Aerial Pollinator Robot

Pollination is one of the most important factors in fruit production. Naturally, pollination is done by wind and insects. However, it may not be enough, due to the global natural pollinator decline and unstable weather conditions. Population growth and increased demand for agricultural products have led to use artificial pollination as a complementary method to improve this problem. Due to the dichogamy phenomenon and lack of sufficient pollen in the early years of walnut trees, this kind of pollination is needed. The advantages of using unmanned aerial systems (UASs), such as time saving, accessibility to impossible areas by humans, etc., have led experts to use them in agriculture. These systems are controlled by a pilot at the ground station or an autopilot system.

Swing Pruning Cutter

This project presents a solution to prune trees near the power lines using a robotic system. As trees provide many ecosystem services, they are essential elements to construct the green space. But, some problems are created when they are placed right-of-way the power lines. This causes that tree branches have more growth toward power lines and then, they contact with power towers. This contact is one of the major reasons which interrupt power transmission services. In addition, this contact can cause that trees catch fire. To avoid this contact, branches need to be pruned. To control the growth of trees branches along the power lines, the pruning task must be regularly done. This task along the power lines is too dangerous and so, the usage of safe instrument is the first prerequisite. To this end, an autonomous robotic system can be considered. Using this system, the accuracy and quickness of operation is also obtained. Thus, in this project, a robotic system is proposed to prune trees along power lines. This robot is an Unmanned Aerial Vehicle (UAV) which manipulates a swing chain saw system. The assumed flying robot is an Octorotor which was manufactured in AGRINS laboratory of Tehran University.

Dredger Robot

This project presents a solution to dredging the irrigation canals using a robotic system. Considering the importance of irrigating water, the waste within the water canals should be avoided. Irrigation canals are artificial linear structures in the landscape that used for transporting the water. One important problem in water transferring is the waste materials flow inside the water and in some areas they block the main stream, reducing the effective capacity of the canal. Among the waste materials, aquatic plants are grown on the surface of the canal that needs to be removed from the canal. This removal operation is conducted using chemical, biological, ecological and physical methods with complex supply systems. In addition, robotic systems are used as such complex systems. So, a robotic system is proposed to dredging the irrigation canals. The assumed robot was manufactured in AGRINS laboratory of Tehran University.

Vibration Test-bed System

A simple conceptual model (which is proposed by Hogan) for the object manipulation operation is considered to compare various control methods by a single manipulator. This conceptual model is used to study the basic analysis of the operation in most object manipulation algorithms. In this progress, the object manipulation operation is defined based on the object motion by the considered path. According to this model, the setup is designed for the practical implementation, and some object manipulation controllers are tested.