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.

Technical manual, operator and organizational manual : grader, road, motorized, DED, type 1, 6 wheel, 4 wheel drive, front wheel steering, 12-foot blade, Caterpillar model 120, FSN 3805-466-0084.

Includes index.

Unit, intermediate direct support, and intermediate general support parts and tools list : grader, road, motorized, DED 6 wheeled, 4 wheel drive, articulated frame, front wheel steering (CCE) airborne airmobile, sectionalized and nonsectionalized, models 130 GS and 130 GNS, NSN 3805-01-126-7894, NSN 3805-01-126-7895.

"22 April 1987."

Equipment serviceability criteria for compressor, reciprocating, air, power driven, high pressure, 4 CFM and up, 1000 PSI and up, group I--four wheel MTD, pneumatic tires, GED, Davey mdl P-4, Joy mdls 15HGPS-MSI and 15HGP9-MSI, Joy mdl WK-80 15H1, Joy mdl 415HGP3-MSI, Ingersoll-Rand mdl P4R 15 G-J, Stewart-Warner mdl 12021A ...

"20 June 1973"--P. 1.

Unsafe driving behaviour and four wheel drive vehicles: observational study

Objective To assess the level of compliance with the new law in the United Kingdom mandating penalties for rising a hand held mobile phone while driving, to compare compliance with this law with the one on the use of seat belts, and to compare compliance with these laws between drivers of four wheel drive vehicles and drivers of normal cars. Design Observational study with two phases-one within the grace period, the other starting one week after penalties were imposed on drivers using such telephones. Setting Three busy sites in London. Participants Drivers of 38 182 normal cars and 2944 four wheel drive vehicles. Main outcome measures Proportions of drivers seen to be using hand held mobile phones and not using seat belts. Results Drivers of four wheel drive vehicles were more likely than drivers of other cars to be seen using hand held mobile phones (8.2% v 2.0%) and not complying with the law on seat belts (19.5% v 15.0%). Levels of non-compliance with both laws were slightly higher in the penalty phase of observation, and breaking one law was associated with increased likelihood of breaking the other. Conclusions The level of non-compliance with the law on the use of hand held mobile phones by drivers in London is high, as is non-compliance with the law on seat belts. Drivers of four wheel drive vehicles were four times more likely than drivers of other cars to be seen using hand held mobile phones and slightly more likely not to comply with the law on seat belts.

Design of salient pole PM synchronous machines for a vehicle traction application – Analysis and

This doctoral thesis presents a study on the development of a liquid-cooled frame salient pole permanent-magnet-exited traction machine for a four-wheel-driven electric car. The emphasis of the thesis is put on a radial flux machine design in order to achieve a light-weight machine structure for traction applications. The design features combine electromagnetic and thermal design methods, because traction machine operation does not have a strict operating point. Arbitrary load cycles and the flexible supply require special attention in the design process. It is shown that accurate modelling of the machine magnetic state is essential for high-performance operation. The saturation effect related to the cross-saturation has to be taken carefully into account in order to achieve the desired operation. Two prototype machines have been designed and built for testing: one totally enclosed machine with a special magnet module pole arrangement and another through-ventilated machine with a more traditional embedded magnet structure. Both structures are built with magnetically salient structures in order to increase the torque production capability with the reluctance torque component. Both machine structures show potential for traction usage. However, the traditional embedded magnet design turns out to be mechanically the more secure one of these two machine options.

Pervasive Business Intelligence

In the last few years, a new generation of Business Intelligence (BI) tools called BI 2.0 has emerged to meet the new and ambitious requirements of business users. BI 2.0 not only introduces brand new topics, but in some cases it re-examines past challenges according to new perspectives depending on the market changes and needs. In this context, the term pervasive BI has gained increasing interest as an innovative and forward-looking perspective. This thesis investigates three different aspects of pervasive BI: personalization, timeliness, and integration. Personalization refers to the capacity of BI tools to customize the query result according to the user who takes advantage of it, facilitating the fruition of BI information by different type of users (e.g., front-line employees, suppliers, customers, or business partners). In this direction, the thesis proposes a model for On-Line Analytical Process (OLAP) query personalization to reduce the query result to the most relevant information for the specific user. Timeliness refers to the timely provision of business information for decision-making. In this direction, this thesis defines a new Data Warehuose (DW) methodology, Four-Wheel-Drive (4WD), that combines traditional development approaches with agile methods; the aim is to accelerate the project development and reduce the software costs, so as to decrease the number of DW project failures and favour the BI tool penetration even in small and medium companies. Integration refers to the ability of BI tools to allow users to access information anywhere it can be found, by using the device they prefer. To this end, this thesis proposes Business Intelligence Network (BIN), a peer-to-peer data warehousing architecture, where a user can formulate an OLAP query on its own system and retrieve relevant information from both its local system and the DWs of the net, preserving its autonomy and independency.

Tractor PT: A traction prediction software for agricultural tractor

Traction prediction modelling, a key factor in farm tractor design, has been driven by the need to find the answer to this question without having to build physical prototypes. A wide range of theories and their respective algorithms can be used in such predictions. The “Tractors and Tillage” research team at the Polytechnic University of Madrid, which engages, among others, in traction prediction for farm tractors, has developed a series of programs based on the cone index as the parameter representative of the terrain. With the software introduced in the present paper, written in Visual Basic, slip can be predicted in two- and four-wheel drive tractors using any one of four models. It includes databases for tractors, front tyres, rear tyres and working conditions (soil cone index and drawbar pull exerted). The results can be exported in spreadsheet format.

Product variety and just-in-time conflict and challenge

This paper addresses the question of how just-in-time can be implemented within high variety manufacture. To illustrate some of the principles in relation to the high variety-low volume situation the case of a computer manufacturer is considered in detail. For contrast the paper also considers the case of the manufacture of highly-configured four wheel drive vehicles where both variety and volumes are high. The most important issue in high variety/low volume production is that JIT operation should be seen in terms of the tactical holding of inventory in upstream buffers within the supply chain so that value is not added to work in progress prematurely. Tactical buffers ensure that service levels are maintained and the risk of stock-outs is minimized. In high variety/high volume production schedule integrity is the key factor, unreliable schedules being a major inhibitor to the introduction of JIT.

Investigation of the Impact of Dual-Lane Axle Spacing on Lateral Load Distribution, 2016

The spacing of adjacent wheel lines of dual-lane loads induces different lateral live load distributions on bridges, which cannot be determined using the current American Association of State Highway and Transportation Officials (AASHTO) Load and Resistance Factor Design (LRFD) or Load Factor Design (LFD) equations for vehicles with standard axle configurations. Current Iowa law requires dual-lane loads to meet a five-foot requirement, the adequacy of which needs to be verified. To improve the state policy and AASHTO code specifications, it is necessary to understand the actual effects of wheel-line spacing on lateral load distribution. The main objective of this research was to investigate the impact of the wheel-line spacing of dual-lane loads on the lateral load distribution on bridges. To achieve this objective, a numerical evaluation using two-dimensional linear elastic finite element (FE) models was performed. For simulation purposes, 20 prestressed-concrete bridges, 20 steel bridges, and 20 slab bridges were randomly sampled from the Iowa bridge database. Based on the FE results, the load distribution factors (LDFs) of the concrete and steel bridges and the equivalent lengths of the slab bridges were derived. To investigate the variations of LDFs, a total of 22 types of single-axle four-wheel-line dual-lane loads were taken into account with configurations consisting of combinations of various interior and exterior wheel-line spacing. The corresponding moment and shear LDFs and equivalent widths were also derived using the AASHTO equations and the adequacy of the Iowa DOT five-foot requirement was evaluated. Finally, the axle weight limits per lane for different dual-lane load types were further calculated and recommended to complement the current Iowa Department of Transportation (DOT) policy and AASHTO code specifications.

Monitoring sandy shores morphologies by DGPS: a practical tool to generate digital elevation models

The highly dynamic nature of some sandy shores with continuous morphological changes require the development of efficient and accurate methodological strategies for coastal hazard assessment and morphodynamic characterisation. During the past decades, the general methodological approach for the establishment of coastal monitoring programmes was based on photogrammetry or classical geodetic techniques. With the advent of new geodetic techniques, space-based and airborne-based, new methodologies were introduced in coastal monitoring programmes. This paper describes the development of a monitoring prototype that is based on the use of global positioning system (GPS). The prototype has a GPS multiantenna mounted on a fast surveying platform, a land vehicle appropriate for driving in the sand (four-wheel quad). This system was conceived to perform a network of shore profiles in sandy shores stretches (subaerial beach) that extend for several kilometres from which high-precision digital elevation models can be generated. An analysis of the accuracy and precision of some differential GPS kinematic methodologies is presented. The development of an adequate survey methodology is the first step in morphodynamic shore characterisation or in coastal hazard assessment. The sample method and the computational interpolation procedures are important steps for producing reliable three-dimensional surface maps that are real as possible. The quality of several interpolation methods used to generate grids was tested in areas where there were data gaps. The results obtained allow us to conclude that with the developed survey methodology, it is possible to Survey sandy shores stretches, under spatial scales of kilometers, with a vertical accuracy of greater than 0.10 m in the final digital elevation models.

Desenvolvimento de um veículo para a prática de cicloturismo

Com uma Sociedade cada vez mais complexa e evolutiva, vários são os desafios a que somos postos à prova. Com isto, a população apesar das suas dependências e comodismos, tende a procurar novos meios de lazer que se envolvam com a natureza e com a prática desportiva. Deste modo, o Cicloturismo vai ao encontro destas práticas, tornando-se um mercado em evolução, cuja a aderência do número de pessoas tem vindo a crescer, sendo um tipo de turismo que acarreta resultados positivos, tais como um estilo de vida saudável, bem como a utilização de um meio de transporte de baixo custo e com uma pegada ecológica. Na mesma linha de pensamento, o presente documento aborda todo o processo de execução de um Quadriciclo. O objetivo geral do mesmo, incide em satisfazer as necessidades dos praticantes de cicloturismo e incentivar as pessoas para o uso da bicicleta como meio de transporte. Para tal, os participantes envolvidos foram utilizadores assíduos do uso da bicicleta, não só procurando-a para o lazer, mas sim para a prática do Cicloturismo. Assim, os utilizadores do veiculo projetado têm o privilégio de ter como painel de fundo das suas viagens, o coração da natureza, disfrutando do conforto e da segurança que este proporciona, e ainda como resultado das mesmas, um estilo de vida mais saudável. De forma sequencial e organizada, utilizando como base a Metodologia de Ulrich e Eppinger, são notáveis os passos que foram dados para obter o produto final. Para além dos fortes conceitos de conforto, estabilidade, engenharia e ergonomia, é primordial salientar toda a importância do Design, uma vez que influenciou a disposição do veículo de quatro rodas, do início ao fim.

Vehicle and driver attributes affecting distance from the steering wheel in motor vehicles

The current study was designed to confirm that female drivers sit closer to the steering wheel than do male drivers and to investigate whether this expected difference in sitting position is attributable to differences in the physical dimensions of men and women. Driver body dimensions and multiple measures of sitting distance from the steering wheel were collected from a sample of 150 men and 150 women. The results confirmed that on average, women sit closer to the steering wheel than men do and that this difference is accounted for by variations in body dimensions, especially height. This result suggests that driver height may provide a good surrogate for sitting distance from the steering wheel when investigating the role of driver position in real-world crash outcomes. The potential applications of this research include change to vehicle design that allows independent adjustment of the relative distance among the driver's seat, the steering wheel, and the floor pedals.

Genetic fuzzy-based steering wheel controller using a mass-produced car

Intelligent Transportation Systems (ITS) cover a broad range of methods and technologies that provide answers to many problems of transportation. Unmanned control of the steering wheel is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle to reproduce the steering of a human driver. To this end, information is recorded about the car's state while being driven by human drivers and used to obtain, via genetic algorithms, appropriate fuzzy controllers that can drive the car in the way that humans do. These controllers have satisfy two main objectives: to reproduce the human behavior, and to provide smooth actions to ensure comfortable driving. Finally, the results of automated driving on a test circuit are presented, showing both good route tracking (similar to the performance obtained by persons in the same task) and smooth driving.

Steering wheel oscillations and vertical movement in 30 mph barrier impacts. Technical report.

Mode of access: Internet.