Tractor PT: A traction prediction software for agricultural tractor

Traction prediction modelling, a key factor in farm tractor design, has been driven by the need to find the answer to this question without having to build physical prototypes. A wide range of theories and their respective algorithms can be used in such predictions. The “Tractors and Tillage” research team at the Polytechnic University of Madrid, which engages, among others, in traction prediction for farm tractors, has developed a series of programs based on the cone index as the parameter representative of the terrain. With the software introduced in the present paper, written in Visual Basic, slip can be predicted in two- and four-wheel drive tractors using any one of four models. It includes databases for tractors, front tyres, rear tyres and working conditions (soil cone index and drawbar pull exerted). The results can be exported in spreadsheet format

Design parameters for continuously variable power-split transmissions using planetaries with 3 active shafts

Since 1996, when the first agricultural tractor with CVT transmission was shown, the presence of this type of transmissions has been increasing. All companies offer them in their products range. Nevertheless, there is little technical documentation that explains the basics of its operation. This report shows all types of CVT transmissions: non-power-split type and power-split ones, as well as the three types used in agricultural tractors, hydro-mechanical power-split transmissions (3 active shafts, input coupled planetary; 3 active shafts, output coupled planetary and 4 active shafts). The report also describes the design parameters of a type of CVT transmission, which use a power-split system with 3 active shafts as well as the fundamental relations among them. Crown Copyright 2010 Published by Elsevier Ltd. on behalf of ISTVS. All rights reserved

LiDAR simulation in modelled orchards to optimise the use of terretrial laser scanners and derived vegetative measures

Light detection and ranging (LiDAR) technology is beginning to have an impact on agriculture. Canopy volume and/or fruit tree leaf area can be estimated using terrestrial laser sensors based on this technology. However, the use of these devices may have different options depending on the resolution and scanning mode. As a consequence, data accuracy and LiDAR derived parameters are affected by sensor configuration, and may vary according to vegetative characteristics of tree crops. Given this scenario, users and suppliers of these devices need to know how to use the sensor in each case. This paper presents a computer program to determine the best configuration, allowing simulation and evaluation of different LiDAR configurations in various tree structures (or training systems). The ultimate goal is to optimise the use of laser scanners in field operations. The software presented generates a virtual orchard, and then allows the scanning simulation with a laser sensor. Trees are created using a hidden Markov tree (HMT) model. Varying the foliar structure of the orchard the LiDAR simulation was applied to twenty different artificially created orchards with or without leaves from two positions (lateral and zenith). To validate the laser sensor configuration, leaf surface of simulated trees was compared with the parameters obtained by LiDAR measurements: the impacted leaf area, the impacted total area (leaves and wood), and th impacted area in the three outer layers of leaves

Deciduous tree reconstruction algorithm based on cylinder fitting from mobile terrestrial laser scanned point clouds

Vector reconstruction of objects from an unstructured point cloud obtained with a LiDAR-based system (light detection and ranging) is one of the most promising methods to build three dimensional models of orchards. The cylinder fitting method for woody structure reconstruction of leafless trees from point clouds obtained with a mobile terrestrial laser scanner (MTLS) has been analysed. The advantage of this method is that it performs reconstruction in a single step. The most time consuming part of the algorithm is generation of the cylinder direction, which must be recalculated at the inclusion of each point in the cylinder. The tree skeleton is obtained at the same time as the cluster of cylinders is formed. The method does not guarantee a unique convergence and the reconstruction parameter values must be carefully chosen. A balanced processing of clusters has also been defined which has proven to be very efficient in terms of processing time by following the hierarchy of branches, predecessors and successors. The algorithm was applied to simulated MTLS of virtual orchard models and to MTLS data of real orchards. The constraints applied in the method have been reviewed to ensure better convergence and simpler use of parameters. The results obtained show a correct reconstruction of the woody structure of the trees and the algorithm runs in linear logarithmic tim

Desing and development of a robotic platform for the evaluation of search algorithms

Plant diseases represent a major economic and environmental problem in agriculture and forestry. Upon infection, a plant develops symptoms that affect different parts of the plant causing a significant agronomic impact. As many such diseases spread in time over the whole crop, a system for early disease detection can aid to mitigate the losses produced by the plant diseases and can further prevent their spread [1]. In recent years, several mathematical algorithms of search have been proposed [2,3] that could be used as a non-invasive, fast, reliable and cost-effective methods to localize in space infectious focus by detecting changes in the profile of volatile organic compounds. Tracking scents and locating odor sources is a major challenge in robotics, on one hand because odour plumes consists of non-uniform intermittent odour patches dispersed by the wind and on the other hand because of the lack of precise and reliable odour sensors. Notwithstanding, we have develop a simple robotic platform to study the robustness and effectiveness of different search algorithms [4], with respect to specific problems to be found in their further application in agriculture, namely errors committed in the motion and sensing and to the existence of spatial constraints due to land topology or the presence of obstacles

Search strategies and the automated control of plant diseases

We propose the use of the "infotaxis" search strategy as the navigation system of a robotic platform, able to search and localize infectious foci by detecting the changes in the profile of volatile organic compounds emitted by and infected plant. We builded a simple and cost effective robot platform that substitutes odour sensors in favour of light sensors and study their robustness and performance under non ideal conditions such as the exitence of obstacles due to land topology or weeds

AGROTECH09: building agricultural robots with lego mindstorm. A multidisciplinary and multicultural approach

This activity has been designed in the context of an innovation project devoted to the coordination on mathematical, physical, and engineering contents for a transversal path on mechatronics, automated control and information and communication technologies (from now onwards AGROMECATIC) at agricultural engineering studies in the Technical University of Madrid. One of the main tasks has consisted on setting up a new subject, robotics in agriculture (equivalent to 7 ECTS), which is used as a platform to test the abilities of the students to apply various aspects of the knowledge gathered along the previous 4 years on agricultural engineering, with special emphasis on. The students are demanded to build a variety of basic mechanisms into an autonomous vehicle capable of performing user defined general and specific agricultural tasks (such as selective harvest, transport, loading and unloading of product). The robot is programmed using object oriented language (LEJOS, JAVA for LEGO) and has to cover a variety of behaviors: navigation, exploration, and previous defined agricultural tasks. As a mean to test the skills developed by the students and to reinforce the multidisciplinary nature of AGROMECATICS, a European contest: AGROTECH09 has been settled, which is co-organized by BEST (Board of European Students of Technology). The activity will take place between the 11 th and 14 th of May at ETSI Agrónomos and recognizes up to 2 ECTS of individual dedication. 40 students from 16 countries with large variability of backgrounds: computers science, agronomy, engineering, physics, tele-communication will work jointly to solve a challenge which will be public on the 11 th of May with all materials being provided by the organization

Fitting into their shoes: how robots help multidisciplinary approaches under cooperative learning

La enseñanza de ingeniería agronómica está poblada de asignaturas con contenidos altamente específicos pertenecientes a distintas ramas del saber que raramente se integran entre sí de manera profunda. En los últimos años de carrera resulta interesante plantear como reto a los alumnos la posibilidad de poner a prueba los conocimientos adquiridos en agronomía, física, matemáticas e ingeniería en el desarrollo de un robot capaz de realizar una variedad de tareas agrícolas. Este es el marco en el que se ha impartido por primera vez la asignatura Robótica Aplicada a la Agricultura, la adquisición de las competencias necesarias y la discusión de los resultados de aprendizaje son los aspectos que se desarrollan en este trabajo desde la perspectiva de los alumnos que han participado. Metidos en los zapatos de los alumnos

Multidisciplinary exercises: coordination practices and applications from fundamental to applied subjects in agriculture engineering

This activity is carried out in the framework of an innovation project, whose main objective is to coordinate mathematical, physical and engineering contents for a transversal educational path focused on mechatronics, automated control and information and communication technologies. In such sense one important task in this project is the elaboration of practices and joint applications which will be proposed to the students in successive matters upon different points of view: “Common Practices”. Through this activity students will be guided to establish relationships between their scientific basic training and their technological formation. The students will work on the same example during different academic years and semesters using common materials and working spaces. The whole experience will be displayed in Moodle, a virtual learning environment. A preliminary proposal of “Common practice” is presented in this paper as one example: “Design and Analysis of Suspensions Systems for Stabilizing the Roll of Spray Booms”. In this example students of different academic levels are asked to solve the complexity of the problem along different subjects: Field measurements (analysis of variability on chemical applications using a spray boom) will be realized in the Agriculture Machinery topic - equivalent to 4.5 ECTS -. Analytical models for the analysis of different suspension systems in the Mechanics and Mechanisms topic -4.5 ECTS -. In Agriculture Applied Electronics – 2.5 ECTS – sensors and actuators will be studied to design controllers. Control strategies for damping the resonance frequency of the suspension will be studied in Process Simulation and Optimization – 3.5 ECTS –. And, finally, the design and development of a vehicle with a spray bar and the corresponding suspension systems will be done in the Robotics topic – 7 ECTS –