Abstract: A mixer attachment for use with a skid steer. In one embodiment, the mixer attachment includes a mixing tub with a circumferential wall extending between a floor and a rim to define an interior compartment for holding a quantity of material. An auger may be provided that mixes the materials and is driven by a hydraulic drive unit. In some embodiments, one or more material retarders extend into the interior compartment to impede movement of the material within the interior compartment. A discharge chute allows discharge of material from the interior compartment. The mixing tub is movable between a scooping position and a mixing position.

Abstract: A mixer attachment for use with a skid steer. In one embodiment, the mixer attachment includes a mixing tub with a circumferential wall extending between a floor and a rim to define an interior compartment for holding a quantity of material. An auger may be provided that mixes the materials and is driven by a hydraulic drive unit. In some embodiments, one or more material retarders extend into the interior compartment to impede movement of the material within the interior compartment. A discharge chute allows discharge of material from the interior compartment. The mixing tub is movable between a scooping position and a mixing position.

Abstract: A trajectory is generated using non-uniform rational B-splines. A feasible corridor is approximated with at least one convex polytope. The at least one convex polytope is defined by a plurality of vertices. The feasible corridor comprises a region in a trajectory space that satisfies a plurality of trajectory constraints for a vehicle to pass through the trajectory space. The vehicle comprises a plurality of vehicle constraints. A non-uniform rational B-spline (NURBS) definition is constructed that comprises: a plurality of NURBS basis functions, a plurality of control points that comprise the plurality of vertices, and a plurality of weight points. The plurality of vehicle constraints are parameterized with the plurality of NURBS basis functions. At least one trajectory is generated for the vehicle through the trajectory space where the at least on trajectory lies within the feasible corridor to satisfy the plurality of trajectory constraints.