scholarly journals Design of a Sweet Potato Transplanter Based on a Robot Arm

2021 ◽  
Vol 11 (19) ◽  
pp. 9349
Author(s):  
Zhengduo Liu ◽  
Xu Wang ◽  
Wenxiu Zheng ◽  
Zhaoqin Lv ◽  
Wanzhi Zhang

Traditional sweet potato transplanters have the problem of seedling leakage and can only accomplish one transplantation method at a time, which does not meet the requirements of complex planting terrain that requires multiple transplantation methods. Therefore, this paper proposes a design for a crawler-type sweet potato transplanting machine, which can accomplish a variety of transplanting trajectories and conduct automatic replanting. The machine has a transplanting piece and a replanting piece. The transplanting piece completes the transplanting action through a transplanting robot arm, and the replanting piece detects the transplanting status by deep learning. The mathematical model of the transplanting robot arm is built, and the transplanting trajectory is inferred from the inverse kinematics model of the transplanting robot. In the replanting piece, a target detection network is used to detect the transplanting status. The DBIFPN structure and the CBAM_Dense attention mechanism are proposed to improve the accuracy of the target detection of sweet potato seedlings. The experiment showed that the transplanting robot arm can transplant sweet potatoes in horizontal and vertical methods, and the highest transplanting qualification rate is 96.8%. Compared with the use of the transplanting piece alone, the leakage rate of the transplanting–replanting mechanism decreased by 5.2%. These results provide a theoretical basis and technical support for the research and development of sweet potato transplanters.

2021 ◽  
Vol 60 (1) ◽  
pp. 731-743
Author(s):  
Libo Zhang ◽  
Hanjun Gao ◽  
Huichao Xu ◽  
Jing Song

Abstract In this paper, the robot arm is manufactured to increase the structural strength and improve safety. The stability of the nursing robot in the process of carrying out the typical nursing task of holding patients was studied, and the influence of the center of gravity on the movement stability of the nursing robot was analyzed. The mathematical model of the stability of the robot is built by using the inverse kinematics solution of the robot. By studying the trajectory planning of a nursing robot under the condition of ZMP constraint, the robot can move safely and optimally along the prescribed trajectory between two working points. The simulation results show that the algorithm can significantly improve the work safety of the robot. In the experiment, four pressure sensors are used to measure the pressure of four wheels on the ground, the data are obtained and substituted into the expression of center of pressure (COP) method. The results show that the stability is in a reasonable moving area without any hidden danger, and its COP value is less than the stable qualitative boundary, which verifies the rationality and effectiveness of the optimal center of gravity stability planning algorithm.


2020 ◽  
pp. 18-20
Author(s):  
Т.Э. Остонакулов ◽  
А.А. Шамсиев

В 2017–2019 годах изучены сортообразцы сладкого картофеля на староорошаемых лугово-сероземных почвах Зарафшанской долины. Цель исследований – комплексная оценка сортообразцов батата в условиях Зарафшанской долины по скороспелости, росту, развитию, интенсивному размножению, формированию урожая, компактности клубней в гнезде, продуктивности, урожайности и лежкости клубней и выделение из них перспективных, а также разработка приемов агротехнологии получения высоких урожаев для данных условий. Почвы опытного участка характеризуются благоприятными агрофизическими и водными свойствами и низким содержанием гумуса, нитратного азота, подвижного фосфора и содержанием обменного калия от низкого до среднего. Сравнивали 18 сортообразцов батата. Выделенные сортообразцы изучали при ширине междурядий 70 и 90 см со схемой 70×25 и 90×20 см по 1, 2 и 3 растения в гнезде. Для получения рассады сортообразцов батата брали по 40 клубней и высаживали 20–22 февраля в пленочной теплице при температуре 15–18 °C, заделывая их на глубину 3–5 см. Влажность почвы поддерживали на уровне 65–70%. Через 7–10 дней после высадки почки начинают прорастать, а через 43–48 дней формируется рассада высотой 12–15 см, готовая для высадки в поле. Высадка рассады, как и других рассадных культур (томата, перца, баклажана) – по схеме 70×20–25 см во второй-третьей декаде апреля. Уход включал в себя междурядную обработку (культивация), прополку, борьбу с сорняками, подкормку, поливы. Уборка урожая – в конце сентября-начале октября с помощью картофелекопателя. В результате исследований выделились сорта по скороспелости, дружности формирования ростков, ускоренному размножению, продуктивности, компактности клубней в гнезде и с высоким товарным урожаем – Сочакинур, Хар-Бей и Япон. Возделывание этих сортообразцов по схеме 70×25 и 90×20 см способствует получению товарного урожая высокого качества не менее 43–48 т/га. In 2017–2019, studies were conducted on the study of varieties of sweet potatoes on old-irrigated meadow-gray-earth soils of the Zarafshan valley. The purpose of the research is a comprehensive assessment of sweet potato varieties in the conditions of the Zarafshan valley in terms of early maturity, growth, development, intensive reproduction, yield formation, compactness of tubers in the nest, productivity, yield and keeping quality of tubers and the selection of promising ones, as well as the development of methods of agricultural technology for obtaining high yields for given conditions. The soil is characterized by favorable agrophysical and water properties and low content of humus, nitrate nitrogen, mobile phosphorus and a low-average content of exchange potassium. Eighteen sweet potato varieties were compared. The selected variety samples were studied with a row spacing of 70 and 90 cm with a scheme of 70×25 and 90×20 cm for 1, 2 and 3 seedlings in the nest. To obtain seedlings of sweet potato varieties, 40 tubers were taken and planted on February 20–22 in a film greenhouse at a temperature of 15–18 °C, seeding to a depth of 3–5 cm, the soil moisture was maintained at 65–70%. 7–10 days after planting, the buds began to germinate, and after 43–48 days, seedlings were formed with a height of 12–15 cm, which is ready for planting in the field. Planting seedlings in the field is carried out, as well as other seedlings (tomato, pepper, eggplant) according to the scheme 70x20–25 cm in the second or third decade of April. Growing includes inter-row processing (cultivation), weeding, weed control, top dressing, watering. Harvesting in late September, early October with a potato digger. As a result of the research, varieties were identified in terms of early maturity, sprout formation, accelerated reproduction, productivity, compactness of tubers in the nest and ensuring a high marketable yield – Sochakinur, Xar-Bey, and Japon. The cultivation of these varieties according to the scheme 70×25 and 90×20 cm contributes to the production of a commodity crop at 43–48 t/ha with good qualities.


Agrotek ◽  
2018 ◽  
Vol 3 (2) ◽  
Author(s):  
Andrew B. Pattikawa ◽  
Antonius Suparno ◽  
Saraswati Prabawardani

<em>Sweet potato is an important staple food crop especially for the local people of Central Highlands Jayawijaya. There are many accessions that have always been maintained its existence to enrich their various uses. Traditionally, sweet potato accessions were grouped based on the utilization, such as for animal feed, cultural ceremonies, consumption for adults, as well as for infants and children. This study was aimed to analyze the nutritional value of sweet potatoes consumed by infants and children of the Dani tribe. Chemical analyses were conducted at the Laboratory of Post-Harvest Research and Development Center, Cimanggu, Bogor. The results showed that each of 4 (four) sweet potato accessions which were consumed by infants and children had good nutrient levels. Accession Sabe showed the highest water content (72.56%), vitamin C (72.71 mg/100 g), Fe (11.85 mg/100 g), and K levels (130.41 mg / 100 grams). The highest levels of protein (1.44%), fat (1.00%), energy (154.43 kkal/100 gram), carbohydrate (35.47%), starch (30.26%), reducing sugar (3.44%), riboflavin (0.18 mg/100 g), and vitamin A (574.40 grams IU/100 were produced by accession Manis. On the other hand, accession Saborok produced the highest value for ash content (1.32%), vitamin E (28.30 mg/100 g), and ?-carotene (64.69 ppm). The highest level of crude fiber (1.81 %) and thiamin (0.36 mg/100 g) was produced by accession Yuaiken.</em>


Agrotek ◽  
2018 ◽  
Vol 2 (3) ◽  
Author(s):  
Antonius Suparno ◽  
Opalina Logo ◽  
Dwiana Wasgito Purnomo

Sweet potato serves as a staple food for people in Jayawijaya. Many cultivars of sweet potatoes have been cultivated by Dani tribe in Kurulu as foot for their infant, child and adult as well as feeding especially for pigs. Base on the used of sweet potatoes as food source for infant and child, this study explored 10 different cultivars. As for the leaf morphology, it was indentified that the mature leaves have size around 15 � 18 cm. general outline of the leaf is reniform (40%), 60% have green colour leaf, 50% without leaf lobe, 60% of leaf lobes number is one, 70% of shape of central leaf lobe is toothed. Abazial leaf vein pigmentation have purple (40%), and petiole pigmentation is purple with green near leaf (60%), besides its tuber roots, sweet potatoes are also harvested for its shoots and green young leaves for vegetables.


2021 ◽  
Vol 5 (3) ◽  
pp. 840-851
Author(s):  
Nurul Azhar ◽  
◽  
Roni Kastaman ◽  
Anas Bunyamin

The agricultural, forestry, and fisheries sectors and also the processing industry sectors in Sumedang Regency contributed the highest GDRP value in 2014-2018, so that Sumedang Regency has a potential in agro-industrial sector. This research aims to determined the priority of superior agro-industrial products and public assessment of superior agro-industrial products that have been determined in Sumedang Regency. This research used the Comparison of Exponential Method (MPE) and ANOVA analysis. The data analysis tools were Microsoft Excel and IBM SPSS Statistics 24 Software. The results of the MPE analysis showed that the priority of superior agro-industrial products in Sumedang Regency were ground coffee, roasted coffee, Cilembu roasted sweet potatoes, Cilembu sweet potato chips, red bako mole, opak ketan, white bako mole, Sumedang tofu, tempeh chips, and oncom Pasireungit. ANOVA analysis showed that there were differences of the superior agro-industrial products rank, that is Sumedang tofu, Cilembu roasted sweet potato, oncom Pasireungit, white bako mole, Cilembu sweet potato chips, tempeh chips, roasted coffee, ground coffee, red bako mole, and opak ketan.


2017 ◽  
Vol 7 (1) ◽  
pp. 146
Author(s):  
William Faustine Epeju ◽  
Peter Milton Rukundo

Two relevant studies on food security are referred to in the article. Food insecurity from time to time threatens in Teso sub region which houses a viable Teso agricultural system. One study was done during 2001-2003 in Teso on sweet potato production with 650 persons participating and the second one was done in one disaster affected area of Bududa District nearby during 2012-2016 when 1,142 persons participated. Kiryandongo District where Bududa landslide survivors were resettled in Uganda was included in that study. Participatory methods such as focus group discussions, farm observations, in-depth interviews, and questionnaires were used. Both studies used qualitative and quantitative methods for data analysis. The sweet potato stands second after cassava as the crop for famine and disaster periods in Teso to meet the human right to adequate food to complement the well dried cereals & grain legumes that stored longer. Livestock especially was also one of the prime determinants of food security and income in Teso. Free from cyanides with a good content of affordable Vitamin A from orange fleshed varieties, sweet potatoes in Teso contributed about 61% to the yearly food per capita of the population thus a recommendable crop for sustainable food security and some income in Teso and beyond. 


2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.


2016 ◽  
Vol 12 (2) ◽  
pp. 111
Author(s):  
Demas Wamaerand ◽  
Kuntoro Boga Andri

This study aims to: (1) mapping the distribution pattern of the application of agricultural technology innovation specific locations, (2) determine the critical success factors  distribution  application  of  agricultural  technology  innovation  specific locations,  (3)  improvement  of  distribution  patterns  and  acceleration  of  the  adoption and diffusion of technological innovations to support agribusiness and agroindustrial rice, sweet potatoes and  soybeans in Papua. The research activities carried out during March  2011  to  February  2014  using  three  approaches  (methods),  namely  (1)  Desk Study  on  the  SL-  PTT  rice,  soybean  and  sweet  potato  (2)  surveys  to  obtain quantitative  data in  three  districts  purposively  selected  with  10-  20  respondents, (3) the application pattern of diffusion through the demonstration of quality seeds of rice, corn  and  soybeans  in  the  BPP  or  a  farmer  seed  sources  in  three  selected  districts.Agronomic  data  were tabulated  and  analyzed  descriptively.  Analysis  of  the level  of efficiency  in  the  application  of  technology  used  indicator  plots  the  balance  receiptsand  fees  or  analysis  of  R  /  C  ratio.  To  measure  the  success  of  the  application  of technological  innovations  in  the  plots  need  to  set  performance  indicators,  covering aspects of the use of inputs, processes, outputs, outcomes, benefits and impacts. The results show that the dissemination of technological innovations for the development of location-specific agricultural commodities  of rice, corn, soybean and sweet potato, has  spread  in  most  regions  crop  farming  development  centers  in  Papua.  But  only concentrated  around  the  transmigration  settlement  area.  New  varieties  of  soybean plants  yielding  seeds  and  rice  showed  better  productivity  than  the  old  varieties  that have  been  repeatedly  planted  by  farmers.  Yielding  varieties  of  maize  is  being introduced less developed because it is still constrained by marketing, if the market is readily available, farmers are willing to develop it.


2021 ◽  
Vol 39 (2) ◽  
pp. 186-191
Author(s):  
Jhonatan M Goulart ◽  
Adriano A Rocha ◽  
José Antonio A Espindola ◽  
Ednaldo da S Araújo ◽  
José Guilherme M Guerra

ABSTRACT This study aimed to evaluate sweet potato performance in succession to annual herbaceous leguminous plants, in monocropping or intercropped with corn, under agroecological management, under Baixada Fluminense conditions. The experimental design was randomized blocks, with five treatments and four replicates. The treatments consisted of pre-cropping with the following species: crotalária (Crotalaria juncea) under monocropping system, crotalária intercropped with corn (Zea mays), jack bean (Canavalia ensiformis) under monocropping system, jack bean intercropped with corn and spontaneous vegetation. The results showed that monocropped crotalária reached the greatest dry biomass accumulation during two consecutive years of succession. In the second year, this treatment provided greater accumulated amounts of N, K and Mg in plant biomass. Growing sweet potatoes in succession to the pre-cropping of crotalária is advantageous, as it provided an increase in vegetable productivity in the second year of succession.


2007 ◽  
Vol 23 (1) ◽  
pp. 13-21 ◽  
Author(s):  
Hae-Ryun Kwak ◽  
Mi-Kyeong Kim ◽  
Mi-Nam Jung ◽  
Su-Heon Lee ◽  
Jin-Woo Park ◽  
...  

Sign in / Sign up

Export Citation Format

Share Document