Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Assessment of the genotoxicity of two agricultural residues after processing by diplopods using the Allium cepa assay

Agroindustrial by-products and residues from treatment of sewage sludge have been recently recycled as soil amendments. This study was aimed at assessing toxic potential of biosolid, obtained from a sewage treatment plant (STP), vinasse, a by-product of the sugar cane industry, and a combination of both residues using Allium cepa assay. Bioprocessing of these samples by a terrestrial invertebrate (diplopod Rhinocricus padbergi) was also examined. Bioassay assembly followed standards of the Brazilian legislation for disposal of these residues. After adding residues, 20 diplopods were placed in each terrarium, where they remained for 30 days. Chemical analysis and the A. cepa assay were conducted before and after bioprocessing by diplopods. At the end of the bioassay, there was a decrease in arsenic and mercury. For the remaining metals, accumulation and/or bioavailability varied in all samples but suggested bioprocessing by animals. The A. cepa test revealed genotoxic effects characterized by different chromosome aberrations. Micronuclei and chromosome breaks on meristematic cells and F1 cells with micronuclei were examined to assess mutagenicity of samples. After 30 days, the genotoxic effects were significantly reduced in the soil + biosolid and soil + biosolid + vinasse groups as well as the mutagenic effects in the soil + biosolid + vinasse group. Similar to vermicomposting, bioprocessing of residues by diplopods can be a feasible alternative and used prior to application in crops to improve degraded soils and/or city dumps. Based on our findings, further studies are needed to adequately dispose of these residues in the environment. © 2013 Springer Science+Business Media Dordrecht.

Impacts of agricultural activities in remaining forest: Campinas/SP, Brazil

Forest fragmentation occurs normally in an area around the city or with high agricultural influence, such as the Forest of Quilombo that lies in Metropolitan Campinas/SP- Brazil. This forest is one such example since it is separated from the other forest fragments in the region for several types of human action. The objective of this study is to analyze the macro and micronutrients and soil edaphic insect fauna in the forest, pasture and sugar cane and inferring the impacts caused by the Mata do Quilombo cattle farming and urban expansion in chemical aspects of soil. Samples were collected in June/11, according to the procedure of method traps pitfall traps. In addition, at each sampling point four composite samples were collected for soil fertility analysis. Samples were collected at six points: pasture, degraded forest (near pasture), preserved forest (near pasture), degraded forest (near cane sugar), preserved forest (near cane sugar), and sugar cane sugar. The samples thus prepared were analyzed Ca, P, K, Mg, pH, organic matter, H + Al, Sum of Base (SB), Base Percentage Saturation (V%), Cation Exchange Capacity (CEC) and trace elements (S, B, Cu, Fe, Mg and Zn). Generally it can be seen that the group of organisms of soil fauna presented with little biodiversity. The number of individuals also shows little species, taxonomic groups showing the highest degree of impact that the remaining forest has suffered. Regarding the analysis of fertility it can be observed that the soil of the surrounding areas of the forest is under direct influence of agriculture. © 2013 WIT Press.

Avaliação do consumo energético no preparo de solo para a cultura do algodão irrigado

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Desenvolvimento de um perfilômetro laser para determinação da área e volume de contato entre o pneu e o solo: Cristiano Alberto de Paula. -

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Determinação do rendimento na barra de tração de tratores agrícolas com tração dianteira auxiliar (4x2 Tda)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação das metodologias de derterminação das áreas de contato e deformações elásticas de pneus agrícolas em função das pressões de inflação e cargas radiais

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Desempenho de um trator agrícola em função do desgaste das garras dos pneus e das condições superficiais do solo

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Desempenho de uma semeadora de precisão em latossolo vermelho: pressão de inflação do pneu de acionamento x manejo de plantas de cobertura

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Avaliação do ruído e da vibração no posto de trabalho em dois tratores agrícolas

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Desempenho operacional e energético, segundo a norma OECD – code 2 de dois tratores agrícolas 4x2 TDA com motores de 132 kw em pista concreto e solo agrícola

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Método dos elementos finitos para determinação da área de contato, entre um rodado e uma superfície deformável

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Desenvolvimento e avaliação do desempenho de um equipamento para ensaio dinâmico de rodado agrícola individual

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Desempenho operacional de pneus radiais e diagonais em função da pressão de inflação, da condição de superfície do solo e da condição de acionamento da tração dianteira

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Desenvolvimento e avaliação de equipamentos e metodologia para determinação de parâmetros físicos do solo relacionados a dias trabalháveis com máquinas agrícolas

Pós-graduação em Agronomia (Energia na Agricultura) - FCA