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Full-Text Articles in Controls and Control Theory
Event And Time-Triggered Control Module Layers For Individual Robot Control Architectures Of Unmanned Agricultural Ground Vehicles, Tyler Troyer
Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research
Automation in the agriculture sector has increased to an extent where the accompanying methods for unmanned field management are becoming more economically viable. This manifests in the industry’s recent presentation of conceptual cab-less machines that perform all field operations under the high-level task control of a single remote operator. A dramatic change in the overall workflow for field tasks that historically assumed the presence of a human in the immediate vicinity of the work is predicted. This shift in the entire approach to farm machinery work provides producers increased control and productivity over high-level tasks and less distraction from operating …
Embedded Virtual Machines For Robust Wireless Control And Actuation, Miroslav Pajic, Rahul Mangharam
Embedded Virtual Machines For Robust Wireless Control And Actuation, Miroslav Pajic, Rahul Mangharam
Rahul Mangharam
Embedded wireless networks have largely focused on open-loop sensing and monitoring. To address actuation in closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination and control. As the links, nodes and topology of wireless systems are inherently unreliable, such time-critical and safety-critical applications require programming abstractions and runtime systems where the tasks are assigned to the sensors, actuators and controllers as a single component rather than statically mapping a set of tasks to a specific physical node at design time. To this end, we introduce the Embedded Virtual Machine (EVM), …