Development of a novel mechatronic system for mechanical weed ...

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Glossary of abbreviation and symbols Symbol Unit Description EUREAU II European union of national associations of water suppliers and waste water services EUROSTAT Statistical office of the European communities F France Fr front G Gear ratio GAP The concept of good agricultural practices GPS Global positioning system hdmin m Minimum hoeing depth hdmax m Maximum hoeing depth hw1 m Hoeing width which corresponds to minimum hoeing depth hw2 Hoeing width which corresponds to maximum hoeing depth I Italy I/O Input - output IUCN The World conservation union JL kg m 2 Inertia of the load JM kg m 2 Inertia of the motor Lsen m Maximum detecting range of the sensor MA Nm Acceleration torque MD Nm Deceleration torque MF Nm Friction torque Mhmaxexp Nm Maximal torque measured on the hoeing tool’s shaft during field experiments Mhn Nm Nominal torque of the hoeing tool
Symbol Unit Description Mmmax Nm Maximal torque of the servo motor Mmn Nm Nominal torque of the servo motor Min Nm Torque of the gearbox input shaft Mout Nm Torque of the gearbox output shaft Glossary of abbreviations and symbols M-file Script file which contains Matlab commands mi Middle N Nitrogen N pulse NI National Instruments NL Netherlands OS Operating system P W Phosphorus Value acquired with incremental encoder corresponding to the latest angular position of the hoeing tool Pin W Power on the gearbox input shaft Pout W Power on the gearbox output shaft Prequred W Required power of the hoeing tool PFM Pulse frequency modulation PMCD Permanent magnet direct current PWM Pulse width modulation RLA Rfront Rrear m m m Distance between the hoeing tool’s rotational axis and the joint between the forearm and upper arm of the hoeing tool Estimated distance between the duckfoot knife’s blade approaching the plant from the front side and the centre position of the plant Estimated distance between the duckfoot knife’s blade approaching the plant from the rear side and the centre position of the plant III
Page 1 and 2: Institut für Landtechnik der Rhein
Page 3 and 4: Development of a novel mechatronic
Page 5 and 6: Kurzfassung Entwicklung eines neuar
Page 7 and 8: Acknowledgements Acknowledgements M
Page 9 and 10: Table of contents Table of contents
Page 11: Glossary of abbreviations and symbo
Page 15 and 16: Symbol Unit Description Glossary of
Page 17: ωold ωout rad s -2 Latest rotatio
Page 20 and 21: Introduction The most frequently us
Page 22 and 23: Introduction application that had p
Page 24 and 25: Introduction be to go from a system
Page 26 and 27: Introduction limited and environmen
Page 28 and 29: Introduction than 40 years before g
Page 30 and 31: Introduction techniques. It is know
Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
Page 36 and 37: Introduction 18 Figure 1.3 Inter-ro
Page 38 and 39: State of the art 20 Figure 2.1 a) F
Page 40 and 41: State of the art cylinder rotates a
Page 42 and 43: State of the art 1998). This device
Page 44 and 45: State of the art 26 2.2 Detection o
Page 46 and 47: State of the art The fluorescence s
Page 48 and 49: Definition of the problem and resea
Page 51 and 52: 4 Materials and methods 4.1 Detecti
Page 53 and 54: Materials and methods Figure 4.1 a)
Page 55 and 56: Materials and methods Figure 4.3 a)
Page 57 and 58: 4.1.2 Data acquisition 4.1.2.1 Hard
Page 59 and 60: 4.1.4 Test objects Materials and me
Page 61 and 62: Materials and methods become a poss
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Materials and methods environments
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Materials and methods dimensions ne
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Materials and methods (PFM). As the
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Materials and methods A command sig
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Materials and methods The drive con
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Materials and methods Another tool
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Results and discussion 58 Figure 5.
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Results and discussion objects. Acc
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Results and discussion Plant positi
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Results and discussion Plant positi
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Results and discussion 70 5.1.4 Dis
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Results and discussion Connection b
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Results and discussion 76 5.2.1 Opt
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Results and discussion xmi1 = ( RLA
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Results and discussion With the inv
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Results and discussion 82 Horizonta
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Results and discussion 84 5.2.4 Sel
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Results and discussion 86 5.2.5 Dis
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Results and discussion Conventional
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Results and discussion Since the fi
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Results and discussion To avoid con
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Results and discussion As the size
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Results and discussion 96 5.3.4 Alg
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Results and discussion 98 V = zc( t
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Results and discussion corresponds
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Results and discussion 102 5.3.6 Me
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Results and discussion hoeing accur
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Results and discussion between the
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Results and discussion distance fro
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Results and discussion Distribution
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Results and discussion cuts are ran
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Results and discussion Forward spee
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Results and discussion x [mm] Distr
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Results and discussion The experime
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6 Summary Summary Neither a mechani
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Summary The third part of the work
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7 Conclusions Conclusions The prese
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8 References References Agrios, G.
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References in California's Sacramen
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References Johnson, W C and Mullini
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References Schans, D. v. d. et al.
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List of figures List of figures Fig
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List of figures Figure 5.24 Scheme
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Plant position 9 Appendix Table 9.1
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Plant position Table 9.3 Detection
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Personal data Education About the a
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