Thesis Title: Design And Build Control System For A Feild Flying Robot
Nowadays, precision farming for producing high quality products and proper usage of agricultural inputs have become important due to the development of agricultural mechanization and automation smart systems. The use of GIS and GPS systems in precision farming has led to develop the application of flying robots for obtaining low cost aerial photos from farmlands and orchards in comparison with airplane and satellites. In this study, an eight paddle vertical flight octorotor flying robot is designed and constructed with X8 configuration and its control system has been studied. The construction principles of this type of robots are similar to quadrotor, except that there is an inversely attached engine under each engine which improves the ability of takeoff and stability of the robot in the air. In this research, PID controller is utilized to control the robot motion. Firstly, the mechanical, electronic, and control components of the robot primarily designed and drawn in SolidWorks Software. Then, the ADAMS and MATLAB were used together as software simulation in the loop for simulation and control of its flight. After that, according to the flight data which was transferred from the robot to the ground station by a Bluetooth module, the performance of designed octorotor in hover flight was evaluated in real situation. The robot’s performance in hover flight was of importance because suitable and proper aerial photographs taken from lands and gardens which can be used in precision farming operations could be achieved only in hover flight. Experimental results of this study illustrate acceptable performance of the robot in modeling and hover flight.
Thesis Title: Design, Manufacturing and Evaluation of A Field Flying Robot
In recent years, Vertical Take-off and Landing (VTOL) multirotor has attracted the attention of many researchers. Using a robot in a precision farming process is rapidly increased, since these robots have the lower cost in compared to the systems such as airplanes and satellites which can provide the required images for local farms and gardens. In this study, design, manufacture, and evaluate of a flying robot with eight rotors (Octorotor) for the agriculture usage is considered. To this end, dynamic modeling of the Octorotor is done and then, this model is simulated and verified using the ADAMS and MATLAB programs. Next, various ideas are examined and so, a main body which is fitted to the considered purpose is designed. The aerodynamic and mechanic simulations of this robot are performed in the SolidWorks software environment. The simulation results show the highest stress and strain which are happened in the motors’ seat. It should be noted that the body’s frame with the lower drag force is suitable for the out-door environment usage. After that, the robot is controlled by the 4.2 GHz radio control system whereas an auto-navigation facility is also considered for the robot. To determine the situation and position of the flying robot, online flight information is sent to the ground station by the 433 MHz transmitter and receiver. The robot camera records the images which are transmitted to the ground station by the 8.5 GHz image transmitter. To control the robot, a PID controller is used which their coefficients are manually adjusted. Finally, simulation and implementation results are evaluated in a hover flight condition. These results show that the designed Octorotor has a good performance in the considered flight maneuver.
Thesis Title:Design, Manufacturing and Control of a Swing Pruning Cutter along Power Lines
From past to present, trees are essential elements in the construction of green space since they provide many ecosystem services. But, some problems are created when they are placed right-of-way the power lines. These problems are caused due to contact tree branches with wires of power towers. This contact is one of the major reasons of interrupting power services. In addition, as a result of this contact, trees are also at risk. So, to avoid this, these branches need to be pruned regularly. To this end, the safe environment is the first prerequisite since this task is dangerous for many reasons. So, an assumed robotic system can be useful to do this task. In fact, the accuracy and quickness of operation is obtained using this system. Therfore, the use of this system is proposed. In this research, design, manufacturing and control of a swing pruning cutter along power lines were studied. To reach this goal, a chain saw system is designed in SOLIDWORKS software, which is carried by an Unmanned Aerial Vehicle (UAV). The assumed flying robot is an Octorotor that was manufactured in AGRINS laboratory of Tehran University. To control this system, a usual Proportional-Integral-Derivative (PID) controller is used. To perform simulations and control of the flying robot with suspended saw, ADAMS and MATLAB software programs are linked together. Then implementation was carried out in real conditions and the obtained results of simulation were discussed. The results were shown that the PID control system has been able to stable the flying robot with the added suspended chain saw.
Thesis Title: Design and Analysis of a Laboratory Model of Combined Vertical Wind Turbine for Using in Agricultural
Usage of energy in the world is growing rapidly and by consideration of the fact that main portion of this energy provided by fossil resources, the pollution increased more than ever. Today according to global heat crisis and also environment pollution the global effort for finding efficient alternative ways increased. Usage of renewable energies such as wind, sun, biodiesel, are more become common place. Iran has good potential of producing renewable energies and must be stand in same way with other countries to be able to provide energy for the future. In this research the main goal is using renewable energy for pumping water in agricultural use. For this reason vertical wind turbine in a small scale has been designed. H-rotor darrieus because of good efficiency has been chosen and for covering of starting weakness the savonius rotor added to provide starting torque. Design and simulation of both turbines done in Ansys and Q-Blade software. Finally combined turbine has been manufactured and compared within simulation and a good agreement has been found.
Thesis Title: Design and Manufacture of a Laboratory Prototype of Water Canals Dredger Robot
Water is an essential life-sustaining element. Considering the importance of fresh water for life, It should be avoided its waste as much as possible. Given the reduced natural water availability in semi-arid areas, complex water supply systems were developed. Irrigation channels are artificial linear structures in the landscape that transport water. One of the important management measures in relation to water channels is to control the removal of vegetation in the channels to prevent water loss in this area. The growth of plants within the channels will reduce the effective capacity of the channels for water transfer as well as the velocity of water flow inside the channels. As a result, water evaporates from within the channels, followed by water loss. Aquatic plant coverage are managed using chemical, biological, ecological and physical methods. The mechanical-mechanical control method, which can be done either manually or hard-working, or by a mechanical machine, such as a mechanical excavator, which damages the channel characteristics, causing damage to the walls of the channels and the cost of repairs. Another method for controlling aquatic plants is dredging and deepening of their beds. Dredging will save water and will prevent it from wasting. In this project, design and manufacture of a laboratory prototype of water canals dredger robot will be studied. To achieve this goal, the robot will be designed in software. Robot simulations will be performed according to real conditions. Finally, implementation will be carried out in real-world conditions and the results of simulation and reality will be examined.
Thesis Title: Design and Analysis of a solar Linear Move Irrigation System.
Solar Energy is the most popular renewable energy, which is available unlimitedly all around the globe. In many modern engineering devices, it is highly appreciated to harness the green solar energy, both since it is clean compared to fossil fuels, and since it is always accessible with no need to any external power line, specifically in field operations. Linear move irrigation systems continually need access to energy, while working in wide fields, for motion and water pumping. This paper presents design and analysis of a linear move irrigation system, which is fed by solar panels. The design of structure is introduced, the system dynamics is modeled by computer and the proper motor and solar energy systems are designed based on the model. Finally, the obtained results are discussed.
Thesis Title: Design, Implementation and Evaluation of a Film Processing-Based System for Detection,Tracking and Grading of Cucumber Fruits
Image processing today is the best tool for extracting features and analyzing position and ultimately making the right decision. Similarly, in the case of humans, information is transmitted through the eye to the brain, and the brain processes the final decision by issuing a decree and issuing a decree. The purpose of image processing is to implement the human mind’s performance against data and perform certain processes to extract the required attribute to achieve the preset goal. In this scheme, cucumber grading was considered. Grading criteria are: length, diameter, curvature, uniformity of diameter, whiteness, uniformity of color, pitting and cutting (fracture). Given the ability to recognize these criteria at low cost by image processing, as a non-destructive inspection method and that image processing creates a consistent quality in terms of ranking, this method was used as the basis for the grading system. In this paper, for 50 cucumber samples, manually all its geometric dimensions were calculated manually and then simulated and measured by image processing and the results were compared with an acceptable error of 1.5 to 3 percent.
Thesis Title: Dynamic Modelling and Control a Cleaning Robot Solar Panels
Today, the use of renewable energies has been welcomed by the public due to the danger of fossil fuels running out. Solar energy is one of the most important renewable energy sources. Since solar panels are placed at natural environments, there is always a problem of dust accumulation on the panels, which results in absorbed energy reduction. For cleaning of the panels, robotic cleaners can be used. For relocation of such cleaning robot between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamics modeling and control are presented. To this end, the kinematics characteristics of the robot are introduced. Then, the dynamics model is derived based on energy methods. For model validation, the robot is also modeled and simulated in standard and verified software, ADAMS, and the results are compared. To control the robot in order to move between rows, position and trajectory controllers are introduced. For position control, a PID controller is designed. For trajectory control, first, a CTM Computed Torque Method) controller is designed, based on the derived dynamics model.Then, for less computational efforts, a TJ (Transposed Jacobian controller) is designed, using the kinematics model. Finally, to increase control performance, an MTJ (Modified TJ) controller is also designed. Finally, for verification and analysis, the controllers are simulated, using co-simulation of MATLAB Simulink and ADAMS model. The simulation results show satisfactory performance of the controllers, and can be used for further design analysis of the prototype.
I am a researcher who is very interested in exciting challenges. I love the creation of various things and using the knowledge and technology to help others gives me an indescribable feeling.
I am never indifferent to my surrounding, and I always try to find the problems everywhere to create an interesting (perhaps innovative) solution.
Hard-working in achieving my goals, and being patient against various problems, are my major characteristics.