The autonomous mobile robot AURORA for greenhouse operation

Mandow, Anthony; Gómez-de-Gabriel, Jesús M.; Martínez, Jorge L.; Muñoz, V.F.; Ollero, A.; García-Cerezo, Alfonso

doi:10.1109/100.556479

Cited by 97 publications

(39 citation statements)

References 3 publications

(2 reference statements)

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“…In the literature, there are two main approaches: mobile robots and human-driven vehicles. An autonomous robot was reported in Mandow et al (1996), where the objective was to demonstrate the autonomous navigation capabilities of the robot in a greenhouse using a constantpressure spraying system. In Adams et al (2003), an inductive guidance system was developed for spraying at constant pressure.…”

Section: Spraying Systemmentioning

confidence: 99%

Design and implementation of an automatic pressure-control system for a mobile sprayer for greenhouse applications

González

Pawłowski

Rodríguez

et al. 2012

Span. j. agric. res.

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This article presents the design and development of an embedded automatic pressure-control system for a mobile sprayer working in greenhouses. The pressure system is mounted on a commercial vehicle, it is composed of two on/off electrovalves and one proportional electrovalve. The hardware developed is based on an embedded microprocessor and provides a low-cost and robust solution. The resulting embedded system has been tested on a spraying system mounted on a manned vehicle. Furthermore, an easy-tuning non-linear PI (Proportional Integral) controller to achieve the desired pressure profile is designed and implemented in the embedded system. Many physical experiments show the best performance of such controller compared with a typical PI controller. Experiments covering the pressure range from 2 to 14 bar obtained a mean error less than 0.3 bar. Summing up, a low-cost automatic pressure-control system is developed, it ensures a uniform decomposition of the liquid sprayed on plants, and it works properly over a wide variable-pressure range.Additional key words: low-cost embedded hardware; non-linear PI controller; real-time operation; variable-pressure control. ResumenDiseño e implementación de un sistema de control automático para un pulverizador móvil para aplicaciones en invernaderos Este artículo presenta el diseño e implementación de un sistema de control de presión empotrado para un pulverizador móvil aplicado en invernaderos. El sistema de presión se ha montado en un vehículo comercial, está compuesto por dos electroválvulas todo/nada y una electroválvula proporcional. El hardware desarrollado se basa en un microprocesador empotrado y constituye una solución robusta y de bajo coste. El sistema empotrado desarrollado se ha probado en un sistema de pulverización montado en un vehículo guiado de forma manual. Además, se ha diseñado un algoritmo de control PI (Proporcional Integral) no lineal de fácil sintonía que permite asegurar el seguimiento del perfil de presión deseado y que ha sido implementado en el sistema empotrado propuesto. Numerosas pruebas reales han demostrado el mejor rendimiento de dicho controlador en comparación a un controlador de tipo PI. Experimentos realizados sobre un rango de presión de 2 a 14 bar demuestran un error medio menor a 0.3 bar. En definitiva se muestra un sistema de control de presión automático de bajo coste, que asegura una decomposición uniforme del líquido pulverizado, y funciona de forma correcta sobre un amplio rango de presión variable.Palabras clave adicionales: control de presión variable; controlador PI no lineal; hardware empotrado de bajo coste; operación en tiempo real.

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Section: Spraying Systemmentioning

confidence: 99%

Design and implementation of an automatic pressure-control system for a mobile sprayer for greenhouse applications

González

Pawłowski

Rodríguez

et al. 2012

Span. j. agric. res.

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“…An effective system for treating crops in greenhouses should satisfy the following requirements (Naoki et al, 1995) (Mandow et al, 1996) (Acaccia et al, 1998) (Tian et al, 1999) (Nuyttens et al, 2003) (Singh et al, 2005) (Solanelles et al, 2006) (Piccarolo, 2008).…”

Section: Requirements For the New Greenhouse Pesticide Spraying Systemmentioning

confidence: 99%

A New Technique for Safe Pesticide Spraying in Greenhouses

Belforte¹,

Eula²,

Raparelli³

2011

Pesticides - Formulations, Effects, Fate

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“…Mandow, et al [14] used pulse-echo ultrasonic sensing to navigate along rows of plants in a green house. Nabout et al [15] found that plants have many different complex forms that cannot be described using simple geometric models.…”

Section: Perception Of Plantsmentioning

confidence: 99%

Plant acoustic density profile model of CTFM ultrasonic sensing

McKerrow

Harper

2001

IEEE Sensors J.

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Many applications require the sensing of plants. When an ultrasonic sensor insonifies a plant, the resultant echo is the superposition of the echoes from the leaves. As a result, the echo contains information about the geometric structure of the foliage. In this paper, we present a model of sensing that facilitates the extraction of geometric features from the echo for plant classification, recognition and discrimination. We model the echo from a CTFM ultrasonic sensor with the acoustic density profile model. Then, we identify a set of features that represent plant geometric characteristics and use these to perform an inverse transform from echo features to plant geometry. Abstract-Many applications require the sensing of plants. When an ultrasonic sensor insonifies a plant, the resultant echo is the superposition of the echoes from the leaves. As a result, the echo contains information about the geometric structure of the foliage. In this paper, we present a model of sensing that facilitates the extraction of geometric features from the echo for plant classification, recognition and discrimination. We model the echo from a CTFM ultrasonic sensor with the acoustic density profile model. Then, we identify a set of features that represent plant geometric characteristics and use these to perform an inverse transform from echo features to plant geometry.

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The autonomous mobile robot AURORA for greenhouse operation

Cited by 97 publications

References 3 publications

Design and implementation of an automatic pressure-control system for a mobile sprayer for greenhouse applications

Design and implementation of an automatic pressure-control system for a mobile sprayer for greenhouse applications

A New Technique for Safe Pesticide Spraying in Greenhouses

Plant acoustic density profile model of CTFM ultrasonic sensing

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