RELATIVE CROSS TRACK ERROR CALCULATIONS IN ASABE/ISO 12188-2:2012 AND POWER/ENERGY ANALYSIS USING A 20 HP TRACTOR ON A FULLY ELECTRIC DRIVETRAIN

ASABE/ISO Standard 12188-2 provides test procedures for positioning and guidance systems in agricultural vehicles during straight and level travel. The standard provides excellent descriptions of test procedures, however it does not provide detail on methods to carry out the calculations necessary to calculate relative cross-track error (XTE), which is the primary measurement used to judge accuracy of the system. The standard was used to estimate the guidance accuracy of a relatively low-accuracy vehicle at 1.25 and 0.5 m s-1. At 1.25 m s-1, a nearest point calculation overestimated mean XTE by 0.8 cm, or 8.2%. The location sampling density was much higher with a 0.5 m s-1 travel speed, and mean XTE was only overestimated by 0.1 cm with the nearest point method. Power and energy data were recorded using a sled with a known weight to vary the drawbar force on asphalt. This will allow a comparison between the electric and conventional tractor over a range of forces applicable to a 20 HP tractor. The electric tractor was found to consume less than half the energy compared to a Kubota L5030 in a common configuration and a custom configuration to match the weight distribution of the electric tractor. Finger weeding tasks were recorded throughout the year capturing the duration and frequency of these tasks at the University of Kentucky (UK) consumer supported agriculture (CSA) farm. Power and energy data were recorded from the electric tractor while finger weeding. Diesel consumption was also recorded from a conventional tractor while finger weeding. Field data shows that the electric tractor needs approximately 0.532 kWh of energy while a conventional tractor requires approximately 1.258 kWh or energy to finger weed each row of vegetables. Conventional electric bills were compiled for the University of Kentucky CSA establishing an average monthly electric need. Historic NREL data was compiled establishing an average potential solar resource for central Kentucky. It was determined that a 15 kW photovoltaic array could meet the conventional electric needs of the UK CSA and supply the net energy allowing the electric tractor to meet the finger weeding need

Methods for Calculating Relative Cross-Track Error for ASABE/ISO Standard 12188-2 from Discrete Measurements

ASABE/ISO Standard 12188-2 provides test procedures for positioning and guidance systems in agricultural vehicles during straight and level travel. While the standard provides excellent descriptions of test procedures, it does not provide detail on methods to carry out the calculations necessary to calculate relative cross-track error (XTE), which is the primary error statistic used to judge accuracy. Given the travel speed and sampling constraints provided by the standard, the difference between a method based on nearest points or one based on path interpolation could hypothetically be as large as 25 cm. In this project, the standard was used to estimate the guidance accuracy of a relatively low-accuracy vehicle at 1.25 and 0.5 m s-1. At 1.25 m s-1, a basic nearest point calculation overestimated mean XTE by 0.8 cm, or 8.2%. The location sampling density was much higher with a 0.5 m s-1 travel speed, and mean XTE was only overestimated by 0.1 cm with the nearest point method. There are clearly situations where the calculation method will affect results, and the use of the more complicated methods explained in this article are suggested when using this standard

Substance abuse treatment and psychiatric comorbidity: do benefits spill over? analysis of data from a prospective trial among cocaine-dependent homeless persons

BACKGROUND: Comorbid psychiatric illness can undermine outcomes among homeless persons undergoing addiction treatment, and psychiatric specialty care is not always readily available. The prognosis for nonsubstance abuse psychiatric diagnoses among homeless persons receiving behaviorally-based addiction treatment, however, is little studied. RESULTS: Data from an addiction treatment trial for 95 cocaine-dependent homeless persons (1996–1998) were used to profile psychiatric diagnoses at baseline and 6 months, including mood-related disorders (e.g. depression) and anxiety-related disorders (e.g. post-traumatic stress disorder). Treatment interventions, including systematic reinforcement for goal attainment, were behavioral in orientation. There was a 32% reduction in the prevalence of comorbid non-addiction psychiatric disorder from baseline to 6 months, with similar reductions in the prevalence of mood (-32%) and anxiety-related disorders (-20%) (p = 0.12). CONCLUSION: Among cocaine-dependent homeless persons with psychiatric comorbidity undergoing behavioral addiction treatment, a reduction in comorbid psychiatric disorder prevalence was observed over 6 months. Not all participants improved, suggesting that even evidence-based addiction treatment will prove insufficient for a meaningful proportion of the dually diagnosed homeless population