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

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Materials and methods process and compiled into the executable machine code when requested to run as an application. Developed VI can be run under the LabVIEW environment or as a stand-alone application. Furthermore, it is possible to create distributed applications which communicate by a client/server scheme, and thus is easier to implement due to the inherently parallel nature of G-code. One benefit of LabVIEW in relation to other development environments is the extensive support for accessing instrumentation hardware. Drivers and abstraction layers for many different types of instruments and buses are included or are available for inclusion. The abstraction layers offer standard software interfaces to communicate with hardware devices. Generally, code can be slower than equivalent compiled C code, although the differences often lie more with program optimization than inherent execution speed. A benefit of the LabVIEW environment is the platform independent nature of the G-code, which is portable between the different LabVIEW systems for different operating systems such as Windows, Mac-OS and Linux. Code can be uploaded onto an increasing number of targets including devices like Phar Lap OS based LabVIEW real-time controllers, Pocket PC-s, PDA-s, FieldPoint modules and into FPGA-s on special boards. 40 4.1.3 Experimental field Experiments were conducted in a particularly prepared soil box containing three different soil types, representing the most frequently appearing types in Germany. Total length of the soil box was 9 metres and it was divided into three equal parts. The first partition was filled with a sandy soil containing 56.9% sand, 34.5% silt and 8.6% clay. The second partition was filled with a silty soil containing 10.7% sand, 71.8% silt and 17.5% clay. The last partition was filled with a clay soil containing16.1% sand, 52.6% silt and 45.6% clay. The experimental field was 2 metres wide providing a possibility to drive the carrier over the soil surface through several crop rows positioned parallel to each other.
4.1.4 Test objects Materials and methods For sensors and detection algorithm testing, three different artificial objects simulating different plant development stages have been used. Green coloured wood sticks with 5-mm and 10-mm diameter were used to simulate the early development stage of the plants. The simulation of the plants in 4- to 6-leaf stage has been done using artificial plants with diameter range between 30 and 50 mm. Test objects palette is shown in Figure 4.4. Figure 4.4 Test objects used in experiments for detection of the plant centre position 4.1.5 Test of the detection system’s accuracy Two experimental rows of 30 green coloured wood sticks, with 5-mm and 10- mm diameter respectively, were used to test the robustness of the detection system. The detection of the rows was repeated 10 times for two different scenarios in which sampling distance were set to 2 mm and 5 mm. It corresponds to the detection of 300 objects for each scenario. The conditions (sensor adjustment and input features) were the same for each series of experiments. 4.1.6 Test of the detection system’s robustness The intensity of the illumination in field conditions influences the quality of the plant detection. To check the robustness of the developed system for detection of the plant centre position experiments on an experimental row of 30 artificial 41
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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
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
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Page 24 and 25: Introduction be to go from a system
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Page 28 and 29: Introduction than 40 years before g
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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
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Page 48 and 49: Definition of the problem and resea
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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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