Fluid Power Systems
C. E. Goering,* R. S. Book
University of Illinois

A programmable electrohydraulic valve was developed. Through use of computer software, the generic valve is able to perform the functions of many specialized valves and also permit implementation of new control strategies not previously achieveable. Valve sensitivity to flow forces reduced the useful range of operation, suggesting that development of improved cartridge valves would further improve the performance of the programmable electro-hydraulic valve.

Vision-based Guidance and Control of Field Machinery
J. F. Reid*
University of Illinois; Illinois Council for Food and Agriculture Research

Machine vision sensing has been developed as an information source for a variety of applications in agricultural vehicle guidance and control. Applications include vehicle guidance based on pathways defined by crops, rows, or artificial markets. Machine vision as a sensor for precision agriculture is a primary focus of this research.

Farm Machinery Selection and Management
J. C. Siemens*
University of Illinois

A computer program has been developed and released which determines the optimum machinery set for a farm. With specification of the desired field operations and corresponding work hours and areas to be covered, the program schedules the operations and calculates the costs of different machinery sets. The least cost (optimum) machinery set is determined using an optimization procedure. Management details of the least cost set or other sets are provided.

Soil Compaction Caused by Wheel Traffic
J. C. Siemens*
University of Illinois

A soil compaction study is underway to determine effects of wheel and track traffic on crop growth and yield. Treatments include no extra traffic, extra traffic on every other row, and traffic over the entire plot area before planting. Crop yields have decreased due to soil compac-tion in some years, especially in years when compaction causes drainage to be inadequate.

Tillage Systems
J. C. Siemens,* J. W. Hummel, E. D. Nafziger (Crop Sci.)
University of Illinois

Several tillage systems for crop production are being evaluated at Urbana and at five University of Illinois Agricultural Research Demonstration Centers. Tillage treatments vary from moldboard plow or chisel plow to no-tillage systems with monocropping and crop rotations. Principal factors being studied are crop establishment, growth, and yield; soil condition and fertility; soil erosion; weed control; and economics.

Fuzzy Controls for Mechatronized Off-Road Equipment
Q. Zhang,* J. F. Reid, C. E. Goering
U.S. Department of Agriculture HATCH Funds

This research intends to develop an automated guidance control system for off-road equipment. The hypothesis of this research is that experienced human operators, using their experience and common-sense intelligence, can maneuver off-road equipment well for all operations. One of the fundamental tasks is to guide a vehicle following certain path. The specific objectives of this program are to develop (1) redundant guidance sensing technology, (2) a vehicle path planner, (3) sensor fusion technology for guidance, and (4) fuzzy controls for electro-hydraulic steering control. This guidance control system will be implemented on an agricultural tractor on crop production fields.

Intelligent Navigation Control for Off-Highway Equipment with Automated Guidance
Q. Zhang*
University of Illinois

This research intends to address basic and applied issues of intelligent navigation control for off-highway equipment with automated guidance. It is focused on solving inaccuracy and inconsistency in implementing automated electrohydraulic steering control. Specific objectives are to develop (1) an interactive electrohydraulic steering simulator for supporting steering dynamics and controls research, (2) a steering load controller for reproducing steering load spectrum on various terrain, and (3) advanced algorithms for electrohydraulic steering control. This research develops steering control fundamentals for automated guided off-road equipment.