Precised Equipment
Hojat Hejazipoor; Jafar Massah; Keyvan Asefpour Vakilian; Mohsen Soryani; Gholamreza Chegini
Abstract
One of the most important issues in spraying fields and greenhouses is reducing the use of pesticides, reducing the dangerous effects of spraying, protecting the environment, improving the quality of spraying and increasing people's health. Children have weaker immune systems and are unable to detoxify ...
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One of the most important issues in spraying fields and greenhouses is reducing the use of pesticides, reducing the dangerous effects of spraying, protecting the environment, improving the quality of spraying and increasing people's health. Children have weaker immune systems and are unable to detoxify toxic and harmful compounds. For this reason, the adverse effects of poisons on children's health are more important than adults, and the need to reduce the use of poisons and follow the principles of spraying to prevent children from developing cancer is twofold. In this study, the robot sprays by measuring the volume of plant mass and in order to reduce the consumption of poisons. The robot is mechanically designed to be able to move between rows of products and open its manipulator step by step and take deep pictures of each plant in front of it, then analyze the image of each section and observe the plant volume. Detect and spray the same section based on the calculated volume. The process of imaging, volume detection and spraying of the solution based on the estimated volume is repeated at each stage of manipulator opening until the height of the plant is completed and at the end the whole manipulator is retracted.Robot acts intelligently in detecting plant height and closes in the last section after imaging and spraying the solution. The manipulator is able to assess and spray plants up to 270 cm in height. The above robot consists of different parts including camera chamber and nozzle, nozzle and Kinect American camera version 1, manipulator and manipulator actuator mechanism, pump and solution tank, processor, Arduino and relay boards, cart and robot actuator system. To design the above robot, first the static forces applied to the manipulators were examined and then the kinematic calculations of the manipulator were performed. The result of the calculations showed the accuracy of the kinematic equations. After performing calculations to design the robot, examining the environmental conditions and considering the construction cost, the three-dimensional model of the robot was designed in Solidworks 2016 software and based on the above model, the construction work was done step by step. The robot is controlled by Matlab 2010 software. The entire robot working algorithm is coded in Matlab software. For this reason, the main part of controlling the robot is the laptop processor. The laptop controlled by the robot is located in the built-in place behind the robot and transmits all the robot commands to the set of operators through the Arduino board and the relay board. The input information is transmitted to the processor by the Kinect camera, and the processor makes the necessary decisions according to the coded program. Finally, the output commands from the processor are transferred to Arduino board and the relay board to start the actuators. ADM A10-4655M APU processor was used. Developer Toolkit Browser v1.8.0, KinectExplorer-D2D, and Kinect for Windows Software Development Kit (SDK) were used to connect the Kinect camera to a Windows laptop. Two coefficients α and β are needed to determine the plant volume in each section. α is the average plant volume of several plants that has been calculated manually and β is the correction factor multiplied by the amount of plant volume estimated by the robot so that the actual volume of sprayed solution is more in line with the plant needs and the opinion of relevant experts. The volume estimated by the robot in each section is the product of the volume factor multiplied by the average plant volume of the plant (α). The volume factor is the average observed plant width (M) divided by the distance between two consecutive plants in pixels (D). Multiply the volume of the plant observed in the section by multiplying the volume factor by the calculated volume (α) using the Scale Invariant method (independent of the distance from the camera to the object).To calculate the average plant volume manually, several plants should be selected randomly and the plant volume should be calculated by computational methods or flooding method. Then introduced the average volume of these few plants as α to the program. Therefore, the more accurately the manual volume is calculated, and the greater the number of selected plants, Finally, the value of α and the final volume of the plant will be calculated more accurately. The robot should be able to spray the right amount of solution depending on the type of plant and its conditions. Spraying the solution to the plant may not be scientifically justified by experts and specialists according to the type of plant, time of spraying, poison concentration and plant needs. Therefore, the correction factor β should be multiplied by the volume estimated by the robot to the actual volume. Spray the solution to the plant according to the needs of the plant and the opinion of experts. The results of the evaluation show that the robot is able to spray different amounts of solution in the detection of plants with different volumes and the amount of solution sprayed by the robot was proportional to the volume of plants. The average volume of solution sprayed by the robot is 27.1 cc and the average volume of solution sprayed by the worker is 33.1 cc. Also, the standard deviation of the average volume of solution sprayed by the robot and the worker is 2.94 and 3.11, respectively. In other words, the robot is able to spray more accurately and the amount of poison consumption in the robot is estimated less than the worker. It was mentioned that the evaluation of the robot is reported in order to reduce the consumption of acceptable poisons. The feature of being online includes collecting plant information and spraying the solution moments after data processing is one of the important features of the above research. Also, the ability of the robot in online and scale invariant (independent of the distance from the camera to the object) evaluation of the robot was considered acceptable and useful.
Precised Equipment
N. Ahangarnezhad1; Rouzbeh Abbaszadeh; Ahmad Norouzian
Abstract
Introduction Plants are able to respond to stresses or environmental factors. Application of electricity, magnetism, monochromatic light and sonic waves for increasing growth rate is called electro-culture. These factors can affect growth of plants. Many studies have shown that magnetic fields can affect ...
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Introduction Plants are able to respond to stresses or environmental factors. Application of electricity, magnetism, monochromatic light and sonic waves for increasing growth rate is called electro-culture. These factors can affect growth of plants. Many studies have shown that magnetic fields can affect the organisms. However, the exact mechanism of this effect is still unclear. A description of possible multiple effects of magnetic field on living organisms is oxidative stress due to increased production of oxygen species that is with the mediation of iron. considering the development of the lawn field in the country and the value of this plant, the aim of this study was to investigate the influence of magnetic field on the growth of grass seeds and determine how to optimize the magnetic field. Materials and Methods In this study, the effect of AC magnetic flux density and exposure time of magnetic field on germination of grass seed (Festuca arandinacea) was investigated using an electro-culture system. Helm Holtz coils were designed to a create uniform field in the electro-culture system. Helmholtz coil radius and its average height were 18 cm, consisting of two coils to create a uniform magnetic field strength. Pulleys were made of polyethylene. After construction of pulleys, 500 turns copper wire with 1 mm diameter was wrapped around the pulleys. In the coil design, dimensions and materials were selected such that they could bear the weight of the wires and the created heat. In order to create distance between the coils, four stands were used. The stands had possibility of changing their length. Sinusoidal alternating magnetic field was created by applying 50 Hz alternating current to the coils, which were connected in series circuit. Magnetic flux densities were 0.1 and 1 mT, exposure times were 15, 60 and 240 minutes and there was a control treatment (without magnetic field). The design was completely randomized with four replications For evaluation of the electro-culture system, germination percentage, germination rate, mean germination time, and shoot length of every treatment were measured. The current of the coils was controlled using Varyak (an electrical transformer with only one coil for voltage control). Multi meter was attached in series between Varyak and Helm Holtz coil. Tesla meter was applied for measurement and detection of the magnetic field. Electromagnetic flux density 0 (for control), 1.0 and 1 mT at duration of 15, 60, and 240 minutes was applied to the grass seeds. Germinator was used with 13 hours of darkness, and 11 hours of light at constant temperature 20 ± 2° C, respectively. Daily counting of the germinated seeds was done for a week and at the specified time. More than two millimeters root seeds were counted as germinated seeds. On the last day, shoot length for at least five explants from each repeats was measured. Then all data was analyzed using SPSS software and factorial test. The analysis of variance and the mean comparison (Duncan) were performed for the data. Results and Discussion For the mean time of germination, due to the lack of significant interaction between factors, the main effect of magnetic flux density was studied. But for other indices, mean comparison was done for the interaction effects too. Generally, increase of exposure time could improve germination. The best treatment was application of 1 mT magnetic field for 60 minutes. The results showed that magnetic field had a significant influence on the measured traits and most of them showed better results comparied to the control treatment. Coparison between control and optimal treatments, showed that germination percentage, germination rate, mean time germination and shoot length improved to 124%, 155%, 8% and 64% respectively. Maximum rate, germination percentage and shoot length of grass seed obtained at 1 mT magnetic field with 60 min exposure time. Grasses have high water requirements during germination and growth and they must be irrigated constantly. If the condition of growth and germination improves, the water could be saved. Magnetic field can affect exchange of ions in the cell membrane. Distinction of this effective mechanism in electric culture requires more studies by researchers of biology and other related areas. The most investigations should be done to study the effect of magnetic fields on germination by magnets or direct current which is usually easy to create, while in this study the alternating field could have different effects. The other advantage of the system is its ability to create a uniform magnetic field and the possibility to create different fields through changing the current. Conclusions An electro-culture system was designed using alternating magnetic field to stimulate early growth of grass seed as a non-chemical, non-invasive and non-destructive driving factor in the growth. It seems electromagnetic field application can improve cultivation of grass seeds. Further is still needed in this area; the effect of fields from 2 to 4 mT at 60 to 240 minutes should be studied. However, for germination tests, a large number of treatments may lead to reducing accuracy and in this regard limitations should be taken into consideration. Further tests are needed to investigate this new approach.
