The training of a learning agent to provide real-time control of an object is disclosed. Training of the learning agent and training of a corresponding pioneer agent are iteratively alternated. The training of the learning and pioneer agents is under the supervision of a supervisor agent. The training of the learning agent provides feedback for subsequent training of the pioneer agent. The training of the pioneer agent provides feedback for subsequent training of the learning agent. During the training, a supervisor coefficient modulates the influence of the supervisor agent. As agents are trained, the influence of the supervisor agent is decayed. The training of the learning agent, under a first level of supervisor influence, includes real-time control of the object. The subsequent training of the pioneer agent, under a reduced level of supervisor influence, includes replay of training data accumulated during the real-time control of the object.

A method allows positioning the tracker at angles that promote the cooling of photovoltaic modules and therefore, decrease their operating temperature, without reducing the total energy produced thus optimizing power production of photovoltaic (PV) electricity by reducing the working temperature of PV modules of a solar tracker. The method also provides an optimization of the electrical output of the system for particular conditions of instantaneous air temperature and wind speed to improve electrical power generation ratios with respect to those known current techniques taking into account incident power in the PV plane, or in some cases the output power without considering the action of changes in wind speed or air temperature.

A method allows positioning the tracker at angles that promote the cooling of photovoltaic modules and therefore, decrease their operating temperature, without reducing the total energy produced thus optimizing power production of photovoltaic (PV) electricity by reducing the working temperature of PV modules of a solar tracker. The method also provides an optimization of the electrical output of the system for particular conditions of instantaneous air temperature and wind speed to improve electrical power generation ratios with respect to those known current techniques taking into account incident power in the PV plane, or in some cases the output power without considering the action of changes in wind speed or air temperature.

An all-inclusive fluid flow device that can variably magnify differential pressure, measure, and control a flow of a fluid is described. Various procedures, including measuring, controlling, balancing, or calibration procedures can leverage a variably magnified differential pressure measurement. Differential pressure measurements can be measured across the fluid flow device such that a first pressure measurement is taken upstream of the fluid flow device while a second pressure measurement is taken downstream of the fluid flow device. Moreover, one or more of the various pressure measurements, and in particular the downstream pressure measurement, can be performed at stagnation zone where the flow has stagnated. Such can provide significant magnification and/or turndown capabilities and the magnification can vary based on a damper position and/or apertures dimensions.

An all-inclusive fluid flow device that can variably magnify differential pressure, measure, and control a flow of a fluid is described. Various procedures, including measuring, controlling, balancing, or calibration procedures can leverage a variably magnified differential pressure measurement. Differential pressure measurements can be measured across the fluid flow device such that a first pressure measurement is taken upstream of the fluid flow device while a second pressure measurement is taken downstream of the fluid flow device. Moreover, one or more of the various pressure measurements, and in particular the downstream pressure measurement, can be performed at stagnation zone where the flow has stagnated. Such can provide significant magnification and/or turndown capabilities and the magnification can vary based on a damper position and/or apertures dimensions.

A control system may include: a motor configured to power a driven object; and circuitry configured to: generate a first driving force command to drive the motor during a first control; estimate a first force acting on the motor during the first control based, at least in part, on the first driving force command; generate a second driving force command to drive the motor during a second control after the first control; estimate a second force acting on the motor during the second control based, at least in part, on the second driving force command; and estimate an external force acting on the driven object during the second control based, at least in part, on a comparison between the first force and the second force.

A first in-situ sensor detects a characteristic value as a mobile machine operates at a worksite. A second in-situ sensor detects a material dynamics characteristic value as the mobile machine operates at the worksite. A predictive model generator generates a predictive model that models a relationship between the characteristic and the materials dynamics characteristic based on the characteristic value detected by the first in-situ sensor and the material dynamics characteristic value detected by the second in-situ sensor. The predictive model can be output and used in automated machine control.

A first in-situ sensor detects a characteristic value as a mobile machine operates at a worksite. A second in-situ sensor detects a material dynamics characteristic value as the mobile machine operates at the worksite. A predictive model generator generates a predictive model that models a relationship between the characteristic and the materials dynamics characteristic based on the characteristic value detected by the first in-situ sensor and the material dynamics characteristic value detected by the second in-situ sensor. The predictive model can be output and used in automated machine control.

A method may include obtaining a normal set point of a solar panel and a wind velocity measurement corresponding to wind that affects the solar panel. The method may include determining an allowable range of tilt angles according to a first lookup table that describes a relationship between the wind velocity measurement and the allowable range of tilt angles. The method may include identifying whether the normal set point of the solar panel is outside of the allowable range of tilt angles, and responsive to identifying that the normal set point of the solar panel is outside of the allowable range of tilt angles, determining a temporary stow set point. The method may include rotating the solar panel to the temporary stow set point.

A method may include obtaining a normal set point of a solar panel and a wind velocity measurement corresponding to wind that affects the solar panel. The method may include determining an allowable range of tilt angles according to a first lookup table that describes a relationship between the wind velocity measurement and the allowable range of tilt angles. The method may include identifying whether the normal set point of the solar panel is outside of the allowable range of tilt angles, and responsive to identifying that the normal set point of the solar panel is outside of the allowable range of tilt angles, determining a temporary stow set point. The method may include rotating the solar panel to the temporary stow set point.