There has been a rapid increase in demand for premium and safe agricultural products. Protected systems, such as greenhouses, are being adopted to meet demand. Ease in environmental regulation required for optimal plant growth is one of the advantages of protected systems. However, drawbacks such as poor ventilation in greenhouses can be fatal to the human workforce. This has led to the development of robots for hazardous tasks. Considering mobile robots are required to navigate down every aisle to perform a task in a greenhouse, and it is difficult to predict at which point the robot will need to return to the start point, to offload or refill for transportation and spraying schedules, respectively or battery charges. It will be commercially constraining to manufacture robots for every greenhouse specification. Efficient navigation can be done through path planning or layout design. In this paper, the greenhouse layout optimization problem was formulated to find optimal points on each bed to create an access path that would enable a reduction in the total travel time from all points in the greenhouse to the base point. The optimization problem was solved using differential evolution (DE), an evolutionary algorithm. Furthermore, we considered: 1) required space for inter-bed and rotary robot navigation; 2) standard bed specification; 3) area of the greenhouse; and 4) base point for starting and terminating navigation. The applicability of the proposed method was demonstrated by carrying out the experimental simulations on several greenhouse sizes.
Pepper is one of the most vital agricultural products with high economic value, and pepper production needs to satisfy the growing worldwide population by introducing automatic seedling transplantation techniques. Optimal design and dimensioning of picking device components for an automatic pepper transplanter are crucial for efficient and effective seedling transplantation. Therefore, kinematic analysis, virtual model simulation, and validation testing of a prototype were conducted to propose a best-suited dimension for a clamp-type picking device. The proposed picking device mainly consisted of a manipulator with five grippers and a picking stand. To analyze the influence of design variables through kinematic analysis, 250- to 500-mm length combinations were considered to meet the trajectory requirements and suit the picking workspace. Virtual model simulation and high-speed photography tests were conducted to obtain the kinematic characteristics of the picking device. According to the kinematic analysis, a 350-mm picking stand and a 380-mm manipulator were selected within the range of the considered combinations. The maximum velocity and acceleration of the grippers were recorded as 1.1, 2.2 m/s and 1.3, 23.7 m/s2, along the x- and y-axes, respectively, for 30 to 90 rpm operating conditions. A suitable picking device dimension was identified and validated based on the suitability of the picking device working trajectory, velocity, and acceleration of the grippers, and no significant difference (p ≤ 0.05) occurred between the simulation and validation tests. This study indicated that the picking device under development would increase the pepper seedling picking accuracy and motion safety by reducing the operational time, gripper velocity, acceleration, and mechanical damage.
The growing importance of rice globally over the past three decades is evident in its strategic place in many countries’ food security planning policies. Still, its cultivation emits substantial greenhouse gases (GHGs). The Indica and Japonica sub-species of Oryza sativa L. are mainly grown, with Indica holding the largest market share. The awareness, economics, and acceptability of Japonica rice in a food-insecure Indica rice-consuming population were surveyed. The impact of parboiling on Japonica rice was studied and the factors which most impacted stickiness were investigated through sensory and statistical analyses. A comparison of the growing climate and greenhouse gas emissions of Japonica and Indica rice was carried out by reviewing previous studies. Survey results indicated that non-adhesiveness and pleasant aroma were the most preferred properties. Parboiling treatment altered Japonica rice’s physical and chemical properties, introducing gelatinization of starch and reducing adhesiveness while retaining micronutrient concentrations. Regions with high food insecurity and high consumption of Indica rice were found to have suitable climatic conditions for growing Japonica rice. Adopting the higher-yielding, nutritious Japonica rice whose cultivation emits less GHG in these regions could help strengthen food security while reducing GHGs in global rice cultivation.
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