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Design and development of a robot for spraying fertilizers and pesticides for agriculture

Materials Today: Proceedings 2023年 81卷 242-248页

作者： Afif Shazwan Abdul Ghafar Sami Salama Hussen Hajjaj Kisheen Rao Gsangaya Mohamed Thariq Hameed Sultan Mohd Fazly Mail Lee Seng Hua Department of Mechanical Engineering Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Centre for Advanced Mechatronics and Robotics (CaMaRo) Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Institute of Informatics and Computing in Energy (IICE) Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Darul Ehsan Malaysia Laboratory of Biocomposite Technology Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia Department of Aerospace Engineering Faculty of Engineering Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia Aerospace Malaysia Innovation Centre (944741-A) Prime Minister’s Department MIGHT Partnership Hub Jalan Impact 63000 Cyberjaya Selangor Darul Ehsan Malaysia Farm Mechanization Program Engineering Research Centre Malaysian Agricultural Research and Development Institute (MARDI) 43400 Serdang Selangor Darul Ehsan Malaysia Laboratory of Biopolymer and Derivatives Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia 43400 UPM Serdang Selangor Darul Ehsan Malaysia

The agriculture industry is one that is highly resource- and labour-intensive. As such, farmers are increasingly turning to technology and automation to address this issue. However, agricultural robots are far too complicated, slow, and costly to be made publicly available. As a result, the agriculture sector still lags behind in integrating modern technologies. This research paper details the development of a low-cost agricultural robot for spraying fertilizers and pesticides in agriculture fields as well as for general crop monitoring. The prototype system is a two-wheeled robot that consists of a mobile base, a spraying mechanism, a wireless controller for controlling the robot movement, and a camera for crop health and growth monitoring as well as detecting the presence of pests in the agriculture field. Tests conducted on the prototype system show that while the productivity of the robot in terms of crop coverage is slightly lower than a human worker, the labour cost savings afforded by the agricultural robot prototype is much greater as it functions completely in an autonomous mode and only requires the operator to control the robot when placing it at the start of the crop path. Furthermore, the prototype system also provides greater resource savings and reduction in the contamination of underground water sources due to leeching process, thus achieving precision agriculture goals. Lastly, the excellent battery life of the prototype system ensures that there will be no increase in the operation times and reduction in the efficiency of the fertilizer and pesticide spraying process due to the recharging times when replacing human workers. Future recommendations include making the agricultural robot fully autonomous, using either a rail- or line-following system, to further reduce the labour requirements and costs.

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Design and fabrication of an agricultural robot for crop seeding

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Materials Today: Proceedings 2023年 81卷 283-289页

作者： Hussain Nor Azmi Sami Salama Hussen Hajjaj Kisheen Rao Gsangaya Mohamed Thariq Hameed Sultan Mohd Fazly Mail Lee Seng Hua Department of Mechanical Engineering Universiti Tenaga Nasional Jalan IKRAM-UNITEN Kajang Selangor Darul Ehsan 43000 Malaysia Centre for Advanced Mechatronics and Robotics (CaMaRo) Universiti Tenaga Nasional Jalan IKRAM-UNITEN Kajang Selangor Darul Ehsan 43000 Malaysia Institute of Informatics and Computing in Energy (IICE) Universiti Tenaga Nasional Jalan IKRAM-UNITEN Kajang Selangor Darul Ehsan 43000 Malaysia Laboratory of Biocomposite Technology Institute of Trop‘ical Forestry and Forest Products (INTROP) Universiti Putra Malaysia UPM Serdang Selangor Darul Ehsan 43400 Malaysia Department of Aerospace Engineering Faculty of Engineering Universiti Putra Malaysia UPM Serdang Selangor Darul Ehsan 43400 Malaysia Aerospace Malaysia Innovation Centre (944741-A) Prime Minister’s Department MIGHT Partnership Hub Jalan Impact Cyberjaya Selangor Darul Ehsan 63000 Malaysia Farm Mechanization Program Engineering Research Centre Malaysian Agricultural Research and Development Institute (MARDI) Serdang Selangor Darul Ehsan 43400 Malaysia Laboratory of Biopolymer and Derivatives Institute of Tropical Forestry and Forest Products (INTROP) Universiti Putra Malaysia Serdang Selangor Darul Ehsan 43400 Malaysia

Crop seeding is a time-consuming and tedious activity for farmers and is only exacerbated in large agriculture fields. Manually sowing seeds by hand is a highly inefficient process that requires a lot of human effort and can lead to health concerns for farmers, while spreading seedlings using tractors results in a high wastage of seedlings. This research paper describes the development of a low-cost agricultural robot for crop seeding. The prototype system consists of two parts, namely a mobile base for robot movement and a seeding mechanism attached to the mobile base for crop seeding application. The mobile base has a four-wheel design to ease movement on uneven terrains, while the seeding mechanism uses the concept of a crank-slider to continuously inject seedlings into the ground. Crop seeding tests show that the robot is able to sow 138 seedlings in 5 min, with an accuracy of 92%, compared to 102 seedlings by human workers. This demonstrates an increase in the crop seeding efficiency of over 35%. As for the battery life test, it was determined that the robot can function for up to 4 h on a single charge. Thus, there will not be an increase in the operation time and reduction in the efficiency of the crop seeding process due to the recharging times when human workers are replaced with the prototype system. The recharging duration for the robot power supply is 1.5 h. While the prototype system has successfully achieved its objective of reducing human interference, labour requirement, and the overall operating costs in the field of agriculture for crop seeding process, by making the robot fully autonomous, using either a rail- or line-following system, labour costs can be further reduced as an operator is not required to manually steer the robot to each seeding path.

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Review on polishing of atomic-level surfaces for potassium dihydrogen phosphate

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Tribology International 2024年 198卷

作者： Meng, Fanning Zhang, Zhenyu Zeng, Zinuo Fan, Cheng Gu, Yang Gao, Fei Luo, Hao Wang, Jianmei Li, Guo School of Mechanical Engineering Hangzhou Dianzi University Hangzhou 310018 China State Key Laboratory of High-performance Precision Manufacturing Dalian University of Technology Dalian 116024 China College of Management Science Chengdu University of Technology Chengdu 610059 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical Engineering Soochow University Suzhou 215021 China Institute of Development for Science and Technology Hainan University Haikou 570228 China Department of Mechanical Engineering Tsinghua University Beijing 100084 China Luoyang Bearing Research Institute Co. Ltd Luoyang 471039 China Baoshan Longi Silicon Material Co. Ltd Baoshan 678315 China School of Mechanical Engineering Taiyuan University of Science and Technology Taiyuan 030024 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang 621900 China

Potassium dihydrogen phosphate (KDP) is a key material for inertial confinement fusion and nonlinear optic devices. However, KDP is soft-brittle, deliquescent and temperature-sensitive, making it become a difficult-to-process crystal. Even that, high-performance devices of KDP strictly require atomic-level surfaces, rising a challenge for ultra-precision machining. Due to the nature of deliquescence of KDP, traditional polishing methods are disabled to machine it. As a result, it is significant to summarize advanced polishing methods to achieving atomic-level surfaces of KDP. This review presents the fluid jet polishing, deliquescent polishing and chemical mechanical polishing (CMP) for KDP. It indicates that CMP with rare earth could obtain atomic-level surfaces and the lowest subsurface damages. Finally, future polishing directions on KDP are proposed and discussed. © 2024 Elsevier Ltd

关键词： Atomic surface Atomic-level polishing Chemical mechanical polishing KDP

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FetReg: Placental vessel segmentation and registration in fetoscopy challenge dataset

arXiv

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arXiv 2021年

作者： Bano, Sophia Casella, Alessandro Vasconcelos, Francisco Moccia, Sara Attilakos, George Wimalasundera, Ruwan David, Anna L. Paladini, Dario Deprest, Jan Mattos, Leonardo S. Stoyanov, Danail Department of Computer Science University College London London United Kingdom Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Fetal Medicine Unit Elizabeth Garrett Anderson Wing University College London Hospital London United Kingdom Department of Fetal and Perinatal Medicine Istituto "Giannina Gaslini" Genoa Italy Department of Development and Regeneration University Hospital Leuven Leuven Belgium EGA Institute for Women’s Health Faculty of Population Health Sciences University College London United Kingdom

Fetoscopy laser photocoagulation is a widely used procedure for the treatment of Twin-to-Twin Transfusion Syndrome (TTTS), that occur in mono-chorionic multiple pregnancies due to placental vascular anastomoses. This procedure is particularly challenging due to limited field of view, poor manoeuvrability of the fetoscope, poor visibility due to fluid turbidity, variability in light source, and unusual position of the placenta. This may lead to increased procedural time and incomplete ablation, resulting in persistent TTTS. Computer-assisted intervention may help overcome these challenges by expanding the fetoscopic field of view through video mosaicking and providing better visualization of the vessel network. However, the research and development in this domain remain limited due to unavailability of high-quality data to encode the intra- and inter-procedure variability. Through the Fetoscopic Placental Vessel Segmentation and Registration (FetReg) challenge, we present a large-scale multi-centre dataset for the development of generalized and robust semantic segmentation and video mosaicking algorithms for the fetal environment with a focus on creating drift-free mosaics from long duration fetoscopy videos. In this paper, we provide an overview of the FetReg dataset, challenge tasks, evaluation metrics and baseline methods for both segmentation and registration. Baseline methods results on the FetReg dataset shows that our dataset poses interesting challenges, which can be modelled and competed for through our crowd-sourcing initiative of the FetReg challenge. © 2021, CC BY-NC-SA.

关键词： Semantic Segmentation

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Optimal Level of Assistance and Weight of Hip-joint Wearable Robot Considering Influences to the Human Body

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IFAC-PapersOnLine 2019年第22期52卷 13-18页

作者： Yoosuk Kim Sungwon Shin Kyoungchul Kong Dyhyun Han Autonomous Driving Development Team Hyundai Motor Group Gyeonggi-do Korea Angel Robotics Seoul Korea Mechanical Engineering Department Korea Advanced Institute of Science and Technology Daejeon Korea Mechanical Engineering Department Sogang University Seoul Korea

There have been many studies on design and control of hip-joint wearable robots, a part of which have already been commercialized. However, the clear assistance effects of the wearable robot on the human body have not been studied much yet. Although the human body dynamics may be considered in the robot design stage, it is difficult to predict the resultant after wearing the robot due to the complicated nature of human-robot interaction. Another difficulty in designing a hip-joint wearable robot is that the weight of the robot must be taken into consideration because the wearer must fully bear the whole weight of the robot. If a high performance actuator is used to provide greater assistance, the weight of the robot will inevitably increase, putting a burden on the human body. In this paper, musculoskeletal simulation is utilized to predict and analyze the effects of assistance and weight of robot on the human body. Then, the reliability of the simulation is verified through the wearable robot experiment. Furthermore, the relationship between assistance and weight of the robot is derived from the specifications of the commercial hip-joint wearable robots. As a result of the parameter study by applying this relationship, the optimal hip-joint wearable robot weight that the human can receive the best assistance effect is obtained.

关键词： Wearable Robot Weight Hip-joint Wearable Robot Musculoskeletal Simulation Metabolic Cost

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Mood Estimation as a Social Profile Predictor in an Autonomous, Multi-Session, Emotional Support Robot for Children

Mood Estimation as a Social Profile Predictor in an Autonomo...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Edwinn Gamborino Hsiu-Ping Yueh Weijane Lin Su-Ling Yeh Li-Chen Fu Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan Department of Psychology and the Department of Bio-Industry Communication Development National Taiwan University Taipei Taiwan Department of Library and Information Science National Taiwan University Department of Psychology Graduate Institute of Brain and Mind Sciences and the Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan Department of Electrical Engineering and the Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781728126234

In this work, we created an end-to-end autonomous robotic platform to give emotional support to children in long-term, multi-session interactions. Using a mood estimation algorithm based on visual cues of the user's behaviors through their facial expressions and body posture, a multidimensional model predicts a qualitative measure of the subject's affective state. Using a novel Interactive Reinforcement Learning algorithm, the robot is able to learn over several sessions the social profile of the user, adjusting its behavior to match their preferences. Although the robot is completely autonomous, a third party can optionally provide feedback to the robot through an additional UI to accelerate its learning of the user's preferences. To validate the proposed methodology, we evaluated the impact of the robot on elementary school aged children in a long-term, multi-session interaction setting. Our findings show that using this methodology, the robot is able to learn the social profile of the users over a number of sessions, either with or without external feedback as well as maintain the user in a positive mood, as shown by the consistently positive rewards received by the robot using our proposed learning algorithm.

关键词： Robot Multisession emotional support User preferences Child Family with school age child external feedback Consumers Emotional States body position learning algorithms Facial Expression Learning

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Author Correction: Infrared laser-induced gene expression in single cells characterized by quantitative imaging in Physcomitrium patens

Communications biology

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Communications biology 2024年第1期7卷 1632页

作者： Takumi Tomoi Yuka Yoshida Suguru Ohe Yukiko Kabeya Mitsuyasu Hasebe Tomohiro Morohoshi Takashi Murata Joe Sakamoto Yosuke Tamada Yasuhiro Kamei Innovation Department Center for Innovation Support Institute for Social Innovation and Cooperation Utsunomiya University Utsunomiya Japan. t-tomoi@rs.tus.ac.jp. School of Engineering Utsunomiya University Utsunomiya Japan. t-tomoi@rs.tus.ac.jp. Department of Applied Biological Science Tokyo University of Science Noda Japan. t-tomoi@rs.tus.ac.jp. Laboratory for Biothermology National Institute for Basic Biology Okazaki Japan. t-tomoi@rs.tus.ac.jp. Graduate School of Regional Development and Creativity Utsunomiya University Utsunomiya Japan. School of Engineering Utsunomiya University Utsunomiya Japan. Division of Evolutionary Biology National Institute for Basic Biology Okazaki Japan. Department of Basic Biology The Graduate University for Advanced Studies (SOKENDAI) Okazaki Japan. Department of Applied Bioscience Kanagawa Institute of Technology Atsugi Japan. Laboratory for Biothermology National Institute for Basic Biology Okazaki Japan. Biophotonics Research Group Exploratory Research Center on Life and Living Systems (ExCELLS) Okazaki Japan. School of Engineering Utsunomiya University Utsunomiya Japan. tamada@cc.utsunomiya-u.ac.jp. Graduate School of Regional Development and Creativity Utsunomiya University Utsunomiya Japan. tamada@cc.utsunomiya-u.ac.jp. Division of Evolutionary Biology National Institute for Basic Biology Okazaki Japan. tamada@cc.utsunomiya-u.ac.jp. Department of Basic Biology The Graduate University for Advanced Studies (SOKENDAI) Okazaki Japan. tamada@cc.utsunomiya-u.ac.jp. Center for Optical Research and Education (CORE) Utsunomiya University Utsunomiya Japan. tamada@cc.utsunomiya-u.ac.jp. Robotics Engineering and Agriculture-technology Laboratory (REAL) Utsunomiya University Utsunomiya Japan. tamada@cc.utsunomiya-u.ac.jp. Laboratory for Biothermology National Institute for Basic Biology Okazaki Japan. ykamei@nibb.ac.jp. Department of Basic Biology The Graduate University for Advanced Studies (SOKENDAI) Okazaki Japan. ykamei@nibb

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A new adaptive smooth variable structure filter SLAM algorithm for unmanned vehicle

A new adaptive smooth variable structure filter SLAM algorit...

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International Conference on Systems and Control (ICSC)

作者： Fethi Demim Abdelghani Boucheloukh Abdelkrim Nemra Kahina Louadj Mustapha Hamerlain Abdelouahab Bazoula Zakaria Mehal Ecole Militaire Polytechnique Laboratory Robotics and Automation Algiers Algeria Department of Automation National Polytechnic School ENP El Harrach Algiers Algeria LIMPAF University of Bouira Algeria CDTA Center for Development of Advanced Technologies Algiers Algeria

ISBN: (纸本)9781509039616

This paper aims at presenting a solution to the Simultaneous Localization and Mapping (SLAM) problem of Unmanned Ground Vehicles (UGV) by combining information given by an odometer and a laser range finder. The most popular solutions to the SLAM problem are EKF-SLAM and the FAST-SLAM algorithms. The first one solution, have some important limitations which have need of an accurate process and an observation model, be affected by the linearization problem, the second is not suitable for real time implementation. Therefore, a new adaptive approach based on the Smooth Variable Structure Filter (ASVSF) is proposed to solve the UGV SLAM problem. Hence, the adaptive SVSF-SLAM algorithm is proposed with an original formulation. The main contribution of this paper is to introduce a covariance matrix to assess the estimated uncertainty of the SVSF. This new robust algorithm is validated, compared to EKF/SVSF-SLAMalgorithms and the satisfactory values of the UGV position error are obtained. Simulation results demonstrated that the proposed adaptive SVSF-SLAM algorithm is very robust face modeling uncertainties and noises and it has significantly improved the performance of the estimation process.

关键词： Simultaneous localization and mapping Service robots Estimation Uncertainty Adaptation models Covariance matrices

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Can autonomous sensor systems improve the well-being of people living at home with neurodegenerative disorders? 8th

Can autonomous sensor systems improve the well-being of peop...

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8th International Conference on Cross-Cultural Design, CCD 2016 and Held as Part of 18th International Conference on Human-Computer Interaction, HCI International 2016

作者： Gulrez, Tauseef Meziani, Samia-Nefti Rog, David Jones, Matthew Hodgson, Anthony Autonomous System and Advanced Robotics Research Centre University of Salford Manchester United Kingdom Department of Neurology Salford Royal NHS Foundation Trust Salford Manchester United Kingdom Research and Development Salford Royal NHS Foundation Trust Salford Manchester United Kingdom

ISBN: (纸本)9783319400921

In this paper, we describe the development of an autonomous tracking system to be used in the home of the elderly population living with neurodegenerative disorders including dementia. The technology advancement has potential to produce low-cost solutions for elder-care in a residential setting. Our approach is based on the concept that body tracking interventional systems can be developed by utilizing low-cost technological solutions affordable to the aged population and can be deployed in the residential settings. We are exploring the usefulness of such systems in providing information that can assist with assessment of performance of activities of daily living in the periods between hospital clinic visits. Management of neurodegenerative disorders such as dementia and multiple sclerosis involve periodic review of patients at a specialist clinic. At these reviews the clinician solicits information about activities of daily living over the preceding period. This period can be a long interval of 6 to 12 months. When self-reports of activity are compared with independent objective measures, discrepancies are found in many areas of healthcare. This can cause difficulties in management of treatment. The autonomous sensor tracking systems developed here could improve care by giving clinicians objective assessments of relapses in the intervals between clinic visits. This could reduce the time spent on in- clinic examination as clinicians can use objective measures instead of semistructured interviews aimed at eliciting an accurate history. This will allow more time to spend on well-being and treatment options. © Springer International Publishing Switzerland 2016.

关键词： Human computer interaction

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A novel approach to gait synchronization and transition for reconfigurable walking platforms

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Digital Communications and Networks 2015年第2期1卷 141-151页

作者： Shunsuke Nansai Nicolas Rojas Mohan Rajesh Elara Ricardo Sosa Masami Iwase Department of Advanced Multidisciplinary Engineering Tokyo Denki University Department of Mechanical Engineering and Materials Science Yale University Engineering Product Development Pillar Singapore University of Technology and Design Department of Robotics and Mechatronics Tokyo Denki University

Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform's stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.

关键词： Legged robot Static stability Reconfigurable mechanism Jansen mechanism Walking platform

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