Videogrammetry Technique For Arm Positioning Of Bio-Production Robot

This thesis describes the development of the 'robot eye' system for agriculture robot to predict actual distance of the target object. Videogrammetry technique and triangulation method were used to measure distance of the target object. By 'clicking' on the image displayed on the user interface, the 3-dimensional (3D) distance of the target from robot arm will be generated and sending a signal to the robot to grip the selected target. The mathematical model of the robot arm applied real time simulation and was developed for use in the computing process. The 'robot eye' used WebCam digital cameras for 3D coordinate measurement that displayed the real environment in the user interface that was created using Visual Basic Version 6. The robot tool was designed, built and modified for this project using computer control and pneumatic drive system. The emphasis of the fabrication was to emulate the function of picking and harvesting of agricultural products. Robot communication was developed using ICP- DAS I/O modules that remotely sense up to a distance of 100 meters. This conceptual project is suitable for further research on 'robot eye' development using the non-contact measurement of 3D coordinate detection of the target object in real time mode

Gantry system for urban crop production.

Farming communities across the country have been hollowed out as rural youth move away to look for better paying factory jobs in the towns and cities. Agriculture sector should be restructured to create conditions conducive for mechanization and make agriculture an attractive lifetime career for young people trained in mechanized crop production. Agricultural activities thus must be introduced to urban dwellers through the introduction of gantry system for crop production. A gantry is a traveling device that is mainly composed of three axis connected by a girder frame at both ends, which perform several task from initial tillage to final harvest without compacting the soil. The project includes the design and the fabrication of the X-axis, Y-axis and Z-axis manipulator arms of the gantry. The analysis was to determine the movement characteristics in each axis so that the accuracy of the movement of the axis in the gantry system can be known. To move the gantry system, two methods were employed that is manual operation and automatic operation. In automatic method, computer was used using graphical user interface (GUI). The axes of the gantry system were controlled via Programmable Logic Controller (PLC). With the used of PLC, the gantry robot can do multiple of farm operations

Image based modeling for oil palm fruit maturity prediction

This paper describes the validation process on the relationship of the oil content quantity for mesocarp oil palm fruits with the digital value for its colour surface. The procedure starts from collection of the fruitlets of fresh fruit bunches (FFB) during unripe (black color surface) until overripe (orange color surface) stage. The ages of oil palm trees chosen in this experiment were of 5, 16 and 20 years old at Malaysian Palm Oil Board (MPOB) Research Station, Bangi Lama, Malaysia. The variety of oil palm is Tenera (Elaeis giaineensis). Nikon coolpix4500 digital camera with tele converter zooming and the Keyence machine vision were used to capture the FFB images in the oil palm plantation. The images were analysed for optical properties of color, namely hue, using the developed analysis software and then compared with the value from Keyence machine vision. The images were only captured at monitored area of FFB and the camera parameters (namely shuttle speed, image sensor's sensitivity (ISO) and white balance) were controlled. The lighting intensity under oil palm canopy was simultaneously recorded and monitored using Extech Light Meter Datalogger. On the same day, the fruitlets were plucked from FFB and analysed for oil mesocarp content by using the Soxhlet extractor machine. The calculations to determine the mesocarp oil content was developed based on ratio of oil to dry mesocarp. The Minolta MPOB colorimeter was used to validate and compare the ripeness criteria. Regression analysis of polynomial 2nd order method showed that the optical property of oil palm fruit was significant in determining the oil from the mesocarp fruit, respect to the degree of maturity, with regression equation y = -0.0116x2 + 5.2376x ― 514.88 and R2 = 0.884, where y is mesocarp oil content, x is hue value and R2 is coefficient of determination, respectively. The triangulation method was used for estimating the optimum days for harvesting the FFB at the highest content and quality of the oil. For validation process, high correlation of hue digital value was found between the developed systems using Nikon digital camera and the Keyence vision with y = 0.9063x+21.371 and R2 = 0.929 with average percentage differences of 2.6%, respectively. Hence the first task to ensure quality in oil palm milling is to select a good quality FFB for processing which means that only right mature fruit should be harvested, so this study introduced the new concept of image based measurement for modelling the oil palm FFB maturity prediction which enables to determine the correct time for harvesting

Conceptual control design for harvester robot

The previous development of the "robot eye" system for agriculture arm machine was successfully designed and fabricated to predict the actual distance of the object target. Stereo pair of Videogrammetry technique and triangulation was used to determine the distance measurement of object target. By a “click� on the images displayed on developed graphical user interface created by Visual Basic V6, the three-dimensional target distance was generated and robot arm able to move and grab the selected target automatically. The enhancement done with the application of camera vision system for recognizing the matured cocoa fruit in the field. The training image/ benchmark concept was applied into developed graphical user interface software. The user only click for make the training image/ benchmark data, then the threshold of the target image produced and the software decided for image recognition. The user needs to update the training image data by click to training image due to sunlight variances. This system was theoretically successful for color-based recognitions application in real plantation of agriculture product

Development of Variable Rate Sprayer for Oil Palm Plantation.

This project describes the design and development of a camera vision with color detection for the variable rate technology (VRT) automated sprayer. In this project, the smart sprayer system was already developed and mounted on the ATV. The automated sprayer system was developed by combination of the electromechanical system, PC parallel port relay board, the controller and visual basic programming software. This smart sprayer system is guided with the camera to detect the presence of weeds. Detection of weeds is based on the green color value from RGB value. The amount or percentage (%) of weeds detected determines the rate of spraying that is controlled by an electric motor and the relay board. In this project, the spray nozzles were modified to be fully open, fully closed and half open. The closing and opening of valves were controlled by the electromechanical system that receives the instruction from the camera vision. Experiments carried out shows that the nozzle is closed when the percentage of weeds detected is less than 2%. It is half open at 3% to 50% and fully open at more than 51%. The application rate of spraying can be determined from the result of the spraying operation

Application of geographical information system for farm mechanization education and training

Precision farming is managing each crop production input such as fertilizer, water, lime, herbicide, insecticide and seed on a site-specific basis to reduce waste, increase profit and maintain the quality of the environment. Without some remarkable enabling assisting technologies, the individual treatment of each plant is impossible and the concept of precision farming would not be feasible. Based on the trip, we can gain more information about the new technology that applies nowadays in agriculture. By using remote sensing that transmitted data from GPS, we can used to determination of generic object type, character and property as well as it’s abstract meaning. Besides, the application of remote sensing has been used in soil electrical conductivity sensor which used for show the variability of soil properties in detail and rapidly using simple equipment with less cost and labor force. Action maps will then be produced for farmers to apply fertilizers at different rates according to the delineated zones

Development of control program for plant growth parameter analysis in lowland tropical greenhouse.

The purpose of this project is to develop control system for environment parameter in the lowland tropical greenhouse using Microcontroller. The plant growth analysis covered both inside and outside greenhouse was presented. The controller was used to monitor the temperature, relative humidity and Vapor Pressure Deficit (VPD) in the planting of chili. The study of VPD is to show air moisture conditions for plant production while taking into account different temperature levels. The controller is used to maintain the ideal VPD inside the greenhouse where it has been done for an experimental greenhouse. The higher temperature inside greenhouse, during the day time, further proves the greenhouse effect. The ideal VPD is about to achieve at midnight where the temperature ranged between 19 and 23°C at relative humidity of 54 to 57%. PIC controller was successfully being used and interfacing with computer (read data). The ability of controlling the environment parameter such as temperature, relative humidity and VPD give great potential for the application of the greenhouse in agriculture plantation

Comparative Study of Carotenoids Content in Ripe and Unripe Oil Palm Fresh Fruit Bunches

Currently Elaies Guineensis or oil palm is the most widely planted commodity crop in Malaysia and has a very large impact to the country’s economy. At the same time, the industry also produces huge amount of oil palm waste materials such as Unripe Fresh Fruit Bunche (FFB). Each year million tons of Unripe FFB could not be processed in the mill and were disposed-off and thus posed additional threats to the environment. The objective of this study was to recycle the Unripe FFB and compared the carotenoids content with the Ripe FFB. Carotenoids is the natural chemical compounds which gives palm oil its orange red color. The compound is good for human health as it can strengthen body immunity system and act as antioxidant The experiment was conducted by collecting fruits from three (3) samples of Ripe FFB and Unripe FFB. The selected fruits were then sterilized, and Crude Palm Oil (CPO) was extracted. The analysis of oil samples was conducted using Near Infrared Spectroscopy Diode Array (NIRS DA) 1650. Result for the carotenoids showed that mean for the Ripe FFB was 968.07 ppm and for the Unripe FFB was 927.37 ppm. The Free Fatty Acids (FFA) were 22.08 and 14.47 respectively which indicated that the fruits were badly bruised during the processing. This study showed that the carotenoids content in Unripe FFB is comparable with the Ripe FFB and thus it can be concluded that Crude Palm Oil (CPO) from Unripe FFB can be used for carotenoids extraction instead of rejected or disposed-off to the environment

Development of an automation and control design system for lowland tropical greenhouses

Vapour pressure deficit (VPD) analysis introduces an approach to develop a better basis for the control of the environment of lowland greenhouses in Malaysia. The study of vapour pressure deficit (VPD) is to show air moisture conditions for plant production while taking into account different temperature levels. The purpose of this project is to develop a real-time automatic temperature and relative humidity control system in the lowland tropical greenhouse using a PIC16f876A microcontroller. The controller will then be used to monitor the temperature, relative humidity and VPD in the planting of Chili Kulai (Titisan 15). The fertigation system was introduced to the greenhouse to fertilize and irrigate the plant as well as to provide moisture to the environment. A swamp cooler was used to bring down the temperature and increase moisture content in the greenhouse. Ventilators were installed to remove the heat in the greenhouse. The study was carried out in an experimental greenhouse located at the Institute of Advanced Technology, Universiti Putra Malaysia (UPM)