{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:37:59Z","timestamp":1760240279673,"version":"build-2065373602"},"reference-count":12,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,4,23]],"date-time":"2019-04-23T00:00:00Z","timestamp":1555977600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Computers"],"abstract":"<jats:p>We introduce a deviation-tolerance software architecture, which is devised for a prototype of a cloud-based harvest operation optimisation system issuing harvest plans. The deviation-tolerance architecture adapts the fault tolerance notions originating in the area of systems engineering to the harvest domain and embeds them into the Vienna developed method (VDM) model at the core of our harvest logistics system prototype. The fault tolerance supervision\/execution level architecture is framed under the notion of an \u201charvest coach\u201d which diagnoses deviations to the planned operations using \u201charvest deviation monitors\u201d and deploys a novel \u201cplan\u201d (controller) that mitigates the encountered \u201cdeviation\u201d (fault). The architecture enabled the early start of field experiments of the harvest logistics system prototype, which lead to the validation\/refutation of early design stage assumptions on the diverse system components behaviours and capabilities. For instance, we casually found discrepancies in the arithmetic precision of open-source libraries used in the conversion of vehicle positioning coordinates, we assessed the maturity of the frameworks used to develop the field user interfaces, and we calibrated the level of system-operator interactivity when deviations occurs. The obtained results indicate that the architecture may have a positive impact in the context of developing systems featuring intrinsic human-driven deviations which require mitigation.<\/jats:p>","DOI":"10.3390\/computers8020031","type":"journal-article","created":{"date-parts":[[2019,4,24]],"date-time":"2019-04-24T03:14:28Z","timestamp":1556075668000},"page":"31","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["The Harvest Coach Architecture: Embedding Deviation-Tolerance in a Harvest Logistic Solution"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8882-4500","authenticated-orcid":false,"given":"Hugo Daniel","family":"Macedo","sequence":"first","affiliation":[{"name":"DIGIT, Department of Engineering, Aarhus University, 8200 Aarhus N, Denmark"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6247-1057","authenticated-orcid":false,"given":"Ren\u00e9 S\u00f8ndergaard","family":"Nilsson","sequence":"additional","affiliation":[{"name":"DIGIT, Department of Engineering, Aarhus University, 8200 Aarhus N, Denmark"},{"name":"AGCO A\/S, Dronningborg All\u00e9 2, 8930 Randers N\u00d8, Denmark"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4589-1500","authenticated-orcid":false,"given":"Peter Gorm","family":"Larsen","sequence":"additional","affiliation":[{"name":"DIGIT, Department of Engineering, Aarhus University, 8200 Aarhus N, Denmark"}]}],"member":"1968","published-online":{"date-parts":[[2019,4,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1080\/03052150802406540","article-title":"Infield logistics planning for crop-harvesting operations","volume":"41","author":"Ali","year":"2009","journal-title":"Eng. Optim."},{"key":"ref_2","first-page":"52","article-title":"Harvesting the \u2018Hands-free Hectare\u2019","volume":"2018","author":"Spencer","year":"2018","journal-title":"Farmer\u2019s Wkly."},{"key":"ref_3","unstructured":"Blanke, M., Kinnaert, M., Lunze, J., Staroswiecki, M., and Schr\u00f6der, J. (2006). Diagnosis and Fault-Tolerant Control, Springer."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Couto, L.D., Tran-J\u00f8rgensen, P.W.V., and Edwards, G.T.C. (2018). Model-Based Development of a Multi-algorithm Harvest Planning System. Simulation and Modeling Methodologies, Technologies and Applications, Proceedings of the International Conference on Simulation and Modeling Methodologies, Technologies and Applications, Lisbon, Portugal, 29\u201331 July 2016, Springer International Publishing.","DOI":"10.1007\/978-3-319-69832-8_2"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Couto, L.D., Tran-J\u00f8rgensen, P.W.V., and Edwards, G.T.C. (2016, January 29\u201331). Combining Harvesting Operations Optimisation using Strategy-based Simulation. Proceedings of the 6th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH), Lisbon, Portugal.","DOI":"10.5220\/0005932900250032"},{"key":"ref_6","unstructured":"Pierce, K., and Verhoef, M. (2018). Transforming an industrial case study from VDM++ to VDM-SL. The 16th Overture Workshop, School of Computing, Newcastle University."},{"key":"ref_7","first-page":"478","article-title":"Realization of Distributed System Models using Code Generation Extensions","volume":"49","author":"Nilsson","year":"2018","journal-title":"Softw. Pract. Exp."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1016\/j.compag.2014.08.013","article-title":"Agricultural operations planning in fields with multiple obstacle areas","volume":"109","author":"Zhou","year":"2014","journal-title":"Comput. Electron. Agric."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1016\/j.compag.2015.07.013","article-title":"Corrigendum to Agricultural operations planning in fields with multiple obstacle areas","volume":"116","author":"Zhou","year":"2015","journal-title":"Comput. Electron. Agric."},{"key":"ref_10","unstructured":"Pierce, K., and Verhoef, M. (2018). Enhancing Testing of VDM-SL Models. The 16th Overture Workshop, School of Computing, Newcastle University."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Fitzgerald, J.S., Larsen, P.G., and Verhoef, M. (2008). Vienna Development Method. Wiley Encyclopedia of Computer Science and Engineering, John Wiley & Sons, Inc.","DOI":"10.1002\/9780470050118.ecse447"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1007\/s00190-011-0445-3","article-title":"Transverse Mercator with an accuracy of a few nanometers","volume":"85","author":"Karney","year":"2011","journal-title":"J. Geod."}],"container-title":["Computers"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2073-431X\/8\/2\/31\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:46:35Z","timestamp":1760186795000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2073-431X\/8\/2\/31"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4,23]]},"references-count":12,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2019,6]]}},"alternative-id":["computers8020031"],"URL":"https:\/\/doi.org\/10.3390\/computers8020031","relation":{},"ISSN":["2073-431X"],"issn-type":[{"type":"electronic","value":"2073-431X"}],"subject":[],"published":{"date-parts":[[2019,4,23]]}}}