An Autonomous Forest Robot That Uses a Hierarchical, Fuzzy Logic Controller

Anderson, I. P.; Carlson, A.C.; Edwards, Dean B.; Anderson, Mike; Feeley, J.J.

doi:10.13031/2013.19175

Cited by 14 publications

(14 citation statements)

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“…According to the results obtained by Anderson et al. large changes in pH may occur in buffered solutions when modifying the temperature, and these pH changes can vary considerably with the type of buffer being used . Thus, as occurs for NAD + , at neutral pH and 100°C, its hydrolysis in phosphate and related buffers appears to proceed predominantly through a hydroxyl ion attack, so a similar effect could happen for NADH.…”

Section: Chemical Degradation Of Metabolites During Metabolomics Workmentioning

confidence: 96%

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Stability of energy metabolites—An often overlooked issue in metabolomics studies: A review

et al. 2015

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Recent advances in analytical chemistry have set the stage for metabolite profiling to help understand complex molecular processes in physiology. Despite ongoing efforts, there are concerns regarding metabolomics workflows, since it has been shown that internal (enzyme activity, blood contamination, and the dynamic nature of metabolite concentrations) as well as external factors (storage, handling, and analysis method) may affect the metabolome profile. Many metabolites are intrinsically instable, particularly some of those associated with central carbon metabolism. While enzymatic conversions have been studied in great detail, nonenzymatic, chemical conversions received comparatively little attention. This review aims to give an in-depth overview of nonenzymatic energy metabolite degradation/interconversion chemistry focusing on a selected range of metabolites. Special attention will be given to qualitative (degradation pathways) as well as quantitative aspects, that may affect the acquisition of accurate data in the context of metabolomics studies. Problems related to the use of isotopically labeled internal standards hindering the quantitative analysis of common metabolites will be presented with an experimental example. Finally, general conclusions and perspectives are given.

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Section: Chemical Degradation Of Metabolites During Metabolomics Workmentioning

confidence: 96%

“…The stability of the oxidized forms is also affected by the buffer components. For example, the degradation rate is increased by about 6.6 times in phosphate buffer as compared to Tris buffer at the same concentration (0.1 M) and pH (7.60) .…”

Section: Chemical Degradation Of Metabolites During Metabolomics Workmentioning

confidence: 99%

Stability of energy metabolites—An often overlooked issue in metabolomics studies: A review

et al. 2015

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“…17,18,20,27 Synthesis of Acrylamide/Acrylic Acid/Ammonium Acrylate (AM/AA/AmA) Polymer Crosslinked with MBA by Inverse Emulsion Polymerization Anionic copolymers were synthesized by a free radical inverse emulsion polymerization process at 25 wt % of active material. The anionic copolymers obtained were highly random materials composed of three different monomer units AM/AA/AmA and partially crosslinked with MBA (Scheme 1).…”

Section: Article Wileyonlinelibrarycom/appmentioning

confidence: 99%

“…20 This system improves surface stability, reduces the interfacial tension, and water molecules to migrate through the interface film. 17,18,20 The required number of traditional surfactants and polymer dispersants that provides sufficient stability to the emulsion in the reaction and in the distillation processes is high, generally ranging from 10 to 30 wt % (based on the weight of the oil used in the continuous phase). Although traditional surfactants, including sorbitan monooleate and sorbitan monostearate, are relatively inexpensive, the availability of copolymeric dispersants based on methacrylic acid-co-stearyl methacrylate in the market is limited.…”

Section: Introductionmentioning

confidence: 99%

Preparation of highly concentrated inverse emulsions of acrylamide‐based anionic copolymers as efficient water rheological modifiers

Barajas

Carrillo²,

Alvarado

2016

J of Applied Polymer Sci

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Highly concentrated inverse anionic polymeric emulsions (with a solid content of up to 63 wt %) were prepared using a two-step methodology: (i) First, acrylamide, acrylic acid, and its ammonium salts crosslinked copolymers were obtained by inverse emulsion polymerization, (ii) The water/volatile oil mixture was then separated from the heterogeneous system by vacuum distillation. To maintain sufficient stability during the reaction and distillation processes, a ternary surfactant mixture was used. A surface response methodology was employed to obtain the optimal values of the factors involved in both process and product specifications, and to maximize the high performance of these inverse anionic polymer emulsions. This yielded a product containing up to 63.2 wt % solids capable of achieving Brookfield viscosities as high as 40.3 PaÁs, using an aliquote of these concentrated inverse polymer emulsions (1.8 wt % in deionized water). Rheological characterization (oscillatory and rotational measurements) was carried out to evaluate the behavior of the diluted inverse anionic polymer emulsion in water thickening. The methodology developed can be used to formulate a wide range of viscoelastic (G 00 /G 0 ) water-based products from anionic water soluble polymers.

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“…A machine presented by Golob (1981) autonomously conducted tree felling, delimbing and piling of stems, while robots designed to develop and demonstrate autonomous control were built to perform weeding, pre-commercial thinning and thinning of young coniferous stands (Kourtz 1996). The latter machinery was also used to study forest environment sensing and to test mobility concepts, which also was addressed in the evaluation of an autonomous log skidder that was guided by 6 sonar rangefinders (Anderson et al 2005). Present research mainly focus on development of support-systems decision management, automation of specific work tasks to relieve the operator from both physical and mental pressure (shared control) and automation of navigation in terrain ).…”

Section: Introductionmentioning

confidence: 99%

Path tracking in forest terrain by an autonomous forwarder

Ringdahl

Lindroos

Hellström

et al. 2011

Scandinavian Journal of Forest Research

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Autonomous navigation in forest terrain, where operation paths are rarely straight or flat and obstacles are common, is challenging. This paper evaluates a system designed to autonomously follow previously demonstrated paths in a forest environment without loading/unloading timber, a pre-step in the development of fully autonomous forwarders. The system consisted of a forwarder equipped with a high-precision global positioning system to measure the vehicle's heading and position. A gyro was used to compensate for the influence of the vehicle's roll and pitch. On an ordinary clear-cut forest area with numerous stumps, the vehicle was able to follow two different tracks, three times each at a speed of 1 m s -1 , with a mean path tracking error of 6 and 7 cm, respectively. The error never exceeded 35 cm, and in 90% of the observations it was less than 14 and 15 cm, respectively. This accuracy is well within the necessary tolerance for forestry operations. In fact, a human operator would probably have a hard time following the track more accurately. Hence, the developed systems function satisfactorily when using previously demonstrated paths. However, further research on planning new paths in unknown unstructured terrain and on loading/unloading is required before timber transports can be fully automated.

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An Autonomous Forest Robot That Uses a Hierarchical, Fuzzy Logic Controller

Cited by 14 publications

References 0 publications

Stability of energy metabolites—An often overlooked issue in metabolomics studies: A review

Stability of energy metabolites—An often overlooked issue in metabolomics studies: A review

Preparation of highly concentrated inverse emulsions of acrylamide‐based anionic copolymers as efficient water rheological modifiers

Path tracking in forest terrain by an autonomous forwarder

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