Abstract: A tray assembly for monitoring food consumed from one or more dishes supported by the tray assembly includes a housing defining an interior and having an upper surface for supporting the one or more dishes. One or more weight assemblies are disposed in the interior of the housing. Each weight assembly includes a weight sensor configured to detect a weight of one dish of the one or more dishes and to provide a weight signal corresponding to the detected weight of the one dish. A difference between the weight taken at a first time during a meal and at a second time, after the first time, during the meal being generally indicative of an amount of food consumed during the meal from the one or more dishes.

Abstract: A multiple robot control architecture including a plurality of robotic agricultural machines including a first and second robotic agricultural machine. Each robotic agricultural machine including at least one controller configured to implement a plurality of finite state machines within an individual robot control architecture (IRCA) and a global information module (GIM) communicatively coupled to the IRCA. The GIMs of the first and second robotic agricultural machines being configured to cooperate to cause said first robotic agricultural machine and said second agricultural machine to perform at least one agricultural task.

Abstract: A multiple robot control architecture including a plurality of robotic agricultural machines including a first and second robotic agricultural machine. Each robotic agricultural machine including at least one controller configured to implement a plurality of finite state machines within an individual robot control architecture (IRCA) and a global information module (GIM) communicatively coupled to the IRCA. The GIMs of the first and second robotic agricultural machines being configured to cooperate to cause said first robotic agricultural machine and said second agricultural machine to perform at least one agricultural task.