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Investigations on the Design and Simulation of Smart Irrigation Robot for Nurseries 3

Investigations on the Design and Simulation of Smart Irrigat...

引用

3rd International Conference on Advances in Computing, Communication, Embedded and Secure Systems, ACCESS 2023

作者： Abhiram, B. Jha, Swati Sai Prasad, Y. Yogendra Dhanraj, Joshuva Arockia Ramkumar, V. Hindustan Institute of Technology and Science Centre for Automation & Robotics Department of Mechatronics Engineering Tamil Nadu Chennai India

ISBN: (纸本)9798350346169

The irrigation systems in nurseries can be the cause of various water supply errors- ranging from lack of sufficient water supply to over-watering and imbalance in the water pH levels. Based on the statistics recorded by the department of agriculture and farmers welfare, we have conducted we concluded that the water supply management and plant life maintenance are the major problems. Considering all these real-time errors, we have designed a smart irrigation robot functioning on the inputs from a group of soil moisture sensors which helps eliminate the monotonous task of monitoring and keeping records of the change in soil moisture. © 2023 IEEE.

关键词： Irrigation

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Deep Learning-Based Approach for Frost Quantification in Domestic Refrigerators 6

Deep Learning-Based Approach for Frost Quantification in Dom...

引用

6th International Conference on robotics and automation in Industry, ICRAI 2024

作者： Akbar, Hassan Hassan, Huzzam Malik, Anjum Naeem Nawaz, Tahir Habib CEME NUST National Centre of Robotics and Automation Department of Mechatronics Engg. Islamabad Pakistan CEME NUST Department of Mechatronics Engg. Islamabad Pakistan

ISBN: (纸本)9798350355703

Frost formation in refrigerators disrupts heat ex-change, lowering system efficiency and causing operational is-sues, making defrosting essential for maintaining performance. However, modern defrost systems rely on sensors for frost detection. The sensory approach is reliable but it could degrade over time in changing environmental conditions. To address this limitation, the paper proposes a real-time frost quantification method using digital image processing and deep learning. A custom Convolutional Neural Network (CNN) model is designed to classify frost thickness in RGB images captured inside a refrigerator. We have used a custom dataset, collected from a real refrigeration environment and made a comparison with other methods previously used for frost thickness estimation. The dataset is collected from several experiments to ensure its diversity such as illumination and environmental changes. This method enables precise frost detection, targeted for optimal defrost control for improved efficiency. Results indicate that the CNN model achieves a high test accuracy of 98.10%. The model's performance surpasses traditional methods, demonstrating its robustness in distinguishing varying frost levels from 0 to 4 (mm). This method enables precise frost thickness estimation and is a suitable choice for defrost control to improve the energy efficiency of the refrigerator. © 2024 IEEE.

关键词： Convolutional neural networks

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

引用

2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Mohiz, Abdul Nasir, Fazal E. Shah, Kamran University of Engineering & Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

ISBN: (纸本)9781665464727

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used. © 2023 IEEE.

关键词： Tillage

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Nawaz, Yasir Qadir, Muhammad Usman Khan, Muhammad Awais Haq, Izhar Ul Shah, Kamran Khan, Tahir Advanced Robotics & Automation Lab Department of Mechatronics University of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9781665464727

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area. © 2023 IEEE.

关键词： Sliding mode control

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Real-Time Plant Recognition and Crop Row Navigation for Autonomous Precision Agricultural Sprayer Robot

Real-Time Plant Recognition and Crop Row Navigation for Auto...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Nasir, Fazal Haris, Muhammad Khan, Bilawal Tufail, Muhammad Khan, Muhammad Tahir Dong, Zhang National Center of Robotics and Automation Advanced Robotics and Automation Lab Peshawar Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

This paper presents a vision-based selective spraying technique for an autonomous agricultural sprayer robot. In traditional methods, excessive chemical spraying cause deleterious effects on human health, environment and becomes uneconomical. In order to reduce the agrochemical wastage encounters in a broadcast spraying, a selective plant spraying method is used for crop chemical treatment. The sensor-based approach assisted with YOLOv7 model is deployed on a custom designed robot for recognizing and localizing the lettuce plants in field. The PID-based pressure controller is designed that minimizes the undesirable fluctuations cause by the opening/closing of solenoid-valve-nozzles (SVNs) during spraying. Thus the nozzle's spraying quality is maintained by keeping the pressure constant to a desired value. A visual servoing scheme for row tracking is presented that uses the detected plant's spatial features. The robustness of the visual-based navigation is validated in the real field experiments. © 2023 IEEE.

关键词： Crops

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Design and Implementation of Model Predictive Control (MPC) Based Pressure Regulation System for a Precision Agricultural Sprayer

Design and Implementation of Model Predictive Control (MPC) ...

引用

2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Khan, Adrees Nasir, Fazal Tufail, Muhammad Haris, Muhammad Khan, Muhammad Tahir Dong, Zhang University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

Model Predictive Control (MPC) is a control scheme that involves predicting the future behavior of a system and optimizing control actions to accomplish the desired objective. In this study, we develop an intelligent control algorithm, based on MPC to regulate the target pressure in variable-rate agriculture sprayer robots. Modeling and simulation steps of the spraying system are developed using MATLAB/Simulink environment, before passing to the description of the MPC algorithm. Real-time implementation of the MPC algorithm was conducted on an Arduino Mega 2560 controller board by using Simulink Support Package for Arduino Hardware in MATLAB/Simulink to experimentally validate the preliminary results of simulations. The work evaluates MPC to regulate the pressure in the system and compares the results with a traditional PID control system. Moreover, MPC is a novel method for nonlinear system control that achieves zero steady-state error, low transient response, and reduces peak overshoot compared to the results obtained with a PID controller, thereby reducing the waste of chemicals, and minimizing the toxicology and environmental risk. © 2023 IEEE.

关键词： Model predictive control

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

Comparative Study of Anti-Swing Controllers for a Triple Lin...

引用

8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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Effect of Pneumatic Based Hybrid Robotic Gripper for Safer Handling of Complex Geometries 11

Effect of Pneumatic Based Hybrid Robotic Gripper for Safer H...

引用

11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Sivaraj, Santhosh Ravi, Ajay Jose, Bibin Joe Kaliyannan, Gobinath Velu Sivakumar, Rajkamal Amalraj, Riya Catherine Easwari Engineering College Department of Robotics and Automation TamilNadu Chennai600089 India Kongu Engineering College Department of Mechatronics Engineering TamilNadu Perundurai638060 India

ISBN: (纸本)9798350379136

The present research work mainly concentrates on development of hybrid grippers with the integration of hard and soft components for achieving object manipulation. By combining pneumatic actuation with mechanical fingers, complex geometries can be handled effectively. Pneumatic hybrid gripper fabricated with PLA and silicone rubber offers adaptability and versatility. Resistive sensors over silicone surface of gripper lead to cost-effective force detection and tactile sensing. The proposed gripper was designed and analyzed using Fusion 360 and ANSYS. Inflatable silicone rubber and gripper body were fabricated using liquid casting and Fused Deposited Modelling 3D printing techniques. Real-time feedback sensors were employed with fabricated gripper to get better performance. Testing proves its capability to handle loads up to 500g with a force of 3.3N. Finally, the assembled hybrid gripper offers a versatile solution for robotic manipulation, ensuring stability and minimizing damage across various industries. © 2024 IEEE.

关键词： Silicones

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Comparative Study of Energy Management Techniques for Solar PV-based Microgrid Systems 6

Comparative Study of Energy Management Techniques for Solar ...

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6th Parul International Conference on engineering and Technology, PICET 2024

作者： Kamagaté, Yaya Shah, Heli Amit Sharma, Sspm B. Electrical Engineering Department Parul University Vadodara India Robotics and Automation Engineering Department Parul University Vadodara India Mechatronics Engineering Department Symbiosis University of Applied Sc Indore India

ISBN: (纸本)9798350369748

In recent years, microgrid systems have gained popularity as reliable, efficient, and clean energy sources for local communities. Among these, solar PV systems stand out as a widely used microgrid variant. However, the intermittent nature of solar power necessitates the incorporation of energy storage solutions to ensure a consistent electricity supply. In this context, batteries and supercapacitors emerge as two prominent options for storing energy in solar PV microgrids. This study leads a comprehensive examination and correlation of three distinct solar PV-based microgrid configurations: solar PV system (PVS), solar PV with battery system (PVBS), and solar PV with both battery and supercapacitor system (PVBSS). Employing MATLAB/Simulink, the analysis centers on their technical capabilities, particularly emphasizing energy management. The simulation results demonstrate that incorporating battery storage enhances the performance of the PVS microgrid, ensuring the stability of the DC bus voltage and thus balancing energy production and consumption. Furthermore, the PVBSS configuration exhibits superior performance through its capacity to deliver high power with rapid response times, consequently extending the battery lifespan. This investigation underscores the critical role of energy storage solutions in enhancing solar PV microgrids' effectiveness and overall performance. © 2024 IEEE.

关键词： Battery storage

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Integrated DOB-Based Approach for Admittance Control of an Industrial Robot 23

Integrated DOB-Based Approach for Admittance Control of an I...

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23rd International Conference on Control, automation and Systems, ICCAS 2023

作者： Samuel, Kangwagye Haninger, Kevin Oh, Sehoon Dgist Department of Robotics and Mechatronics Engineering Daegu42988 Korea Republic of Fraunhofer Ipk Department of Automation Berlin10589 Germany

ISBN: (纸本)9788993215274

Admittance control can improve robot performance and robustness in interactive tasks, but is still limited by stability when implemented on low-admittance hardware, such as position-controlled industrial robots. This limits applications which require the payload, reach, or positioning accuracy. While the idealized reference admittance behavior would be stable with any passive environment, real robots can be unstable, especially with high-stiffness environments. Thus, instability comes from deviation from the ideal reference model, due to either inner-loop bandwidth, time-delay, or other model error. To improve accuracy of rendered dynamics and reduce contact forces, a novel integrated disturbance observer-based admittance control method which is implemented on a position/velocity-controlled industrial robot in task space is proposed. The multisensor information is integrated to estimate and cancel the disturbances, outside the position/velocity control loop, all in task space. Experiments on the actual robot show that the proposed method is able to improve accuracy and reduce contact forces even at higher admittance. © 2023 ICROS.

关键词： Industrial robots

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