Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Agenda 21 local e sustentabilidade socioambiental urbana de Limeira/SP

Pós-graduação em Geografia - IGCE

Probing neutrino oscillations in supersymmetric models at the Large Hadron Collider

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Habits hidden underground: a review on the reproduction of the Amphisbaenia with notes on four neotropical species

We review the information currently available on the reproduction of the Amphisbaenia and provide original data on the reproductive biology of four Neotropical species: Amphisbaena alba; A. mertensi; Cercolophia roberti, and Leposternon infraorbitale. In total, we compiled data for 22 species: 17 Amphisbaenidae, 1 Rhineuridae, 3 Bipedidae, and 1 Trogonophidae. The majority of the species were oviparous with the exceptions of Loveridgea ionidesii, Monopeltis anchietae, M. capensis, and Trogonophis wiegmanni. Viviparity was interpreted as a derived trait that evolved independently for at least 3 times within the Amphisbaenia. In most species, reproduction is synchronized with the hot and rainy season and seems to vary with latitude. Although Amphisbaenia eggs have been found in ant nests, it remains disputable whether this is an obligatory or even a preferable location for egg-laying. Incubation time in A. mertensii lasts 59 days and this is the first report encompassing egg-laying to hatching for any Amphisbaenia species. Nonetheless, a two months incubation period seems to be the common rule for oviparous Amphisbaenia. The general pattern of reproductive output in Amphisbaenia is characterized by a low number of eggs/embryos per clutch whose individual size is comparatively large in relation to adult body size. Eggs are markedly elongated on the long axis and arranged in-line within the abdominal cavity possibly to prevent/diminish biomechanic drawbacks of egg bearing. Hatchlings of A. mertensi possess an egg-tooth implanted at the upper jaw, exhibit positive geotropism, and display defensive behaviors known to be present in adults. Our review shows that our current knowledge of Amphisbaenia reproduction is fragmentary, often based on the examination of small samples, and heavily dependent on the publication of anedoctal observations. Future publications on this subject are encouraged.