A Small Autonomous Electrical Vehicle as Partner for Heroic Viticulture

Longo, Domenico; Pennisi, Andrea; Bonsignore, R; Schillaci, Giampaolo; Muscato, Giovanni

doi:10.17660/actahortic.2013.978.45

Cited by 4 publications

(6 citation statements)

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“…From a human and social point of view, the cost of these accidents is very high and justifies a continuous research commitment in this domain [17,18]. For the described reasons, the mechanization of side-slope activities [19] and the dynamic behavior of off-road vehicles in general has been studied since the 1950's, especially with regard to the vehicle-terrain interaction [20], and it is still an open field of investigation. Since then, quite a few publications have been published on this topic, especially in the terramechanics and field robotics literature-such as the work by Peters and Iagnemma [21]-as well as many others addressing tractor stability and the reduction of injuries related to tractor rollovers [17,22].…”

Section: The Problem Of Rollover Of Agricultural Machinesmentioning

confidence: 99%

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Bietresato

Mazzetto

2019

Applied Sciences

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In this study, a new rig for investigating the static and dynamic stability of agricultural machines was conceived: its architecture was studied and its layout was designed following a specific conceptual approach. The first part of the proposed design process specifically addresses the test equipment and follows a ‘top-down’ logic starting from the requisites of the tests to perform. This approach alternates analysis and synthesis phases and exploits two important principles of the creative design process: functional analysis and decomposition, and kinematic inversion. During this process, many solutions (kinematic mechanisms, actuators) were proposed and discussed based on their advantages and disadvantages towards the definition of an optimal configuration. Therefore, the layout of a new mechanical system has been developed, which is supposed to steer subsequent and more detailed design-phases appropriately. The proposed facility has many innovative features compared to traditional test systems, in which vehicles are tested for lateral overturning under static conditions with the steering components (wheels/central joint for conventional/articulated vehicles) usually in a configuration corresponding only to a straight-path trajectory. Indeed, the present test rig is a mechanical installation with three degrees of freedom. It presents a wide plane, which can be tilted, composed by two semi-platforms connected by a central articulation hinge, operated by hydraulic jacks which allow the different angulations of the semi-platforms. It is specifically thought for performing dynamic stability tests of vehicles, especially on circular trajectories. An additional subsystem embedded in one of the two semi-platforms, configured as a rotating platform (‘turntable’), can test the global (static) stability of motionless vehicles placed on it.

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Section: The Problem Of Rollover Of Agricultural Machinesmentioning

confidence: 99%

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Bietresato

Mazzetto

2019

Applied Sciences

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“…In particular, vehicles working in agricultural side-slope activities can easily reach critical conditions from the point of view of their stability [5][6][7][8][9][10]. Therefore, the mechanization of side-slope activities [11] and, in general, the dynamic behaviour of off-road vehicles has been studying since the eighties and it is still an open field of investigation. The many cases of rollovers, happening frequently still nowadays, are due to a combination of many factors, spanning from the slope of the hill-side on which the tractor is operating, to the specific manoeuvre in execution (especially: turnings), to the presence of an implement connected to the tractor, altering considerably the balance of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

A parametric approach for evaluating the stability of agricultural tractors using implements during side-slope activities

Bietresato¹,

Carabin²,

Vidoni³

et al. 2015

ces

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A parametric approach for evaluating the stability of agricultural tractors using implements during side-slope activities / Bietresato, M.; Carabin, G.; Vidoni, R.; Mazzetto, F.; Gasparetto, A.. -In: CONTEMPORARY ENGINEERING SCIENCES. -ISSN 1313-ISSN -6569. -8:28(2015, pp. 1289-1309. OriginalA parametric approach for evaluating the stability of agricultural tractors using implements during side-slope activities 1290Marco Bietresato et al. AbstractA methodological approach for evaluating a priori the stability of agricultural vehicles equipped with different mounted implements and operating on sloping hillsides is shown here. It uses a Matlab simulator in its first phase and, subsequently, the Response Surface Modelling (RSM) to evaluate the coefficients of a set of regression equations able to account for the Type-I and Type-II stability of the whole vehicle (tractor + implement with known dimensions and mass). The regression equations can give reliable punctual numeric estimations of the minimum value of the Roll Stability Index (RSI) and can verify the existence of a Type-I equilibrium without the need of using the simulator or knowing any detail about the model implemented in it. The same equations can also be used to generate many intuitive graphs ("equilibrium maps") useful to verify quickly the possible overturning of the vehicle. A case-study concerning a 4-wheel drive articulated tractor is then presented to show the potential of the approach and how using its tools. The tractor has been studied in three scenarios, differing on where the implement has to be connected to the tractor (1: frontally; 2: frontally-laterally; 3: in the back). After performing a series of simulations, a set of polynomial models (with 6 independent variables) has been created and verified. Then, these models were used, together with the related equilibrium maps, to predict the stability of 8 implements for scenario 1, 7 implements for scenario 2, and 3 implements for scenario 3, evidencing in particular the danger of using a lateral shredder with a mass greater than 245 kg. The proposed approach and its main outcomes (i.e., the regression equations and the equilibrium maps) can give an effective contribution to the preventive safety of the tractor driver, so it could be useful to integrate it in the homologation procedures for every agricultural vehicle and to include the resulting documentation within the tractor logbook.

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“…The robot is based on the "U-Go" robot-one of the multifunctional vehicles developed in our DIEEI Robotic Laboratories at University of Catania, mainly to solve problems like transportation, navigation, and inspection in very harsh outdoor environments [22,23]. It is a rubber-tracked vehicle equipped with electric traction: two motor drivers, connected to two 1 kW 24 V DC brushed motors, acting on the tracks, can be commanded via CAN bus.…”

Section: Mobile Tracked Robotmentioning

confidence: 99%

A Small Versatile Electrical Robot for Autonomous Spraying in Agriculture

et al. 2019

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Boosting innovation and research in the agricultural sector is crucial if farmers are asked to produce more with less. Precision agriculture offers different solutions to assist farmers in improving efficiency and reducing labor costs while respecting the legal requirements. Precision spraying enables the treatment of only the plants that require it, with the right amount of products. Our research group has developed a solution based on a reconfigurable vehicle with a high degree of automation for the distribution of plant protection products in vineyards and greenhouses. The synergy between the vehicle and the spraying management system we developed is an innovative solution with high technological content, and attempts to account for the current European and global directives in the field of agricultural techniques. The objectives of our system are the development of an autonomous vehicle and a spraying management system that allows safe and accurate autonomous spraying operations.

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A Small Autonomous Electrical Vehicle as Partner for Heroic Viticulture

Cited by 4 publications

References 0 publications

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

A parametric approach for evaluating the stability of agricultural tractors using implements during side-slope activities

A Small Versatile Electrical Robot for Autonomous Spraying in Agriculture

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