Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Allelopathic effects of Rhynchosia capitata on germination and seedling growth of mungbean

Experiments were conducted to evaluate the allelopathic influence of Rhynchosia capitata on germination and seedling growth of mungbean (Vigna radiate) along with identification of the phytotoxic substances responsible for this activity. Water extracts of root, shoot, leaf, fruit and whole plant were prepared by soaking them in water in a ratio of 1:20 (w/v) for 24 h. All the extracts affected germination and seedling growth of mungbean, but higher inhibition was seen with R. capitata leaf water extracts. A linear decrease in the germination characteristics of mungbean was observed with the decrease in the concentration of leaf extract from 5% to 1%. The soil-incorporated residues (1-4% w/w) of R. capitata stimulated the growth of root and hypocotyl at low concentrations, while it inhibited their growth at higher concentrations. Rhynchosia capitata soil-incorporated residues (4% w/w) significantly reduced the seedling vigour index of mungbean in addition to their significant effect on total germination. A significant amount of water-soluble phenolic acids were found in R. capitata plant extracts. The content of total phenolic acids was higher in the leaf extract compared to that of the stem, fruit or root extracts. Two phenolic acids including vanillic acid and 4‑(hydroxymethyl) benzoic acid were found in R. capitata leaf extracts.

Effect of ecological factors on germination of horse purslane (Trianthema portulacastrum)

Trianthema portulacastrum is a very problematic summer crop weed and a complete crop failure has been observed because of this weed at high density. The effect of different ecological factors on germination of T. portulacastrum seeds collected in two different years (2009 and 2005) was studied in laboratory experiments. An increase in temperature from 25 to 35 ºC increased germination percentage of T. portulacastrum from 65 to 85%, after which germination started to decrease, reducing to 71.25% at 45 ºC. Trianthema portulacastrum had maximum germination with distilled water compared with different salt solutions and drought stress levels. Germination was significantly minimum at salinity and drought stress level of 250 mM and -0.8 MPa, respectively. Emergence of T. portulacastrum was maximum (86.25%) at 100% field capacity level but decreased sharply as field capacity decreased thereafter, and minimum emergence (30%) was recorded at field capacity level of 25%. Germination of T. portulacastrum was lowest at pH 5 and any increase in pH resulted in increased germination. A pH range of 8 to 10 had statistically similar germination. Sowing depth of 6 cm reduced the emergence of T. portulacastrum to zero. Reduction in emergence was recorded with depth increase from zero to 5 cm. Maximum emergence was recorded from soil surface (0 cm). An increase in temperature, salinity, drought, sowing depth (up to 4 cm) and a decrease in field capacity increased time to start germination/emergence, time to 50% germination/emergence and mean germination/emergence time but decreased germination/emergence index. Seeds collected during 2009 gave higher germination than old seeds collected in 2005. This information might contribute to development of effective control of T. portulacastrum.

Germination and growth of Fimbristylis miliacea biotypes resistant and susceptible to acetolactate synthase-inhibiting herbicides

Weed biotypes resistant and susceptible to herbicides may have differences in their adaptive values. The aims of this study were to compare, under controlled and non-competitive condition, the growth analysis, germination features and seed weight of Fimbristylis miliacea (FIMMI) biotypes resistant and susceptible to acetolactate synthase (ALS) inhibiting herbicides. Experiments were conducted in a greenhouse and in a laboratory from October 2008 to February 2010. Two resistant biotypes (FIMMI 10 and FIMMI 12) and one susceptible biotype (FIMMI 13) were used for the studies. For the study on growth analysis, the treatments were arranged in a completely randomized experimental design with four replications and sampled at 21, 28, 35, 42, 49, 56, 69 days after emergence (DAE) and at flowering stage. For the studies on germination speed, germination and seed weight, the indexes for germination speed, percentage of germination at different temperatures and seed weight of the biotypes were determined. The results showed that the resistant biotype FIMMI 12 shows differences in all variables compared to the resistant biotype FIMMI 10 and compared to the susceptible biotype FIMMI 13, only for the evaluation at flowering. The susceptible biotype FIMMI 13 showed a higher germination speed index and higher germination rate when compared with the resistant biotypes. On the other hand, the resistant biotypes FIMMI 10 and FIMMI 12 showed higher seed weight.

Aqueous tissue extracts of Conyza canadensis inhibit the germination and shoot growth of three native herbs with no autotoxic effects

Conyza canadensis is a widespread weed species forming dense populations in most regions of China. Petri dish bioassays with aqueous extracts of the aboveground parts and roots of C. canadensis at three concentrations (0.05, 0.1, and 0.2 g mL-1) were undertaken to investigate the autotoxic effects of C. canadensis, and the possible effects on three dominant native weed species, Plantago asiatica, Digitaria sanguinalis and Youngia japonica. The results showed that seed germination and the shoot length of three native species were significantly inhibited by aqueous extracts of C. canadensis at almost all concentrations that generally increased with increasing extract concentration. However, the seed germination and shoot length of C. canadensis itself was not significantly affected by the same extracts at all concentrations. These results suggested that the potential allelopathic compounds produced by the tissue of C. canadensis may contribute to its invasive success in invading southern China.

Factors affecting Cyperus difformis seed germination and seedling emergence

Specific knowledge about the dormancy, germination, and emergence patterns of weed species aids the development of integrated management strategies. Laboratory studies were conducted to determine the effect of several environmental factors on seed germination and seedling emergence of Cyperus difformis. Germination of freshly harvested seeds was inhibited by darkness; however, when seeds were subsequently transferred to complete light they germinated readily. Our results showed that 2 wk of cold stratification overcome the light requirement for germination. Seeds of C. difformis were able to germinate over a broad range of temperatures (25/15, 30/20, 35/25, and 40/30 ºC day/night). The response of germination rate to temperature was described as a non-linear function. Based on model outputs, the base, the optimum and the ceiling temperatures were estimated as 14.81, 37.72 and 45 ºC, respectively. A temperature of 120 ºC for a 5 min was required to inhibit 50% of maximum germination. The osmotic potential and salinity required for 50% inhibition of maximum germination were -0.47 MPa and 135.57 mM, respectively. High percentage of seed germination (89%) was observed at pH=6 and decreased to 12% at alkaline medium (pH 9) pH. Seeds sown on the soil surface gave the greatest percentage of seedling emergence, and no seedlings emerged from seeds buried in soil at depths of 1 cm.

Effect of desiccation and salinity stress on seed germination and initial plant growth of Cucumis melo

Smellmelon, an annual invasive weed of soybean production fields in the north of Iran, reproduces and spreads predominately through seed production. This makes seed bank survival and successful germination essential steps in the invasive process. To evaluate the potential of Smellmelon to invade water-stressed environments, laboratory studies were conducted to investigate the effect of desiccation and salinity at different temperatures on seed germination and seedling growth of Cucumis melo. Seeds were incubated at 25, 30, 35 and 40 ºC in the darkness in a solution (0, -0.2, -0.4, -0.6, -0.8, 1 and 1.2 MPa) of a salt (NaCl), and in a solution (0, -2, -4, -6, -8, -10, -12 bar) of PEG-6000 (Polyethylene glycol), in two separate experiments. The results showed that the highest percentage and rate of germination occurred at 35 ºC in salt concentrations of 0, -0.2, -0.4 MPa and PEG concentrations of 0, -2, -4 bar. Increasing the concentration of salt (NaCl) and PEG limited germination, seedling growth and water uptake but increased the sodium content in the seedlings. No significant difference was observed among 0, -0.2 and -0.4 MPa of NaCl and among 0, -2 and -4 bar of PEG concentration at 35 ºC. The negative effects of PEG were more than those of NaCl on germination percentage and germination rate. Increased stress levels lead to reduction of root and shoot length, and SVL of seedlings. Na+ content of seedling decreased with limited seedling growth of C. melo.

Comparative allelopathic potential of metabolites of two Alternanthera species against germination and seedling growth of rice

A laboratory study was conducted to investigate the allelopathic effect of aqueous extracts of plant parts of Alternanthera philoxeroides and A. sessilis and soil incorporated residues on germination and seedling growth of rice (Oryza sativa). Aqueous extracts prepared from different plant parts of Alternanthera species delayed rice germination. Alternanthera philoxeroides and A. sessilis inhibited rice germination by 9-100% and 4-49%, respectively. Germination of rice seeds was reduced with increasing concentration of aqueous leaf extracts of both weed species. Early seedling growth (root and shoot lengths) and seedling vigor index were significantly reduced by 5% aqueous leaf extract compared with distilled water treated control. Germination, root and shoot lengths, root and shoot dry weights and seedling vigor index of rice were drastically reduced by 3 and 4% in residue infested soil compared with residue free soil. The inhibitory effect of A. philoxeroides in terms of germination and seedling growth of rice was greater than that of A. sessilis. Five percent aqueous leaf extract and 4% residue infested soil of A. philoxeroides caused complete failure of rice seed germination. Alternanthera philoxeroides contained water soluble phenolics, namely 4 hydroxy-3-methoxy benzoic acid (16.19 mg L-1) and m-coumaric acid (1.48 mg L-1), whereas Alternanthera sessilis was rich in chlorogenic acid (17.85 mg L-1), gallic acid (11.03 mg L-1) and vanillic acid (9.88 mg L-1). The study indicates that the allelopathic potential of Alternanthera species may play an important role in enhancing the invasiveness of these species and may suppress rice plants in the vicinity.

Germination ecology of wild onion: a rainfed crop weed

Asphodelus tenuifolius is becoming a more common weed in rain-fed area in Pakistan. Laboratory and greenhouse experiments were conducted to determine the effect of different environmental factors on germination and emergence of A.tenuifolius. Results showed that A.tenuifolius can tolerate a wide range of varying environmental factors. Greatest percentage of germination (80%) was recorded at 15 ºC constant temperature; however, considerable germination occurred at 20 and 25 ºC. Light for 10 h photoperiod stimulate germination of Asphodelus tenuifolius compared with complete darkness. Germination was totally inhibited at osmotic stress higher than -0.8 MPa. There was no significant difference in germination at pH 6 to 8; however, there was a slightly decrease at pH 9, compared with distilled water. Asphodelus tenuifolius was very sensitive to salinity; however, a few seeds of A.tenuifolius were able to germinate even at 150 mM NaCl concentration. Greatest emergence occurred with seed placed at soil surface and emergence decreased with increase in burial depth. No emergence occurred from 4 cm or greater. This information may aid in developing tools and strategies for management.

Germination and emergence of trumpet flower (tecoma stans) under different environmental conditions

The aim of this work was to analyze the effect of temperature and light intensity on trumpet flower seed germination, as well as the effect of seeding depth on its emergence. To study the influence of temperature, nine temperature intervals were evaluated, ranging from 15.0 to 40.0 ºC. A randomized block design experiment was used with five replications and 20 seeds per replication, and performed twice. To evaluate light intensity on seed germination, a randomized experimental design was used with eight replications and 25 seeds per replication. The treatments applied were: photoperiod with temperature alternation; photoperiod with constant temperature; darkness with temperature alternation; and darkness with constant temperature. The photoperiod consisted of 8 hours of light and 16 hours of darkness, and the constant temperature was 25 ºC. The treatments with temperature alternations were established with 8 hours at 30 ºC, and 16 hours at 20 ºC. Germination was assessed daily to calculate the total percentage of germination as well as the Germination Velocity Index (GVI). To study the influence of seeding depth on plant emergence, 25 seeds were seeded at 0, 20, 40, and 80 mm in pots with sieved soil. The experiment was arranged in a randomized block design with four replications. Seedling emergence was monitored daily until the 15th day after seeding. After that period, the total percentage of emergence was calculated for each experimental unit, as well as the Emergence Velocity Index (EVI). Formation of normal seedlings and the Germination Velocity Index were different among temperatures and higher germination percentages were observed between 20.3 ºC and 37.5 ºC. Tecoma stans seedlings did not germinate when planted at 40 and 80 mm depth. However, the seedlings placed on the soil surface had an emergence percentage of 72. At 20 mm depth, the emergence rate was 31%.

Germination and Dormancy in Seeds of Sorghum halepense and Sorghum arundinaceum

Light, temperature and dormancy are factors that influence the germination of seeds and are strictly linked to the emergence of weeds. The objective of this work was to assess the germination of Sorghum arundinaceum and Sorghum halepense subjected to different conditions of temperature and luminosity, as well as assessing seed dormancy breaking mechanisms. For this, two experiments were conducted, both arranged in a completely randomized design. Experiment 1 was installed in a 2 x 5 double factorial design. The first factor was the absence or presence of light for 12 hours, and the other was composed of five constant temperatures: 15, 20, 30, 40 and 45 oC. In experiment 2, the efficiency of nine treatments used for breaking dormancy of seeds was assessed. The variables analyzed for both experiments were germination percentage and germination speed index (GSI). For the statistical analysis were performed an analysis of variance (ANOVA) and all the necessary consequences, as well as regression, when relevant. In experiment 1 for both species greater germination occurred in the presence of light. For S. arundinaceum the temperatures at which there was the highest percentage of germination were 33.13 and 31.24 oC for presence and absence of light respectively. As for S. halepense these temperatures were 31.98 and 29.75 oC for presence and absence of light respectively. As for the treatments for breaking dormancy, the mechanical scarification of seeds with sandpaper presented the highest germination and GSI. It is concluded that the Sorghum species studied are neutral photoblastic seeds and present mechanical type dormancy.

Application of Sulfentrazone in Stages of Germination of IAC 90 Cassava Cuttings in Clay Soils and Sandy

Weeds interfere dramatically in the productive potential of cassava; however, information regarding herbicides that are selective to crops is still scarce. Thus, the aim in this study was to assess the initial growth of IAC 90 cassava plants after the application of sulfentrazone at different stages of germination of cassava in clayey and sandy soils. Three experiments were simultaneously deployed: the first experiment consisted in the application of sulfentrazone in the non-germinated stage of cassava cuttings; the second one in the stage of germinated cassavas cuttings (0.9 cm shoots); and the third one in applications in the stage of cassava cuttings with buds emerging (6.5 cm shoots and emerging from the soil). For each experiment the experimental design in randomized blocks was used in the 2 x 5 factorial arrangement with four replications. The factors were composed of two soils (sandy and clayey) and five doses of sulfentrazone (0, 250, 500, 750 and 1,000 g ha-1). It was found that depending on the herbicide dose, development stage of the buds of cassava cuttings and the type of soil, damage can occur in the initial development of the IAC 90 cassava plants. The greatest potential of sulfentrazone selectivity has occurred in applications in the non-germinated cassava cuttings stage and in doses lower than 500 g ha-1 in the clayey soil.

WHEAT HERBAGE AMENDMENTS ALTER EMERGENCE DYNAMICS, SEEDLING GROWTH OF LAMBSQUARTER AND SOIL PROPERTIES

ABSTRACT Crop allelopathy is a potential tool for weed management but allelopathic potential often varies among cultivars and developmental stages of crop. Bioassays were conducted to appraise the allelopathic potential of herbage (incorporated at 8 g kg-1 soil) of different hexaploid wheat (Triticum aestivum) cultivars (Millat-2011, AARI-2011, Lasani-2008 and Faisalabad-2008) collected at different crop growth stages [tillering (Z-30), anthesis (Z-60) and maturity (Z-90)] against lambsquarter (Chenopodium album). Mean emergence time taken by lambsquarter was prolonged over control by anthesis and maturity stage herbage of all wheat cultivars. Final emergence percentage was dropped by 3-17% in response to different growth stages of herbage collection. Maximum suppression in shoot (45 and 78%) and root (60 and 90%) length, and seedling dry biomass (65 and 96%) of lambsquarter over control was recorded under the amendment of anthesis and maturity stages herbage of wheat cultivars. Total chlorophyll contents declined in response to herbage collected at anthesis and maturity stage of all wheat cultivars over control. Phenolic contents on the other hand were increased. Activities of enzymatic antioxidants also varied among all wheat cultivars, and declined by the incorporation of tillering, anthesis and maturity stage herbage. Wheat herbage induced lipid peroxidation in lambsquarter seedling and higher malondialdehyde content (0.56 and 0.77 nmol g-1 FW) was observed by the incorporation of wheat cultivars herbage collected at anthesis and maturity stage, respectively. Anthesis and maturity stage herbage of wheat cultivars Millat-2011, AARI-2011 and Lasani-2008 was more phytotoxic than Faisalabad-2008. Moreover, tillering stage herbage of all wheat cultivars had less inhibitory potential against emergence, seedling growth and biochemical attributes of lambsquarter. Wheat herbage amendment increased the soil pH, phenolic, organic carbon and nitrogen contents as compared to control.

CARDINAL TEMPERATURES FOR GERMINATION OF THE MEDICINAL ANDDESERT PLANT, Calotropis procera

ABSTRACT Calotropis procera, Apocynaceae, is a wild perennial shrub that originated in the Persian deserts. It is known to provide key resources in degraded ecosystems to about 80 animal species. C. procera is regenerated by seed and produces lots of small seeds that are dispersed by wind; nonetheless, its density is very low. The purpose of this study is to estimate the cardinal temperatures including the base, optimum, and maximum temperatures of Calotropis procera looking at two different ecotypes in the Iranian desert. The germination behavior of C. procera seeds was tested at temperature regimens of 0, 5, 10, 15, 20, 25, 30, 35 and 40oC and was analyzed using linear regression models. The rate of germination increased between base and optimum thermal conditions, and decreased between optimum and maximum thermal conditions. The base, optimum and maximum temperatures for germination of C. procera seeds were estimated at 19.10, 30.75 and 47.80 oC for the Fars and 20.00, 31.82 and 49.69oC for the Zahedan desert, respectively. Temperature and germination were rated to determine the seeding dates of the C. procera. Overall, cardinal temperatures for germination were dependent on local climate characteristics for the range of adaptations in plant growth of the given species.

Light and storage on the germination of spores of Dicksonia sellowiana (Presl.) Hook., Dicksoniaceae

Spores of Dicksonia sellowiana are positively photoblastic and reach the maximum percentage of germination at 23 ± 2°C in white light after seven days of imbibition. The pre-induction phase for spores induced by white or red light for 24 hours was 72 hours. Gametophytes grown in white light were plane and bidimensional, while those grown under red light were filamentous. The higher the number of hours of light applied per day during 10 days, the higher the percentage of germination. Germination was higher for long white light treatments applied on a daily basis. The effect of different light intensities on germination was also investigated here. The lower percentages of germination were observed for spores kept under 43% and 2% of full sunlight, while those kept under 26, 19 and 4% presented higher percentages. Spores presented circa 82% of germination after 731 days of storage under refrigeration at aproximately 10°C.