Patent ID: 8942893
Filing Date: 2015-01-27
Classification: A01M,G05D

Abstract:
1. A method for adjusting a shape of a boom that is adjustably coupled to an application vehicle, the boom having a boom section, the method comprising: receiving a current motion of the application vehicle from a motion sensor; anticipating, based on the current motion, that an adjustment criterion will not be satisfied at a projected coordinate corresponding to a portion of the boom; determining one or more latency values by referencing a memory component, wherein the one or more latency values are stored in the memory component, wherein the one or more latency values comprise an amount of time associated with at least one of information retrieval and computation; and determining, based at least in part on the one or more latency values, an actuation command configured to cause a boom actuation system to adjust a shape of the boom before the portion of the boom reaches the projected coordinate; communicating the actuation command to the boom actuation system; receiving a measurement from at least one of a plurality of downward-looking sensors attached to the boom, the measurement indicating the distance from the at least one downward-looking sensor to a ground surface substantially beneath the downward-looking sensor; determining, based on the measurement, that the adjustment criterion is not satisfied; and adjusting, upon determining that the adjustment criterion is not satisfied, the actuation command.