Jørgen Maagaard

Hortibot: Feasibility study of a plant nursing robot performing weeding operations - part IV

Based on the development of a robotic tool carrier (Hortibot) equipped with weeding tools, a feasibility study was carried out to evaluate the viability of this innovative technology. The feasibility was demonstrated through a targeted evaluation adapted to the obtainable knowledge on the system performance in horticulture. A usage scenario was designed to set the implementation of the robotic system in a row crop of seeded bulb onions considering operational and functional constraints in organic crop, production. This usage scenario together with the technical specifications of the implemented system provided the basis for the feasibility analysis, including a comparison with a conventional weeding system. Preliminary results show that the automation of the weeding tasks within a row crop has the potential of significantly reducing the costs and still fulfill the operational requirements set forth. The potential benefits in terms of operational capabilities and economic viability have been quantified. Profitability gains ranging from 20 to 50% are achievable through targeted applications. In general, the analyses demonstrate the operational and economic feasibility of using small automated vehicles and targeted tools in specialized production settings.

Designing, modeling and controlling a novel autonomous laser weeding system

Abstract: in this paper, the process of designing and developing a novel laser weeding test setup is explained. The main purpose of designing this system was to simulate the dynamic field conditions of a mobile vehicle capable of targeting weeds. This system consists of a rig containing three conveyor belts fully controlled by a Siemens PLC controller (programmable logic controller), a stereo vision system consisting of two cameras, a 2-axis laser beam deflection unit and a laser source. The main challenge in this project was to accurately estimate and reconstruct the weed growth center using the stereo vision system. The growth center was then targeted by a laser beam controlled by a deflection unit. The preliminary test results showed a good performance of the system than can replace usage of herbicides.

Low-cost modular robotic system for neurological rehabilitative training

This paper presents the concept, development and testing of RoboTrainer-Light, a low-cost yet effective and usable training robot designed for use in the home. Although designed for simplicity and economic mass production, it is believed to enable a large section of patients with partial paralysis to perform effective neurological training in their own home. The robot consists of a wire-pulling motor combined with a sensitive force sensor, controlled by an ultra-high-bandwidth hybrid controller, allowing any combination of tension-, velocity- and length-control of the wire. The controller architecture is distributed and modular, allowing up to 15 wire pulling motors to be combined in parallel kinematic configurations. Compared to other rehabilitative robots, RoboTrainer-Light represents one of the simplest and cheapest possible configurations, which is further emphasized by our deliberate choice of low-cost components and technologies. Preliminary tests indicate that RoboTrainer-Light can support a large group of post-stroke and post-accident victims in effective neurological training in their own home or in local clinics, at an estimated cost lower than 500USD per unit for a high production volume.

User-centered and conceptual technical guidelines of a plant nursing robot

Current service robots, e.g. lawn movers and vacuum cleaners, have rather crude behaviors and limited sensing with the environment. Technological foresights indicate that the next generation of service robots should demonstrate a high degree of autonomy, reliability, minimum environmental impact, and interact in a sensible way with the user. There is a need to determine the functional requirements for the energy effective robot system of tomorrow used in bioproduction from the perspective of various stakeholders together with the development of a high-level framework for designing/prototyping, focusing on the common functionalities among mobile robots.

FeederAnt - An autonomous mobile unit feeding outdoor pigs

Small robots and the concept of decentralized animal husbandry make it possible to renew the principles of organic agriculture. The farm animals will be able to use the same type of housing and are placed integrated with the fields. This is expected to achieve a better utilization of nutrients and a better survival rate for useful insects and micro organisms. The small fields are flexible and could fit to the variation in soil structure topography. This type of precision agriculture has the possibility of increasing biodiversity.

Influence of High Axial Tension on the Shear Strength of non-shear RC Beams

This paper deals with the influence of high axial tension on the shear strength of beams without shear reinforcement. An experimental program with shear-tension tests was carried out. The experimental results have been used to evaluate the applicability of the Eurocode 2 (EC2) design formula in cases with large normal forces. In addition, the experiments have been used to evaluate an extension of the plasticity based Crack Sliding Model (CSM) to cover cases with large normal forces. The test results show, that even in the present of very high axial tensile stresses and strains, the member is still able to carry significant shear stresses. The analysis reveals that the EC2 formula is over conservative in this regard.