Development of a Robotic End-Effector for Apple Tree Pruning

2020 ◽  
Vol 63 (4) ◽  
pp. 847-856 ◽  
Author(s):  
Azlan Zahid ◽  
Long He ◽  
Lihua Zeng ◽  
Daeun Choi ◽  
James Schupp ◽  
...  
Keyword(s):  
Cutting Force ◽  
Apple Tree ◽  
Field Tests ◽  
Force Sensor ◽  
Pneumatic Cylinder ◽  
List Type ◽  
End Effector ◽  
Wide Range ◽  
Simulation Results ◽  
Tree Pruning

HighlightsAn end-effector with two degrees of freedom (2R) was developed for pruning apple trees.A rational 2×2 relationship (R2 = 0.93) was found for ‘Fuji’ apple tree branch diameter and cutting force.Simulation showed that the cutter can be aligned in a wide range of orientations in a spherical workspace.The developed end-effector was able to cut branches up to 12 mm in diameter.Abstract. Robotics and automation technologies are now used extensively in agriculture, while production operations for tree fruit crops still largely depend on manual labor. Manual pruning is a labor-intensive and costly task in apple production. Robotic pruning is a potential solution, but it involves several challenges due to the unstructured work environment. This study focused on designing an end-effector prototype for pruning considering the maneuvering, spatial, mechanical, and horticultural requirements. Branch cutting force was measured with a thin force sensor to provide guidelines for the end-effector design. The test results indicated the relationship between the force required to cut different diameter branches with an R2 value of 0.93. The end-effector was developed using two rotary motors, a pneumatic cylinder, and a pair of bypass shear blades. A three-directional linear manipulator system and a control system were built for moving the end-effector to targeted locations. A mathematical model was developed for simulation of the workspace utilization and reachable points of the end-effector. The simulation results indicated that the end-effector can be aligned in a wide range of orientations of the cutter. Field tests were conducted for validation of the simulation results and performance assessment of the end-effector. The results indicated that the end-effector with the current parameter settings successfully cut branches up to 12 mm in diameter and was able to cut branches in a wide range of possible orientations in a given 3D space. The robotic end-effector developed in this study is a core component of an automated pruning system for fruit trees. In future work, an integrated manipulator system will be developed for branch accessibility with collision-free trajectories. Keywords: Malus × domestica (Borkh.), Pruning end-effector, Reachable-points simulation, Tree pruning.

Comparison of Deterministic and Linear Cosine Spatial Filtering of Transmission Electron Micrographs

1972 ◽  
Vol 30 ◽  
pp. 596-597
Author(s):  
David A. Ansley
Keyword(s):  
Spherical Aberration ◽  
Focal Length ◽  
Chromatic Aberration ◽  
Spatial Filter ◽  
Operating Conditions ◽  
Objective Lens ◽  
List Type ◽  
Spatial Filters ◽  
Transmission Electron ◽  
Wide Range

The coherence of the electron flux of a transmission electron microscope (TEM) limits the direct application of deconvolution techniques which have been used successfully on unmanned spacecraft programs. The theory assumes noncoherent illumination. Deconvolution of a TEM micrograph will, therefore, in general produce spurious detail rather than improved resolution.A primary goal of our research is to study the performance of several types of linear spatial filters as a function of specimen contrast, phase, and coherence. We have, therefore, developed a one-dimensional analysis and plotting program to simulate a wide 'range of operating conditions of the TEM, including adjustment of the:(1) Specimen amplitude, phase, and separation(2) Illumination wavelength, half-angle, and tilt(3) Objective lens focal length and aperture width(4) Spherical aberration, defocus, and chromatic aberration focus shift(5) Detector gamma, additive, and multiplicative noise constants(6) Type of spatial filter: linear cosine, linear sine, or deterministic

Triply-periodic nanostructures in surfactant, block copolymer, and biomembrane systems, and simulation of TEMs

1993 ◽  
Vol 51 ◽  
pp. 884-885
Author(s):  
David M. Anderson ◽  
Tomas Landh
Keyword(s):  
Liquid Crystalline ◽  
Diblock Copolymers ◽  
Cubic Phase ◽  
List Type ◽  
Interpenetrating Networks ◽  
Triply Periodic ◽  
Wide Range ◽  
Bicontinuous Cubic ◽  
Phase Liquid ◽  
Dividing Surface

First discovered in surfactant-water liquid crystalline systems, so-called ‘bicontinuous cubic phases’ have the property that hydropnilic and lipophilic microdomains form interpenetrating networks conforming to cubic lattices on the scale of nanometers. Later these same structures were found in star diblock copolymers, where the simultaneous continuity of elastomeric and glassy domains gives rise to unique physical properties. Today it is well-established that the symmetry and topology of such a morphology are accurately described by one of several triply-periodic minimal surfaces, and that the interface between hydrophilic and hydrophobic, or immiscible polymer, domains is described by a triply-periodic surface of constant, nonzero mean curvature. One example of such a dividing surface is shown in figure 5.The study of these structures has become of increasing importance in the past five years for two reasons:1)Bicontinuous cubic phase liquid crystals are now being polymerized to create microporous materials with monodispersed pores and readily functionalizable porewalls; figure 3 shows a TEM from a polymerized surfactant / methylmethacrylate / water cubic phase; and2)Compelling evidence has been found that these same morphologies describe biomembrane systems in a wide range of cells.

SENSOR PVDF DENGAN POLARISASI PERMUKAAN SEBAGAI PENDETEKSI GAYA POTONG PADA MESIN GURDI

2020 ◽  
Vol 1 (2) ◽  
Author(s):  
Aditya Nugraha ◽  
Masri Bin Ardin
Keyword(s):  
Cutting Force ◽  
Output Signal ◽  
Axial Loading ◽  
Force Sensor ◽  
Maximum Deviation ◽  
Drilling Machine ◽  
Sensor Output ◽  
Sensor Surface ◽  
Surface Polarization ◽  
Tangential Directions

PVDF sensor is a sensor that is often used to measure force, strain, vibration and heat. In this study, PVDF sensors with surface polarization are used to detect cutting forces on the machine. The PVDF sensor that has been polarized on the surface is placed in the chuck part of the engine. Measuring instrumen for testing and calibrating PVDF sensors is oscilloscope with increased loading and reduced axial and tangential directions. After the calibration process, the PVDF sensor was used to measure cutting force on drilling machine, and then the results were compared with the PCB piezotronics force sensor. The PVDF sensor output signal is measured and studied for its voltage using an oscilloscope, where the output signal is compared to the weight given to the PVDF sensor. From the results of these tests indicate that the maximum deviation in axial loading is 0.32V while the tangential loading is 0.31VKeywords. PVDF sensor, Surface polarization, Drilling machine, Cutting force

Control of Winged Waterprimrose (Jussiaea decurrens) and Northern Jointvetch (Aeschynomene virginica) with Fungal Pathogens

Weed Science ◽  
1979 ◽  
Vol 27 (5) ◽  
pp. 497-501 ◽  
Author(s):  
C. D. Boyette ◽  
G. E. Templeton ◽  
R. J. Smith
Keyword(s):  
Oryza Sativa ◽  
Glycine Max ◽  
Fungal Pathogens ◽  
Liquid Culture ◽  
Field Experiments ◽  
Colletotrichum Gloeosporioides ◽  
Pathogenic Fungus ◽  
Field Tests ◽  
Wide Range ◽  
Growing Region

An indigenous, host-specific, pathogenic fungus that parasitizes winged waterprimrose [Jussiaea decurrens(Walt.) DC.] is endemic in the rice growing region of Arkansas. The fungus was isolated and identified asColletotrichum gloeosporioides(Penz.) Sacc. f.sp. jussiaeae(CGJ). It is highly specific for parasitism of winged waterprimrose and not parasitic on creeping waterprimrose (J. repensL. var.glabrescensKtze.), rice (Oryza sativaL.), soybeans [Glycine max(L.) Merr.], cotton (Gossypium hirsutumL.), or 4 other crops and 13 other weeds. The fungus was physiologically distinct from C.gloeosporioides(Penz.) Sacc. f. sp.aeschynomene(CGA), an endemic anthracnose pathogen of northern jointvetch[Aeschynomene virginica(L.) B.S.P.], as indicated by cross inoculations of both weeds. Culture in the laboratory and inoculation of winged waterprimrose in greenhouse, growth chamber and field experiments indicated that the pathogen was stable, specific, and virulent in a wide range of environments. The pathogen yielded large quantities of spores in liquid culture. It is suitable for control of winged waterprimrose. Winged waterprimrose and northern jointvetch were controlled in greenhouse and field tests by application of spore mixtures of CGJ and CGA at concentrations of 1 to 2 million spores/ml of each fungus in 94 L/ha of water; the fungi did not damage rice or nontarget crops.

scholarly journals 332 The diagnostic role of shunt series radiographs (SSR) in children presenting to the children’s emergency department (CED) with suspected ventriculoperitoneal (VP) shunt failure

2020 ◽  
Vol 37 (12) ◽  
pp. 852.3-853
Author(s):  
Angharad Griffiths ◽  
Ikechukwu Okafor ◽  
Thomas Beattie
Keyword(s):  
Clinical Outcome ◽  
Sensitivity And Specificity ◽  
Clinical Information ◽  
Flow Diagram ◽  
List Type ◽  
Shunt Failure ◽  
Vp Shunt ◽  
Wide Range ◽  
Diagnostic Role

Aims/Objectives/BackgroundVP shunts are used to drain CSF from the cranial vault because of a wide range of pathologies and, like any piece of hardware, can fail. Traditionally investigations include SSR and CT. This project examines the role of SSR in evaluating children with suspected VP shunt failure.Primary outcome: Sensitivity and specificity of SSR in children presenting to the CED with concern for shunt failure.Methods/DesignConducted in a single centre, tertiary CED of the national Irish Neurosurgical(NS) referral centre (ED attendance:>50,000 patients/year). 100 sequential SSR requested by the CED were reviewed. Clinical information was extracted from electronic requests. Shunt failure was defined by the need for NS intervention(Revision).Abstract 332 Figure 1Abstract 332 Figure 2Results/ConclusionsSensitivity and specificity is presented in figure 1 (two by two table).100 radiographs performed in 84 children.22% shunts revised (see flow diagram).7 SSR’s were abnormal.85% (n=6) shunts revised. [5 following abnormal CT].Of the normal SSR’s; 16 had abnormal CT and revised.85/100 received CT.64 of 85 CT’s (75%) were normal.□6 of the 64 had focal shunt concern.SSR’s shouldn’t be used in isolation. NPV&PPV, Sensitivity&Specificity is low.SSR’s are beneficial where there’s concern over focal shunt problems (injury/pain/swelling) or following abnormal CT.VP shunt failure is not well investigated with SSR alone.SSR’s could be omitted where there is no focal shunt concern/after normal CT (without impacting clinical outcome) reducing radiation exposure and reduce impact on CED’s.59 SSR’s could have been avoided without adverse clinical outcome.

scholarly journals Quantification of assembly forces during creation of head-neck taper junction considering soft tissue bearing: a biomechanical study

Arthroplasty ◽  
2021 ◽  
Vol 3 (1) ◽  
Author(s):  
Toni Wendler ◽  
Torsten Prietzel ◽  
Robert Möbius ◽  
Jean-Pierre Fischer ◽  
Andreas Roth ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Work Experience ◽  
Soft Tissues ◽  
Force Sensor ◽  
Biomechanical Study ◽  
Measuring System ◽  
Wide Range ◽  
Head Neck

Abstract Background All current total hip arthroplasty (THA) systems are modular in design. Only during the operation femoral head and stem get connected by a Morse taper junction. The junction is realized by hammer blows from the surgeon. Decisive for the junction strength is the maximum force acting once in the direction of the neck axis, which is mainly influenced by the applied impulse and surrounding soft tissues. This leads to large differences in assembly forces between the surgeries. This study aimed to quantify the assembly forces of different surgeons under influence of surrounding soft tissue. Methods First, a measuring system, consisting of a prosthesis and a hammer, was developed. Both components are equipped with a piezoelectric force sensor. Initially, in situ experiments on human cadavers were carried out using this system in order to determine the actual assembly forces and to characterize the influence of human soft tissues. Afterwards, an in vitro model in the form of an artificial femur (Sawbones Europe AB, Malmo, Sweden) with implanted measuring stem embedded in gelatine was developed. The gelatine mixture was chosen in such a way that assembly forces applied to the model corresponded to those in situ. A study involving 31 surgeons was carried out on the aforementioned in vitro model, in which the assembly forces were determined. Results A model was developed, with the influence of human soft tissues being taken into account. The assembly forces measured on the in vitro model were, on average, 2037.2 N ± 724.9 N, ranging from 822.5 N to 3835.2 N. The comparison among the surgeons showed no significant differences in sex (P = 0.09), work experience (P = 0.71) and number of THAs performed per year (P = 0.69). Conclusions All measured assembly forces were below 4 kN, which is recommended in the literature. This could lead to increased corrosion following fretting in the head-neck interface. In addition, there was a very wide range of assembly forces among the surgeons, although other influencing factors such as different implant sizes or materials were not taken into account. To ensure optimal assembly force, the impaction should be standardized, e.g., by using an appropriate surgical instrument.

scholarly journals Using Satellite Data for CBRN (Chemical, Biological, Radiological, and Nuclear) Threat Detection, Monitoring, and Modelling

2021 ◽  
Author(s):  
Gary Sutlieff ◽  
Lucy Berthoud ◽  
Mark Stinchcombe
Keyword(s):  
Satellite Data ◽  
Meteorological Data ◽  
Atmospheric Composition ◽  
Chemical Detection ◽  
List Type ◽  
Data Types ◽  
Wide Range ◽  
Future Technologies ◽  
The Impact ◽  
Near Future

Abstract CBRN (Chemical, Biological, Radiological, and Nuclear) threats are becoming more prevalent, as more entities gain access to modern weapons and industrial technologies and chemicals. This has produced a need for improvements to modelling, detection, and monitoring of these events. While there are currently no dedicated satellites for CBRN purposes, there are a wide range of possibilities for satellite data to contribute to this field, from atmospheric composition and chemical detection to cloud cover, land mapping, and surface property measurements. This study looks at currently available satellite data, including meteorological data such as wind and cloud profiles, surface properties like temperature and humidity, chemical detection, and sounding. Results of this survey revealed several gaps in the available data, particularly concerning biological and radiological detection. The results also suggest that publicly available satellite data largely does not meet the requirements of spatial resolution, coverage, and latency that CBRN detection requires, outside of providing terrain use and building height data for constructing models. Lastly, the study evaluates upcoming instruments, platforms, and satellite technologies to gauge the impact these developments will have in the near future. Improvements in spatial and temporal resolution as well as latency are already becoming possible, and new instruments will fill in the gaps in detection by imaging a wider range of chemicals and other agents and by collecting new data types. This study shows that with developments coming within the next decade, satellites should begin to provide valuable augmentations to CBRN event detection and monitoring. Article Highlights There is a wide range of existing satellite data in fields that are of interest to CBRN detection and monitoring. The data is mostly of insufficient quality (resolution or latency) for the demanding requirements of CBRN modelling for incident control. Future technologies and platforms will improve resolution and latency, making satellite data more viable in the CBRN management field

scholarly journals Simulation Verification of the Contact Parameter Influence on the Forces’ Course of Cereal Grain Impact against a Stiff Surface

2021 ◽  
Vol 11 (2) ◽  
pp. 466
Author(s):  
Włodzimierz Kęska ◽  
Jacek Marcinkiewicz ◽  
Łukasz Gierz ◽  
Żaneta Staszak ◽  
Jarosław Selech ◽  
...  
Keyword(s):  
Dynamic Properties ◽  
Decisive Role ◽  
Force Sensor ◽  
Contact Forces ◽  
Correct Selection ◽  
Contact Parameter ◽  
Cereal Grain ◽  
Wide Range ◽  
The Impact ◽  
Selection Of

The continuous development of computer technology has made it applicable in many scientific fields, including research into a wide range of processes in agricultural machines. It allows the simulation of very complex physical phenomena, including grain motion. A recently discovered discrete element method (DEM) is used for this purpose. It involves direct integration of equations of grain system motion under the action of various forces, the most important of which are contact forces. The method’s accuracy depends mainly on precisely developed mathematical models of contacts. The creation of such models requires empirical validation, an experiment that investigates the course of contact forces at the moment of the impact of the grains. To achieve this, specialised test stations equipped with force and speed sensors were developed. The correct selection of testing equipment and interpretation of results play a decisive role in this type of research. This paper focuses on the evaluation of the force sensor dynamic properties’ influence on the measurement accuracy of the course of the plant grain impact forces against a stiff surface. The issue was examined using the computer simulation method. A proprietary computer software with the main calculation module and data input procedures, which presents results in a graphic form, was used for calculations. From the simulation, graphs of the contact force and force signal from the sensor were obtained. This helped to clearly indicate the essence of the correct selection of parameters used in the tests of sensors, which should be characterised by high resonance frequency.

scholarly journals Production of Microfibrillated Cellulose from Fast-Growing Poplar and Olive Tree Pruning by Physical Pretreatment

2021 ◽  
Vol 11 (14) ◽  
pp. 6445
Author(s):  
David Ibarra ◽  
Raquel Martín-Sampedro ◽  
Bernd Wicklein ◽  
Úrsula Fillat ◽  
María E. Eugenio
Keyword(s):  
Negative Impact ◽  
Raw Materials ◽  
Olive Tree ◽  
Barrier Properties ◽  
Microfibrillated Cellulose ◽  
Mechanical Resistance ◽  
Fast Growing ◽  
Wide Range ◽  
Pfi Refining ◽  
Tree Pruning

Motivated by the negative impact of fossil fuel consumption on the environment, the need arises to produce materials and energy from renewable sources. Cellulose, the main biopolymer on Earth, plays a key role in this context, serving as a platform for the development of biofuels, chemicals and novel materials. Among the latter, micro- and nanocellulose have been receiving increasing attention in the last few years. Their many attractive properties, i.e., thermal stability, high mechanical resistance, barrier properties, lightweight, optical transparency and ease of chemical modification, allow their use in a wide range of applications, such as paper or polymer reinforcement, packaging, construction, membranes, bioplastics, bioengineering, optics and electronics. In view of the increasing demand for traditional wood pulp (e.g., obtained from eucalypt, birch, pine, spruce) for micro/nanocellulose production, dedicated crops and agricultural residues can be interesting as raw materials for this purpose. This work aims at achieving microfibrillated cellulose production from fast-growing poplar and olive tree pruning using physical pretreatment (PFI refining) before the microfibrillation stage. Both raw materials yielded microfibrillated cellulose with similar properties to that obtained from a commercial industrial eucalypt pulp, producing films with high mechanical properties and low wettability. According to these properties, different applications for cellulose microfibers suspensions and films are discussed.

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