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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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Prediction of anterior cruciate ligament injury from MRI using deep learning

Prediction of anterior cruciate ligament injury from MRI usi...

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International Forum on Medical Imaging in Asia 2021, IFMIA 2021

作者： Truong, Nguyen Khanh Hung Nguyen, Thuan Phuoc Kha, Quang Hien Le, Ngoc Hoang Le, Van Tuan Cao, Thi Luu, Ho Thanh Lam Le, Nguyen Quoc Khanh Kang, Jiunn-Horng International Master/Ph.D. Program in Medicine College of Medicine Taipei Medical University Taipei Taiwan Department of Orthopedic and Trauma Cho Ray Hospital Ho Chi Minh city Viet Nam Mechatronics Engineering Ho Chi Minh City University of Technology Ho Chi Minh city Viet Nam Graduate Institute of Biomedical Materials and Tissue Engineering College of Biomedical Engineering Taipei Medical University Taipei Taiwan Orthopedic and Rehabilitation Department University of Medicine and Pharmacy at Ho Chi Minh city Ho Chi Minh city Viet Nam Children's Hospital 2 Ho Chi Minh City Viet Nam Professional Master Program in Artificial Intelligence in Medicine College of Medicine Taipei Medical University Taipei Taiwan Research Center for Artificial Intelligence in Medicine Taipei Medical University Taipei Taiwan Department of Physical Medicine and Rehabilitation Taipei Medical University Hospital Taipei Taiwan Department of Physical Medicine and Rehabilitation School of Medicine College of Medicine Taipei Medical University Taipei Taiwan

ISBN: (数字)9781510644212

ISBN: (纸本)9781510644205

Knee injury emerges as one of the most common diseases, causing dislocation of knee joints, immobility, etc., in which the anterior cruciate ligament (ACL) injury is the most common one. The development of various artificial intelligence (AI) frameworks gained enormous attention in many areas, including injury prediction and health management via medical image analysis. The objective of the current study is to focus on a comprehensive high accurate prediction of ACL injury based on MRI medical images, and also demonstrate the ability of AI in practical and outline conceptual prediction and diagnosis frameworks for other types of knee injuries in the future. Our dataset comprised of knee MRI reports from Cho Ray Hospital, Vietnam which are composed of ACL and non-ACL injury patients. The MRI images were used as supporting data in the deep learning classification model with DenseNet-121 algorithm. The successful establishment of an ACL injury diagnosis model from MRI will pave the way for us to develop more diagnostic models of other injuries in the body as well as the prediction of bone diseases. © 2021 SPIE.

关键词： Magnetic resonance imaging

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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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Techniques of Indoor Positioning Systems (IPS): A Survey

Techniques of Indoor Positioning Systems (IPS): A Survey

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Fares Alkhawaja Mohammad Jaradat Lotfi Romdhane Mechatronics Graduate Program College of Engineering American University of Sharjah Sharjah UAE

Indoor Localization has been a challenging task in robotics for years, due to the obstruction of the GPS signals. Although multiple techniques have been proposed, determining the best among them is still highly dependent on applications and no best solution is agreed on. One technique, researchers and developers are adopting -especially in the robotics field-, is the visual/inertial sensor fusion. However, the high number of these systems and their diversity, makes selecting the adequate one for an application a challenging task. This paper aims at presenting an exhaustive list indoor positioning techniques with more emphasis on visual/depth sensors, along with some recommendations for selected applications.

关键词： Robot sensing systems Cameras Receivers Global navigation satellite system Wireless fidelity Visualization

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An H∞ and Skyhook Controller Design for a High Speed Railway Vehicle

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IFAC-PapersOnLine 2018年第9期51卷 156-161页

作者： Leblebici, Asli Soyiç Türkay, Semiha Mechatronics Program Eskisehir Osmangazi University Eskisehir Turkey Electrical and Electronics Engineering Department Anadolu University Eskisehir Turkey

The electronic-based recently developed railway vehicles compromising at high speeds by consuming eco-friendly energy and providing better transportation facilities without complicating the car designs. In this study, the achievable performance of the secondary suspension by using a semi-active controller designed with a local-skyhook damping is compared with the active controller that utilizes an H∞ control methodology. Besides, to cope up with the coarse track excitations which disrupt the rail holding quality on the rough terrains, a primary controller obliges to deal with the worst-case occurences is considered. The simulation studies attribute to promising results both at the low and mid frequency range by providing improved ride comfort and high passenger safety by using only active primary designs at a price of a typical actively designed secondary suspensions. © 2018

关键词： Suspensions (components) Automobile suspensions Controllers Damping Locomotives Railroad plant and structures Railroad transportation Railroads Rails Achievable performance High speed railways Primary suspension Semi active suspension Semi active controllers Siemens Sky hook damping Transportation facilities

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Kinematic Modeling and Characterization of a Wearable Tremor Suppression Device for Pathological Tremor Reduction

Kinematic Modeling and Characterization of a Wearable Tremor...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Parisa Daemi Yue Zhou Kyle Inzunza Michael D. Naish Aaron D. Price Ana Luisa Trejos School of Biomedical Engineering (BME) Western University BME Western University Mechatronics Program Western University MME ECE and BME Western University MME Western University ECE and BME Western University

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Wearable tremor suppression devices have been proposed as a promising alternative to suppress or reduce tremor motion associated with neurological disorders. To fully benefit patients, available tremor suppression devices need to be improved in their design, size, weight, and control. Although tendon-driven transmission systems are able to decrease the size and weight of these devices, they have complex control system requirements due to their substantially nonlinear behavior. For this purpose, this paper aims to develop a precise kinematic model of a wearable tremor suppression glove by considering the configuration of its tendons and sheaths, in order to improve the tendon arrangement, study the kinetic model of the glove, and increase the accuracy of the control system. A novel model is presented to calculate the tendon travel during hand motion. The derived kinematic model of the glove was verified by both simulation and benchtop experiments, and the new model has been validated. The mean correlation coefficient for the kinematic model is 0.90±0.01.

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Radar Occupancy Prediction with Lidar Supervision while Preserving Long-Range Sensing and Penetrating Capabilities

arXiv

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arXiv 2021年

作者： Kung, Pou-Chun Wang, Chieh-Chih Lin, Wen-Chieh The Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan The Department of Electrical and Computer Engineering National Yang Ming Chiao Tung University Taiwan The Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan The Department of Computer Science National Yang Ming Chiao Tung University Hsinchu Taiwan

Radar shows great potential for autonomous driving by accomplishing long-range sensing under diverse weather conditions. But radar is also a particularly challenging sensing modality due to the radar noises. Recent works have made enormous progress in classifying free and occupied spaces in radar images by leveraging lidar label supervision. However, there are still several unsolved issues. Firstly, the sensing distance of the results is limited by the sensing range of lidar. Secondly, the performance of the results is degenerated by lidar due to the physical sensing discrepancies between the two sensors. For example, some objects visible to lidar are invisible to radar, and some objects occluded in lidar scans are visible in radar images because of the radar's penetrating capability. These sensing differences cause false positive and penetrating capability degeneration, respectively. In this paper, we propose training data preprocessing and polar sliding window inference to solve the issues. The data preprocessing aims to reduce the effect caused by radar-invisible measurements in lidar scans. The polar sliding window inference aims to solve the limited sensing range issue by applying a near-range trained network to the long-range region. Instead of using common Cartesian representation, we propose to use polar representation to reduce the shape dissimilarity between long-range and near-range data. We find that extending a near-range trained network to long-range region inference in the polar space has 4.2 times better IoU than in Cartesian space. Besides, the polar sliding window inference can preserve the radar penetrating capability by changing the viewpoint of the inference region, which makes some occluded measurements seem non-occluded for a pretrained network. Copyright © 2021, The Authors. All rights reserved.

关键词： Optical radar

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Mouth states using LSTM neural network 23

Mouth states using LSTM neural network

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IEEE International Conference on Automation/23rd Congress of the Chilean Association of Automatic Control: Towards an Industry 4.0, ICA-ACCA 2018

作者： Pinzon-Arenas, Javier Orlando Jimenez-Moreno, Robinson Rubiano-Fonseca, Astrid Mechatronics Engineering Program Nueva Granada Military University Bogotá Colombia

ISBN: (纸本)9781538655863

This paper presents the application of a sequence-to-label network, in which an architecture with Long-Short Term Memory (LSTM) is implemented, in a way that verifies if a user is chewing or waiting to receive food by means of the classification of 3 different states of the mouth that are: Closed, intermediate closed-open and open. To develop this task, 2 databases were built, one of training with 260 sequences of 3 seconds of the states with 15 time steps, within which there are 2 characteristics: Opening and the relationship between the height and width of the mouth, and another of test, of 145 sequences with the same parameters as the previous one. For the training of the network, it was first proposed that the network identified 2 states: Chewing and waiting (open mouth), however, due to the large variations that exist in the state 'chewing', because users tend to chew not only with their mouths closed, but also with their mouths open, this state was divided into two sub-states (closed and intermediate). With this, the neural network is trained, reaching an 84.8% accuracy by classifying the 3 states and 97.9% merging the two states belonging to 'chewing', which verifies the ability of this type of network to recognize the states of the mouth through sequences over time. © 2018 IEEE.

关键词： Long short-term memory

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Architecture of a Spatial Disorientation Platform and Serious Game

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Journal of Physics: Conference Series 2021年第1期2115卷

作者： Claudia Castañeda Natalia Sánchez Oscar F. Aviles Mauricio Mauledoux Mechatronics Engineering Program Universidad Militar Nueva Granada. Cr 11 No 101-80. Bogota – Colombia Tel.: +57 ***.

In recent years there have been several applications for the study of stabilometric mainly in the analysis of disorder, using mechanical structures of one or two degrees of freedom. An architecture of a stabilometric platform is proposed, which can acquire data through a virtual environment, in this case, a Snowboarding environment, since this sport provides greater balance, increases flexibility and strength in the muscles, and strengthens the lower limbs since it can have a displacement movement in one direction. Thanks to this environment, an architecture is proposed to execute several applications, focused on balance rehabilitation. As a result of this proposal, mathematical models were made by applying the Euler Lagrangian theory, and architecture was obtained that can acquire data in real-time, allowing to visualize this data through a sensor, which shows the position of the person with its respective movement. Also, with the implementation of the Self-Assessment Manikin (SAM) a preliminary study was conducted with 10 people in which 70% presented a discussion of different errors in the design and development stage in the virtual environment, also, 10% of the study population showed greater spatial disorientation to one side of the platform. Thanks to this, it was possible to modify the virtual environment and obtain a more efficient response by implementing this method. As future work, it is proposed to develop variable control systems on the platform and a trajectory variation in the virtual environment.

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Self-packaged stretchable printed circuits with ligand-bound liquid metal particles in elastomer

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Nature Communications 2025年第1期16卷 1-11页

作者： Seo, Hyeonyeob Lee, Gun-Hee Park, Jiwoo Kim, Dong-Yeong Son, Yeonzu Kim, Semin Nam, Kum Seok Yang, Congqi Won, Joonhee Bae, Jae-Young Kim, Hyunjun Kang, Seung-Kyun Park, Steve Kang, Jiheong Park, Seongjun Department of Bio and Brain Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Departments of Cogno-Mechatronics Engineering Pusan National University Busan South Korea Departments of Optics and Mechatronics Engineering Pusan National University Busan South Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Program of Brain and Cognitive Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Graduate School of Semiconductor Technology Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Medical Research Center Seoul National University Seoul South Korea Department of Materials Science and Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Department of Materials Science and Engineering Seoul National University Seoul South Korea KAIST Institute for NanoCentury Daejeon South Korea Department of Chemistry Seoul National University Seoul South Korea Department of Biomedical Sciences College of Medicine Seoul National University Seoul South Korea School of Transdisciplinary Innovations Seoul National University Seoul South Korea Interdisciplinary Program in Bioengineering College of Engineering Seoul National University Seoul South Korea Department of Transdisciplinary Medicine Seoul National University Hospital Seoul South Korea

Packaging in stretchable electronics is crucial to protect components from environmental damage while preserving mechanical flexibility and providing electrical insulation. The conventional packaging process involves multiple steps that increase in complexity as the number of circuit layers multiply. In this study, we introduce a self-packaged stretchable printed circuit board enabled by the in situ phase separation of liquid metal particles (LMPs) within various polymer matrices during solution-based printing processes. The ligand-bound LMPs (LB-LMPs), engineered to inhibit oxide growth, undergo in situ sintering, prompting vertical phase separation. This synthesis strategy not only achieves high initial conductivity of the LMPs but also encapsulates them within the polymer matrix, preventing leakage and providing electrical insulation. Our method enables multi-layer circuit printing, eliminating the need for additional activation and packaging processes. Furthermore, by integrating conductive materials into packaging layers for selective electrical conductivity, vertical interconnect accesses and conductive pads can be formed, enabling large-scale, stretchable, and leakage-free multi-layer electrical circuits and bio-interfaces. © The Author(s) 2025.

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