Abstract
The implementation of image-based phenotyping systems has become an important aspect of crop and plant science research which has shown tremendous growth over the years. Accurate determination of features using images requires stable imaging and very precise processing. By installing a camera on a mechanical arm driven by motor, the maintenance of accuracy and stability becomes non-trivial. As per the state-of-the-art, the issue of external camera shake incurred due to vibration is a great concern in capturing accurate images, which may be induced by the driving motor of the manipulator. So, there is a requirement for a stable active controller for sufficient vibration attenuation of the manipulator. However, there are very few reports in agricultural practices which use control algorithms. Although, many control strategies have been utilized to control the vibration in manipulators associated to various applications, no control strategy with validated stability has been provided to control the vibration in such envisioned agricultural manipulator with simple low-cost hardware devices with the compensation of non-linearities. So, in this work, the combination of proportional-integral-differential (PID) control with type-2 fuzzy logic (T2-F-PID) is implemented for vibration control. The validation of the controller stability using Lyapunov analysis is established. A torsional actuator (TA) is applied for mitigating torsional vibration, which is a new contribution in the area of agricultural manipulators. Also, to prove the effectiveness of the controller, the vibration attenuation results with T2-F-PID is compared with conventional PD/PID controllers, and a type-1 fuzzy PID (T1-F-PID) controller.
Highlights
IntroductionLOMAS++ is an autonomous multifunctional farming cultivation bed, aimed for high quality indoor growth and monitoring of plants, with an aim to optimize the cultivation, while producing high quality yields
1.1 Precision agriculture system & role of phenotypingPlants life plays a crucial role serving the conduit of energy into the biosphere, providing food, and shaping our environment
The results show that the type-2 fuzzy logic system offers better performance in comparison to type-1 fuzzy logic systems[35]
Summary
LOMAS++ is an autonomous multifunctional farming cultivation bed, aimed for high quality indoor growth and monitoring of plants, with an aim to optimize the cultivation, while producing high quality yields It opens a new research dimension at Orebro University. Plant phenotyping systems have been developed as a result of technology advancement, and the advent of various types of low-cost devices. The advantage of such approaches have key important aspects such as being non-destructive in nature, gaining high-throughput data continuously, etc. In the work [19], a neural network (NN) controller is developed to minimize the vibration forces on the flexible robotic manipulator system associated with the input deadzone.
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