Robotic weeding of a maize field based on navigation data of the tractor that performed the seeding (Preprint)

This research presents robotic weeding of a maize field based on navigation data of the tractor that performed the seeding. The availability of tractors equipped with RTK-DGPS based automatic guidance potentially enables robots to perform subsequent tasks in the same field. In an experiment a tractor guidance system generated a route for sowing based on an initial path consisting of two logged positions (A-B line) and then planned the subsequent paths parallel to the initial path one working width apart. After sowing the maize, the A-B line was transferred to the Intelligent Autonomous Weeder (IAW) of Wageningen University. The IAW generated a route plan based on this A-B line and eight coordinates defining the borders of the field and the two headlands. It then successfully performed autonomous weeding of the entire field except of the headlands. The row width was 75 cm and the width of the hoes mounted on the robot was 50 cm. The results show that it is possible to perform robot weeding at field level with high accuracy based on navigation data of the tractor that performed the sowin

A path following algorithm for mobile robots

This paper considers path following control for a robotic platform. The vehicle used for the experiments is a specially designed robotic platform for performing autonomous weed control. The platform is four-wheel steered and four-wheel driven. A diesel engine powers the wheels via a hydraulic transmission. The robot uses a Real Time Kinematic Differential Global Positioning System to determine both position and orientation relative to the path. The deviation of the robot to the desired path is supplied to two high level controllers minimizing the orthogonal distance and orientation to the path. Wheel angle setpoints are determined from inversion of the kinematic model. At low level each wheel angle is controlled by a proportional controller combined with a Smith predictor. Results show the controller performance following different paths shapes including a step, a ramp, and a typical headland path. A refined tuning method calculates controller settings that let the robot drive as much as possible along the same path to its setpoint, but also limit the gains at higher speeds to prevent the closed loop system to become unstable due to the time delay in the system. Mean, minimum and maximum orthogonal distance errors while following a straight path on a paving at a speed of 0.5 m/s are 0.0, -2.4 and 3.0 cm respectively and the standard deviation is 1.2 cm. The control method for four wheel steered vehicles presented in this paper has the unique feature that it enables control of a user definable position relative to the robot frame and can deal with limitations on the wheel angles. The method is very well practical applicable for a manufacturer: all parameters needed are known by the manufacturer or can be determined easily, user settings have an easy interpretation and the only complex part can be supplied as a generic software modul

Application of Raman Microspectroscopic and Raman imaging techniques for cell biological studies

Raman spectroscopy is being used to study biological molecules for some three decades now. Thanks to continuing advances in instrumentation more and more applications have become feasible in which molecules are studied in situ, and this has enabled Raman spectroscopy to enter the realms of biomedicine and cell biology [1-5].\ud Here we will describe some of the recent work carried out in our laboratory, concerning studies of human white blood cells and further instrumentational developments

Direct in vitro comparison of six three-dimensional positive contrast methods for susceptibility marker imaging.

PURPOSE: To compare different techniques for positive contrast imaging of susceptibility markers with MRI for three-dimensional visualization. As several different techniques have been reported, the choice of the suitable method depends on its properties with regard to the amount of positive contrast and the desired background suppression, as well as other imaging constraints needed for a specific application. MATERIALS AND METHODS: Six different positive contrast techniques are investigated for their ability to image at 3 Tesla a single susceptibility marker in vitro. The white marker method (WM), susceptibility gradient mapping (SGM), inversion recovery with on-resonant water suppression (IRON), frequency selective excitation (FSX), fast low flip-angle positive contrast SSFP (FLAPS), and iterative decomposition of water and fat with echo asymmetry and least-squares estimation (IDEAL) were implemented and investigated. RESULTS: The different methods were compared with respect to the volume of positive contrast, the product of volume and signal intensity, imaging time, and the level of background suppression. Quantitative results are provided, and strengths and weaknesses of the different approaches are discussed. CONCLUSION: The appropriate choice of positive contrast imaging technique depends on the desired level of background suppression, acquisition speed, and robustness against artifacts, for which in vitro comparative data are now available

Oblique abdominal muscle activity in standing and in sitting on hard and soft seats

The activity of the oblique abdominal muscles was investigated with the trunk in unconstrained, symmetrical and static postures. Electromyographic recordings in six healthy subjects revealed that in all subjects the activity of both the internal and the external obliques is significantly higher in unconstrained standing than in supine posture. Activity of the internal oblique was higher than that of the external oblique abdominal. The sacrospinal, gluteus maximus and biceps femoris muscles showed practically no activity in unconstrained erect posture. During unconstrained sitting both oblique abdominals are active. In most subjects the activity of the oblique abdominals was significantly smaller when sitting on a soft car seat than when sitting on an office chair with a hard seat. The possibility is discussed that contraction of the oblique abdominals in unconstrained standing and sitting may help in stabilizing the basis of the spine and particularly the sacroiliac joints. During standing and sitting the oblique abdominal muscles apparently have a significant role in sustaining gravity loads

Robotisering in de landbouw: autonome agrarische voertuigen

Robotisering in de landbouw is een thema waaraan op verschillende plaatsen wordt gewerkt. De uitdaging van automatisering in de landbouw is gelegen in de specifieke kenmerken van het systeem, waardoor het probleem zich onderscheidt van automatisering in meer technische systemen. Deze kenmerken zijn: matig gestructureerde omgeving, variabiliteit in ruimte en tijd van het product waar het om gaat, en een variabele omgeving (zie bijdrage Van Henten in dit nummer). Een deel van de huidige ontwikkeling heeft betrekking op gesloten teelten en de veeteelt, terwijl een ander deel zich richt op de open teelt. In deze trend past de Wageningse autonome wiedrobot, waarvan de ontwikkeling in dit artikel wordt beschreven

A Current Induced Transition in atomic-sized contacts of metallic Alloys

We have measured conductance histograms of atomic point contacts made from the noble-transition metal alloys CuNi, AgPd, and AuPt for a concentration ratio of 1:1. For all alloys these histograms at low bias voltage (below 300 mV) resemble those of the noble metals whereas at high bias (above 300 mV) they resemble those of the transition metals. We interpret this effect as a change in the composition of the point contact with bias voltage. We discuss possible explanations in terms of electromigration and differential diffusion induced by current heating.Comment: 5 pages, 6 figure