular chamber  418  of a first pre-mixer  400 . The resulting first mixture  124  is piped into the annular chamber  418  of a downstream second pre-mixer  400  to experience a second mixing process after which first mixture  124  is piped into the annular chamber  418  of a downstream third pre-mixer  400  to experience a third mixing process. 
     From the third pre-mixer  400 , first mixture  124  can flow into second processing machine  106 . Flow of first mixture  124  can be split downstream of the first pre-mixer  400 /second pre-mixer  400  into multiple streams, which can merge via the multiple inlets of the second pre-mixer  400 /third pre-mixer  400 . Processing system  200  can control the speed of each pre-mixer  400  independently. 
     IV.1 
       FIG. 9  is an isometric cut-away view of an exemplary inline disperser. Various inline dispersers are available from Ystral® at ystral.com/en/machines/z-inlinedispersers/.  FIG. 10  is a perspective view an exemplary cutting tool thereof.  FIG. 11  schematically depicts an exemplary operation of the cutting tool shown in  FIG. 10 .  FIG. 12  is a cross-sectional elevational view of the exemplary inline disperser of  FIG. 9 . 
     Referring to  FIGS. 9-12 , and as previously discussed, second processing machine  106  and third processing machine  108  can each be provided as one or more inline dispersers  600 . Fluid (e.g., a mixture) can enter core  604  through inlet  602  and depart via outlet  606 . Core  604  can define an annular mixing chamber  640  (visible due to the cut-away view of  FIG. 9 ) in which a driveshaft  610 , a rotor  620 , and a stator  630  are disposed. 
     In an embodiment, no active fluid/electrical temperature conditioning elements (e.g., resistive heating elements, refrigeration/heat pump loops, fans) are active within mixing chamber  640  of second processing machine  106  and the temperature of material reacted therein is uniform (e.g., exhibits a maximum gradient of less than 10, 5, 3, 2, or 1° C.). In an embodiment, no active temperature conditioning elements (e.g., resistive heating elements, refrigeration/heat pump loops, fans) of second processing machine  106  are controlled based on a temperature of first mixture  124 , second mixture  126 , or the material reacted within mixing chamber  640 . 
     In an embodiment, temperature of material reacted within second processing machine  106  is exclusively actively regulated through rotational speed control of the cutting tool. In an embodiment, friction between the reacted material and the cutting tool is responsible for at least 85, 90, 95, or 99% of heat absorbed into reacted material within second processing machine  106 . 
     Driveshaft  610  can extend out of mixing chamber  640  to an electric motor  680  (see  FIG. 12 ) configured to rotationally power driveshaft  610 . Referring to  FIG. 9 , rotor  620  can be secured to driveshaft  610  while stator  630  can be statically affixed to outer body  608 . Therefore, rotation of driveshaft  610  can cause rotor  620  to spin while stator  630  remains static. The combination of driveshaft  610 , rotor  620 , and/or stator  630  can be called a cutting tool. 
     Referring to  FIG. 9 , stator  630  can include an inner ring  632  and an outer ring  634  defining a radial gap (not labeled in  FIG. 9 ) therebetween. Rotor  620  can include an intermediate ring  622  disposed in the radial gap. The rotor  620  and stator  630  rings can periodically define radial apertures  728 ,  738  (labeled in  FIG. 10 ). Referring to  FIG. 10 , fluid (e.g., a urea thickener heterogeneously dispersed in oil) can flow through inlet  602  to a location radially inward of inner stator ring  632 . From there, the fluid can flow radially outward through the radial apertures of inner stator ring  632 , through the radial apertures of rotor ring  622 , and through the radial apertures of outer stator ring  634 . 
     The fluid can exit core mixing chamber  640  via outlet  606 . Spinning of rotor  620  with respect to stator  630  can shear fluid passing therethrough. The shearing action can both heat and homogenize the fluid. 
       FIGS. 10 and 11  show a rotor  620  and stator  630  with the additional ring layers. Rotor  620  can define inner, intermediate, and outer rings  722 ,  724 ,  726 . Each of the rotor rings can define periodically disposed radial apertures  728 . Stator  630  can define inner, intermediate, and outer rings  732 ,  734 ,  736 . Each of the stator rings can define periodically disposed radial apertures  738 . 
     Rotor  620  and stator  630  can fit together such that (i) inner rotor ring  722  is disposed directly radially between inner and intermediate stator rings  732 ,  734  within first stator circumferential channel  752 , (ii) intermediate rotor ring  724  is disposed directly radially between intermediate and outer stator rings  734 ,  736  within second stator circumferential channel  754 , and (iii) outer ring  726  is disposed directly radially outward of outer stator ring  736 . 
     Intermediate stator ring  734  can be disposed within first rotor circumferential channel  762  and outer stator ring  736  can be disposed within second rotor circumferential channel  764 . As further discussed below with reference to  FIG. 12 , the relative radial positions of rotor  620  and stator  630  can be swapped. 
     During operation, and referring to  FIGS. 10 and 11 , fluid including agglomerated particles  810  can flow from inlet  602 , through a central aperture  782  defined in rotor  620 , and into the central void  784  of stator  630 ,  730 . From there, the fluid can serially advance through the rings  732 ,  722 ,  734 ,  724 ,  736 ,  726  by way of the radial apertures  728 ,  738 . 
     The spinning of rotor  620  with respect to stator  630  can shear fluid passing therethrough. The shearing action can both heat and homogenize the fluid (e.g., de-agglomerate the particles  810 ).  FIG. 11  shows de-agglomerated particles  810  only occupying a sector of core mixing chamber  640  for convenience. During operation, particles  810  can be dispersed throughout. 
       FIG. 12  shows an example of inline disperser  600  with multiple rotor and stator stages. Various multi-stage inline dispersers are known in the art. In the depicted embodiment, a first rotor  620 A and a first stator  630 A can define a first stage, a second rotor  620 B and a second stator  630 B can define a second stage, and a third rotor  620 C and a third stator  630 C can define a third stage. Fluid can sequentially advance through the first, second, and third stages as shown in the broken-line flow path. 
     As shown in  FIG. 12 , the relative positions of rotor  620  and stator  630  can be swapped (compared with the embodiments depicted in  FIGS. 10 and 11 ) such that inner rotor ring  722  is directly radially inwards of inner stator ring  732 , intermediate rotor ring  724  is directly radially inwards of intermediate stator ring  734 , and outer rotor ring  726  is directly radially inwards of outer stator ring  736 . 
     Although shown in cross-section, the rotor and stator rings are stippled for clarity (the stator rings being more densely stippled than the rotor rings). In each respective stage, fluid can serially advance through the rotor and stator rings by way of radial apertures  728 ,  738  (present in the embodiment of  FIG. 12  but not shown due to the plane of cross section) in the following order:  722 ,  732 ,  724 ,  734 ,  726 ,  736 . 
     Referring to  FIG. 12 , fourth precursor  122 D (e.g., the additives) can be piped into third processing machine  108 , and thus second mixture  126 , at a point (not shown) directly downstream of first rotor stage  620 A and directly upstream of second rotor stage  620 B. 
     IV.2 
       FIG. 13  presents a first method  1300  for controlling any of the processing machines disclosed herein. First method  1300  can be used to control second processing machine  106  (e.g., inline disperser  600 ). At block  1302 , processing system  200  can determine (e.g., receive) a target temperature (e.g., 150° C.) for material exiting inline disperser  600  (e.g., second mixture  126 ) via outlet  606 . The target temperature can include a range (e.g., 150° C.±2° C.). 
     At block  1304 , processing system  200  can determine (e.g., capture) an actual temperature of material egressing through outlet  606 . Processing system  200  can do so by recording a temperature of second mixture  126  departing inline disperser  600  through outlet  606  with a sensor package  230  of a flow control module  210  disposed along outlet  606  (see  FIGS. 3, 6, and 8 ). 
     At block  1306 , processing system  200  can adjust the friction applied by inline disperser  600  based on the information determined during blocks  1302  and  1304  (e.g., based on the target temperature range and temperature estimate). If the estimated temperature within outlet  606  exceeds the target temperature, then processing system  200  can decelerate the cutting tool of inline disperser  600 . 
     Processing system  200  can decelerate the cutting tool at a magnitude based on the difference between the estimated temperature and the target temperature. For example, the magnitude of deceleration can be positively proportional to the difference. If the target temperature exceeds the estimated temperature within outlet  606 , then processing system  200  can accelerate the cutting tool of inline disperser  600 . Processing system  200  can accelerate the cutting tool at a magnitude based on the difference between the estimated temperature and the target temperature. For example, the magnitude of acceleration can be positively proportional to the difference. 
     In an embodiment, processing system  200  can determine the target temperature based on a determined (e.g., estimated) composition of first mixture  124 . Processing system  200  can determine the composition of first mixture  124  based on the relative flow rate of each precursor  102  into first processing machine  104 . For example, if the mass or volumetric ratio of first precursor  102 A to second precursor  102 B is 1:2, then processing system  200  can set a first target temperature (e.g., 145° C.) while if the same ratio is 1:1, then processing system  200  can set a second target temperature (e.g., 155° C.). Processing system  200  can determine the target temperature based on a determined viscosity of first mixture  124 . 
       FIG. 14  presents a second method  1400  for controlling any of the processing machines disclosed herein. Second method  1400  can be an embodiment of first method  1300  and used to control second processing machine  106  (e.g., inline disperser  600 ). In the following description, any discussion specific to inline disperser  600  can be generically applied to a different processing machine (e.g., pre-mixer  400 ). 
     At block  1402 , processing system  200  can determine (e.g., select) a target temperature for material exiting inline disperser  600  (e.g., second mixture  126 ) via outlet  606 . Although each cycle of method  1400  can return to block  1402 , the target temperature can be constant. 
     At block  1404 , processing system  200  can determine (e.g., capture) an actual temperature of material (e.g., second mixture  126 ) egressing through outlet  606 . Processing system  200  can do so by measuring a temperature of second mixture  126  departing inline disperser  600  through outlet  606  with a sensor package  230  of a flow control module  210  disposed along outlet  606  (see  FIG. 12 ). The actual temperature can be a running average of sensor measurements captured over a predetermined amount of time (e.g., one second). 
     At block  1406 , processing system  200  can compare the actual temperature with the target temperature to determine a current deadband status. 
     Referring to  FIG. 15 , the target temperature of block  1402  can include a point temperature  1500  (e.g., 175° C.) and a deadband set (also called a “control band set”). As further discussed below, the position of the actual temperature with respect to the deadband set can govern how processing system  200  adjusts the target rotational speed of inline disperser  600 . 
     The deadband set can be an asymmetric set including an inner deadband  1502  (e.g., 175° C.±0.1, 0.2, or 0.5° C.) and a corresponding outer deadband  1504  (e.g., 175° C.±1, 2, or 5° C. respectively). Inner deadband  1502  is also called a first deadband and outer deadband  1504  is also called a second deadband. As further discussed below, the term asymmetric can refer to the disparate manner in which processing system  200  treats temperatures falling outside inner deadband  1502  but within outer deadband  1504 . 
     An actual temperature within inner deadband  1502  (and thus occupying the central black region  1522  along temperature line  1520 ) can have an interior deadband status. First temperature measurement  1532  has an interior deadband status. An actual temperature existing within outer deadband  1504  but outside narrow deadband  1504  (and thus occupying one of the two white regions  1524  along temperature line  1520 ) can have an intermediate status. Second temperature measurement  1534  has an intermediate deadband status. An actual temperature existing outside outer deadband  1504  (and thus occupying one of the two outer black regions  1526  along temperature line  1520 ) can have an exterior status. Third temperature measurement  1536  has an exterior deadband status. 
     At block  1406  (see  FIG. 14 ), and if the actual temperature has an intermediate status, processing system  200  can determine (e.g., look-up) the last non-intermediate deadband status (indicated between brackets in  FIG. 14 ). If the last non-intermediate deadband status was interior, then processing system  200  can proceed to block  4108 . If the last non-intermediate deadband status was exterior, then processing system can proceed to block  1410 . 
     According to an embodiment, point temperature  1500  is 172° C., the narrow/inner deadband  1502  is [172° C.−0.3° C., 172° C.+0.4° C.] and the wide/outer deadband  1504  is [172° C.−2° C., 172° C.+3° C.]. The following is a time series of actual temperatures: [178° C. at time T−6, 175° C. at time T−5, 174° C. at time T−4, 172.1° C. at time T−3, 175° C. at time T−2, 170° C. at time T−1, and 168° C. at time T]. According to the target temperature and an embodiment of method  1400  discussed above, the time series would result in the following statuses: [Exterior at time T−6, Intermediate[Exterior] at time T−5, Intermediate[Exterior] at time T−4, Interior at time T−3, Intermediate[Interior] at time T−2, Intermediate[Interior] at time T−1, and Exterior at time T]. 
     According to an embodiment, point temperature  1500  is 180° C., the narrow/inner deadband  1502  is [180° C.−0.1° C., 180° C.+0.1° C.] and the wide/outer deadband  1504  is [180° C.−1° C., 180° C.+1° C.]. The following is a time series of actual temperatures: [175° C. at time T−6, 179.9° C. at time T−5, 179.1° C. at time T−4, 180.6° C. at time T−3, 181.1° C. at time T−2, 180.2° C. at time T−1, and 180.1° C. at time T]. According to the target temperature and an embodiment of method  1400  discussed above, the time series would result in the following statuses: [Exterior at time T−6, Interior at time T−5, Intermediate[Interior] at time T−4, Intermediate[Interior] at time T−3, Exterior at time T−2, Intermediate[Exterior] at time T−1, and Interior at time T]. 
     At block  1408 , processing system  200  can maintain the previous target speed of inline disperser  600  (i.e., set the new target speed as the previous target speed). Otherwise, and at block  1410 , processing system  200  can compute a new target speed based on the target temperature and the actual temperature. 
     After both block  1408  and block  1410 , processing system  200  can cause driveshaft  710  to rotate at the current target speed. For example, processing system  200  can cause driveshaft  710  to rotate at the current target speed by implementing a control algorithm configured to cause driveshaft  710  to rotate at the current target speed. 
     Block  1410  can include one or both of blocks  1412  and  1414 . At block  1412 , processing system  200  can apply a proportional-integral-derivative (“PID”) algorithm to compute (i.e., determine) a new target speed based on the target temperature and the actual temperature. 
     The asymmetric nature of the exemplary inner and outer deadbands  1502 ,  1504  enable processing system  200  to avoid oscillating the target speed in response to minor fluctuations of the actual temperature. For example, if the actual temperature is within the inner deadband  1502 , processing system  200  will decline to adjust the target speed until the actual temperature falls outside the outer deadband  1504 . However, if the actual temperature is outside the outer deadband  1504 , processing system  200  will continue to adjust the target speed until the actual temperature exists within the inner deadband  1502 . 
     At block  1414 , processing system  200  can quantize (e.g., round, truncate) the new target speed to one of a plurality of discrete values. For example, processing system  200  can express the target speed on a scale of 0-100 and be configured to quantize the new target speed to the nearest value ending in “0” (e.g., 0, 10, 20, 30, 40, etc.). Due to the quantization process, the new target speed can be rounded (e.g., truncated) to a value equal to the previous target speed. 
     In an embodiment, system  100  would be capable of controlling the rotational speed to differentially implement consecutive non-quantized values in the absence of block  1414 . For example, system  100  is capable, in the absence of block  1414 , of causing driveshaft  710  to rotate at a first rate when the target speed is 51% (e.g., 51% of the predetermined maximum possible speed) and at a second, different rate when the target speed is 52%. Put differently, block  1414  enables processing system  200  to control speed of driveshaft  710  at a lower resolution while processing system  200  would be otherwise capable of controlling speed of driveshaft  710  at a higher, more detailed, resolution. 
     According to an embodiment of the quantization process, processing system  200  calculates, with the PID algorithm, the new target speed as a percentage of the maximum possible speed (0-100%). In an embodiment, processing system  200  can scale the percentage to a bit value ranging from to 0-a predetermined maximum (e.g., 24768). To avoid unnecessary oscillation, processing system  200  can, in an embodiment, apply a bitmask along and/or a bitwise AND operator to set the last bits to 0. For a bitmask with 0xFFF0, for example, processing system  200  can be configured to change the output to inline disperser  600  only if there is a change in steps of 16 or 0x0010. If the maximum output (e.g., 24768) cannot be reached due to the bitwise AND, then processing system  200  can ignore the bitmask if the bit value exceeds a lesser predetermined value (e.g., 24760). 
     The PID algorithm that processing system  200  applies can include an anti-windup measure to paralyze or deactivate the integration component (i.e., the “I” in “PID”) in the presence of certain factors. In an embodiment, processing system  200  can perform the anti-windup measure when the target speed is outside a predetermined range (e.g., outside a range of 25-75% of the maximum possible target speed). 
     Processing system  200  can determine the target temperature (and thus the point temperature and size of each deadband) along with the size of the anti-windup range based on a state of the material entering inlet  602 . In an embodiment, processing system  200  can approximate the state as a function of (i.e., and thus base the target temperature and anti-windup range on) one or more of the following factors: (i) a composition of each precursor  122  used to make first mixture  124 , (ii) a relative ratio of each precursor  122  used to make first mixture  124 , (iii) a measured temperature of first mixture  124 , (iv) a measured viscosity of first mixture  124 , and/or (iv) a measured flow rate (e.g., mass flow rate) of first mixture  124 . 
     Processing system  200  can account for factor propagation delay based on the measured flow rate. Propagation delay can occur when a change in a factor (e.g., composition of first precursor  122 ) takes time to reach inline disperser  600 . Therefore, processing system  200  can use the mass flow rate to determine which previous measurements from upstream sensors apply to the portion of first mixture  124  currently reacted within inline disperser  600 , then rely on those earlier sensor measurements. 
     For example, if flow rate indicates that the portion of first mixture  124  currently reacted at time T within inline disperser  600  resulted from the portion of first mixture  124  emerging from first processing machine  104  at time T−1, then processing system  200  can rely on sensor measurements about the composition of each precursor  122  used to make first mixture  124  captured at time T−2. Therefore, processing system  200  can preserve a history for each sensor. Each entry in the history can include a time-stamp and a sensor reading. Processing system  200  can determine, based on the mass flow rate, the one or more sensor readings from each history that measured the specific section of first mixture  124  currently reacted within inline disperser  600 . 
     V 
     Referring to  FIG. 16 , processing system  200 ,  1200  can include one or more processors  1202 , memory  1204 , one or more input/output devices  1206 , one or more sensors  1208 , one or more user interfaces  1210 , and one or more actuators  1212 . As further discussed below, processing system  1200  can be distributed. For example, some components of processing system  1200  can be disposed inside a server and some can be disposed within first processing machine  104 , second processing machine  106 , etc. 
     Processors  1202  can include one or more distinct processors, each having one or more cores. Each of the distinct processors can have the same or different structure. Processors  1202  can include one or more central processing units (CPUs), one or more graphics processing units (GPUs), circuitry (e.g., application specific integrated circuits (ASICs)), digital signal processors (DSPs), and the like. Processors  1202  can be mounted on a common substrate or to different substrates. For example, some processors  1202  can be disposed in a first inline disperser  600  while other processors  1202  can be disposed in a second inline disperser  600 . 
     Processors  1202  are configured to perform a certain function, method, or operation at least when one of the one or more of the distinct processors is capable of implementing code (e.g., interpreting scripts), stored on memory  1204  embodying the function, method, or operation. Processors  1202 , and thus processing system  1200 , can be configured to perform, automatically, any and all functions, methods, and operations disclosed herein. 
     For example, when the present disclosure states that processing system  1200  performs/can perform task “X” (or that task “X” is performed), such a statement should be understood to disclose that processing system  1200  can be configured to perform task “X”. Processing system  1200  is configured to perform a function, method, or operation at least when processors  1202  are configured to do the same. 
     Memory  1204  can include volatile memory, non-volatile memory, and any other medium capable of storing data. Each of the volatile memory, non-volatile memory, and any other type of memory can include multiple different memory devices, located at multiple distinct locations and each having a different structure. Memory  1204  can include cloud storage. 
     Examples of memory  1204  include a non-transitory computer-readable media such as RAM, ROM, flash memory, EEPROM, any kind of optical storage disk such as a DVD, a Blu-Ray® disc, magnetic storage, holographic storage, an HDD, an SSD, any medium that can be used to store program code in the form of instructions or data structures, and the like. Any and all of the methods, functions, and operations described in the present application can be fully embodied in the form of tangible and/or non-transitory machine-readable code (e.g., scripts) saved in memory  1204 . 
     Input-output devices  1206  can include any component for trafficking data such as ports, antennas (i.e., transceivers), printed conductive paths, and the like. Input-output devices  1206  can enable wired communication via USB®, DisplayPort®, HDMI®, Ethernet, PROFIBUS, PROFINET, and the like. Input-output devices  1206  can enable electronic, optical, magnetic, and holographic, communication with suitable memory  1206 . Input-output devices  1206  can enable wireless communication via WiFi®, Bluetooth®, cellular (e.g., LTE®, CDMA®, GSM®, WiMax®, NFC®), GPS, and the like. Input-output devices  1206  can include wired and/or wireless communication pathways. 
     Sensors  1208  can capture physical measurements of environment and report the same to processors  1202 . User interface  1210  can include displays, physical buttons, speakers, microphones, keyboards, and the like. Actuators  1212  can enable processors  1202  to control mechanical forces. Actuators  1212  can include inverters or other mechanisms for controlling rotational speed. 
     Processing system  1200  can be distributed (e.g., across multiple processing machines). Processing system  1200  can have a modular design where certain features have a plurality of the aspects shown in  FIG. 16 . For example, I/O modules can include volatile memory and one or more processors. 
     While embodiments of the invention have been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. Changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. Statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments. 
     The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C.