Search results for: Agricultural robot

Authors: Ercan Ceyhan, Ali Kahraman, Hasan Dalgıç

Abstract:

This research was made during the 2011 and 2012 growing periods in the trial filed of "Research Station for Management of Soil Water and Desertification" according to “Randomized Blocks Design” with 3 replications. Research material was the following chickpea genotype; CA119, CA128, CA149, CA150, CA222, CA250, CA254 and other 2 commercial varieties named as Gökçe and Yaşa. Some agronomical characteristics such as plant height (cm), number of pod per plant, number of seed per pod, number of seed per plant, 1000 seed weight (g) and seed yield (kg ha^-1) were determined. Statistically significant variations were found amongst the genotypes for all variables except seeds per pod. Means of the two years showed the range for plant height was from 52.83cm (Gökçe) to 73.00cm (CA150), number of pod per plant was from 14.00 (CA149) to 26.83 (CA261), number of seed per pod was from 1.10 (Gökçe) to 1.19 (CA149 and CA250), number of seed per plant was from 16.28 (CA149) to 31.65 (CA261), 1000 seed weight was from 295.85g (CA149) to 437.80g (CA261) and seed yield was from 1342.73 kg ha^-1 (CA261) to 2161.50 kg ha^-1 (CA128). Results of the research implicated that the new developed lines were superior compared with the control (commercial) varieties by means of most of the characteristics.

Keywords: Agricultural characters, chickpea, seed yield.

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Authors: Junichiro Kawaguchi

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Space debris problems have emerged and threatened the use of low earth orbit around the Earth owing to a large number of spacecrafts.. The robots should be sophisticated enough to access automatically the debris articulating the attitude and the translation motion with respect to the debris. This paper presents the idea of using the torpedo-like third unsophisticated and disposable body, in addition to the first body of the servicing robot and the second body of the target debris. The third body is launched from the first body from a distance further than the size of the second body. This paper presents the method and the system, so that the third body is launched from the first body. The third body carries both a net and an inflatable or extendible drag deceleration device and is built small and light. This method enables even micro to nano satellites to perform contactless and multiple debris removal even via a single flight.

Keywords: Ballute, Debris Removal, Echo satellite, Gossamer, Gun-Net, Inflatable Space Structure, Small Satellite, Un-cooperated Target.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

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In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.

Keywords: robotics, robot vision, rendezvous planning, self organizingmaps.

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Authors: Khalid Safaa Hashim Al Khalidy, Ali Jalil Abdul Kareem Chabuk, Majid Mohammed Ali Kadhim

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This research aims to study the lead pollution in the air of Babylon governorate that resulted generally from vehicles exhausts in addition to industrial and human activities.Vehicles number in Babylon governorate increased significantly after year 2003 that resulted with increase in lead emissions into the air.Measurement of lead emissions was done in seven stations distributed randomly in Babylon governorate. These stations where located in Industrial (Al-Sena'ay) Quarter, 60 street (near to Babylon sewer directorate), 40 Street (near to the first intersection), Al-Hashmia city, Al-Mahaweel city, , Al- Musayab city in addition to another station in Sayd Idris village belong to Abugharaq district (Agricultural station for comparison). The measured concentrations in these stations were compared with the standard limits of Environmental Protection Agency EPA (2 μg /m3). The results of this study showed that the average of lead concentrations ,in Babylon governorate during year 2010, was (3.13 μg/m3) which was greater than standard limits (2 μg/m3). The maximum concentration of lead was (6.41 μg / m3) recorded in the Industrial (Al-Sena'ay) Quarter during April month, while the minimum concentrations was (0.36 μg / m3) recorded in the agricultural station (Abugharaq) during December month.

Keywords: Lead, pollution, lead concentration

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Authors: Mohammadhosein Hasanbeig, Lacra Pavel

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In this paper, we study a distributed control algorithm for the problem of unknown area coverage by a network of robots. The coverage objective is to locate a set of targets in the area and to minimize the robots’ energy consumption. The robots have no prior knowledge about the location and also about the number of the targets in the area. One efficient approach that can be used to relax the robots’ lack of knowledge is to incorporate an auxiliary learning algorithm into the control scheme. A learning algorithm actually allows the robots to explore and study the unknown environment and to eventually overcome their lack of knowledge. The control algorithm itself is modeled based on game theory where the network of the robots use their collective information to play a non-cooperative potential game. The algorithm is tested via simulations to verify its performance and adaptability.

Keywords: Distributed control, game theory, multi-agent learning, reinforcement learning.

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Authors: Kayoko Yamamoto

Abstract:

This study focuses on an evaluation of Hokkaido which is the northernmost and largest prefecture by surface area in Japan and particularly on two points: the rivalry between all kinds of land use such as urban land and agricultural and forestry land in various cities and their surrounding areas and the possibilities for forestry biomass in areas other than those mentioned above and grasps which areas require examination of the nature of land use control and guidance through conducting land use analysis at the district level using GIS (Geographic Information Systems). The results of analysis in this study demonstrated that it is essential to divide the whole of Hokkaido into two areas: those within delineated city planning areas and those outside of delineated city planning areas and to conduct an evaluation of each land use control. In delineated urban areas, particularly urban areas, it is essential to re-examine land use from the point of view of compact cities or smart cities along with conducting an evaluation of land use control that focuses on issues of rivalry between all kinds of land use such as urban land and agricultural and forestry land. In areas outside of delineated urban areas, it is desirable to aim to build a specific community recycling range based on forest biomass utilization by conducting an evaluation of land use control concerning the possibilities for forest biomass focusing particularly on forests within and outside of city planning areas.

Keywords: Land Use Control, Urbanization, Forestry Biomass, Geographic Information Systems (GIS), Hokkaido

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.

Keywords: Controller tuning, Fuzzy Control, Genetic Algorithm, Heuristic search, Robot control.

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Authors: C.Kia, M.R.Arshad, A.H.Adom, P.A.Wilson

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This paper presents recent work on the improvement of the robotics vision based control strategy for underwater pipeline tracking system. The study focuses on developing image processing algorithms and a fuzzy inference system for the analysis of the terrain. The main goal is to implement the supervisory fuzzy learning control technique to reduce the errors on navigation decision due to the pipeline occlusion problem. The system developed is capable of interpreting underwater images containing occluded pipeline, seabed and other unwanted noise. The algorithm proposed in previous work does not explore the cooperation between fuzzy controllers, knowledge and learnt data to improve the outputs for underwater pipeline tracking. Computer simulations and prototype simulations demonstrate the effectiveness of this approach. The system accuracy level has also been discussed.

Keywords: Fuzzy logic, Underwater target tracking, Autonomous underwater vehicles, Artificial intelligence, Simulations, Robot navigation, Vision system.

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Authors: Rinku Dhanker, Suman Chaudhary, Tanvi Bhatia, Sneh Goyal

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Municipal Solid Waste (MSW), being a rich source of organic materials, can be used for agricultural applications as an important source of nutrients for soil and plants. This is also an alternative beneficial management practice for MSW generated in developing countries. In the present study, MSW treated soil samples from last four to six years at farmer’s field in Rohtak and Gurgaon states (Haryana, India) were collected. The samples were analyzed for all-important agricultural parameters and compared with the control untreated soil samples. The treated soil at farmer’s field showed increase in total N by 48 to 68%, P by 45.7 to 51.3%, and K by 60 to 67% compared to untreated soil samples. Application of sewage sludge at different sites led to increase in microbial biomass C by 60 to 68% compared to untreated soil. There was significant increase in total Cu, Cr, Ni, Fe, Pb, and Zn in all sewage sludge amended soil samples; however, concentration of all the metals were still below the current permitted (EU) limits. To study the adverse effect of heavy metals accumulation on various soil microbial activities, the sewage sludge samples (from wastewater treatment plant at Gurgaon) were artificially contaminated with heavy metal concentration above the EU limits. They were then applied to soil samples with different rates (0.5 to 4.0%) and incubated for 90 days under laboratory conditions. The samples were drawn at different intervals and analyzed for various parameters like pH, EC, total N, P, K, microbial biomass C, carbon mineralization, and diethylenetriaminepentaacetic acid (DTPA) exactable heavy metals. The results were compared to the uncontaminated sewage sludge. The increasing level of sewage sludge from 0.5 to 4% led to build of organic C and total N, P and K content at the early stages of incubation. But, organic C was decreased after 90 days because of decomposition of organic matter. Biomass production was significantly increased in both contaminated and uncontaminated sewage soil samples, but also led to slight increases in metal accumulation and their bioavailability in soil. The maximum metal concentrations were found in treatment with 4% of contaminated sewage sludge amendment.

Keywords: Heavy metals, municipal sewage sludge, sustainable agriculture, soil fertility, quality.

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Authors: Namchul Do, Gyeongseok Chae

Abstract:

This paper proposes a framework for product development including hardware and software components. It provides separation of hardware dependent software, modifications of current product development process, and integration of software modules with existing product configuration models and assembly product structures. In order to decide the dependent software, the framework considers product configuration modules and engineering changes of associated software and hardware components. In order to support efficient integration of the two different hardware and software development, a modified product development process is proposed. The process integrates the dependent software development into product development through the interchanges of specific product information. By using existing product data models in Product Data Management (PDM), the framework represents software as modules for product configurations and software parts for product structure. The framework is applied to development of a robot system in order to show its effectiveness.

Keywords: HW and SW Development Integration, ProductDevelopment with Software.

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Authors: B. Tondu, N. Bardou

Abstract:

In its attempt to offer new ways into autonomy for a large population of disabled people, assistive technology has largely been inspired by robotics engineering. Recent human-like robots carry new hopes that it seems to us necessary to analyze by means of a specific theory of anthropomorphism. We propose to distinguish a functional anthropomorphism which is the one of actual wheelchairs from a structural anthropomorphism based on a mimicking of human physiological systems. If functional anthropomorphism offers the main advantage of eliminating the physiological systems interdependence issue, the highly link between the robot for disabled people and their human-built environment would lead to privilege in the future the anthropomorphic structural way. In this future framework, we highlight a general interdependence principle : any partial or local structural anthropomorphism generates new anthropomorphic needs due to the physiological systems interdependency, whose effects can be evaluated by means of specific anthropomorphic criterions derived from a set theory-based approach of physiological systems.

Keywords: Anthropomorphism, Human-like machines, Systemstheory, Disability.

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Authors: Elmi Abu Bakar, Tetsuo Miyake, Zhong Zhang, Takashi Imamura

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Knowing the geometrical object pose of products in manufacturing line before robot manipulation is required and less time consuming for overall shape measurement. In order to perform it, the information of shape representation and matching of objects is become required. Objects are compared with its descriptor that conceptually subtracted from each other to form scalar metric. When the metric value is smaller, the object is considered closed to each other. Rotating the object from static pose in some direction introduce the change of value in scalar metric value of boundary information after feature extraction of related object. In this paper, a proposal method for indexing technique for retrieval of 3D geometrical models based on similarity between boundaries shapes in order to measure 3D CAD object pose using object shape feature matching for Computer Aided Testing (CAT) system in production line is proposed. In experimental results shows the effectiveness of proposed method.

Keywords: CAD, rendering, feature extraction, feature classification.

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Authors: Petre Voicu, Mircea Oaida, Radu Vasiu, Catalin Gheorghiu, Aurel Dumitru

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The present work deals with the way in which food and tobacco waste can be used in agriculture. As a result of the lack of efficient technologies for their recycling, we are currently faced with the appearance of appreciable quantities of residual organic residues that find their use only very rarely and only after long storage in landfills. The main disadvantages of long storage of organic waste are the unpleasant smell, the high content of pathogenic agents, and the high content in the water. The release of these enormous amounts imperatively demands the finding of solutions to ensure the avoidance of environmental pollution. The measure practiced by us and presented in this paper consists of the processing of this waste in special installations, testing in pilot experimental perimeters, and later administration on agricultural lands without harming the quality of the soil, agricultural crops, and the environment. The current crisis of raw materials and energy also raises special problems in the field of organic waste valorization, an activity that takes place with low energy consumption. At the same time, their composition recommends them as useful secondary sources in agriculture. The transformation of food scraps and other residues concentrated organics thus acquires a new orientation, in which these materials are seen as important secondary resources. The utilization of food and tobacco waste in agriculture is also stimulated by the increasing lack of chemical fertilizers and the continuous increase in their price, under the conditions that the soil requires increased amounts of fertilizers in order to obtain high, stable, and profitable production. The need to maintain and increase the humus content of the soil is also taken into account, as an essential factor of its fertility, as a source and reserve of nutrients and microelements, as an important factor in increasing the buffering capacity of the soil, and the more reserved use of chemical fertilizers, improving the structure and permeability for water with positive effects on the quality of agricultural works and preventing the excess and/or deficit of moisture in the soil.

Keywords: Organic residue, food and tannery waste, fertilizer, soil.

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Authors: Tawiwat Veeraklaew, Nathasit Phathana-im, Songkit Heama

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Both the minimum energy consumption and smoothness, which is quantified as a function of jerk, are generally needed in many dynamic systems such as the automobile and the pick-and-place robot manipulator that handles fragile equipments. Nevertheless, many researchers come up with either solely concerning on the minimum energy consumption or minimum jerk trajectory. This research paper proposes a simple yet very interesting relationship between the minimum direct and indirect jerks approaches in designing the time-dependent system yielding an alternative optimal solution. Extremal solutions for the cost functions of direct and indirect jerks are found using the dynamic optimization methods together with the numerical approximation. This is to allow us to simulate and compare visually and statistically the time history of control inputs employed by minimum direct and indirect jerk designs. By considering minimum indirect jerk problem, the numerical solution becomes much easier and yields to the similar results as minimum direct jerk problem.

Keywords: Optimization, Dynamic, Linear Systems, Jerks.

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Authors: K. M. Tan, A. Anvar, T.F. Lu

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A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematical models that govern each sensor installed onto the AUV. Environment model incorporates the hydrostatic, hydrodynamics, and ocean currents that will affect the AUV in a real-time mission. Based on this designed simulation framework, custom scenarios provided by the user can be modeled and its corresponding behaviors can be observed. This paper focuses on the accuracy of the simulated data from AUV model and environmental model derived from a developed AUV test-bed which was jointly upgraded by DSTO and the University of Adelaide. The main contribution of this paper is to experimentally verify the accuracy of the proposed simulation framework.

Keywords: Autonomous Underwater Vehicle (AUV), simulator, framework, robotics, maritime robot, modeling.

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Authors: V. Tawiwat, P. Jumnong

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Both the minimum energy consumption and smoothness, which is quantified as a function of jerk, are generally needed in many dynamic systems such as the automobile and the pick-and-place robot manipulator that handles fragile equipments. Nevertheless, many researchers come up with either solely concerning on the minimum energy consumption or minimum jerk trajectory. This research paper proposes a simple yet very interesting when combining the minimum energy and jerk of indirect jerks approaches in designing the time-dependent system yielding an alternative optimal solution. Extremal solutions for the cost functions of the minimum energy, the minimum jerk and combining them together are found using the dynamic optimization methods together with the numerical approximation. This is to allow us to simulate and compare visually and statistically the time history of state inputs employed by combining minimum energy and jerk designs. The numerical solution of minimum direct jerk and energy problem are exactly the same solution; however, the solutions from problem of minimum energy yield the similar solution especially in term of tendency.

Keywords: Optimization, Dynamic, Linear Systems, Jerks.

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Authors: Sara Jelodarian

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Organic agriculture is a kind of living and dynamic agriculture that was introduced in the early 20^th century. The fundamental basis for organic agriculture is in harmony with nature. This version of farming emphasizes removing growth hormones, chemical fertilizers, toxins, radiation, genetic manipulation and instead, integration of modern scientific techniques (such as biologic and microbial control) that leads to the production of healthy food and the preservation of the environment and use of agricultural products such as forage and manure. Supports from governments for the markets producing organic products and taking advantage of the experiences from other successful societies in this field can help progress the positive and effective aspects of this technology, especially in developing countries. This research proves that till 2030, 25% of the global agricultural lands would be covered by organic farming. Consequently Iran, due to its rich genetic resources and various climates, can be a pioneer in promoting organic products. In addition, for sustainable farming, blend of organic and other innovative systems is needed. Important limitations exist to accept these systems, also a diversity of policy instruments will be required to comfort their development and implementation. The paper was conducted to results of compilation of reports, issues, books, articles related to the subject with library studies and research. Likewise we combined experimental and survey to get data.

Keywords: Development, production markets, progress, strategic role, technology.

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Authors: Chansheng He, Carlo DeMarchi

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A physically based, spatially-distributed water quality model is being developed to simulate spatial and temporal distributions of material transport in the Great Lakes Watersheds of the U.S. Multiple databases of meteorology, land use, topography, hydrography, soils, agricultural statistics, and water quality were used to estimate nonpoint source loading potential in the study watersheds. Animal manure production was computed from tabulations of animals by zip code area for the census years of 1987, 1992, 1997, and 2002. Relative chemical loadings for agricultural land use were calculated from fertilizer and pesticide estimates by crop for the same periods. Comparison of these estimates to the monitored total phosphorous load indicates that both point and nonpoint sources are major contributors to the total nutrient loads in the study watersheds, with nonpoint sources being the largest contributor, particularly in the rural watersheds. These estimates are used as the input to the distributed water quality model for simulating pollutant transport through surface and subsurface processes to Great Lakes waters. Visualization and GIS interfaces are developed to visualize the spatial and temporal distribution of the pollutant transport in support of water management programs.

Keywords: Distributed Large Basin Runoff Model, Great LakesWatersheds, nonpoint source pollution, and point sources.

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Authors: Jito Vanualailai, Bibhya Sharma

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Swarm principles are increasingly being used to design controllers for the coordination of multi-robot systems or, in general, multi-agent systems. This paper proposes a two-dimensional Lagrangian swarm model that enables the planar agents, modeled as point masses, to swarm whilst effectively avoiding each other and obstacles in the environment. A novel method, based on an extended Lyapunov approach, is used to construct the model. Importantly, the Lyapunov method ensures a form of practical stability that guarantees an emergent behavior, namely, a cohesive and wellspaced swarm with a constant arrangement of individuals about the swarm centroid. Computer simulations illustrate this basic feature of collective behavior. As an application, we show how multiple planar mobile unicycle-like robots swarm to eventually form patterns in which their velocities and orientations stabilize.

Keywords: Attractive-repulsive swarm model, individual-based swarm model, Lagrangian swarm model, Lyapunov stability, Lyapunov-like function, practical stability, unicycle.

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Authors: Ali Reza Vaezi, Ouldouz Bakhshi Rad

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Gully erosion is a widespread and often dramatic form of soil erosion caused by water during and immediately after heavy rainfall. It occurs when flowing surface water is channelled across unprotected land and washes away the soil along the drainage lines. The formation of gully is influenced by various factors, including climate, drainage surface area, slope gradient, vegetation cover, land use, and soil properties. It is a very important problem in semi-arid regions, where soils have lower organic matter and are weakly aggregated. Intensive agriculture and tillage along the slope can accelerate soil erosion by water in the region. There is little information on the development of gully erosion in agricultural rainfed areas. Therefore, this study was carried out to investigate the relationship between gully erosion and morphometric characteristics of the drainage area and the effects of soil properties and soil management factors (land use and tillage method) on gully development. A field study was done in a 900 km2 agricultural area in Hshtroud township located in the south of East Azerbaijan province, NW Iran. Toward this, 222 gullies created in rainfed lands were found in the area. Some properties of gullies, consisting of length, width, depth, height difference, cross section area, and volume, were determined. Drainage areas for each or some gullies were determined, and their boundaries were drawn. Additionally, the surface area of each drainage, land use, tillage direction, and soil properties that may affect gully formation were determined. The soil erodibility factor (K) defined in the Universal Soil Loss Equation (USLE) was estimated based on five soil properties (silt and very fine sand, coarse sand, organic matter, soil structure code, and soil permeability). Gully development in each drainage area was quantified using its volume and soil loss. The dependency of gully development on drainage area characteristics (surface area, land use, tillage direction, and soil properties) was determined using correlation matrix analysis. Based on the results, gully length was the most important morphometric characteristic indicating the development of gully erosion in the lands. Gully development in the area was related to slope gradient (r = -0.26), surface area (r = 0.71), the area of rainfed lands (r = 0.23), and the area of rainfed tilled along the slope (r = 0.24). Nevertheless, its correlation with the area of pasture and soil erodibility factor (K) was not significant. Among the characteristics of drainage area, surface area is the major factor controlling gully volume in the agricultural land. No significant correlation was found between gully erosion and soil erodibility factor (K) estimated by the USLE. It seems the estimated soil erodibility cannot describe the susceptibility of the study soils to the gully erosion process. In these soils, aggregate stability and soil permeability are the two soil physical properties that affect the actual soil erodibility and in consequence, these soil properties can control gully erosion in the rainfed lands. 

Keywords: Agricultural area, gully properties, soil structure, USLE, Universal Soil Loss Equation.

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Authors: Sagir M. Yusuf, Chris Baber

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We describe issues bedeviling the coordination of heterogeneous (different sensors carrying agents) multi-agent missions such as belief conflict, situation reasoning, etc. We applied Bayesian and agents' presumptions inferential reasoning to solve the outlined issues with the heterogeneous multi-agent belief variation and situational-base reasoning. Bayesian Belief Network (BBN) was used in modeling the agents' belief conflict due to sensor variations. Simulation experiments were designed, and cases from agents’ missions were used in training the BBN using gradient descent and expectation-maximization algorithms. The output network is a well-trained BBN for making inferences for both agents and human experts. We claim that the Bayesian learning algorithm prediction capacity improves by the number of training data and argue that it enhances multi-agents robustness and solve agents’ sensor conflicts.

Keywords: Distributed constraint optimization problem, multi-agent system, multi-robot coordination, autonomous system, swarm intelligence.

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Authors: Clement M. Matasane, Mohamed T. Kahn

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Biomass resources such as animal waste, agricultural and acro-industrial residues, forestry and woodland waste, and industrial and municipal solid wastes provide alternative means to utilize its untapped potential for biomass/biofuel renewable energy systems. In addition, crop residues (i.e., grain, starch, and energy crops) are commonly available in the district and play an essential role in community farming activities. The remote sensing technology (mappings) and geographic information systems tool will be used to determine the biomass potential in the Vhembe District Municipality. The detailed assessment, estimation, and modeling in quantifying their distribution, abundance, and quality yield an effective and efficient use of their potential. This paper aims to examine the potential and prospects of deploying bioenergy systems in small or micro-systems in the district for community use and applications. This deployment of the biofuels/biomass systems will help communities for sustainable energy supply from their traditional energy use into innovative and suitable methods that improve their livelihood. The study demonstrates the potential applications of Geographical Information Systems (GIS) in spatial mapping analysis, evaluation, modeling, and decision support for easy access to renewable energy systems.

Keywords: Agricultural crops, waste materials, biomass potentials, bioenergy potentials, GIS mappings, environmental data, renewable energy deployment, sustainable energy supply.

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Authors: S. B. Rushayati, R. Meilani, R. Hermawan

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A biosphere reserve is developed to create harmony amongst economic development, community development, and environmental protection, through partnership between human and nature. Giam Siak Kecil Bukit Batu Biosphere Reserve (GSKBB BR) in Riau Province, Indonesia, is unique in that it has peat soil dominating the area, many springs essential for human livelihood, high biodiversity. Furthermore, it is the only biosphere reserve covering privately managed production forest areas. In this research, we aimed at analyzing the threat of deforestation and forest fire, and the potential of CO2 emission at GSKBB BR. We used Landsat image, arcView software, and ERDAS IMAGINE 8.5 Software to conduct spatial analysis of land cover and land use changes, calculated CO2 emission based on emission potential from each land cover and land use type, and exercised simple linear regression to demonstrate the relation between CO2 emission potential and deforestation. The result showed that, beside in the buffer zone and transition area, deforestation also occurred in the core area. Spatial analysis of land cover and land use changes from years 2010, 2012, and 2014 revealed that there were changes of land cover and land use from natural forest and industrial plantation forest to other land use types, such as garden, mixed garden, settlement, paddy fields, burnt areas, and dry agricultural land. Deforestation in core area, particularly at the Giam Siak Kecil Wildlife Reserve and Bukit Batu Wildlife Reserve, occurred in the form of changes from natural forest in to garden, mixed garden, shrubs, swamp shrubs, dry agricultural land, open area, and burnt area. In the buffer zone and transition area, changes also happened, what once swamp forest changed into garden, mixed garden, open area, shrubs, swamp shrubs, and dry agricultural land. Spatial analysis on land cover and land use changes indicated that deforestation rate in the biosphere reserve from 2010 to 2014 had reached 16 119 ha/year. Beside deforestation, threat toward the biosphere reserve area also came from forest fire. The occurrence of forest fire in 2014 had burned 101 723 ha of the area, in which 9 355 ha of core area, and 92 368 ha of buffer zone and transition area. Deforestation and forest fire had increased CO2 emission as much as 24 903 855 ton/year.

Keywords: Biosphere reserve, CO2 emission, deforestation, forest fire.

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Authors: A. S. Adesuyi, Z. Munch

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This study investigates the use of a time-series of MODIS NDVI data to identify agricultural land cover change on an annual time step (2007 - 2012) and characterize the trend. Following an ISODATA classification of the MODIS imagery to selectively mask areas not agriculture or semi-natural, NDVI signatures were created to identify areas cereals and vineyards with the aid of ancillary, pictometry and field sample data for 2010. The NDVI signature curve and training samples were used to create a decision tree model in WEKA 3.6.9 using decision tree classifier (J48) algorithm; Model 1 including ISODATA classification and Model 2 not. These two models were then used to classify all data for the study area for 2010, producing land cover maps with classification accuracies of 77% and 80% for Model 1 and 2 respectively. Model 2 was subsequently used to create land cover classification and change detection maps for all other years. Subtle changes and areas of consistency (unchanged) were observed in the agricultural classes and crop practices. Over the years as predicted by the land cover classification. Forty one percent of the catchment comprised of cereals with 35% possibly following a crop rotation system. Vineyards largely remained constant with only one percent conversion to vineyard from other land cover classes.

Keywords: Change detection, Land cover, NDVI, time-series.

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Authors: Punitha Periyasamy, Mahalingam Sudalaimuthu, Sachikanta Nanda, Arasu Sundaram

Abstract:

India holds 17.5% of the world’s population but has only 2% of the total geographical area of the world where 27.35% of the area is categorized as wasteland due to lack of or less groundwater. So there is a demand for excessive groundwater for agricultural and non agricultural activities to balance its growth rate. With this in mind, an attempt is made to find the groundwater potential zone in Gomukhi Nadhi sub basin of Vellar River basin, TamilNadu, India covering an area of 1146.6 Sq.Km consists of 9 blocks from Peddanaickanpalayam to Virudhachalam in the sub basin. The thematic maps such as Geology, Geomorphology, Lineament, Landuse and Landcover and Drainage are prepared for the study area using IRS P6 data. The collateral data includes rainfall, water level, soil map are collected for analysis and inference. The digital elevation model (DEM) is generated using Shuttle Radar Topographic Mission (SRTM) and the slope of the study area is obtained. ArcGIS 10.1 acts as a powerful spatial analysis tool to find out the ground water potential zones in the study area by means of weighted overlay analysis. Each individual parameter of the thematic maps are ranked and weighted in accordance with their influence to increase the water level in the ground. The potential zones in the study area are classified viz., Very Good, Good, Moderate, Poor with its aerial extent of 15.67, 381.06, 575.38, 174.49 Sq.Km respectively.

Keywords: ArcGIS, DEM, Groundwater, Recharge, Weighted Overlay.

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Authors: A. Ghaffari, A. Meghdari, D. Naderi, S. Eslami

Abstract:

In this paper an algorithm based on the adaptive neuro-fuzzy controller is provided to enhance the tipover stability of mobile manipulators when they are subjected to predefined trajectories for the end-effector and the vehicle. The controller creates proper configurations for the manipulator to prevent the robot from being overturned. The optimal configuration and thus the most favorable control are obtained through soft computing approaches including a combination of genetic algorithm, neural networks, and fuzzy logic. The proposed algorithm, in this paper, is that a look-up table is designed by employing the obtained values from the genetic algorithm in order to minimize the performance index and by using this data base, rule bases are designed for the ANFIS controller and will be exerted on the actuators to enhance the tipover stability of the mobile manipulator. A numerical example is presented to demonstrate the effectiveness of the proposed algorithm.

Keywords: Mobile Manipulator, Tipover Stability Enhancement, Adaptive Neuro-Fuzzy Inference Controller System, Soft Computing.

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Authors: Sana Bembli, Nahla Khraief Haddad, Safya Belghith

Abstract:

This paper deals with a robust model free terminal sliding mode with gravity compensation approach used to control an exoskeleton-upper limb system. The considered system is a 2-DoF robot in interaction with an upper limb used for rehabilitation. The aim of this paper is to control the flexion/extension movement of the shoulder and the elbow joints in presence of matched disturbances. In the first part, we present the exoskeleton-upper limb system modeling. Then, we controlled the considered system by the model free terminal sliding mode with gravity compensation. A stability study is realized. To prove the controller performance, a robustness analysis was needed. Simulation results are provided to confirm the robustness of the gravity compensation combined with to the Model free terminal sliding mode in presence of uncertainties.

Keywords: Exoskeleton-upper limb system, gravity compensation, model free terminal sliding mode, robustness analysis, Monte Carlo, H∞ methods.

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Authors: Mohammed Qasim, Kyoung-Dae Kim

Abstract:

In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: R. Sharma, M. Gopal

Abstract:

Markov games can be effectively used to design controllers for nonlinear systems. The paper presents two novel controller design algorithms by incorporating ideas from gametheory literature that address safety and consistency issues of the 'learned' control strategy. A more widely used approach for controller design is the H∞ optimal control, which suffers from high computational demand and at times, may be infeasible. We generate an optimal control policy for the agent (controller) via a simple Linear Program enabling the controller to learn about the unknown environment. The controller is facing an unknown environment and in our formulation this environment corresponds to the behavior rules of the noise modeled as the opponent. Proposed approaches aim to achieve 'safe-consistent' and 'safe-universally consistent' controller behavior by hybridizing 'min-max', 'fictitious play' and 'cautious fictitious play' approaches drawn from game theory. We empirically evaluate the approaches on a simulated Inverted Pendulum swing-up task and compare its performance against standard Q learning.

Keywords: Fictitious Play, Cautious Fictitious Play, InvertedPendulum, Controller, Markov Games, Mobile Robot.

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Authors: A. Al Hinai, H. Jayasuriya, H. Kotagama

Abstract:

Most Gulf Cooperation Council (GCC) countries with oil-based economy like Oman are looking for other potential revenue generation options as the crude oil price is regularly fluctuating due to changing geopolitical environment. Oman has advantage of possessing world-heritage nature tourism hotspots around the country and the government is making investments and strategies to uplift the tourism industry following Oman Vision 2040 strategies. Oman’s agriculture is not significantly contributing to the economy, but possesses specific and diversified arid cropping systems. Oman has modern farms; nevertheless some of the agricultural production activities are done with cultural practices and styles that would be attractive to tourists. The aim of this paper is to investigate the potentials for promoting agritourism industry in Oman; recognize potential sites, commodities and activities, and predict potential revenue generation as a projection from that of the tourism sector. Moreover, the study enables to foresee possible auxiliary advantages of agritourism such as, empowerment of women and youth, enhancement in the value-addition industry for agricultural produce through technology transfer and capacity building, and producing export quality products. Agritourism could increase employability, empowerment of women and youth, improve value-addition industry and export-oriented agribusiness. These efforts including provision of necessary technology-transfer and capacity-building should be rendered by the collaboration of academic institutions, relevant ministries and other public and private sector stakeholders.

Keywords: Agritourism, nature-based tourism, potentials, revenue generation, value addition.

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