This paper presents systematic calculation about steering loads, taking both the tracks slip and track-width into account. We can deduce propelling force, braking force and steering resistance torque in an algorithmic model on the assumption of uniform pressure distribution and concentrated ground-contact-load distribution in steering process. The result shows that, propelling force, braking force and steering resistance torque can be computed on a simple model of considered tracks' slip and disregarded track-width when track-width is considered. Propelling force and brake force lean to the bodys longitudinal geometrical centerline, while offsets can be ignored relative to track-width.

This paper mainly introduces a new design about intelligent greenhouse control system based on system on a programmable chip, which is PSoC. This paper first introduces the current advanced characteristics of this system on a programmable chip PSoC with digital and analog mixed processing ability, and then focuses on the system structure, working principle, the realization of hardware module and software design method of the intelligent greenhouse control system based on PsoC platform.