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

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Results and discussion Forward speed [m/s] 114 Angular position [deg] 0.12 0.1 0.08 0.06 0.04 0.02 360 270 180 Forward speed Rotation speed 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 90 Detected plants 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Forward position [mm] Figure 5.35 Report graph attained after the experiment with intensive acceleration of the forward speed (| Estimated middle position of the plant; + Angular position of the hoeing tool; � Detected plant; � Duckfoot2 under the soil surface; � Duckfoot3 under the soil surface; � Duckfoot1 under the soil surface) Analysing the results it is obvious that three crop plants ( plant 4, plant 5 and plant 6) were cut and two (plant 7 and plant 8) were damaged because duckfoot knife 3 was inside the protected area or even passed the plant from the front side (see Figure 5.36). 0.06 0.05 0.04 0.03 0.02 0.01 Rotation speed [rps]
x [mm] 80 60 40 20 0 -20 -40 -60 -80 + -50 0 z relative [mm] 50 100 Distance from the plant centre position [mm] 120 100 80 60 40 20 0 Results and discussion -50 0 50 z relative [mm] 100 Figure 5.36 Estimation of the hoeing quality attained after the experiment with intensive acceleration of the forward speed, limited to the 100 mm transversal area around the plant centre position: a) distribution of the cuts under the soil surface transformed to a relative distance from the plant centre position (�) for duckfoot number 3 (�) and duckfoot number 1 (�); b) mean distances of duckfoot number 3 (�) and duckfoot number 1 (�) in relation to the plant centre position (�) After removing the data acquired in the range of 450 to 1650 mm from the data set, it is possible to analyse the quality of the hoeing on the remaining track. It allows checking of the system behaviour after hasty change of the speed. The graphs containing filtered data are presented in Figures 5.37 and 5.38. Obviously, the system had successfully overcome the difficulties caused by the highly dynamical speed change and immediately after the decrease of the acceleration it was able to stabilise the rotational speed and correctly position the cuts around the following plants. The smallest undisturbed area with a diameter equal to dp= 46 mm, and normally distributed cuts done by both of the duckfoot knives can indicate the stable work of the hoeing system. + 115
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Institut für Landtechnik der Rhein
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Development of a novel mechatronic
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Kurzfassung Entwicklung eines neuar
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Acknowledgements Acknowledgements M
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Table of contents Table of contents
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Glossary of abbreviations and symbo
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Symbol Unit Description Mmmax Nm Ma
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Symbol Unit Description Glossary of
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ωold ωout rad s -2 Latest rotatio
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Introduction The most frequently us
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Introduction application that had p
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Introduction be to go from a system
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Introduction limited and environmen
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Introduction than 40 years before g
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Introduction techniques. It is know
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Introduction Sowing and planting al
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Introduction Inter-row weeding syst
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Introduction 18 Figure 1.3 Inter-ro
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State of the art 20 Figure 2.1 a) F
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State of the art cylinder rotates a
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State of the art 1998). This device
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State of the art 26 2.2 Detection o
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State of the art The fluorescence s
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Definition of the problem and resea
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4 Materials and methods 4.1 Detecti
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Materials and methods Figure 4.1 a)
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Materials and methods Figure 4.3 a)
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4.1.2 Data acquisition 4.1.2.1 Hard
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4.1.4 Test objects Materials and me
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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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Page 82 and 83: Results and discussion objects. Acc
Page 84 and 85: Results and discussion Plant positi
Page 86 and 87: Results and discussion Plant positi
Page 88 and 89: Results and discussion 70 5.1.4 Dis
Page 90 and 91: Results and discussion 72 Figure 5.
Page 92 and 93: Results and discussion Connection b
Page 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
Page 98 and 99: Results and discussion With the inv
Page 100 and 101: Results and discussion 82 Horizonta
Page 102 and 103: Results and discussion 84 5.2.4 Sel
Page 104 and 105: Results and discussion 86 5.2.5 Dis
Page 106 and 107: Results and discussion Conventional
Page 108 and 109: Results and discussion Since the fi
Page 110 and 111: Results and discussion To avoid con
Page 112 and 113: Results and discussion As the size
Page 114 and 115: Results and discussion 96 5.3.4 Alg
Page 116 and 117: Results and discussion 98 V = zc( t
Page 118 and 119: Results and discussion corresponds
Page 120 and 121: Results and discussion 102 5.3.6 Me
Page 122 and 123: Results and discussion hoeing accur
Page 124 and 125: Results and discussion between the
Page 126 and 127: Results and discussion distance fro
Page 128 and 129: Results and discussion Distribution
Page 130 and 131: Results and discussion cuts are ran
Page 134 and 135: Results and discussion x [mm] Distr
Page 136 and 137: Results and discussion The experime
Page 139 and 140: 6 Summary Summary Neither a mechani
Page 141 and 142: Summary The third part of the work
Page 143 and 144: 7 Conclusions Conclusions The prese
Page 145 and 146: 8 References References Agrios, G.
Page 147 and 148: References in California's Sacramen
Page 149 and 150: References Johnson, W C and Mullini
Page 151 and 152: References Schans, D. v. d. et al.
Page 153 and 154: List of figures List of figures Fig
Page 155 and 156: List of figures Figure 5.24 Scheme
Page 157 and 158: Plant position 9 Appendix Table 9.1
Page 159 and 160: Plant position Table 9.3 Detection
Page 169: Personal data Education About the a
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