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Full-Text Articles in Controls and Control Theory
Inter-Row Robot Navigation Using 1d Ranging Sensors, Tyler A. Troyer, Santosh Pitla, Ethan Nutter
Inter-Row Robot Navigation Using 1d Ranging Sensors, Tyler A. Troyer, Santosh Pitla, Ethan Nutter
Department of Biological Systems Engineering: Papers and Publications
In this paper a fuzzy logic navigation controller for an inter-row agricultural robot is developed and evaluated in laboratory settings. The controller receives input from one-dimensional (1D) ranging sensors on the robotic platform, and operated on ten fuzzy rules for basic row-following behavior. The control system was implemented on basic hardware for proof of concept and operated on a commonly available microcontroller development platform and open source software libraries. The robot platform used for experimentation was a small tracked vehicle with differential steering control. Fuzzy inferencing and defuzzification, step response and cross track error were obtained from the test conducted …
Comparing Various Hardware/Software Solutions And Conversion Methods For Controller Area Network (Can) Bus Data Collection, Samuel E. Marx, Joe D. Luck, Santosh Pitla, Roger M. Hoy
Comparing Various Hardware/Software Solutions And Conversion Methods For Controller Area Network (Can) Bus Data Collection, Samuel E. Marx, Joe D. Luck, Santosh Pitla, Roger M. Hoy
Department of Biological Systems Engineering: Papers and Publications
Various hardware and software solutions exist for collecting Controller Area Network (CAN) bus data. Digital data accuracy could vary based upon different data logging methods (e.g., hardware/software timing, processor timing, etc.). CAN bus data were collected from agricultural tractors using multiple data acquisition solutions to quantify differences among collection methods and demonstrate potential data accumulation rates. Two types of data were observed for this study. The first, CAN bus frame data, represents data collected for each line of hex data sent from an ECU. One issue with frame data is the resulting large file sizes, therefore a second logging format …
Umass Amherst Green Building Guidelines 2013, Ludmilla Pavlova-Gillham, Ted Mendoza, Ezra Small, Patricia O'Flaherty, Nariman Mostafavi, Mohamed Farzinmoghadam, Somayeh Tabatabaee Pozveh
Umass Amherst Green Building Guidelines 2013, Ludmilla Pavlova-Gillham, Ted Mendoza, Ezra Small, Patricia O'Flaherty, Nariman Mostafavi, Mohamed Farzinmoghadam, Somayeh Tabatabaee Pozveh
Campus Planning Reports and Plans
Facilities & Campus Services, Sustainable UMass and Campus Planning support sustainability and energy conservation initiatives by providing in-house resources to campus staff as well as designers and contractors working with the University. The UMass Amherst Green Building Guidelines provide a framework for approaching new construction and major renovation projects at UMass Amherst that are undergoing LEED certification by focusing the conversation on green building aspects that are most important to the campus. They are intended to be the beginning of a dynamic conversation between designers, environmental consultants and constructors, university stakeholders, and users of new high performance buildings.