Abstract: An extraction manifold for extracting digestate from a covered lagoon digester includes a digester vessel being shaped generally as a rectangular prism lacking an upward facing face and having a floor sloping generally downward from an intake face to an extraction face of the digester vessel. The intake face and extraction face are oriented vertically, situated in opposed relation on a longer horizontal axis. Each effluent pipe terminates in an extraction nozzle on one end and an independently addressable actuatable valve on the opposite end. Each actuatable valve communicates with a manifold plenum such that actuation of the valve draws digestate from the floor in a region of the floor adjacent to the extraction face and in proximity to the extraction nozzle. A valve controller actuates valves to remove digestate from the region of the floor adjacent to the extraction face. The valve controller includes sensors to monitor biogas production.

Abstract: An extraction manifold for extracting digestate from a covered lagoon digester includes a digester vessel being shaped generally as a rectangular prism lacking an upward facing face and having a floor sloping generally downward from an intake face to an extraction face of the digester vessel. The intake face and extraction face are oriented vertically, situated in opposed relation on a longer horizontal axis. Each effluent pipe terminates in an extraction nozzle on one end and an independently addressable actuatable valve on the opposite end. Each actuatable valve communicates with a manifold plenum such that actuation of the valve draws digestate from the floor in a region of the floor adjacent to the extraction face and in proximity to the extraction nozzle. A valve controller actuates valves to remove digestate from the region of the floor adjacent to the extraction face. The valve controller includes sensors to monitor biogas production.

Abstract: In accordance with one embodiment of the invention, a path planer and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.

Abstract: In accordance with one embodiment of the invention, a path planner and method for planning a path of a vehicle defines a reference row having a reference contour in a work area. A representation of the defined reference row is established. The defined reference row comprises a curved component, a generally linear component, or both. A generator generates one or more contour rows with a tracking contour that tracks or mirrors the reference contour based on a vehicular width and a radius difference parameter associated with the curved component. The contour rows are generated by a translation technique for the generally linear component and a radius modification technique for the curved component.

Abstract: A method and path planner for planning a path of a vehicle comprising a perimeter training module for identifying a border of a region associated with a work area. A definer for defining a reference row having a reference path that tracks at least a majority of the border. A generator generates tracking rows that track the reference row. The tracking rows comprise at least one inner tracking row and an outer tracking row. Each inner tracking row having at least one inner curve with a lesser radius than an outer tracking row having a corresponding outer curve with a greater radius.

Abstract: A path planner and a method for determining a path for a vehicle comprises defining a starting point for the vehicle. A termination point is defined. An obstacle detector detects one or more obstacles in a work area between the starting point and the termination point. A boundary zone is defined about each corresponding obstacle. Candidate paths are identified between the starting point and the termination point. Each candidate path only intersects each boundary zone once for each corresponding obstacle. An economic cost is estimated for traversing each candidate path or a portion thereof between the starting point and the termination point. A preferential path is selected from the identified candidate paths based on the preferential path being associated with a lowest estimated economic cost.

Abstract: A method for planning a path for a vehicle comprises creating a travel row transparency over a mapped area. The travel row transparency comprises one or more travel rows. The travel rows are split into travel row sections defined by intersecting the travel row with a map object (e.g., a boundary of mapped area). Partition nodes are generated from the travel row sections. The partition nodes or partition edges are linked together to form a potential drivable path consistent with user input and vehicular constrains. An efficient ordering of the partition nodes are determined consistent with the user input. A path is generated by looping through the ordered partition nodes in the determined efficient order.

Abstract: A perimeter training module establishes a perimeter path plan of a vehicle including a defined perimeter. A region-filling module establishes a region-filling path plan of the vehicle within the defined perimeter. A point-to-point planning module establishes a point-to-point path plan of a vehicle including a segment of at least one of the region-filling path plan and the perimeter path plan. The path planner forms a preferential composite path plan based on the established perimeter path plan, the region-filling plan, and the point-to-point path plan.