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Materials and methods coupling. The outputs from the sensor’s electronics can then be fed into a wide variety of measurement and control systems. The electromechanical WS3.1 pp530 position sensor from ASM Company was used in experiments. During the operation the free end of the measuring cable is attached to the moving part of the machine, in our case to the sensor carrier. The position sensor then converts the linear cable movement as it winds on and off the cable drum into a rotary motion which is then converted into an electrical output signal. Resolution of this sensor is 1 pulse per mm and it has a cable length of 15,000 mm. Electrical outgoing signals are standard TTL-s. 38 4.1.1.5 Rotary encoder position sensor The second alternative for the position measurement under laboratory conditions was established on a standard incremental encoder mounted on a supplementary wheel (timing belt pulley) moving together with the carrier vehicle. The resolution of the incremental encoder and the diameter of the pulley was chosen in accordance with the requested resolution of the forward motion of the carrier. The idea was to find a combination providing similar resolution as the electromechanical WS3.1 pp530 position sensor, which was 1 impulse per mm. An incremental encoder from Wachendorff electronick WDG 40A-250-ABN-G24-K2 with 250 impulses per rotation was assembled with a 26L050 pulley with diameter of 82 mm. With a simple equation it is possible to calculate the resolution of the alternative position measurement system. D * π 0.082 * π resolution 250 pulley −3 Forward resolution = = = 1.030 *10 m encoder (4.1)
4.1.2 Data acquisition 4.1.2.1 Hardware Materials and methods After conditioning, signals from sensors are acquired with a notebook PC computer through a plug and play multifunctional USB DAQPad-6015 from National Instruments. The combination of DAQPad-6015 and signal conditioning unit is designed for a broad range of measurements in the field. The DAQPad-6015 consists of sixteen 16-bit analog input channels, two analog output channels and eight digital input/output channels and two counters. The system is user friendly, including NI-DAQmx measurement services software for simple applications and it is compatible with NI LabVIEW, LabWindows/CVI, Measurement Studio for Visual Studio .NET and other USB data acquisition devices. The maximum sampling rate of the device is up to 200,000 samples/s for a single channel. 4.1.2.2 Software The software solution for the data acquisition and plant position detection was realised with LabVIEW 8 from National Instruments. LabVIEW is a platform and development environment for a visual programming language commonly used for data acquisition, instrument control, and industrial automation. The visual programming language used in LabVIEW is a dataflow language also known as G code or block diagram code. Execution is determined by the structure of a graphical block diagram, which is actually the source code. This language allows parallel execution on multi-processing and multi-threading hardware. Data flow completely defines the execution sequence and it is as well-defined as with any textually coded language such as C, Visual BASIC, etc. Programs and subroutines are called virtual instruments (VI-s). Each VI has three components: a block diagram, a front panel and a connector panel. LabVIEW includes a compiler that produces native code for the CPU platform. The graphical code is translated into executable machine code by interpreting the syntax and by compilation. The syntax is strictly enforced during the editing 39
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Institut für Landtechnik der Rhein
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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 and 12: Glossary of abbreviations and symbo
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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
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Page 48 and 49: Definition of the problem and resea
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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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