Search results for: agricultural robots

Authors: Chiling Chen, Chiaoying Chou, Siyang Wu

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Taiwan locates at the west of Pacific Ocean and intersects between continental and marine climate. Typhoons frequently strike Taiwan and come with meteorological disasters, i.e., heavy flooding, landslides, loss of life and properties, etc. Global climate change brings more extremely meteorological disasters. So, develop techniques to improve disaster prevention and mitigation is needed, to improve rescue processes and rehabilitations is important as well. In this study, UAVs (Unmanned Aerial Vehicles) are applied to take instant images for improving the disaster investigation and rescue processes. Paddy rice fields in the central Taiwan are the study area. There have been attacked by heavy rain during the monsoon season in June 2016. UAV images provide the high ground resolution (3.5cm) with 3D Point Clouds to develop image discrimination techniques and digital surface model (DSM) on rice lodging. Firstly, image supervised classification with Maximum Likelihood Method (MLD) is used to delineate the area of rice lodging. Secondly, 3D point clouds generated by Pix4D Mapper are used to develop DSM for classifying the lodging levels of paddy rice. As results, discriminate accuracy of rice lodging is 85% by image supervised classification, and the classification accuracy of lodging level is 87% by DSM. Therefore, UAVs not only provide instant images of agricultural damage after the meteorological disaster, but the image discriminations on rice lodging also reach acceptable accuracy (>85%). In the future, technologies of UAVs and image discrimination will be applied to different crop fields. The results of image discrimination will be overlapped with administrative boundaries of paddy rice, to establish GIS-based assist system on agricultural damage discrimination. Therefore, the time and labor would be greatly reduced on damage detection and monitoring.

Keywords: Monsoon, supervised classification, Pix4D, 3D point clouds, discriminate accuracy

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Authors: Vanaja T., Sravya P. K.

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Cooking and eating qualities have major roles in determining the quality characteristics of rice. Traditional rice varieties are highly diversified with each other with respect to unique nutrient, cooking, and eating characteristics, which can be used as parents for the development of high-quality varieties. In order to gather vital information for upcoming rice breeding programs, a study was conducted to assess the diversity of the cooking attributes and sensory evaluation of 28 traditional rice genotypes of Kerala, India, conserved at Regional Agricultural Research Station, Pilicode of Kerala Agricultural University. The cultivars ‘Kochuvithu’, ‘Jeerakachamba’, and ‘Rajameni’ exhibited the highest volume expansion ratio. The highest Kernel elongation ratio was recorded for ‘Gandhakasala’, ‘Rajameni’, and ‘Avadi’. A shorter cooking time based on Alkali spread value was shown by the cultivars ‘Kozhivalan’, ‘Kunhikayama’, ‘Rasagadham’, ‘Jadathi’, ‘Japanviolet’, ‘Nooravella’, ‘Punchavella’, ‘Avadi’, ‘Vadakan vellarikayama’, ‘Punchaparuthi’, ‘Shyamala’, ‘China Silk’, ‘Marathondi’, and ‘Gandhakasala’. Sensory evaluation revealed that the cultivars ‘Japanviolet’, ‘Kunhukunhu’, and ‘Kalladiyaran’ can be categorized under moderate to very much.

Keywords: rice, traditional rice varieties, cooking qualities, sensory evaluation, consumer acceptance

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Authors: M. Sagarika, M. Chandra Sekhar

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Agricultural residues are producing in large quantities in India and account for abundant but underutilized source of renewable biomass in agriculture. In India, the amount of crop residues available is estimated to be approximately 686 million tons. Anaerobic digestion is a promising option to utilize the surplus agricultural residues and can produce biogas and digestate. Biogas is mainly methane (CH4), which can be utilized as an energy source in replacement for fossil fuels such as natural gas, oil, in other hand, digestate contains high amounts of nutrients, can be employed as fertilizer. Solid state anaerobic digestion (total solids ≥ 15%) is suitable for agricultural residues, as it reduces the problems like stratification and floating issues that occur in liquid anaerobic digestion (total solids < 15%). The major concern in solid-state anaerobic digestion is the low mass transfer of feedstock and inoculum that resulting in low performance. To resolve this low mass transfer issue, effective mixing of feedstock and inoculum is required. Mechanical mixing using stirrer at the time of digestion process can be done, but it is difficult to operate the stirring of feedstock with high solids percentage and high viscosity. Complete premixing of feedstock and inoculum is an alternative method, which is usual in lab scale studies but may not be affordable due to high energy demand in large-scale digesters. Developing partial premixing methods may reduce this problem. Current study is to improve the performance of solid-state anaerobic digestion of corn stover at feedstock to inoculum ratios 3 and 5, by applying partial premixing methods and to compare the complete premixing method with two partial premixing methods which are two alternative layers of feedstock and inoculum and three alternative layers of feedstock and inoculum where higher inoculum ratios in the top layers. From experimental studies it is observed that, partial premixing method with three alternative layers of feedstock and inoculum yielded good methane.

Keywords: anaerobic digestion, premixing methods, methane yield, corn stover, volatile solids

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Authors: Le Fu, Rui Wu, Gang Feng Liu, Jie Zhao

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Normally, impedance control methods are based on a model that connects a spring and damper in parallel. The series connection, namely the Maxwell model, has emerged as a counterpart and draw the attention of robotics researchers. In the theoretical analysis, it turns out that the two pattern are both equivalents to some extent, but notable differences of response characteristics exist, especially in the effect of damping viscosity. However, this novel impedance control design is lack of validation on realistic robot platforms. In this study, stability analysis and experimental evaluation are achieved using a 3-fingered Barrett® robotic hand BH8-282 endowed with tactile sensing, mounted on a torque-controlled lightweight and collaborative robot KUKA® LBR iiwa 14 R820. Object handover and incoming objects catching tasks are executed for validation and analysis. Experimental results show that the series connection pattern has much better performance in natural impact or shock absorption, which indicate promising applications in robots’ safe and physical interaction with humans and objects in various environments.

Keywords: impedance control, Maxwell model, force control, dexterous manipulation

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Authors: Mohsen Rezaei Aghdam

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Recombinant DNA technology has meaningfully augmented the conventional crop improvement and has a great possibility to contribution plant breeders to encounter the augmented food request foretold for the 21st century. Predictable changes in weather and its erraticism, chiefly extreme fevers and vicissitudes in rainfall are expected to brand crop upgrading even more vital for food manufacture. Tissue attitude has been downtrodden to create genetic erraticism from which harvest plants can be better, to improve the state of health of the recognized physical and to upsurge the number of wanted germplasms obtainable to the plant breeder. This appraisal delivers an impression of the chances obtainable by the integration of vegetable biotechnology into plant development efforts and increases some of the social subjects that need to be considered in their application. Public-private companies offer chances to catalyze new approaches and investment while accelerating integrated research and development and commercial supply chain-based solutions. Novel varieties derivative by encouraged mutatgenesis are used commonly: rice in Thailand. These paper combinations obtainable data about the influence of change breeding-derived crop changes around the world, traveler magnetism the possibility of mutation upbringing as a flexible and feasible approach appropriate to any crop if that suitable objectives and selection approaches are used.

Keywords: crop, improve, genetic, agricultural

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Authors: Christelle Tchoupé Makougoum

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In the context of agriculture, differences across localities in term of climate change can create systematic variation among farmers technical efficiency. Failure to account for climate variability could lead to wrong conclusions about farmers’ technical efficiency and also it could bias the ranking of farmers according to their managerial performance. The literature on agricultural productivity has given little attention to this issue whereas it is necessary for establishing to what extent climate affects farmers efficiency. This article contributes to the preview literature by two ways. First, it proposed a new econometric model that accounting for the climate change influences on technical efficiency in the specific area of agriculture. Second it estimates the inefficiency due to climate change and the real managerial performance of Malian farmers. Using the Mali’s data from agricultural census and CRU TS3 climatic database we implemented an adjusted stochastic frontier methodology to account for the impact of environmental factors. The results yield three main findings. First, instability in temperatures and rainfall decreases technical efficiency on average. Second, the climate change modifies the classification of the farmers according to their efficiency scores. Thirdly it is noted that, although climate changes are partly responsible for the deviation from the border, the capacity of farmers to combine inputs into the optimal proportion is more to undermine. The study concluded that improving farmer efficiency should include fostering their resilience to climate change.

Keywords: agriculture, climate change, stochastic production function, technical efficiency

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Authors: Philip Eappen, Narasimha Rao Vajjhala

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This chapter examines how healthcare organizations harnessed innovative healthcare informatics to navigate the challenges posed by the COVID-19 pan-demic, addressing critical needs and improving care delivery. The pandemic's un-precedented demands necessitated the adoption of new and advanced tools to manage healthcare operations more effectively. Informatics solutions played a crucial role in facilitating the smooth functioning of healthcare systems during this crisis and are anticipated to remain central to future healthcare management. Technologies such as telemedicine helped healthcare professionals minimize ex-posure to COVID-19 patients, thereby reducing infection risks within healthcare facilities. This chapter explores a range of informatics applications utilized worldwide, including telemedicine, AI-driven solutions, big data analytics, drones, robots, and digital platforms for drug delivery, all of which enabled re-mote patient care and enhanced healthcare accessibility and safety during the pan-demic.

Keywords: healthcare informatics, COVID-19 Pandemic, telemedicine, AI-driven healthcare, big data analytics, remote patient care, digital health platforms

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Authors: Bongsoo Jeon, Jayoung Kim, Jihong Lee

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Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor (exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit (IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

Keywords: inertial measurement unit, laser range finder, real-time recognition of the ground shape, proprioceptive sensor

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Authors: Esra Ece Var

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Beekeeping plays essential role both in terms of agricultural yields and agricultural economy; they produce honey, wax, royal jelly, apitoxin, pollen, and propolis. Nowadays, these natural products become more importantly suitable and preferable for nutrition, food supplement, medicine, and industry. However, to produce organic honey, majority of the apiaries are located in remote or distant rural areas where utilities such as electricity and Internet network are not available. Additionally, due to colony failures, world honey production decreases year by year despite the increase in the number of beehives. The objective of this paper is to develop a smart beehive monitoring system for apiaries including those that do not have access to Internet network. In this context, temperature and humidity inside the beehive, and ambient temperature were measured with RFID sensors. Control center, where all sensor data was sent and stored at, has a GSM module used to warn the beekeeper via SMS when an anomaly is detected. Simultaneously, using the collected data, an unsupervised machine learning algorithm is used for detecting anomalies and calibrating the warning system. The results show that the smart beehive monitoring system can detect fatal anomalies up to 4 weeks prior to colony loss.

Keywords: beekeeping, smart systems, machine learning, anomaly detection, apiculture

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Authors: Hamidreza Heidari, Abdollah Malmir Nasab

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In this paper, the energy equations of a two-link flexible manipulator were extracted using the Euler-Bernoulli beam hypotheses. Applying Assumed mode and considering some finite degrees of freedom, we could obtain dynamic motions of each manipulator using Euler-Lagrange equations. Using its claws, the robots can carry a certain load with the ached control of vibrations for robot flexible links during the travelling path using the piezoceramics transducer; dynamic load carrying capacity increase. The traveling path of flexible robot claw has been taken from that of equivalent rigid manipulator and coupled; therefore to avoid the role of Euler-Bernoulli beam assumptions and linear strains, material and physical characteristics selection of robot cause deflection of link ends not exceed 5% of link length. To do so, the maximum load carrying capacity of robot is calculated at the horizontal plan. The increasing of robot load carrying capacity with vibration control is 53%.

Keywords: flexible link, DLCC, active control vibration, assumed mode method

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Authors: Christos Chaschatzis, Chrysoula Karaiskou, Pantelis Angelidis, Sotirios K. Goudos, Igor Kotsiuba, Panagiotis Sarigiannidis

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Over the past few decades, the rapid growth of the global population has led to the need to increase agricultural production and improve the quality of agricultural goods. There is a growing focus on environmentally eco-friendly solutions, sustainable production, and biologically minimally fertilized products in contemporary society. Precision agriculture has the potential to incorporate a wide range of innovative solutions with the development of machine learning algorithms. YOLOv5 and YOLOv8 are two of the most advanced object detection algorithms capable of accurately recognizing objects in real time. Detecting tree diseases is crucial for improving the food production rate and ensuring sustainability. This research aims to evaluate the efficacy of YOLOv5 and YOLOv8 in detecting the symptoms of Armillaria spp. in sweet cherry trees and determining their health status, with the goal of enhancing the robustness of precision agriculture. Additionally, this study will explore Computer Vision (CV) techniques with machine learning algorithms to improve the detection process’s efficiency.

Keywords: Armillaria spp., machine learning, precision agriculture, smart farming, sweet cherries trees, YOLOv5, YOLOv8

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Authors: Ariel Barel, Rotem Manor, Alfred M. Bruckstein

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We present a probabilistic gathering algorithm for agents that can only detect the presence of other agents in front of or behind them. The agents act in the plane and are identical and indistinguishable, oblivious, and lack any means of direct communication. They do not have a common frame of reference in the plane and choose their orientation (direction of possible motion) at random. The analysis of the gathering process assumes that the agents act synchronously in selecting random orientations that remain fixed during each unit time-interval. Two algorithms are discussed. The first one assumes discrete jumps based on the sensing results given the randomly selected motion direction, and in this case, extensive experimental results exhibit probabilistic clustering into a circular region with radius equal to the step-size in time proportional to the number of agents. The second algorithm assumes agents with continuous sensing and motion, and in this case, we can prove gathering into a very small circular region in finite expected time.

Keywords: control, decentralized, gathering, multi-agent, simple sensors

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Authors: Maria A. Castillo H., Andrés R. Leandro C.

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During the last decades, agricultural productivity in Latin America has increased with precision agriculture and more efficient agricultural technologies. The use of automated systems, satellite images, geographic information systems, and tools for data analysis, and artificial intelligence have contributed to making more effective strategic decisions. Twenty years ago, the state of Mérida, located in the Venezuelan Andes, reported the largest area covered by greenhouses in the country, where certified seeds of potatoes, vegetables, ornamentals, and flowers were produced for export and consumption in the central region of the country. In recent years, it is estimated that production under greenhouses has changed, and the area covered has decreased due to different factors, but there are few historical statistical data in sufficient quantity and quality to support this estimate or to be used for analysis and decision making. The objective of this study is to compare data collected about geoposition, use, and covered areas of the greenhouses in 2007 to data available in 2021, as support for the analysis of the current situation of horticultural production in the main municipalities of the state of Mérida. The document presents the development of the work in the diagnosis and integration of geographic coordinates in GIS and data analysis phases. As a result, an evaluation of the process is made, a dashboard is presented with the most relevant data along with the geographical coordinates integrated into GIS, and an analysis of the obtained information is made. Finally, some recommendations for actions are added, and works that expand the information obtained and its geographical traceability over time are proposed. This study contributes to granting greater certainty in the supporting data for the evaluation of social, environmental, and economic sustainability indicators and to make better decisions according to the sustainable development goals in the area under review. At the same time, the methodology provides improvements to the agricultural data collection process that can be extended to other study areas and crops.

Keywords: greenhouses, geographic information system, protected agriculture, data analysis, Venezuela

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Authors: Ilham Ihoume, Rachid Tadili, Nora Arbaoui

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This study examines the effects of a solar-based heating system, in a north-‎south oriented agricultural greenhouse on the development of strawberry ‎plants during winter. This system relies on the circulation of water as a heat ‎transfer fluid in a closed circuit installed on the greenhouse roof to store heat ‎during the day and release it inside at night. A comparative experimental ‎study was conducted in two greenhouses, one experimental with the solar ‎heating system and the other for control without any heating system. Both ‎greenhouses are located on the terrace of the Solar Energy and Environment ‎Laboratory of the Mohammed V University in Rabat, Morocco. The devel-‎oped heating system consists of a copper coil inserted in double glazing and ‎placed on the roof of the greenhouse, a water pump circulator, a battery, and ‎a photovoltaic solar panel to power the electrical components. This inexpen-‎sive and environmentally friendly system allows the greenhouse to be heated ‎during the winter and improves its microclimate system. This improvement ‎resulted in an increase in the air temperature inside the experimental green-‎house by 6 °C and 8 °C, and a reduction in its relative humidity by 23% and ‎‎35% compared to the control greenhouse and the ambient air, respectively, ‎throughout the winter. For the agronomic performance, it was observed that ‎the production was 17 days earlier than in the control greenhouse.‎

Keywords: sustainability, solar energy, thermal energy storage.‎, greenhouse heating

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Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki

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This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.

Keywords: fuzzy logic control, mobile robot, trajectory tracking, spiral dynamic algorithm

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Authors: Nasser Karami

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The Urmia grapes have been famous for centuries and have been among the most desirable in the production of wine. Interestingly, evidence shows that the Urmia region was the first place in the world where wine was produced and consumed. In fact, the grapes known as “Shiraz” and made popular by “Shiraz Wine” are the grapes cultivated as a local species especially in the West Azerbaijan watershed basin and exported to Europe. But after the Islamic Revolution, because the production, usage, and sale of wine were unlawful (under Islamic rule), they decided to cultivate apples instead of grapes. Before Islamic revolution, about 50 percent of the gardens were producing grapes, but the apple groves took up less than 1.5 percent (100 hectares). Three years after the revolution, in 1982, people were swept up in the revolutionary excitement and grape cultivation decreased, using less than 10 percent of the garden area. Important is the fact that an apple tree needs 12 times more water than a grapevine, it should be noted that in terms of water usage in the area, the agricultural area has not been increased by 2 or 4 times but rather by 12 times. Evaluation of this study showed that contrary to official reports, climate change isn’t major cause of drying up Urmia Lake and 65 percent of this environmental crisis happened due to spreading unsustainable agricultural in basin of this lake.

Keywords: cultivation pattern, unsustainable agriculture, urmia lake drying, water managment

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Authors: Umi Pudji Astuti, Dedi Sugandi

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The effectiveness of agricultural extension is determined by the component in the agricultural extension system among others are agricultural extension methods. Effective methods should be selected and defined based on the characteristics of the target, the resources, the materials, and the objectives to be achieved. Citrus agribusiness development in Lebong is certainly supported by the role of stakeholders and citrus farmers, as well as the proper dissemination methods. Adoption in the extension process substantially can be interpreted as the changes of behavior process such as knowledge (cognitive), attitudes (affective), and skill (psycho-motoric) in a person after receiving "innovation" from extension submitted by target communities. Knowledge and perception are needed as a first step in adopting a innovation, especially of citrus agribusiness development in Lebong. The process of Specific technology adoption is influenced by internal factors and farmer perceptions of technological innovation. Internal factors such as formal education, experience trying to farm, owned land, production farm goods. The output of this study: 1) to analyze the effectiveness of field trial methods in improving cognitive and affective farmers; 2) Knowing the relationship of adoption level and knowledge of farmers; 3) to analyze the factors that influence farmers' adoption of citrus technology innovation. The method of this study is through the survey to 40 respondents in Rimbo Pengadang Sub District, Lebong District in 2014. Analyzing data is done by descriptive and statistical parametric (multiple linear functions). The results showed that: 1) Field trip method is effective to improve the farmer knowledge (23,17% ) and positively affect the farmer attitude; 2) the knowledge level of PTKJS innovation farmers "positively and very closely related".; 3) the factors that influence the level of farmers' adoption are internal factors (education, knowledge, and the intensity of training), and external factors respondents (distance from the house to the garden and from the house to production facilities shop).

Keywords: affect, adoption technology, citrus gerga, effectiveness dissemination

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Authors: Muhammad Waqar Ashraf

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The influence of magnetic field on the structure of water and aqueous solutions are similar and can alter the physical and chemical properties of water-dispersed systems. With the application of magnetic field, hydration of salt ions and other impurities slides down and improve the possible technological characteristics of the water. Magnetic field can enhance the characteristic of water i.e. better salt solubility, kinetic changes in salt crystallization, accelerated coagulation, etc. Gulf countries are facing critical problem due to depletion of water resources and increasing food demands to cover the human needs; therefore water shortage is being increasingly accepted as a major limitation for increased agricultural production and food security. In arid and semi-arid regions sustainable agricultural development is influenced to a great extent by water quality that might be used economically and effectively in developing agriculture programs. In the present study, the possibility of using magnetized water to desalinate the soil is accounted for the enhanced dissolving capacity of the magnetized water. Magnetic field has been applied to treat brackish water. The study showed that the impact of magnetic field on saline water is sustained up to three hours (with and without shaking). These results suggest that even low magnetic field can decrease the electrical conductivity and total dissolved solids which are good for the removal of salinity from the irrigated land by using magnetized water.

Keywords: magnetic treatment, saline water, hardness of water, removal of salinity

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Authors: Adetunji Olusegun Aderigibigbe

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Shales, especially black shales, are of great geological significance, in the study of heavy/trace metal contamination. This is due to their abundance in occurrence and high concentration of heavy metals embedded which are released during their weathering. Heavy metals constitute one of the most dangerous pollution known to human because they are toxic (i.e., carcinogenic), non-biodegradable and can enter the global eco-biological circle. In the past, heavy metal contamination in aquatic environment and agricultural top soil has been attributed to industrial wastes, mining extractions and pollution from traffic vehicles; only a few studies have focused on weathering of shale as possible source of heavy metal contamination. Based on the above background, this study attempts to establish weathering of shale as possible source of trace/heavy metal contaminations. This was done by carefully selecting fresh and their corresponding weathered shale samples from selected localities in Bida and Anambra Basins. The samples were analysed in Activation Laboratories Ltd; Ontario, Canada for trace/heavy metal. It was observed that some major and trace metals were released during weathering, i.e., some were depleted and some enriched. By this contamination of water zones and agricultural top soils are not only traceable to biogenic processes but geogenic inputs (weathering of shale) as well.

Keywords: contamination, fresh samples, heavy metals, pollution, shales, trace metals, weathered samples

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Authors: Mbadiwe S. Benyeogor, Oladayo O. Olakanmi, Kosisochukwu P. Nnoli, Olusegun I. Lawal, Eric JJ. Gratton

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For a robot or any vehicular system to navigate in off-road terrain, its driving mechanisms and the electro-software system must be capable of generating, controlling, and moderating sufficient mechanical power with precision. This paper proposes an autonomous robot with a gyro-stabilized active suspension system in form of a hybrid quadrupedal wheel drive mechanism. This system is to serve as a miniature model for demonstrating how off-road vehicles can be robotized into efficient terramechanical mobile platforms that are capable of self-balanced autonomous navigation and maneuvering on rough and uneven topographies. Results from tests and analysis show that the developed system performs as expected. Therefore, our model and control devices can be adapted to computerizing, automating, and upgrading the operation of unmanned ground vehicles for off-road navigation.

Keywords: active suspension, autonomous robots, edge computing, navigational sensors, terramechanics

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Authors: Ming-Chien Su, Yi-Zih Chen, Nien-Hsin Kao, Hideaki Shibata

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The major component of the atmosphere is nitrogen, yet atmospheric nitrogen has limited availability for biological use. Human activities have produced different types of nitrogen related compounds such as nitrogen oxides from combustion, nitrogen fertilizers from farming, and the nitrogen compounds from waste and wastewater, all of which have impacted the environment. Many studies have indicated the N-footprint is dominated by food, followed by housing, transportation, and goods and services sectors. To solve the impact issues from agricultural land, nitrogen cycle research is one of the key solutions. The study site is located in Hualien County, Taiwan, a major rice and food production area of Taiwan. Importantly, environmentally friendly farming has been promoted for years, and an environmental indicator system has been established by previous authors based on the concept of resilience capacity index (RCI) and environmental performance index (EPI). Nitrogen management is required for food production, as excess N causes environmental pollution. Therefore it is very important to develop a roadmap of the nitrogen footprint, and to integrate it with environmental indicators. The key focus of the study thus addresses (1) understanding the environmental impact caused by the nitrogen cycle of food products and (2) uncovering the trend of the N-footprint of agricultural products in Hualien, Taiwan. The N-footprint model was applied, which included both crops and energy consumption in the area. All data were adapted from government statistics databases and crosschecked for consistency before modeling. The actions involved with agricultural production were evaluated and analyzed for nitrogen loss to the environment, as well as measuring the impacts to humans and the environment. The results showed that rice makes up the largest share of agricultural production by weight, at 80%. The dominant meat production is pork (52%) and poultry (40%); fish and seafood were at similar levels to pork production. The average per capita food consumption in Taiwan is 2643.38 kcal capita−1 d−1, primarily from rice (430.58 kcal), meats (184.93 kcal) and wheat (ca. 356.44 kcal). The average protein uptake is 87.34 g capita−1 d−1, and 51% is mainly from meat, milk, and eggs. The preliminary results showed that the nitrogen footprint of food production is 34 kg N per capita per year, congruent with the results of Shibata et al. (2014) for Japan. These results provide a better understanding of the nitrogen demand and loss in the environment, and the roadmap can furthermore support the establishment of nitrogen policy and strategy. Additionally, the results serve to develop a roadmap of the nitrogen cycle of an environmentally friendly farming area, thus illuminating the nitrogen demand and loss of such areas.

Keywords: agriculture productions, energy consumption, environmental indicator, nitrogen footprint

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Authors: Alexander Winkler, Jozef Suchý

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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: robot force control, stiffness control, damping control, impedance control, stability

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Authors: André C. Silva, Mariana R. Barros, Elenice M. S. Silva, Douglas. Y. Marinho, Diego F. Lopes, Débora N. Sousa, Raphael S. Tomáz

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Modern agriculture requires productivity, efficiency and quality. Therefore, there is need for agricultural limestone implementation that provides adequate amounts of calcium and magnesium carbonates in order to correct soil acidity. During the limestone process, fine particles (with average size under 400#) are generated. These particles do not have economic value in agricultural and metallurgical sectors due their size. When limestone is used for agriculture purposes, these fine particles can be easily transported by wind generated air pollution. Therefore, briquetting, a mineral processing technique, was used to mitigate this problem resulting in an agglomerated product suitable for agriculture use. Briquetting uses compressive pressure to agglomerate fine particles. It can be aided by agglutination agents, allowing adjustments in shape, size and mechanical parameters of the mass. Briquettes can generate extra profits for mineral industry, presenting as a distinct product for agriculture, and can reduce the environmental liabilities of the fine particles storage or disposition. The produced limestone briquettes were subjected to shatter and water action resistance tests. The results show that after six minutes completely submerged in water, the briquettes where fully diluted, a highly favorable result considering its use for soil acidity correction.

Keywords: agglomeration, briquetting, limestone, soil acidity correction

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Authors: Shrikant V. Sangludkar, Dilip I. Sangotra, Sachin T. Bagde, Abhijeet A. Khandagale

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The paper discloses a controlled tracked humanoid robot moving platform. A driving and driven wheel are controlled by a control module to drive a robot body to move according to data signals of a monitoring module, in addition, remote transmission can be achieved, and a certain remote control function can be realized. A power management module circuit board looks after in used for providing electric drive for moving of the robot body and distribution of separate power source to be used in internal of robot system. An external port circuit board is arranged, the tracked robot moving platform can be used immediately for any data acquisition. The moving platform is simple and compact in structure, strong in adaptation performance, stable in operation and suitable for being operated in severe environments. Meanwhile, a layered modular installation structure is adopted, and therefore the moving platform is convenient to assemble and disassemble.

Keywords: moving platform, humanoid robot, embedded controlled drive, mobile robot, museum robots, self-localization, obstacle avoidance, communication

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: preview control, Nao robot, model predictive control

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Authors: C. Caudwell, R. Syed, C. Lacey

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While the development and advancement of information communication technologies (ICTs) offers powerful opportunities for meaningful connections and relationships, shame is a significant barrier to social and cultural acceptance. In particular, artificial intelligence and socially oriented robots are increasingly becoming partners in romantic relationships with people, offering bonding, support, comfort, growth, and reciprocity. However, these relationships suffer hierarchical, anthropocentric shame that is a significant barrier to their success and longevity. This paper will present case studies of human and artificially intelligent agent relationships, in the context of internal and external shame, as cultivated, propagated, and communicated through ICT. Using an interdisciplinary methodology we aim to present a framework for technological shame, building on the experimental and emergent psychoanalytical theories of emotions. Our study finds principally that socialization is a powerful factor in the vectors of shame as experienced by humans. On a wider scale, we contribute understanding of social emotion and the phenomenon of shame proliferated through ICTs, which is at present under-explored, but vital, as society and culture is increasingly mediated through this medium.

Keywords: shame, artificial intelligence, romance, society

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Authors: J. Sharib, D. N. A. Tugi, M. T. Ishak, M. I. A. Adziz

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The main purpose of this research paper conducted was to study the penetration of ⁷Be onto the soil surface for two different seasons in different areas of agricultural activity. The study was conducted during the dry and wet seasons from January to May 2019 in the Sembrong catchment area. The Sembrong Catchment Area is located in the district of Kluang, Johor in the South of Peninsular Malaysia and was selected based on the small size of the catchment and surrounded by various agricultural activities. A total of twenty (20) core soil samples to a depth of 10 cm each were taken using a metal corer made of metal. All these samples were brought to the Radiochemistry and Environment Group (RAS), Nuclear Malaysia, Block 23, Bangi, Malaysia, to enable the preparation, drying and analysis work to be carried out. Furthermore, all samples were oven dried at 45 – 60 ºC so that the dry weight became constant and gently disaggregated. Lastly, dried samples were milled and sieved at 2 mm before being packed into a well-type container and ready for ⁷Be analysis. The result of the analysis shows that the penetration of ⁷Be into the soil surface decreases by an exponential decay. The distribution of profiles to the interior of the soil surface or ho values ranged from 1.56 to 3.62 kg m⁻² and from 2.59 to 4.17 kg m⁻² for both dry and wet seasons. Consequently, the dry season has given a lower ho value when compared to the wet season. In conclusion, ⁷Be is a very suitable tracer to be used in determining the penetration onto the soil surface or ho values for the two different seasons.

Keywords: depth penetration, dry season, wet season, sembrong catchment, well type container

Procedia PDF Downloads 127

Authors: Rohana Pandukabhya Mahaliyanaarachchi, Maheshwari Sangeetha Elapatha, Mohamed Esham, Banagala Chathurika Maduwanthi

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The global climate change has become one of the imperative issues for the smallholder dominated agricultural sector and nature based tourism sector in Sri Lanka. Thus addressing this issue is notably important. The main objective of this study was to investigate the potential of agri-tourism as a sustainable adaptation option to mitigate some of the negative impacts of climate change in small scale agricultural sector in Sri Lanka. The study was carried out in two different climatic zones in Sri Lanka namely Low Country Dry Zone and Up Country Wet Zone. A case study strategy followed by structured and unstructured interviewers through cross-sectional surveys were adapted to collect data. The study revealed that there had been a significant change in the climate in regard to the rainfall patterns in both climatic zones resulting unexpected rains during months and longer drought periods. This results the damages of agricultural production, low yields and subsequently low income. However, to mitigate these adverse effects, farmers have mainly focused on using strategies related to the crops and farming patterns rather than diversifying their business by adopting other entrepreneurial activities like agri-tourism. One of the major precursor for this was due to lesser awareness on the concept of agri-tourism within the farming community. The study revealed that the respondents of both climatic zones do have willingness and potential to adopt agri-tourism. One key important factor identified was that farming or agriculture was the main livelihood of the respondents, which is one of the vital precursor needed to start up an agri-tourism enterprise. Most of the farmers in the Up Country Wet Zone had an inclination to start a farm guest house or a farm home stay whereas the farmers in the Low Country Dry Zone wish to operate farm guest house, farm home stay or farm restaurant. They also have an interest to open up a road side farm product stall to facilitate the direct sales of the farm. Majority of the farmers in both climatic zones showed an interest to initiate an agri-tourism business as a complementary enterprise where they wished to give an equal share to both farming and agri-tourism. Thus this revealed that the farmers have identified agri-tourism as a vital concept and have given the equal importance as given to farming. This shows that most of the farmers have understood agri-tourism as an alternative income source that can mitigate the adverse effects of climatic change. This study emphasizes that agri-tourism as an alternative income source that can mitigate the adverse effects of climatic change on small scale agriculture sector.

Keywords: adaptation, agri-tourism, climate change, small scale agriculture

Procedia PDF Downloads 154

Authors: Ritula Thakur, Babankumar S. Bansod, Puneet Mehta, S. Chatterji

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Moisture plays an important role in storage, harvesting and processing of food grains and related agricultural products. It is an important characteristic of most agricultural products for maintenance of quality. Accurate knowledge of the moisture content can be of significant value in maintaining quality and preventing contamination of cereal grains. The present work reports the design and development of microcontroller based low cost non-destructive moisture meter, which uses complex impedance measurement method for moisture measurement of wheat using parallel plate capacitor arrangement. Moisture can conveniently be sensed by measuring the complex impedance using a small parallel-plate capacitor sensor filled with the kernels in-between the two plates of sensor, exciting the sensor at 30 KHz and 100 KHz frequencies. The effects of density and temperature variations were compensated by providing suitable compensations in the developed algorithm. The results were compared with standard dry oven technique and the developed method was found to be highly accurate with less than 1% error. The developed moisture meter is low cost, highly accurate, non-destructible method for determining the moisture of grains utilizing the fast computing capabilities of microcontroller.

Keywords: complex impedance, moisture content, electrical properties, safety of food

Procedia PDF Downloads 462

Authors: Vesna Karapetkovska Hristova, M. Ayaz Ahmad, Julijana Tomovska, Biljana Bogdanova Popov, Blagojce Najdovski

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The average total concentrations of heavy metals; (cadmium [Cd], copper [Cu], nickel [Ni], lead [Pb], and zinc [Zn]) were analyzed in soil and vegetables samples collected from the different region of Macedonia during the years 2010-2012. Basic soil properties such as pH, organic matter and clay content were also included in the study. The average concentrations of Cd, Cu, Ni, Pb, Zn in the A horizon (0-30 cm) of agricultural soils were as follows, respectively: 0.25, 5.3, 6.9, 15.2, 26.3 mg kg-1 of soil. We have found that neural networking model can be considered as a tool for prediction and spatial analysis of the processes controlling the metal transfer within the soil-and vegetables. The predictive ability of such models is well over 80% as compared to 20% for typical regression models. A radial basic function network reflects good predicting accuracy and correlation coefficients between soil properties and metal content in vegetables much better than the back-propagation method. Neural Networking / soft computing can support the decision-making processes at different levels, including agro ecology, to improve crop management based on monitoring data and risk assessment of metal transfer from soils to vegetables.

Keywords: soft computing approach, total concentrations, heavy metals, agricultural soils

Procedia PDF Downloads 368