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Design and fabrication of an agricultural robot for crop seeding

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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In-vehicle information system as a driver's secondary activity: Case study 15

In-vehicle information system as a driver's secondary activi...

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15th IEEE International Workshop on Advanced Motion Control, AMC 2018

作者： Aksjonov, Andrei Nedoma, Pavel Vodovozov, Valery Petlenkov, Eduard Concept Development ŠKODA AUTO a.s. Mladá Boleslav Czech Republic Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia

ISBN: (纸本)9781538619469

A robust methodology for detecting and evaluating driver distraction induced by in-vehicle information system using artificial neural network and fuzzy logic is introduced in this paper. An artificial neural network is used to predict driver's performance on a specific road segment. The predicted performance-based measures are compared to the driving with secondary task accomplishment. Fuzzy logic is applied to fuse the variables into a single output, which constitutes a level of driver distraction in percentage. The technique was tested on a vehicle simulator by ten drivers that exploited in-vehicle information system as a secondary activity. The driver-in-the-loop experiment outcomes are discussed. © 2018 IEEE.

关键词： Machine learning

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Dynamic Modeling and Cooperative Process Simulation in Cooperative Dual-Arm Robot Based on Adams

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Journal of Physics: Conference Series 2020年第1期1621卷

作者： Jian Wang Lili Zhou Lei Chen Yuanyuan Li School of Mechatronics Engineering Harbin Institute of Technology & Department of Mechatronics Engineering East University of Heilongjiang Harbin China Research and Development Center AECC Harbin Bearing Co. Ltd Harbin China Department of Mechatronics Engineering East University of Heilongjiang Harbin China

The demand of cooperation task of cooperative dual-arm robot in industrial automation production is increasing day by day. It is analyzed that the kinematics and dynamics mathematical model of the cooperative dual-arm robot with six degrees of freedom in one arm and the relationship is constructed between the arms' position and the attitude for the robot in the paper. The mechanical characteristics of the cooperative tasks are analyzed that contains carrying, assembling and processing in the industrial field. The dynamic simulation software Adams is used for the simulation calculation and analysis. It is obtained that the position and attitude transformation characteristics of the forward kinematics solution through the simulation analysis, and the curve of the distribution force for the dual-arm in the process of cooperation is obtained. It provides the basis for setting up the reasonable driving force distribution and load distribution when realizing the task for dual-arm robot in cooperation.

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Smart agriculture farming using drone automation technology

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AIP Conference Proceedings 2024年第1期2937卷

作者： R. Raffik Kamal Murtala Farouq Harishkumar Muddisetty Kalpana Sengar S. Sendilvelan Kumud Pant Department of Mechatronics Engineering Kumaraguru College of Technology Coimbatore 641049 Tamilnadu India Agriculture Department Vivekananda Global University Jaipur 303012 Rajasthan India M.Sc Engineering in Mechanical Manufacture Wrexham Glyndwr University Mold Road Wrexham United Kingdome-LL 11 2AW Biosense Lifecare Research & Development Lab Kalphelix Biotechnology Kanpur 208011 Uttar Pradesh India Department of Mechanical Engineering Dr. M G R Educational and Research Institute Maduravoyal Chennai 600095 Tamilnadu India Department of Biotechnology Graphic Era Deeemed to be University Dehradun Uttarakhand 248002 India

India’s economy is mostly based on agriculture. Agriculture and allied sectors account for around 16 percent of India’s GDP, while agriculture and related businesses employ about 60 percent of the country’s rural families. Smart farming is one of the most essential Internet of Things (IoT) applications. Smart farming saves water and fertilizer while increasing crop output. Agriculture that is smart will expand to every part of the planet. The use of unmanned aerial vehicles (UAVs) in smart farming has a lot of promise. Conversely, the cost and ease of maintaining UAVs for smart farming may be a major factor in farmers’ decision to use UAVs in farming. Farmers may use any smart phone to control their UAVs and agricultural sensors that are Bluetooth Smart enabled. Smart agriculture, which modernizes present traditional agricultural processes, is one of the most potential answers to this problem. As a result, the paper’s goal is to use technology to make agriculture smarter. Smart drones have sensors built into them that feed into a network architecture that connects them to other devices via Internet technologies, allowing them to communicate and therefore become smart. Smart GPS-based remote-controlled sensors and drones are featured prominently in this work to conduct activities such as surveillance, agricultural spraying, moisture detection, and leaf wetness sensing, among others. Second, Smart irrigation is incorporated as well as intelligent control and decision-making grounded on precise real-time field data acquired by drones. All these parameters may be controlled from any computer or Internet- connected smart device, and interfacing sensors linked to a gateway via communication protocols such as Wi-Fi, Lora WAN, ZigBee, and BLE modules will be utilized for carrying out the operations, depending on the application. This article also analyzed worldwide market trends for smart farming, as well as comparing China’s productivity to India’s in terms of harvested ar

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Hybrid Integral Reset Control with Application to a Lens Motion System

Hybrid Integral Reset Control with Application to a Lens Mot...

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American Control Conference

作者： K.G.J. Gruntjens M.F. Heertjes S.J.L.M. Van Loon N. Van De Wouw W.P.M.H. Heemels Eindhoven University of Technology and ASML ASML Netherlands B.V Mechatronics System Development De Run 6501 Veldhoven 5504 DR The Netherlands Eindhoven University of Technology University of Minnesota Minneapolis MN 55455 USA Control Systems Technology Group Eindhoven University of Technology Den Dolech 2 Eindhoven 5600 MB The Netherlands

ISBN: (纸本)9781538679012;9781538679265

A hybrid integral controller with reset is proposed. This hybrid controller ensures improved low-frequency disturbance rejection properties under double integrator (PI~2D) control without inducing the undesired increase of overshoot otherwise resulting from adding an extra linear integrator to a PID controller. The controller is applied to an optical lens motion system that requires PID control in one operating mode and PI~2D control in the other, therewith motivating a hybrid integral control strategy. The reset element in the controller is included to improve transient performance. To guarantee closed-loop stability, a conditional (and partial) reset rule is introduced that restricts the input-output behavior of the dynamic reset element, i.e., the hybrid integrator with reset, to a bounded sector. As a result, stability can be guaranteed on the basis of a circle criterion-like argument and checked by (measured) frequency response data. Stability and performance of the hybrid integral control design with conditional (and partial) reset are investigated by application to a piezo-actuated lens system that is part of an industrial wafer scanner.

关键词： circle criterion hybrid control Lyapunov stability motion systems reset control wafer scanners reset control Circle criterion hybrid control Lyapunov methods Controllers integrators LENS SYSTEMS integral control

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Improving the Electric Response of a Cantilever Piezoelectric Energy Harvester by Constraining Tip Curvature

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IOP Conference Series: Materials Science and Engineering 2020年第1期997卷

作者： C I Borzea C D Comeagă M N Uddin R D Hriţcu V L Ringheanu Automation and Electrical Engineering Department Romanian Research and Development Institute for Gas Turbines COMOTI Bucharest Romania Faculty of Mechanical Engineering and Mechatronics Department of Mechatronics and Precision Mechanics University Politehnica of Bucharest Romania Department of Mechanical Engineering University of Creative Technology Chittagong Bangladesh

The paper studies the influence of tip curvature on the electrical response of a piezoelectric energy harvester, on a direction other than the charge generation one. Finite element analyses were conducted for the given piezoelectric transducer, which show an increase in the voltage output if blocking the tip curvature on yOz plane between two bars, leaving free only the deflection on xOz plane. The comparison was made between cantilever tip constrained with bars and cantilever with an equivalent proof mass respectively. The simulations in COMSOL Multiphysics are furthermore validated by experimental laboratory tests, confirming the increase of the electric output potential with ~8%. This occurs due to inducing higher stress into the structure by blocking its tip curvature. The frequency response, defined between base excitation and the output voltage, was determined using an impedance analyser. The bars also act as a proof mass, thus decreasing the resonant frequency optimally down to the vibration frequencies of an oil-free compressor's downstream pipe on which the transducer will be mounted in order to harness the inherent vibrations and subsequently power wireless sensors.

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Structural Lightweight Research of Module in EV Lithium_ion Battery Pack

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IOP Conference Series: Earth and Environmental Science 2020年第4期514卷

作者： Yuedong Yang Fei Xiong Jing Liu Yinglong Jia Zhengwei Ma GAC Automotive Research& Development Centre Guangzhou China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China College of Urban Transportation and Logistics Shenzhen Technology University Shenzhen China

As the lightest metal material in engineering application, magnesium alloy has widely prospect. In this paper, magnesium alloy is considered to design structural parts of EV lithium ion module in order to improve energy density and enhance mileage. Finite Element Models of modules in EV pack are established separately with aluminium alloy general used in EV pack and magnesium alloy AZ31B. The procedure of impact and random vibration in ABAQUS are analysed according to GB/T31647.3-2015. Compared results show that, single module decrease 0.82Kg and the energy density increase 13.4% with the performance of impact resistance and random vibration resistance better. The feasibility and lightweight effect using magnesium alloy in EV modules industry are proven. It can provide research direction for structural lightweight, energy density increasing and mileage enhancing.

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Optimization of interferometric sensing heads for active mode locking laser sensor 23

Optimization of interferometric sensing heads for active mod...

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23rd Opto-Electronics and Communications Conference, OECC 2018

作者： Park, Chang Hyun Hun Kim, Gyeong Lee, Hwi Don Jo, Minsik Kim, Chang-Seok Department of Cogno-Mechatronics Engineering Pusan National University Busan 46241 Korea Republic of Advanced Photonics Research Institute Gwangju Institute of Science and Technology Gwangju61005 Korea Republic of Agency for Defense Development Daejeon32186 Korea Republic of

Partial reflector sensing head is implemented for active mode locking (AML) laser sensor using fiber Fabry-Perot interferometer (FPI). The length change of fiber FPI sensing head segments can be measured by sweeping t... 详细信息

ISBN: (纸本)9781538691458

关键词： Laser mode locking

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Synchronization of Lur’e-type Nonlinear Systems Over Networks of Linear Dynamical Systems: Lyapunov-based Singular Perturbation Approach

Synchronization of Lur’e-type Nonlinear Systems Over Networ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jisu Kim Hongkeun Kim Agency for Defense Development Daejeon Korea School of Mechatronics Engineering Korea University of Technology and Education Cheonan Korea

ISBN: (纸本)9781538670804;9788993215168

In the usual synchronization problems, the positive constants (or weights) are assigned to the edges of the given graph while the nodes are associated to dynamical systems. In contrast to this, this paper studies the synchronization problem where the edges are also dynamic. In particular, we assign asymptotically stable linear systems to the edges whereas a particular class of Lur'e-type nonlinear systems is associated to the corresponding nodes. Then, the synchronizability of the closed-loop system is analyzed based on the singular perturbation theory. The reduced model of the original system, i.e., the closed-loop system at the quasi-steady-state, corresponds to the Lur'e-type node systems with the edges treated as positive constants as usual, and a sufficient condition for the reduced model to be synchronized is given. Together with this, it is shown that the synchronization of the original singularly perturbed system is reached asymptotically if the reduced model synchronizes and the singular perturbation parameter is sufficiently small.

关键词： Synchronization Perturbation methods Nonlinear systems Closed loop systems Linear systems Eigenvalues and eigenfunctions Graph theory

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Optimization of the constructive form of a Ti-6Al-4V acetabular prosthesis

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UPB Scientific Bulletin, Series B: Chemistry and Materials Science 2018年第1期80卷 197-208页

作者： Rontescu, Corneliu Pacioga, Adrian Stanca, Comsa Iacobescu, Gabriel Dept. of Materials Technology and Welding University POLITEHNICA of Bucharest Bucharest Romania National Institute for Research and Development in Mechatronics and Measurement Technique Romania

In some medical cases, depending on the development of bone tumours, it is necessary to design and manufacture customized prostheses. The present paper proposes to present the results regarding the design optimization of a customized acetabular prosthesis made of titanium alloy and obtained using the rapid prototyping process. In order to optimize the design, two bone-prosthesis assemblies were designed and their in-vitro stability was studied using finite element analysis (FEA). The paper also presents studies on the optimization of the shape of prosthetic models, following which the mechanical stresses and the overall displacements in the bone-prosthesis assembly were reduced by eliminating the stress concentrators. The simulations demonstrated that both models can withstand the normal stresses that occur during the normal use of the prosthesis, but the model with additional ears showed superior stability.

关键词： Finite element method

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