100 research outputs found

    Design and test of a gripper prototype for horticulture products

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    This paper describes the design of a gripper for horticulture product grasping. The design solution has been achieved by means of a systematic approach by evaluating all the possible architecture. The proposed structure is optimized and numerically simulated. Then, a prototype has been built and tested in laboratory. The design process and test results are discussed to show the efficiency of the built prototype with lab test

    Engineering Research Review 2020

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    Table of Contents: [Page] 2 New materials improve performance of lithium-ion batteries[Page] 4 Aerosol modeling helps trap coronavirus, deliver medications [Page] 6 Robot helps patients perform rehabilitative exercises [Page] 8 Researcher develops biomaterials using cellulose fibers[Page] 10 Study examines degradation of plant-based plastics[Page] 12 Underwater drone expands water quality testing capabilities [Page] 14 Statistician assesses agricultural data to increase productivity[Page] 16 Awardshttps://openprairie.sdstate.edu/eng_research/1009/thumbnail.jp

    Postharvest Technology

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    Postharvest management of food crops is an important part of food safety and security across the supply chain. It includes processing of agricultural produce, storage, packaging and coating, postharvest disease management, extending shelf life, and maintaining food quality and safety. Postharvest Technology - Recent Advances, New Perspectives and Applications discusses some important aspects of postharvest technologies. Chapters address such topics as postharvest preservation technology, postharvest disease management, and postharvest processing and packaging

    Robotic Manipulation of Environmentally Constrained Objects Using Underactuated Hands

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    Robotics for agriculture represents the ultimate application of one of our society\u27s latest and most advanced innovations to its most ancient and vital industry. Over the course of history, mechanization and automation have increased crop output several orders of magnitude, enabling a geometric growth in population and an increase in quality of life across the globe. As a challenging step, manipulating objects in harvesting automation is still under investigation in literature. Harvesting or the process of gathering ripe crops can be described as breaking environmentally constrained objects into two or more pieces at the desired locations. In this thesis, the problem of purposefully failing (breaking) or yielding objects by a robotic gripper is investigated. A failure task is first formulated using mechanical failure theories. Next, a grasp quality measure is presented to characterize a suitable grasp configuration and systematically control the failure behavior of the object. This approach combines the failure task and the capability of the gripper for wrench insertion. The friction between the object and the gripper is used to formulate the capability of the gripper for wrench insertion. A new method inspired by the human pre-manipulation process is introduced to utilize the gripper itself as the measurement tool and obtain a friction model. The developed friction model is capable of capturing the anisotropic behavior of materials which is the case for most fruits and vegetables.The limited operating space for harvesting process, the vulnerability of agricultural products and clusters of crops demand strict conditions for the manipulation process. This thesis presents a new sensorized underactuated self-adaptive finger to address the stringent conditions in the agricultural environment. This design incorporates link-driven underactuated mechanism with an embedded load cell for contact force measurement and a trimmer potentiometer for acquiring joint variables. The integration of these sensors results in tactile-like sensations in the finger without compromising the size and complexity of the proposed design. To obtain an optimum finger design, the placement of the load cell is analyzed using Finite Element Method (FEM). The design of the finger features a particular round shape of the distal phalanx and specific size ratio between the phalanxes to enable both precision and power grasps. A quantitative evaluation of the grasp efficiency by constructing a grasp wrench space is also provided. The effectiveness of the proposed designs and theories are verified through real-time experiments. For conducting the experiments in real-time, a software/hardware platform capable of dataset management is crucial. In this thesis, a new comprehensive software interface for integration of industrial robots with peripheral tools and sensors is designed and developed. This software provides a real-time low-level access to the manipulator controller. Furthermore, Data Acquisition boards are integrated into the software which enables Rapid Prototyping methods. Additionally, Hardware-in-the-loop techniques can be implemented by adding the complexity of the plant under control to the test platform. The software is a collection of features developed and distributed under GPL V3.0

    Innovations in non-destructive techniques for fruit quality control applied to manipulation and inspection lines

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    Tesis por compendioLa industria alimentaria, concretamente el sector poscosecha, necesita innovar en sus procesos productivos, optimizando los mismos para rentabilizar sus actividades, garantizando productos de calidad capaces de satisfacer las necesidades de los consumidores. La presente tesis doctoral se centra en evaluar el potencial de la espectroscopia VIS-NIR para la caracterización e inspección de la calidad de la fruta tanto fuera de línea como a tiempo real en procesos automatizados. En un primer lugar, la viabilidad de la técnica se estudió a nivel de laboratorio en estado estático (off-line), con el fin de conocer y optimizar las condiciones de medición. Posteriormente, se evaluó la calidad interna y externa de diferentes tipos de frutas como son caqui, nectarina y mango. En una segunda etapa, se llevó a cabo una automatización de los procesos de inspección mediante el desarrollo de nuevos prototipos in-line. Para este propósito, y con el objetivo de completar y corroborar los resultados obtenidos de manera estática, se estudió la integración de dos sondas VIS-NIR en una garra robótica capaz de manipular mangos. Finalmente, se estudió la integración de una sonda VIS-NIR a una cinta transportadora. Los resultados obtenidos a nivel estático han demostrado que la espectroscopia VIS-NIR es un método no destructivo muy prometedor para predecir la astringencia en caqui. Así mismo, ha demostrado ser una adecuada herramienta para clasificar al 100% entre variedades de nectarinas como "Big Top" y "Diamond Ray" con una apariencia externa e interna muy similar, pero con diferentes propiedades organolépticas. De manera similar, fue posible clasificar al 100% variedades como "Big Top" y "Magique" de apariencia externa y composición similar pero distinto color de pulpa., y además se desarrolló un índice de calidad interna (IQI) para evaluar la calidad de las nectarinas. Por lo que respecta a los trabajos off-line realizados con mangos de la variedad "Osteen", fue posible predecir su calidad interna mediante los índices de madurez (RPI) y de calidad (IQI) con un gran rendimiento. A su vez, los ensayos experimentales efectuados con estos mismos mangos bajo la manipulación no destructiva de una garra robótica, demostraron que los mejores modelos eran capaces de predecir tanto la firmeza mecánica, el contenido en sólidos solubles, la luminosidad de la pulpa, así como el índice RPI de las muestras en base a la información obtenida por los acelerómetros instalados en los dedos de la garra robótica. En cuanto a los ensayos realizados de manera in-line, el primer prototipo desarrollado se basó en la integración de dos sondas VIS-NIR en una garra robótica dispuesta con dos acelerómetros. El sistema desarrollado permitió alcanzar una buena estimación de la calidad del mango a través del índice RPI fusionando la información tanto de los espectros VIS-NIR como del impacto no destructivo de los acelerómetros. De este modo quedó demostrado que era posible obtener una predicción similar trabajando de forma in-line como trabajando de manera off-line para la predicción del mismo índice de calidad en mangos. El segundo prototipo in-line desarrollado se basa en la integración de una sonda VIS-NIR en una cinta transportadora para la identificación de distintas variedades y orígenes de manzanas. El prototipo desarrollado permitió registrar resultados de clasificación tan buenos como los efectuados de manera off-line con, por ejemplo, nectarina. De este modo, se puede concluir que la espectroscopia VIS-NIR permite monitorear la calidad y clasificar fruta poscosecha tanto en modo off-line como in-line. Los nuevos prototipos desarrollados aportan claras ventajas respecto a los procesos tradicionales realizados a mano, como son la reducción del tiempo de inspección, la disminución de la cantidad de residuos generados y la posibilidad de inspeccionar toda la producción, obteniendo así un análisis más estandarizThe food industry, concretely the post-harvest sector, needs to innovate in their production processes, optimizing them to make their activities profitable, guaranteeing quality products capable of satisfying the needs of consumers. The present doctoral thesis focuses on evaluating the potential of visible and near infrared spectroscopy (VIS-NIR) for the characterization and inspection of fruit quality both off-line and in real time in automated processes. Firstly, the viability of the technique was studied at the laboratory level in a static mode (off-line), in order to know and optimise the measurement conditions. Subsequently, the internal and external quality of different types of fruits such as persimmon, nectarine and mango were evaluated. Secondly, an automation of the inspection processes was carried out through the development of new in-line prototypes. For this purpose, and with the aim of completing and corroborating the results obtained in a static mode, the integration of two VIS-NIR probes in a robotic gripper capable of manipulating mangoes was studied. Finally, the integration of a VIS-NIR probe to a conveyor belt was studied as an in-line monitoring tool on the inspection process of different apple varieties. The results obtained in static mode have shown that VIS-NIR spectroscopy is a very promising non-destructive method to predict the astringency in persimmon. Likewise, it has demonstrated to be an adequate tool to classify 100% between nectarine varieties such as 'Big Top' and 'Diamond Ray' with very similar external and internal appearance, but with different organoleptic properties. Similarly, it was possible to classify 100% varieties such as 'Big Top' and 'Magique' with external appearance and similar composition but different pulp colour. An internal quality index (IQI) was developed to evaluate the quality of nectarines, which can be predicted through VIS-NIR spectroscopy. Regarding the off-line work carried out with mangoes of 'Osteen' variety, it was possible to predict its internal quality through the indexes of maturity (RPI) and quality (IQI) with a high performance. Moreover, the experimental tests carried out with these same mangoes under the non-destructive manipulation of a robotic gripper, showed that the best models were able to predict both the mechanical firmness, the soluble solids content, the brightness of the pulp, as well as the RPI index of the samples based on the information obtained by the accelerometers installed on the fingers of the robotic gripper. Regarding the tests carried out in an in-line mode, the first developed prototype was based on the integration of two VIS-NIR probes in a robotic gripper fitted with two accelerometers. The developed system allowed reaching a good estimation of mango quality through the RPI index. In this way, it was demonstrated that it was possible to obtain a similar prediction working in-line as off-line mode for the prediction of the same quality index in mangoes. The second developed in-line prototype is based on the integration of a VIS-NIR probe in a conveyor belt for the identification of different varieties and origins of apples, achieving a success rate of 98% with the system. The developed prototype allowed to register classification results as good as those carried out off-line with, for example, nectarine. In this way, it can be concluded that VIS-NIR spectroscopy allows monitoring the quality and classifying post-harvest fruit in both off-line and in-line mode, being a tool that allows improving and guaranteeing the correct quality and food safety. The new developed prototypes provide clear advantages over the traditional processes performed by hand, such as the reduction of inspection time, the reduction of the amount of waste generated by destructive quality analysis and the possibility of inspecting full production, obtaining a more standardised analysis of the quality of the products.La indústria alimentària, concretament el sector postcollita, necessita innovar en els seus processos productius, optimitzant els mateixos per a rendibilitzar les seues activitats, garantint productes de qualitat capaços de satisfer les necessitats dels consumidors. La present tesi doctoral es centra en avaluar el potencial de l'espectroscòpia visible i infraroig pròxim (VIS-NIR) per a la caracterització i la inspecció de la qualitat de la fruita tant fora de línia com a temps real en processos automatitzats. En un primer lloc, la viabilitat de la tècnica es va estudiar a nivell de laboratori en estat estàtic (off-line), a fi de conéixer i optimitzar les condicions de mesurament. Posteriorment, es va avaluar la qualitat interna i externa de diferents tipus de fruites com són caqui, nectarina i mango. En una segona etapa, es va dur a terme una automatització dels processos d'inspecció per mitjà del desenvolupament de nous prototips in-line. Per aquest propòsit, i amb l'objectiu de completar i corroborar els resultats obtinguts de manera estàtica, es va estudiar la integració de dos sondes VIS-NIR en una garra robòtica capaç de manipular. Finalment, es va estudiar la integració d'una sonda VIS-NIR a una cinta transportadora. Els resultats obtinguts a nivell estàtic han demostrat que l'espectroscòpia VIS-NIR és un mètode no destructiu molt prometedor per a predir l'astringència en caqui. Així mateix, ha demostrat ser una adequada ferramenta per a classificar al 100% entre varietats de nectarines com "Big Top" i "Diamond Ray" amb una aparença externa i interna molt semblant, però amb diferents propietats organolèptiques. De manera semblant, va ser possible classificar al 100% varietats com "Big Top" i "Magique" d'aparença externa i composició semblant però distint color de polpa. Es va desenvolupar un índex de qualitat interna (IQI) per avaluar la qualitat de les nectarines. Pel que fa als treballs off-line realitzats amb mangos de la varietat "Osteen" va ser possible predir la seua qualitat interna mitjançant els índexs de maduresa (RPI) i de qualitat (IQI) amb un gran rendiment. Al mateix temps, els assajos experimentals efectuats amb estos mateixos mangos baix la manipulació no destructiva d'una garra robòtica, van demostrar que els millors models eren capaços de predir tant la fermesa mecánica, el contingut en sòlids solubles, la lluminositat de la polpa, així com l'índex RPI de les mostres basant-se en l'informació obtinguda pels acceleròmetres instal¿lats en els dits de la garra robòtica. En quant als assajos realitzats de manera in-line, el primer prototip desenvolupat es va basar en la integració de dos sondes VIS-NIR en una garra robòtica disposada amb dos acceleròmetres. El sistema desenvolupat va permetre aconseguir una bona estimació de la qualitat del mango a través de l'índex RPI fusionant l'informació tant dels espectres VIS-NIR com de l'impacte no destructiu dels acceleròmetres. D'esta manera va quedar demostrat que era possible obtindre una predicció semblant treballant de forma in-line com off-line per a la predicció del mateix índex de qualitat en mangos. El segon prototip in-line desenvolupat es va basar en la integració d'una sonda VIS-NIR en una cinta transportadora per a l'identificació de distintes varietats i orígens de pomes. El prototip desenvolupat va permetre registrar resultats de classificació tan bons com els efectuats de manera off-line. D'aquesta manera, es pot concloure que l'espectroscòpia VIS-NIR permet monitorar la qualitat i classificar fruita postcollita tant en mode off-line com in-line. Els nous prototips desenvolupats aporten clars avantatges respecte als processos tradicionals realitzats a mà, com són la reducció del temps d'inspecció, la disminució de la quantitat de residus generats pels anàlisis destructives de qualitat i la possibilitat d'inspeccionar tota la producció, obtenint així un anàlisi més estandarditzCortés López, V. (2018). Innovations in non-destructive techniques for fruit quality control applied to manipulation and inspection lines [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/110969TESISCompendi

    Estonian University of Life Sciences Institute of Technology XI Master Students Conference 20.04.2017

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    Estonian University of Life Sciences Institute of Technology XI Master Students Conference 20.04.201

    The 1992 Shuttle Small Payloads Symposium

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    The 1992 Shuttle Small Payloads Symposium is a continuation of the Get Away Special Symposium convened from 1984 through 1988, and is proposed to continue as an annual conference. The focus of this conference is to educate potential Space Shuttle Payload Bay users as to the types of carrier systems provided and for current users to share experiment concepts
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