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Rate Response Assessment From Various Granular Vrt Applicators, John P. Fulton, Scott A. Sherer, Stephen F. Higgins, Matthew J. Darr, Timothy S. Stombaugh
Rate Response Assessment From Various Granular Vrt Applicators, John P. Fulton, Scott A. Sherer, Stephen F. Higgins, Matthew J. Darr, Timothy S. Stombaugh
Matthew J. Darr
Variable-rate technology (VRT) adds complexity to application equipment, thereby confounding the assessment of applicator performance. The intent of this investigation was to assess the rate response of various VRT granular applicators: two spinner spreaders (A and B), and two pneumatic applicators (C and D). Variable-rate (VR) tests were conducted to quantify the rate response characteristics (delay and transition times) for the applicators. A sigmoidal function was used to model the rate response for five of the six tests. Applicator A exhibited a linear response during decreasing rate changes. Results indicated that only applicator B demonstrated consistent delay and transition times, …
Controller Area Network Based Distributed Control For Autonomous Vehicles, Matthew J. Darr, Timotthy S. Stombaugh, Scott A. Shearer
Controller Area Network Based Distributed Control For Autonomous Vehicles, Matthew J. Darr, Timotthy S. Stombaugh, Scott A. Shearer
Matthew J. Darr
The goal of this project was to evaluate the potential of a controller area network (CAN bus) to be used as the communication network for a distributed control system on an autonomous agricultural vehicle. The prototype system utilized microcontroller-driven nodes to act as control points along a CAN bus. Messages were transferred to the steering, transmission, and hitch control nodes via a task computer. The task computer utilized global positioning system data to generate appropriate control commands. Laboratory and field testing demonstrated that each of the control nodes could function simultaneously over the CAN bus. Results showed that the task …