HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer

Adamides, George; Katsanos, Christos; Parmet, Yisrael; Christou, Georgios; Xenos, Michalis; Hadzilacos, Thanasis; Edan, Yael

doi:10.1016/j.apergo.2017.03.008

Cited by 73 publications

(39 citation statements)

References 36 publications

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“…Penggunaan UGV pada kegiatan crop scouting memungkinkan untuk pengamatan pertumbuhan tanaman lebih teliti dan rinci untuk setiap tanaman di lahan [4]. Pada kegiatan penggendalian hama dan penyakit tanaman, penyemprotan pestisida dapat dilakukan secara terkendali oleh operator pada jarak yang aman menggunakan UGV sehingga operator tidak terekspos oleh zat kimia yang berbahaya pada cairan pestisida [5]. Penggendalian gulma yang tumbuh di lahan pertanian dapat dilakukan secara mekanis menggunakan UGV sehingga dapat mengurangi penggunaan zat kimia untuk pengendalian gulma [6].…”

Section: Pendahuluanunclassified

Untitled

Purbowaskito¹,

Hsu²

2017

INFOTEL

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Abstrak -Saat ini, penelitian terhadap penggunaan UGV dalam bidang industri pertanian dilakukan secara intensif. UGV dapat diaplikasikan dalam bidang industri pertanian dikarenakan operasinya yang fleksibel dan bentuknya yang sesuai dengan kondisi pada lahan pertanian. Salah satu faktor penting dalam pengoperasian UGV di lahan pertanian adalah pengendalian kecepatan geraknya. Kecepatan gerak UGV secara langsung ditentukan oleh kecepatan sudut dari motor DC yang digunakan sebagai tenaga penggerak pada roda-roda UGV. Artikel ini akan mendeskripsikan mengenai perancangan sistem kendali untuk mengendalikan kecepatan motor DC penggerak pada roda UGV. Pengendalian UGV ini dirancang menggunakan sistem kendali PID dimana berdasarkan metode trial dan eror dihasilkan nilai gain persamaan PID sebagai berikut KP = 0.03, KI = 0.0000001, dan KD = 0.005. Kecepatan UGV pada penelitian ini diuji dengan menggunakan dua input perintah kecepatan sudut dalam pemrogramannya. Berdasarkan pengujian sistem kendali menggunakan input 5500 RPM dan 4500 RPM diperoleh hasil bahwa UGV dapat bergerak pada jalur lurus dengan kecepatan yang konstan dengan nilai 0.528 m/s dan 0.431 m/s. Input perintah pada program berupa nilai RPM pada persamaan sistem kendali menghasilkan pengendalian motor DC yang tepat dibandingkan input program berupa nilai PWM secara langsung untuk menggoperasikan motor DC.Kata kunci -UGV, kecepatan, sistem kendali, motor DC Abstract -Nowadays, researches on the UGV usage for agricultural industry are done intensively. UGVs can be applied in agricultural industry sector due to its flexible operation and its suitable shape for agricultural field conditions. An important factor in the UGV operation on agricultural field is the controlling of UGV motion velocity. Directly, the UGV motion velocity is determined by the angular velocity of the DC motors used as the UGV propulsion motor on its wheels. This paper aims to describe the control system design for controlling the UGV propulsion DC motor speed. The UGV control is designed by using the PID control system where based on the trial and error method the PID gains are obtained as follows, KP = 0.03, KI = 0.0000001, and KD = 0.005. The UGV velocity is tested by using two input commands on its programming as the angular velocity. Based on the control system testing with two input commands of 5500 RPM and 4500 RPM, it is obtained that UGV can move on a straight path with constant velocity at 0.528 m/s and 0.431 m/s. The input commands on the UGV programing in RPM values on the designed control system resulting in the proper DC motor speed controller compare to the input commands in PWM values directly to operate the DC motor.

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Section: Pendahuluanunclassified

Untitled

Purbowaskito¹,

Hsu²

2017

INFOTEL

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“…Sebuah UGV dengan metode kendali teleoperasi digunakan untuk menyemprotkan pestisida pada perkebunan anggur. Penggunaan kendali teleoperasi ini dapat mencegah operator terekspos oleh efek buruk pestisida [5]. UGV berukuran kecil digunakan untuk pengendalian gulma.…”

Section: Pendahuluanunclassified

Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Purbowaskito

2017

DINAREK

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Abstrak-Penggunaan UGV sebagai bagian dari otomasi disektor industri pertanian dilakukan secara intensif sebagai solusi dari masalah tenaga kerja dan produksi. Saat ini UGV yang dikembangkan pada sektor industri pertanian masih terbatas pada kemampuan bermanuvernya. UGV dengan kemampuan bermanuver yang tinggi dibutuhkan untuk melakukan beberapa pekertajaan pertanian dalam rangka untuk meningkatkan fisiensi produksi pertanian. Sehingga paper ini mengusulkan sebuah ide baru perancangan mekanik UGV untuk memperbaiki kemampuan bermanuver UGV. Paper ini menawarkan sebuah konsep perancangan mekanik untuk mendukung pergerakan omnidirectional sebagai kelebihan pergerakan UGV pada permukaan lahan pertanian. Suatu sistem steering independen dirancang pada UGV ini untuk mendukung mekanisme pergerakan omnidirectional. Sebelum proses pembuatan, konsep, rancangan, dan struktur UGV pertanian yang diusulkan dievaluasi menggunakan simulasi untuk memahami mengenai struktur rangka dan mekanisme geraknya. Pada penelitian ini, analisis struktur dan gerak dilakukan dengan menggunakan perangkat lunak computer aided design. Hasilnya menunjukan bahwa sistem steering yang dirancang dapat digunakan sebagai mekanisme kemudi untuk mendukung pergerakan omnidirectional. Kata kunci -Perancangan mekanik, unmanned ground vehicle, computer aided design, industri pertanian.Abstract-The usage of UGVs as part of automation in farm industry is done intensively as the solution of labor and production issues. The current developed UGVs for farm industry are still limited on its maneuverability. High maneuverability UGVs are required to do several agricultural jobs in order to enhance the agricultural production efficiency. So this paper proposes new idea of UGV mechanical design to improve the UGV menuverability. It offers a concept of mechanical design to support the omnidirectional motions as advantage of the UGV movement on the farm field surfaces. The independent steering system is designed in the proposed UGV to support the omnidirectional motion mechanism. Before the fabrication process the proposed concept, design, and structure of an agricultural UGV are evaluated in simulations to understand its frame structure and motion mechanism. In this study, the structural analysis and motion analysis are done by using computer aided design software. The results show that the proposed steering design can used as the steering mechanism to support omnidirectional motion.

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“…With the advances in controls theory, applications of these robots in digital farming have shown growing interest towards automation, changing the traditional field activists to high-tech industrial tasks that are attracting investors, professional engineers, and companies. While many are still in the prototype phase, these robots are now capable of performing various farming operations, including crop scouting [4] , pest and weed control [5] , harvesting [6][7][8][9][10] , targeted spraying [11,12] , pruning [13,14] , milking [15,16] , Phenotyping [17,18] , and sorting [19] . Unlike the industrial case, these applications can be extremely challenging to be fully automated.…”

Section: Introductionmentioning

confidence: 99%

Research and development in agricultural robotics: A perspective of digital farming

Shamshiri¹,

Weltzien²,

Hameed³

et al. 2018

International Journal of Agricultural and Biological Engineering

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Digital farming is the practice of modern technologies such as sensors, robotics, and data analysis for shifting from tedious operations to continuously automated processes. This paper reviews some of the latest achievements in agricultural robotics, specifically those that are used for autonomous weed control, field scouting, and harvesting. Object identification, task planning algorithms, digitalization and optimization of sensors are highlighted as some of the facing challenges in the context of digital farming. The concepts of multi-robots, human-robot collaboration, and environment reconstruction from aerial images and ground-based sensors for the creation of virtual farms were highlighted as some of the gateways of digital farming. It was shown that one of the trends and research focuses in agricultural field robotics is towards building a swarm of small scale robots and drones that collaborate together to optimize farming inputs and reveal denied or concealed information. For the case of robotic harvesting, an autonomous framework with several simple axis manipulators can be faster and more efficient than the currently adapted professional expensive manipulators. While robots are becoming the inseparable parts of the modern farms, our conclusion is that it is not realistic to expect an entirely automated farming system in the future.

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HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer

Cited by 73 publications

References 36 publications

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Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Research and development in agricultural robotics: A perspective of digital farming

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