Advances in actuation and control in agricultural robots

2019 ◽  
pp. 27-48
Author(s):  
Pål Johan From ◽  
◽  
Lars Grimstad ◽  
◽  
Keyword(s):  
Agricultural Robots ◽  
And Control

scholarly journals RESEARCH ON REMOTE OPERATING SYSTEM OF PICKING ROBOT BASED ON BIG DATA AND WIFI

2021 ◽  
pp. 447-456
Author(s):  
Beibei Sun
Keyword(s):  
Operating System ◽  
Big Data ◽  
Remote Monitoring ◽  
Agricultural Production ◽  
Recognition System ◽  
Main Mode ◽  
Agricultural Robots ◽  
Remote Monitoring System ◽  
Modern Agriculture ◽  
And Control

Agricultural mechanization has become the main mode of agricultural production and represents the development direction of modern agriculture. The amount of data generated in the agricultural production process is extremely huge, so it is necessary to introduce the concept and analysis method of big data. Combining agricultural robots with big data can improve the performance and application effect of robots. This paper combines big data, WLAN technology and robot technology to realize man-machine remote cooperation platform. This gives full play to the advantages that people are good at object recognition and robots are good at execution, and improves the fruit picking efficiency. The target fruit positioning and recognition system aided by machine vision is adopted to realize the accurate positioning of the fruit to be picked. Design of LFM control signal fitting based on big data clustering. In order to verify the feasibility of the scheme, taking the tomato picking robot as an example, the communication error and control accuracy using big data and WIFI (Wireless Fidelity) technology were tested, and the positioning and navigation efficiency with and without remote monitoring system was compared. Test results show that using big data and WIFI remote monitoring technology can effectively improve the efficiency and accuracy of positioning and navigation of remote operating system, which is of great significance for the design of automatic control system of picking robot.

scholarly journals Soft Robotics as an Enabling Technology for Agroforestry Practice and Research

2019 ◽  
Vol 11 (23) ◽  
pp. 6751 ◽  
Author(s):  
Girish Chowdhary ◽  
Mattia Gazzola ◽  
Girish Krishnan ◽  
Chinmay Soman ◽  
Sarah Lovell
Keyword(s):  
New Technologies ◽  
Soft Robotics ◽  
Enabling Technology ◽  
Robotic Arms ◽  
Profit Margins ◽  
Agricultural Robots ◽  
Agroforestry Practice ◽  
Human Labor ◽  
Design And Manufacture ◽  
And Control

The shortage of qualified human labor is a key challenge facing farmers, limiting profit margins and preventing the adoption of sustainable and diversified agroecosystems, such as agroforestry. New technologies in robotics could offer a solution to such limitations. Advances in soft arms and manipulators can enable agricultural robots that can have better reach and dexterity around plants than traditional robots equipped with hard industrial robotic arms. Soft robotic arms and manipulators can be far less expensive to manufacture and significantly lighter than their hard counterparts. Furthermore, they can be simpler to design and manufacture since they rely on fluidic pressurization as the primary mechanisms of operation. However, current soft robotic arms are difficult to design and control, slow to actuate, and have limited payloads. In this paper, we discuss the benefits and challenges of soft robotics technology and what it could mean for sustainable agriculture and agroforestry.

scholarly journals Design and control of a heavy material handling manipulator for agricultural robots

2008 ◽  
Vol 25 (3) ◽  
pp. 189-204 ◽  
Author(s):  
Satoru Sakai ◽  
Michihisa Iida ◽  
Koichi Osuka ◽  
Mikio Umeda
Keyword(s):  
Material Handling ◽  
Agricultural Robots ◽  
And Control

scholarly journals Autonomous navigation control based on improved adaptive filtering for agricultural robot

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142092535
Author(s):  
Weikuan Jia ◽  
Yuyu Tian ◽  
Huichuan Duan ◽  
Rong Luo ◽  
Jian Lian ◽  
...  
Keyword(s):  
Adaptive Filtering ◽  
Autonomous Navigation ◽  
Dynamic Performance ◽  
Variable Structure ◽  
Convergence Criteria ◽  
Agricultural Robots ◽  
Navigation Control ◽  
Navigation Accuracy ◽  
And Control ◽  
Agricultural Robot

Under the complex agricultural operation environment, reliable navigation system is the basic guarantee to realize the agricultural robot automated operation. This study focuses on improving navigation accuracy and control accuracy and conducts related research on autonomous navigation control of agricultural robots. This article discusses the advantages of using strict convergence criteria and combining Sage–Husa adaptive filtering with strong tracking Kalman filtering and then proposes an improved adaptive Kalman filter algorithm. The new algorithm can effectively suppress the filter divergence, improve the dynamic performance of the filter, and ensure its better filtering accuracy and strong adaptive ability to improve navigation accuracy of GPS. Further variable structure switching method is used to prevent proportional integral differential (PID) controller integral saturation phenomenon, which effectively solves the controller over-saturation problem. And combining this method with an improved adaptive filtering algorithm not only can effectively inhibit control interference but also achieve the anti-saturation effect, thereby enhancing the stability and accuracy of the control system. Finally, the simulation and experiment of the new method show that the proposed method greatly improves the ability of the filter to suppress divergence and control precision.

scholarly journals Design and implementation of an electronic architecture for an agricultural mobile robot

2010 ◽  
Vol 14 (11) ◽  
pp. 1240-1247 ◽  
Author(s):  
Eduardo P. Godoy ◽  
Rubens A. Tabile ◽  
Robson R. D. Pereira ◽  
Giovana T. Tangerino ◽  
Arthur J. V. Porto ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Distributed Control ◽  
Communication Networks ◽  
Autonomous Vehicles ◽  
Current Trend ◽  
Agricultural Robots ◽  
Design And Implementation ◽  
Embedded Network ◽  
And Control ◽  
Analysis Of Performance

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for remote sensing. One of the major challenges in the design of these robots is the development of the electronic architecture for the integration and control of the devices. Recent applications of mobile robots have used distributed architectures based on communication networks. A technology that has been widely used as an embedded network is the CAN protocol. The implementation of the ISO11783 standard represents the standardization of the CAN for application in agricultural machinery. This work describes the design and implementation of an electronic architecture for a mobile agricultural robot. The discussions are focused on the developed architecture, the wireless communication system for teleoperation and the distributed control based on CAN protocol and ISO11783. The evaluation of the developed system was based on the analysis of performance parameters such as motor response and architectural time delay obtained with the robot operation. The results show that the developed architecture can be applied for teleoperation and distributed control of agricultural robots meeting the requirements for accurate robot movement and an acceptable response time for robot control commands and supervision.

Control of Metal Alloy Oxidation with Electric Fields

1973 ◽  
Vol 31 ◽  
pp. 164-165
Author(s):  
R. R. Dils ◽  
P. S. Follansbee
Keyword(s):  
Electric Fields ◽  
Oxidation Process ◽  
Base Alloy ◽  
Oxide Surface ◽  
Platinum Electrodes ◽  
Insulating Layer ◽  
Iron Base Alloy ◽  
Alloy Oxidation ◽  
Aluminum Oxide Layer ◽  
And Control

Electric fields have been applied across oxides growing on a high temperature alloy and control of the oxidation of the material has been demonstrated. At present, three-fold increases in the oxidation rate have been measured in accelerating fields and the oxidation process has been completely stopped in a retarding field.The experiments have been conducted with an iron-base alloy, Pe 25Cr 5A1 0.1Y, although, in principle, any alloy capable of forming an adherent aluminum oxide layer during oxidation can be used. A specimen is polished and oxidized to produce a thin, uniform insulating layer on one surface. Three platinum electrodes are sputtered on the oxide surface and the specimen is reoxidized.

Evidence for a Blood Ganglion Barrier in the Superior Cervical Ganglion of the Rat

1982 ◽  
Vol 40 ◽  
pp. 204-204
Author(s):  
D. M. DePace
Keyword(s):  
Blood Vessels ◽  
Superior Cervical Ganglion ◽  
Peripheral Nerves ◽  
Time Schedule ◽  
Transmission Electron ◽  
Cervical Ganglion ◽  
The Central Nervous System ◽  
Cervical Ganglia ◽  
Capillary Circulation ◽  
And Control

The majority of blood vessels in the superior cervical ganglion possess a continuous endothelium with tight junctions. These same features have been associated with the blood brain barrier of the central nervous system and peripheral nerves. These vessels may perform a barrier function between the capillary circulation and the superior cervical ganglion. The permeability of the blood vessels in the superior cervical ganglion of the rat was tested by intravenous injection of horseradish peroxidase (HRP). Three experimental groups of four animals each were given intravenous HRP (Sigma Type II) in a dosage of.08 to.15 mg/gm body weight in.5 ml of.85% saline. The animals were sacrificed at five, ten or 15 minutes following administration of the tracer. Superior cervical ganglia were quickly removed and fixed by immersion in 2.5% glutaraldehyde in Sorenson's.1M phosphate buffer, pH 7.4. Three control animals received,5ml of saline without HRP. These were sacrificed on the same time schedule. Tissues from experimental and control animals were reacted for peroxidase activity and then processed for routine transmission electron microscopy.

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