Embodiments include systems and methods of in-line mixing of hydrocarbon liquids and/or renewable liquids from a plurality of tanks into a single pipeline based on density or gravity. According to an embodiment, a method of admixing hydrocarbon liquids from a plurality of tanks into a single pipeline to provide in-line mixing thereof includes initiating a blending process. The blending process including continuously blending two or more liquids over a period of time, each of the two or more liquids stored in corresponding tanks, each of the corresponding tanks connected, via pipeline, to a blend pipe thereby blending the two or more liquids into a blended liquid. The method further includes determining a density of each of the two or more liquids to be blended during the blending process. The method includes, in response to a determination that the blend process has not finished and after the passage of a specified time interval, determining an actual blend density of the blended liquid, via a blend sensor connected to the blend pipe, the blended liquid flowing through the blend pipe and in contact with the blend sensor, and the specified time interval less than a total duration of the blending process. The method includes determining an actual blend density of the blended liquid, via a blend sensor connected to the blend pipe, the blended liquid flowing through the blend pipe and in contact with the blend sensor, and the specified time interval less than a total duration of the blending process; comparing the actual blend density with a target blend density; and in response to a difference, based on the comparison, of the actual blend density and target blend density determining a corrected ratio based on each density of the two or more liquids, the actual blend density, and the target blend density and adjusting, via one or more flow control devices, flow of one or more of the two or more liquids, based on the corrected ratio.

Embodiments include systems and methods of in-line mixing of hydrocarbon liquids from a plurality of tanks into a single pipeline. According to an embodiment, a method of admixing hydrocarbon liquids from a plurality of tanks into a single pipeline to provide in-line mixing thereof includes determining a ratio of a second fluid flow to a first fluid flow based on signals received from a tank flow meter in fluid communication with the second fluid flow and a booster flow meter in fluid communication with a blended fluid flow. The blended fluid flow includes a blended flow of the first fluid flow and the second fluid flow. The method further includes comparing the determined ratio to a pre-selected set point ratio thereby to determine a modified flow of the second fluid flow to drive the ratio toward the pre-selected set point ratio. The method further includes controlling a variable speed drive connected to a pump thereby to control the second fluid flow through the pump based on the determined modified flow, the pump being in fluid communication with the second fluid flow.

A configuration of control device capable of linking control applications even in a control system that combines a control device with another control device is provided. A first control device includes: a first program execution part outputting a first control command at every first cycle; a parsing part parsing at least a part of a first application program at every second cycle to sequentially generate an internal command; a command calculation part outputting a second control command at every first cycle according to the internal command generated by the parsing part; and an arbitration part managing a parsing process performed by the parsing part. The arbitration part adjusts an output timing of the second control command according to the internal command generated by the parsing part in response to notification of a timing from the second control device.

A configuration of control device capable of linking control applications even in a control system that combines a control device with another control device is provided. A first control device includes: a first program execution part outputting a first control command at every first cycle; a parsing part parsing at least a part of a first application program at every second cycle to sequentially generate an internal command; a command calculation part outputting a second control command at every first cycle according to the internal command generated by the parsing part; and an arbitration part managing a parsing process performed by the parsing part. The arbitration part adjusts an output timing of the second control command according to the internal command generated by the parsing part in response to notification of a timing from the second control device.

Embodiments include systems and methods of in-line mixing of hydrocarbon liquids and/or renewable liquids from a plurality of tanks into a single pipeline based on density or gravity. According to an embodiment, a method of admixing hydrocarbon liquids from a plurality of tanks into a single pipeline to provide in-line mixing thereof includes initiating a blending process. The blending process including continuously blending two or more liquids over a period of time, each of the two or more liquids stored in corresponding tanks, each of the corresponding tanks connected, via pipeline, to a blend pipe thereby blending the two or more liquids into a blended liquid. The method further includes determining a density of each of the two or more liquids to be blended during the blending process. The method includes, in response to a determination that the blend process has not finished and after the passage of a specified time interval, determining an actual blend density of the blended liquid, via a blend sensor connected to the blend pipe, the blended liquid flowing through the blend pipe and in contact with the blend sensor, and the specified time interval less than a total duration of the blending process. The method includes determining an actual blend density of the blended liquid, via a blend sensor connected to the blend pipe, the blended liquid flowing through the blend pipe and in contact with the blend sensor, and the specified time interval less than a total duration of the blending process; comparing the actual blend density with a target blend density; and in response to a difference, based on the comparison, of the actual blend density and target blend density determining a corrected ratio based on each density of the two or more liquids, the actual blend density, and the target blend density and adjusting, via one or more flow control devices, flow of one or more of the two or more liquids, based on the corrected ratio.

Embodiments include systems and methods of in-line mixing of hydrocarbon liquids from a plurality of tanks into a single pipeline. According to an embodiment, a method of admixing hydrocarbon liquids from a plurality of tanks into a single pipeline to provide in-line mixing thereof includes determining a ratio of a second fluid flow to a first fluid flow based on signals received from a tank flow meter in fluid communication with the second fluid flow and a booster flow meter in fluid communication with a blended fluid flow. The blended fluid flow includes a blended flow of the first fluid flow and the second fluid flow. The method further includes comparing the determined ratio to a pre-selected set point ratio thereby to determine a modified flow of the second fluid flow to drive the ratio toward the pre-selected set point ratio. The method further includes controlling a variable speed drive connected to a pump thereby to control the second fluid flow through the pump based on the determined modified flow, the pump being in fluid communication with the second fluid flow.

Embodiments include systems and methods of in-line mixing of hydrocarbon liquids from a plurality of tanks into a single pipeline. According to an embodiment, a method of admixing hydrocarbon liquids from a plurality of tanks into a single pipeline to provide in-line mixing thereof includes determining a ratio of a second fluid flow to a first fluid flow based on signals received from a tank flow meter in fluid communication with the second fluid flow and a booster flow meter in fluid communication with a blended fluid flow. The blended fluid flow includes a blended flow of the first fluid flow and the second fluid flow. The method further includes comparing the determined ratio to a pre-selected set point ratio thereby to determine a modified flow of the second fluid flow to drive the ratio toward the pre-selected set point ratio. The method further includes controlling a variable speed drive connected to a pump thereby to control the second fluid flow through the pump based on the determined modified flow, the pump being in fluid communication with the second fluid flow.

A system for identifying weeds present within a field includes an imaging device configured to capture an image depicting a plurality of plants present within the field. Furthermore, the system includes a computing system communicatively coupled to the imaging device, with the computing system configured to receive the image captured by the imaging device. Additionally, the computing system is configured to identify a stalk of each of the plurality of the plants depicted within the received image. Moreover, the computing system is configured to determine a parameter associated with each identified stalk. In addition, the computing system is configured to identify each plant of the plurality of plants as a crop or a weed based on the corresponding determined parameter.