Crop monitoring is frequently used by crop scientists to observe growth of plants and to relate plants phenotypes to their genotypes. Instead of traditional crop monitoring, which is labor intensive, high-throughput plant phenotyping (HTP) platforms using ground-based vehicle have several advantages over manual methods. Existing HTP platforms with robot arms has limited reach and payload, and they are sometimes not appropriate for monitoring large fields. In this research, a 5-DOF robot arm is developed and analyzed for monitoring several crops growth. This robot arm is a hybrid of both prismatic and rotational joints. This new mobile manipulator is light, has a compact structure, suitable for plant phenotyping, and doesn’t exist commercially. To investigate the performance of the robot arm, kinematics and dynamics analyses using Newton-Euler iterative method and MATLAB simulations are performed. Results matched with each other very well.
This paper discusses work executed for the development of a Ground Operated Teleoperation System for live-line maintenance of Hydro-QuCbec's overhead distribution network. It covers the system's development, engineering and implementation as well as forecasted research with the prototype. Related research conducted in conjunction with the system's development is explained further along. Finally, some other fields to which the technology can be applied are described.The operator, along with the control interfaces, was brought to the ground and put in a cabin electrically insulated from the power lines. The task scene information is given to the operator by a stereoscopic monitor coupled to a stereo camera mounted on a high speed pan & tilt unit. A set of auxiliary CCD cameras, on either sides of the platform, supplement the visual feedback to the operator. A series of sensors provide positional feedback of the different components on the platform. Figure 1 below shows the main constituents of the system.
MANIPULATION PLATFORM
Based on the orientation and travel speed of a welding torch, virtual reality technology simulates gas metal arc welding in near-real time using a neural network.
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