Design and Performance Test of Embeded Module Metering Device for Variable Rate Fertilizer Applicator
Proceedings of International Conference on Robotic Automation System 2011
INTERNATIONAL CONFERENCE ON ROBOTIC
AUTOMATION SYSTEM
The 1st International Conference on Robotic Automation System 2011 is a forum for scientists,
engineers, and practitioners to present their latest research results, ideas, developments and
applications in the areas of Robotics, Artificial Intelligence Method & Applications, Mechatronics
System & Automation and Biomedical Engineering.
PATRON
ICORAS 2011 COMMITTEE
Assoc. Prof. Dr Ahmed N. Abdalla
Dr Rozailan Mamat @ Ibrahim
Samsi Md. Said
(Malaysia)
(Rector, TATIUC)
Dr Suditama Sulaiman
Dr Ir. Desrial (Indonesia)
Ahmad Shahrizan Abdul Ghani
Dr Elango Natarajan (Malaysia)
ADVISORS
Damhuji Rifai
Dr Kamarul Hawari Ghazali (Malaysia)
Prof. Dr Sazali Yaacob
Kharudin Ali
Dr M Faiz Syuaib (Indonesia)
(UNIMAP)
Ng Yian Ying
Dr Mohammad Arifur Rahman (India)
Prof. Dr Yoshiko Nomura
Noraznafulsima Khamshah
Dr Phil Hackney (UK)
(MIE University)
Nur Najmiyah Jaafar
Dr Sam Herodian (Indonesia)
Associate Prof. Bhaskar Sen Gupta
Nor Hana Mamat
Dr Shahriman Abu Bakar (Malaysia)
(Queen’s University Belfast)
Syahidatu Syima Syafie
Dr Ting Hua Nong (Malaysia)
Prof. Dr Ir. Anas m Fauzi
Zulkifli Ismail
DrZeyad Alfawaer (Lebanon)
Izadora Mustaffa (Malaysia)
(Institut Pertanian Bogor)
Nurul Fajar Abd Manap (Malaysia)
GENERAL COMMITTEE
ADVISORY COMMITTEE
Dr Zunaidi Ibrahim
Prof. Dr Ir. Anas m Fauzi (Indonesia)
(General Chair)
Prof. Dr Ir. Bustami Syam (Indonesia)
CO-ORGANIZERS
Mohamad Redhwan Abd. Aziz
Prof. Dr Kobayashi (Japan)
Institut Pertanian Bogor, Indonesia.
(Deputy General Chair)
Prof. Dr Ir. Bustami Syam (Indonesia)
MIE University, Japan.
Prof. Dr Ary Setijadi Prihatmanto
Queen’s University Belfast, UK.
CONFERENCE SECRETARIAT
(Indonesia)
Dr Rosliza Ramli (General Secretary)
Prof. Dr Ir. Arief Syaichu Rohman
Dr Ahmed Hamood Dabwan
(Indonesia)
Dr Nor Bahiyah Baba
Prof. Dr Marzuki Khalid (Malaysia)
Ir. Mohd Habir Ibrahim
Prof. Dr Masataka Kubo (Japan)
Amelia Ahmad Nawawi
Prof. Dr Mohd Yusoff Mashor (Malaysia)
Amarah Abdul Karim
Prof. Dr Sazali Yaacob (Malaysia)
Hamdan Azmi Abdul Aziz
Prof. Dr Shamsudin Amin (Malaysia)
Kamrol Amri Mohamed
Prof. Ju-Jang Lee(Korea)
Mohd Hanipah Muda
Prof. Dr Nobuyuki Imanishi (Japan)
Mohd Najib Muhamed
Prof. Jaegab Lee (Korea)
Md Khairil Hafizi Muhamad
Assistant Professor Dr Afaneen
Najihah Jusoh
Alkhazraji (Iraq)
Noraniah Abdul Aziz
Assistant Professor Dr Ibrahim Khider
Norzamziah Afzainizam
Eltahir (Sudan)
Ruzlaini Ghoni
Assoc. Prof. Bhaskar Sen Gupta (UK)
Surairah Mohd Suhaimi
Assoc. Prof. Dr Hamid Adom (Malaysia)
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ICORAS 2011
International Conference On
Robotic and Automation System
23-24 May 2011
Terengganu, MALAYSIA
PROCEEDINGS
ORAL PRESEN T AT I ON
E 102
Development of Software for Mitsubishi RV-M1
1
Pardeep Sharma, Parveen Kalra and Rajesh Kumar
E 104
Multi-Agent Control Architecture of Mobile Manipulators: Grasping Objects of Simple Forms
5
R. Benbouali, A. Hentout and B. Bouzouia
E 105
Automatic Electrocardiographic Analysis Using Artificial Neural Network Models
11
Sri T.V.K.Hanumantha Rao, Saurabh Mishra and Sudhir Kumar Singh
E 106
Vision Based Obstacle Detection Mechanism of a Fixed Wing UAV
16
S.N. Omkar, Saurabh Mishra, Sanjay Tripathi, Gaurav Kumar
E 107
Analysis for Solving Travelling Salesman Problems
22
Khushmeet Kumar and Pardeep Sharma
E 108
Automatic Visual Inspection of Defects for Cylindrical Object's Surface
27
Mohammed A. H. Ali, Mohammed N. B. Ahmed, Ibrahim M. H. Sanhoury, Siti Fadilah B. Abd Latip and Jameel A. A.
Mukred
E 110
Half Car Suspension System Using Fuzzy Logic Controller
32
A.A.Basari, M.Esro, R.A.Manap and S.Sapie
E 111
The Effectiveness of Industrial Networks Protocol in Automation System.
37
Muhamad Fahezal Ismail, Norsehah Abd Karim, Yusof Mohd Ekhsan and Muhammad Syazwan Mohd Rathi
E 112
Heuristic Algorithm for Edge Detection
42
Senthiil, A.N.Senthilve, T.Hemamalini, B.Ramesh Kumar, S.Vignesh Ram
E 113
Shape-Based Matching: Application of Edge Detection Using Harris Point
Mohamad Haniff Harun, Marizan Sulaiman and Hairol Nizam Mohd Shah
E 114
General Algorithm of m-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator.
45
51
Annisa Jamali, Raisuddin Khan and Md. Mozasser Rahman
E 115
Sustainable Analysis of Lightweight Lift System Design for Disable People Using Finite Element.
58
S.F. Ismail, M.Y Taib and M.Ishak
E 116
Performance Comparison between MRAC and IMAC with Application to InnoSAT Control
62
M.N.Norhayati, M.Y.Mashor, S.M.Sharun, A.A.Azamimi, W.N.Hadani
E 118
Intelligent Controller for Differential Drive Wheeled Mobile Robot (WMR): A Comparative Analysis
68
Razif Rashid, I. Elamvazuthi, K.M. Begam, M. Luqman M. Zain and Lindasalwa Muda
E 121
Design and Modeling of Biped Robot With Heterogenous Leg
73
A M. Azmi Adly, I. Elamvazuthi, K.M. Begam, W. Amirfaiz and W. Faizura
E 122
Simulation of Humanoid Arm Using Fuzzy Technique
78
W. Amirfaiz W. Daud, I. Elamvazuthi, K.M Begam,W. Faizura and M.Azmi Adly
i
E 123
Design and Analysis of Microheater Using Ansys
82
G.Sureshkannan, G.Mohan Kumar
E 128
Adaptive Fuzzy Logic Control for Non-Linear System
85
F.A. Bakri, M.Y. Mashor, A.R.M Saad, S.M. Sharun, M.N. Norhayati, Wan Nur Hadani
E 131
Feedback Linearization for Depth Positioning of a Spherical Underwater Robot Vehicle (URV)
89
M. Azfar Tajul Arifin, M.N. Karsiti and I. Elamvazuthi
E 132
Virtual Mobile Robot Simulation Using Microsoft Robotic Studio: 3D Modelling of Mobile Robot and its
Integration into Visual Simulation Environment
95
Yusman Yusof, M. Fadzil Abu Hassan, Noor Jihan M. Saroni and W. M. Fathurrahman Che Wan Azizan
E 133
Determination of Speech Recognition Accuracy using DTW and MFCC Techniques
101
Lindasalwa Muda, K. M. Begam, I. Elamvazuthi, Razif Rashid and M. Luqman M. Zain
E 136
Malaysia Sign Language Recognition Using Central Moment Features and Neural Network Model
105
Mohd Shuhanaz Zanar Azalan, Rajkumar Palaniappan and Muhamad Zulhafis Bin Abu Zair
E 137
Sign Language Recognition based on Fuzzy Information of Arm Motions
109
Khairunizam Wan, Shahriman A.B, Siti Khadijah Za’aba, Mohd Azri Abd Aziz and Shamsul Azri Mohd Nor
E 138
Introduction on the Biomedical Applications of Atmospheric Plasma
115
S.K. Zaaba, Khairunizam Wan and A.B Shahriman
E 139
Adaptive Neuro-Controller for Three-Axis Attitude Control of Nano-Satellite
120
S. M. Sharun, M. Y. Mashor, M. N. Norhayati, W. N. Hadani, S. Yaacob
E 140
Hybrid Power Study for Irrigation and Flood Control System
126
A.B. Shahriman, M.M. Khalil, Khairunizam Wan, S.K. Zaaba, W.N.Imaduddin, D.Hazry, I.Zunaidi
E 141
Investigation on Different Emotion Elicitation Methods for Human Computer Interaction
130
Jerritta S, M Murugappan, R Nagarajan, Khairunizam Wan and S Arun
E 142
Application of Watershed Segmentation on RGB and HSI Model
135
H.N. Lim, E.U. Francis, M.Y. Mashor, R. Hassan
E 143
Design of a Micro-Controller Based Portable Three Phase Digital Power Meter
139
Syafiq Basri Shaari and I. Elamvazuthi
E 144
A Study on Different Driver Alertness Methods during Hypovigilance
144
S Arun, M Murugappan, Kenneth Sundaraj and S Jerritta
E 145
Design and Performance Test of Embeded Module Metering Device for Variable Rate Fertilizer
Applicator
149
P.A.S. Radite, W. Hermawan, A. Azis, B. Budiyanto
E 146
Digital Camera Based Color Sensor for Determining Leaf Color Level of Paddy Plants
154
I.W. Astika, M. Solahudin, R. P. Setiawan, M. F. Syuaib, I. E. Nugroho, M. Ardiyansah
E 148
An Undergraduate Artificial Intelligence Laboratory: Colour Sensing Using Fuzzy Logic
Mohd Fadzil Abu Hassan, Yusman Yusof, Mohd Alif Syami Azmi and Mohd Nazrul Mazli
ii
158
E 149
Determining the Velocities Before and After Impact of Components in a Vibratory Part Feeder
164
M.Suresh, S.Udhayakumar and P.V.Mohanram
ET 106
Development of an Intelligent Control Green House
Muhammad Nasiruddin Mansor, Ruzlaini Ghoni, Noraznafulsina, Kharudin Ali,Muhammad Nor Safieni Sulaiman and
Bahari A. Aziz
169
ET 107
Precision Analysis of Mobile Robot Map Making
Suditama, A.S. Samsi, L. Zulkarnain and A.B. Samat
173
ET 108
Automatic Balance Evaluator and Rehabilitation Mechanism
Suditama, I. B.I. Zunaidi, Z. Zuraida, S. Dinsuhaimi, Z.M. Normaini, A.B. Shahriman
179
ET 109
Path Planning for the Crazy Robot
185
A.A.Bahri, G.Ruzlaini, A.Kharudin, M.Nasiruddin and S.M. Nor Safieni
ET 110
Construction of Temperature Sensor Activated Fan Control
188
Muhammad Nor Safieni Sulaiman, Ruzlaini Ghoni, Kharudin, Ahmad Bahari A. Aziz and Mohd Nasiruddin Mansor
ET 111
Ant Colony Approach in Digital Image Processing – Review
191
Ng Yian Ying, Noraznafulsima Khamshah and Damhuji Rifai
ET 112
Temperature Compensation of a Thermal Flow Sensor by Using Temperature Network
193
Noraznafulsima Khamshah, Ahmed N. Abdalla, Ruzlaini Ghoni, Mohd Syafawi
ET 113
Performance Control of the Three-Phase an Induction Motor Couple to DC Motor in HEV
Zulkarnain Lubis, Solly Aryza, Suditama Sulaiman
ET 114
A Binary Particle Swarm Optimization Approach for Routing in PCB Holes Drilling Process
197
201
Mohd Hafiz Othman, Amar Faiz Zainal Abidin, Asrul Adam, Zulkili Md Yusof, Zuwairie Ibrahim, Seri Mastura
Mustaza, Lai Yee Yang
ET 115
Optimisation of Palm Oil Screw Press Machine Motor Current Load by Using Fuzzy Logic Control
System
207
O. W. Zulkarnain, A.A. Mohamad Redhwan, M.Z. Norul Azlin
ET 116
Stabilise the Press Cage Pressure of Palm Oil Screw Press Machine Using Fuzzy Logic Control
System
211
O. W. Zulkarnain, A.A. Mohamad Redhwan, M.Z. Norul Azlin
ET 117
Evaluating User’s Acceptance of Groupware System based on Computer Self-Efficiency: A Case Study
at TATIUC
215
Wan Roslina, Syahrul Fahmy and Nurul Haslinda
ET 118
An Intelligent Reward Application for Bio-Informatics Knowledge Management System
221
Nurul Haslinda, Syahrul Fahmy and Wan Roslina
ET 119
Comparison of Search Schemes in the Design of a Memo Retrieval System
226
Aini Zuriyati, Syahrul Fahmy, Nazri Ibrahim
ET 120
Analysis of Sensor Perfomance In Line Following Robot
Muhammad Aiman Othman, Mohamad Zahari Zakari, Ruzlaini.G, Damhuji. R and Muhammad Luqman.M.Z
iii
231
ET 121
Smart Temperature Sensor for Patient Health Monitoring
234
Mohammad Hariz Syafiq Suhaimi and Ruzlaini Ghoni
ET 122
Assessing Groupware Acceptance Based on Computer Competency: A Case Study at TATIUC
238
Wan Roslina and Syahrul Fahmy
ET 123
Comparison of Search Schemes in the Design of an Information Retrieval System for Malay Language
Fatwa Documents
244
Nazri Ibrahim, Syahrul Fahmy and Aini Zuriyati
ET 124
A Review Paper on Windows Gadget as a Tool for Office Automation
249
Syahrul Fahmy, Akhyari Nasir, Aini Zuriayati, Muriati Muda, Suhana Sulaiman, Wan Roslina and Nurul Haslinda
E 101
Active Suspension Using Optimal Control
254
Norsarizan Mat Youb, Mohd Ruddin Abd. Ghani, Hamzah Sakidin and Syed Najib Syed Salim
E 103
DC Motor Position Control with Disturbance Compensation
255
Nasimullah
E 109
Image Processing Technique Through Refinement Technique with Adaptive Simulation
256
PV Senthiil
E 117
Multiple Mobile Robots Trajectory Tracking While Maintaining Time-Varying Formations via
Synchronization Approach
257
Ibrahim Mohamed Hafiz Sanhoury, Shamsudin H.M. Amin and Abdul Rashid Husain
E 119
Loosely Coupled Low Cost IMU\GPS Integration for Car Navigation Like Robot
258
O. M. Maklouf, A. Ghilla, S. A. Gashoot
E 120
Client Information Registration and Activities Tracking System
259
Akram M. Zeki, Augerto Manci and Ljuljzim Hodzic
E 124
Flight Stability in Hovering Of A Fixed-Wing Unmanned Aerial Vehicle (UAV)
260
A. G. Azlan and D. Hazry
E 125
The Effect of Anomaly Detection Accuracy in Varying the Angular Resolution of Sonar Sensor Using
Repetitive Observation Strategy (ROS)
261
M.N.A.H. Sha’abani and M.F. Miskon
E 126
Hybrid Controller for Multi Fingered Robot Hand
262
Wan Faizura Tarmizi, I. Elamvazuthi, K.M. Begam, W. Amirfaiz and M. Azmi Adly
E 127
De-noising of Ultrasound Images of Bone Fracture In Wavelet Domain
263
M. Luqman M. Zain, I. Elamvazuthi, K.M. Begam, Razif Rashid and Lindasalwa Muda
E 129
Virtual Medical Instrument for OTOROB Based on LabVIEW for Acquiring Multiple Medical Instrument
LCD Reading Using Optical Character Recognition
264
Muralindran Mariappan, Vigneswaran Ramu, Thayabaren Ganesan, Brendan Khoo T. T. and Kumarheshan Vellian
E 130
A Remote Navigation Methodology for a Four Wheel Rectangular Configured Holonomic Mobile
Telemedicine Robot
Muralindran Mariappan, Vigneswaran Ramu, Thayabaren Ganesan, Brendan Khoo T. T. and Kumarheshan Vellian
iv
265
E 134
Evaluation of EMG Signal Classification Techniques
266
I. Elamvazuthi, N.H.H.M., Hanif, P. Vasant and N.C., Sahoo
E 135
Hemodynamic Effect of Anastomosis Length and Angle in Side-to-side and End-to-side Radiocephalic
Arteriovenous Fistula (RCAVF) using Computational Fluid Dynamics (CFD)
267
W.A.W. Hassan, K. Osman, M.R.A. Kadir, J. Haron
ET 101
Implementation of Fuzzy Logic using Industrial Robot: Part 1, Fuzzification
268
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 102
Implementation of Fuzzy Logic using Industrial Robot:
Defuzzification
Part 2, Knowledge Embodiment and
269
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 103
Blending Predictive and Reactive Contour Tracking Industrial Robot
270
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 104
Comparison between Reactive Contour Tracking and the Hybrid Blending Contour Tracking approach
for Industrial Robot Application
271
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 105
Matlab-based Neural Network Modeling for Financial and Industrial Robot Predictive Contour Tracking
Application
272
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
POST ER PRESEN T AT I ON
EPT 101
Comparison of Deliberative and Reactive Mobile Robot Navigation Systems
273
Nor Hana Mamat, Zunaidi Ibrahim and Samsi Md Said
EPT 102
A Survey on ICT Usage and Perception at TATI University College
Azliza Yaacob, Zurairah Ahmad, Zainuddin Othman and Aini Zuriyati Abdul Kadir
v
274
I nt e rna t iona l Confe re nc e on Robot ic Aut om a t ion Syst e m (I CORAS 2 0 1 1 )
Design and Performance Test of Embeded Module Metering
Device for Variable Rate Fertilizer Applicator
1
P.A.S. Radite 1, W. Hermawan 1, A. Azis1, B. Budiyanto2
Dept. Of Agricultural Engineering, Fac. of Agricultural Engineering andTechnology,
Bogor Agricultural University, Indonesia. E-mail: iwan_radit@yahoo.com
2
Dept. of Meteorology and Geophysics, Fac. of Mathematics and Natural Sciences,
Bogor Agricultural University, Indonesia
Abstract — Uniform rate of fertilizer application
(URA) practice is disregarding the productive
potential of the various areas within the field. Thus, it
is not efficient method because some area is less
fertilized and other is over fertilized. With variable
rate application (VRA) machines, the dose and the
position of application could be given precisely as
required by crops. Machinery with variable rate
capabilities impressed as technologically sophisticated
and expensive. In Indonesia, implementation of VRT
in crop production is also still questioned, because
fear of the complicated and expensive prices of the
machines. Therefore the objective of this research is
to develop an embeded system for variable metering
device of granular applicator. The metering was
equipped with two rotor, which could be operated as
single rotor or double rotor. The dose of granular
fertilizer could be controlled by controlling the
rotation of the rotor. The rotation of the rotor was
controlled using digital PID algorithm. The result of
the test showed that using single rotor the output of
urea, SP-36 and NPK are 0.84, 0.96 and 1.2 g/rotation
respectively. Test on double rotor showed that the
output of urea, SP-36 and NPK are 1.14, 2.22 and 2.1
g/rotation respectively. All results showed that the
prototype of metering device can control fertilizer
dose of urea, SP-36 and NPK fertilizer precisely with
coefficient of determination of more than R2=0.99.
For field operation in the future, the developed VRT
applicator will be mounted on multi-purpose vehicle
which was modified from riding type rice
transplanter. Position of the vehicle in the field will be
acquired using agriculture type RTK DGPS.
INTRODUCTION
Design Of Variable Rate Applicator
Vehicle: Concept design of developed VRT granular
fertilizer applicator is shown in Fig.1. In this concept,
the applicator is mounted on a multipurpose vehicle or
light tractor using three-point hitch. The concept of
149
VRT applicator has four mains components, electric
parts (motor and controller), fertilizer bins with total
capacity 120 liters, 2-4 metering devices and 4- 8
nozzle spreaders.
The applicator works as follow; first the fertilizer
was metered by a roller feeder, the grains are then
released gravitationally or transported pneumatically
by pressured air stream, through delivery hoses and
finally put in the soil. The fertilizer is put into the soil
to dept of 5-10 cm, in order to avoid vapor losses in
dry season or losses due to water runoff during rainy
season.
8
1
7
9
2
3
5
4
6
1. Fertilizer hopper 2. Servo motor
4. Furrow opener
5. Cover
7. Controller module 8. GPS Antenna
3. Delivery hose
6. Hitch frame
9. Tractor
Fig.1. Concept of variable rate applicator
As shown in Fig. 2, computer or controller module
was utilized to organize the system. This machine
performed variable rate application based on
fertilization mapped. The map contained desired rates
of application (kg/ha) as well as their position in the
field will be used to guide the operation of the
machine in the field.
Change of the desired
application rate was implemented by precisely control
the rotor speed of metering device while monitoring
the ground speed of the vehicle An agriculture
purpose RTK-DGPS with accuracy of 5 to 10 cm is
used to perform accurate positioning during
fertilization, and the data were sent to the PC
computer through serial port (RS232) at 5 Hz. While
I nt e rna t iona l Confe re nc e on Robot ic Aut om a t ion Syst e m (I CORAS 2 0 1 1 )
the speed of the vehicle was monitored, through the
vane disc and a magnetic proximity sensor
Fertilization map
1st PTO
DGPS
Computer
PID
Controller
driver
Counter
board
Speed sensor
D/A board
2nd PTO
DC motors
Rotary encoder
Blower
Metering devices
Data line
Control line
Drive line
Air manifold
Nozzles
Fig.2. System control of variable metering.
Metering rotor: As shown in Fig.3, the metering rotor
was star-types with 6 fins with cylindrical notched
chambers. For single rotor, if the rate of application is
decided, the rotor speed (Nm, in rps) can be simply
calculated as follows:
Fig 3. Design of metering rotor
N m ( 10 S W Ds )/Q
where,
Nm
Q
S
W
Ds
(1)
= Rotor speed (rps)
= Metered fertilizer per rotation(g/r)
= Ground speed of the applicator (m/s)
= Effective width covered by one metering
device (m)
= Rate of application (kg/ha)
Motor and Controller: DC geared motor was use
because it is tough and reliable for field application,
beside it is also cheap and availability in local market.
Through a careful design a DC motor can be directly
coupled to the shaft of fertilizer metering device for
simple construction.
A 30 W DC motor has
specification of 22 V/ 2600 rpm equipped with 1/20
reduction gear box. The whole system is knockdown, thus easy for maintenance. The motor is
equipped with an optical rotary encoder of 30 pulses
per rotation.
The controller module for metering system
controller consists of microcontroller module (DT-51
Minsys), Smart Peripheral Motor Controller (SPC
Motor Controller, and motor driver (EMS Hybrid
30A) made in Innovative Electronics. For flexibility, a
3 x4 keypad was functioned as input device, while a 2
150
x 20 line LCD display was used as output of the
controller. With input and output devices, the
controller parameters could easily be adjusted and the
result could be easily monitored.
The specification microcontroller used was 8 bit
micro-processor base on AT89C51, 8kb EEPROM
expandable to 64k, 4 I/O ports (PPI portA, portB and
portC, port1), LCD port, and serial port interface for
communication with PC computer, laptop or netbook.
A pulse width modulation (PWM) driver (EMS
Driver from Innovative Electronics) with hybrid
transistors was used. The motor driver has ranges
output up to 36 V at maximum current up to 30 A.
This driver was interfaced to micro-controller through
Smart Peripheral Controller (SPC). SPC motor
controller has 2 channel input driver, equipped with
four 16 bit counters. Communication between SPC,
EMS driver and micro-controller could utilize i2c
protocol, UART or parallel port.
Material And Method
Materials of experiment: Design of granular fertilizer
applicator with volumetric metering system is adopted
and modified to become variable output. Variable
dose is performed by controlling the rotation of
metering device rotor by meant of controlling the
rotation of a dc gear motor. With digital control it is
possible to set the desired speed of the rotor very
precise and accurate.
For this purposed, material of experiment will be
consists of metering device, dc geared motor, rotary
encoder, counter, interface controller, motor driver,
usb to serial port and laptop computer. Computer was
use to program the micro-controller, and also to
monitor and record the data during process
development. C programming language was use to
developed the system control and data acquisition.
Data acquisition was done through serial
communication by using usb to RS-232 cable. Data
were displayed in the laptop monitor and recorded in
computer's hard drives. Microsoft excel was used to
do further data processing.
In this technique, the map-based application
method was adopted. In this method, soil and plant
were sampled and laboratory analyzed prior to
fertilizer application. After further calculations, a
fertilization map was constructed. The fertilization
map contained information of the required application
rates (kg/ha) on each plot in the field. The work of
soil and plant analysis was conducted by another team
of precision farming research, and there is not discuss
further.
I nt e rna t iona l Confe re nc e on Robot ic Aut om a t ion Syst e m (I CORAS 2 0 1 1 )
Speed
Sensor
monitored using an optical rotary encoder with
resolution 30 pulses per rotation. A 16 bit counter
was used to count the pulses every 20 ms.
RTK GPS
(rover)
encoder
Metering device
LCD
LLCCD
Mikrokontroler
Minsys DT-51
r +
Fig. 4. Block diagram of control system
-
Block diagram of the system is presented in Fig.4.
This system is an open-loop system except at the
metering device which used a closed control system to
adjust the rotation of the metering rotor. To performed
variable rate application in the field, micro-controller
should manage accurate information of vehicle
position in the field and dose of application. The
change of rate of application is done by precisely
control the metering rotor while monitoring the
vehicle's ground speed. The ground speed was
measured by a segmented vane disc and a proximity
sensor will be sampling at 1Hz. While an agriculture
purposes RTK-DGPS having accuracy 5 to 10 cm will
be used to perform accurate positioning in real time
(5Hz) during field operation.
System identification: The metering system
approximated with linear model of first order system
with delay, as represented in Laplace transform as
follows;
R( s )
Ke ds
C( s ) 1 T s
(2)
Gp(s)
Ts+1
Keypad
Computer
G( s )
K e-d s
Gp(s) =
PWM Controller
Gc(z)
k
c
Gm(s)
motor
PID compensator
1
Rotary encoder
Figure 6. Schematic diagram of digital control
A feedback control is designed to generate an
output that causes some corrective effort to be applied
to a process so as to drive a measurable process
variable(r) towards a desired value(c) known as the
set-point, as shown in Figure 5. PID digital is
implemented as follows:
e 2e e
Cn Cn1 Kp(en en1 )KITen KD( n n1 n2 )
T
(3
)
Where,
Cn = next value of control
en = error of process
Kp, Ki, KD is PID constant for proportional, integral
and differential component.
RESULTS AND DISCUSSIONS
Where,
R = speed of rotor or output of control
C = set point or input control
K = gain of system (rps)
Ts= time constant (s)
d = delay time (s)
The value of K, T and d was determined by using
step response model. Curve fitting using Least
Square Method was adopted to fit data of response
and model as stated in equation (2). Procedure of
system identification is presented in figure 5.
Input signal
r(S)
Signal
Generator
Servo
motor
System
Metering Device
Driver
Table 1: Particle Size Distribution dan Bulk Density of The
Fertilizer
Type
Particle size distribution (%)
Bulk
of
>4.76 2.36-4.76 1.4-2.36
INTERNATIONAL CONFERENCE ON ROBOTIC
AUTOMATION SYSTEM
The 1st International Conference on Robotic Automation System 2011 is a forum for scientists,
engineers, and practitioners to present their latest research results, ideas, developments and
applications in the areas of Robotics, Artificial Intelligence Method & Applications, Mechatronics
System & Automation and Biomedical Engineering.
PATRON
ICORAS 2011 COMMITTEE
Assoc. Prof. Dr Ahmed N. Abdalla
Dr Rozailan Mamat @ Ibrahim
Samsi Md. Said
(Malaysia)
(Rector, TATIUC)
Dr Suditama Sulaiman
Dr Ir. Desrial (Indonesia)
Ahmad Shahrizan Abdul Ghani
Dr Elango Natarajan (Malaysia)
ADVISORS
Damhuji Rifai
Dr Kamarul Hawari Ghazali (Malaysia)
Prof. Dr Sazali Yaacob
Kharudin Ali
Dr M Faiz Syuaib (Indonesia)
(UNIMAP)
Ng Yian Ying
Dr Mohammad Arifur Rahman (India)
Prof. Dr Yoshiko Nomura
Noraznafulsima Khamshah
Dr Phil Hackney (UK)
(MIE University)
Nur Najmiyah Jaafar
Dr Sam Herodian (Indonesia)
Associate Prof. Bhaskar Sen Gupta
Nor Hana Mamat
Dr Shahriman Abu Bakar (Malaysia)
(Queen’s University Belfast)
Syahidatu Syima Syafie
Dr Ting Hua Nong (Malaysia)
Prof. Dr Ir. Anas m Fauzi
Zulkifli Ismail
DrZeyad Alfawaer (Lebanon)
Izadora Mustaffa (Malaysia)
(Institut Pertanian Bogor)
Nurul Fajar Abd Manap (Malaysia)
GENERAL COMMITTEE
ADVISORY COMMITTEE
Dr Zunaidi Ibrahim
Prof. Dr Ir. Anas m Fauzi (Indonesia)
(General Chair)
Prof. Dr Ir. Bustami Syam (Indonesia)
CO-ORGANIZERS
Mohamad Redhwan Abd. Aziz
Prof. Dr Kobayashi (Japan)
Institut Pertanian Bogor, Indonesia.
(Deputy General Chair)
Prof. Dr Ir. Bustami Syam (Indonesia)
MIE University, Japan.
Prof. Dr Ary Setijadi Prihatmanto
Queen’s University Belfast, UK.
CONFERENCE SECRETARIAT
(Indonesia)
Dr Rosliza Ramli (General Secretary)
Prof. Dr Ir. Arief Syaichu Rohman
Dr Ahmed Hamood Dabwan
(Indonesia)
Dr Nor Bahiyah Baba
Prof. Dr Marzuki Khalid (Malaysia)
Ir. Mohd Habir Ibrahim
Prof. Dr Masataka Kubo (Japan)
Amelia Ahmad Nawawi
Prof. Dr Mohd Yusoff Mashor (Malaysia)
Amarah Abdul Karim
Prof. Dr Sazali Yaacob (Malaysia)
Hamdan Azmi Abdul Aziz
Prof. Dr Shamsudin Amin (Malaysia)
Kamrol Amri Mohamed
Prof. Ju-Jang Lee(Korea)
Mohd Hanipah Muda
Prof. Dr Nobuyuki Imanishi (Japan)
Mohd Najib Muhamed
Prof. Jaegab Lee (Korea)
Md Khairil Hafizi Muhamad
Assistant Professor Dr Afaneen
Najihah Jusoh
Alkhazraji (Iraq)
Noraniah Abdul Aziz
Assistant Professor Dr Ibrahim Khider
Norzamziah Afzainizam
Eltahir (Sudan)
Ruzlaini Ghoni
Assoc. Prof. Bhaskar Sen Gupta (UK)
Surairah Mohd Suhaimi
Assoc. Prof. Dr Hamid Adom (Malaysia)
COPYRIGHT
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from
TATIUC. The information provided in
this document is provided on "as is"
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trademark. TATIUC is not associated
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with any product or vendor mentioned in
Zudaini Said
this document.
ICORAS 2011
International Conference On
Robotic and Automation System
23-24 May 2011
Terengganu, MALAYSIA
PROCEEDINGS
ORAL PRESEN T AT I ON
E 102
Development of Software for Mitsubishi RV-M1
1
Pardeep Sharma, Parveen Kalra and Rajesh Kumar
E 104
Multi-Agent Control Architecture of Mobile Manipulators: Grasping Objects of Simple Forms
5
R. Benbouali, A. Hentout and B. Bouzouia
E 105
Automatic Electrocardiographic Analysis Using Artificial Neural Network Models
11
Sri T.V.K.Hanumantha Rao, Saurabh Mishra and Sudhir Kumar Singh
E 106
Vision Based Obstacle Detection Mechanism of a Fixed Wing UAV
16
S.N. Omkar, Saurabh Mishra, Sanjay Tripathi, Gaurav Kumar
E 107
Analysis for Solving Travelling Salesman Problems
22
Khushmeet Kumar and Pardeep Sharma
E 108
Automatic Visual Inspection of Defects for Cylindrical Object's Surface
27
Mohammed A. H. Ali, Mohammed N. B. Ahmed, Ibrahim M. H. Sanhoury, Siti Fadilah B. Abd Latip and Jameel A. A.
Mukred
E 110
Half Car Suspension System Using Fuzzy Logic Controller
32
A.A.Basari, M.Esro, R.A.Manap and S.Sapie
E 111
The Effectiveness of Industrial Networks Protocol in Automation System.
37
Muhamad Fahezal Ismail, Norsehah Abd Karim, Yusof Mohd Ekhsan and Muhammad Syazwan Mohd Rathi
E 112
Heuristic Algorithm for Edge Detection
42
Senthiil, A.N.Senthilve, T.Hemamalini, B.Ramesh Kumar, S.Vignesh Ram
E 113
Shape-Based Matching: Application of Edge Detection Using Harris Point
Mohamad Haniff Harun, Marizan Sulaiman and Hairol Nizam Mohd Shah
E 114
General Algorithm of m-Multiple Coil Shape for Variable Links Hyper-Redundant Robotic Manipulator.
45
51
Annisa Jamali, Raisuddin Khan and Md. Mozasser Rahman
E 115
Sustainable Analysis of Lightweight Lift System Design for Disable People Using Finite Element.
58
S.F. Ismail, M.Y Taib and M.Ishak
E 116
Performance Comparison between MRAC and IMAC with Application to InnoSAT Control
62
M.N.Norhayati, M.Y.Mashor, S.M.Sharun, A.A.Azamimi, W.N.Hadani
E 118
Intelligent Controller for Differential Drive Wheeled Mobile Robot (WMR): A Comparative Analysis
68
Razif Rashid, I. Elamvazuthi, K.M. Begam, M. Luqman M. Zain and Lindasalwa Muda
E 121
Design and Modeling of Biped Robot With Heterogenous Leg
73
A M. Azmi Adly, I. Elamvazuthi, K.M. Begam, W. Amirfaiz and W. Faizura
E 122
Simulation of Humanoid Arm Using Fuzzy Technique
78
W. Amirfaiz W. Daud, I. Elamvazuthi, K.M Begam,W. Faizura and M.Azmi Adly
i
E 123
Design and Analysis of Microheater Using Ansys
82
G.Sureshkannan, G.Mohan Kumar
E 128
Adaptive Fuzzy Logic Control for Non-Linear System
85
F.A. Bakri, M.Y. Mashor, A.R.M Saad, S.M. Sharun, M.N. Norhayati, Wan Nur Hadani
E 131
Feedback Linearization for Depth Positioning of a Spherical Underwater Robot Vehicle (URV)
89
M. Azfar Tajul Arifin, M.N. Karsiti and I. Elamvazuthi
E 132
Virtual Mobile Robot Simulation Using Microsoft Robotic Studio: 3D Modelling of Mobile Robot and its
Integration into Visual Simulation Environment
95
Yusman Yusof, M. Fadzil Abu Hassan, Noor Jihan M. Saroni and W. M. Fathurrahman Che Wan Azizan
E 133
Determination of Speech Recognition Accuracy using DTW and MFCC Techniques
101
Lindasalwa Muda, K. M. Begam, I. Elamvazuthi, Razif Rashid and M. Luqman M. Zain
E 136
Malaysia Sign Language Recognition Using Central Moment Features and Neural Network Model
105
Mohd Shuhanaz Zanar Azalan, Rajkumar Palaniappan and Muhamad Zulhafis Bin Abu Zair
E 137
Sign Language Recognition based on Fuzzy Information of Arm Motions
109
Khairunizam Wan, Shahriman A.B, Siti Khadijah Za’aba, Mohd Azri Abd Aziz and Shamsul Azri Mohd Nor
E 138
Introduction on the Biomedical Applications of Atmospheric Plasma
115
S.K. Zaaba, Khairunizam Wan and A.B Shahriman
E 139
Adaptive Neuro-Controller for Three-Axis Attitude Control of Nano-Satellite
120
S. M. Sharun, M. Y. Mashor, M. N. Norhayati, W. N. Hadani, S. Yaacob
E 140
Hybrid Power Study for Irrigation and Flood Control System
126
A.B. Shahriman, M.M. Khalil, Khairunizam Wan, S.K. Zaaba, W.N.Imaduddin, D.Hazry, I.Zunaidi
E 141
Investigation on Different Emotion Elicitation Methods for Human Computer Interaction
130
Jerritta S, M Murugappan, R Nagarajan, Khairunizam Wan and S Arun
E 142
Application of Watershed Segmentation on RGB and HSI Model
135
H.N. Lim, E.U. Francis, M.Y. Mashor, R. Hassan
E 143
Design of a Micro-Controller Based Portable Three Phase Digital Power Meter
139
Syafiq Basri Shaari and I. Elamvazuthi
E 144
A Study on Different Driver Alertness Methods during Hypovigilance
144
S Arun, M Murugappan, Kenneth Sundaraj and S Jerritta
E 145
Design and Performance Test of Embeded Module Metering Device for Variable Rate Fertilizer
Applicator
149
P.A.S. Radite, W. Hermawan, A. Azis, B. Budiyanto
E 146
Digital Camera Based Color Sensor for Determining Leaf Color Level of Paddy Plants
154
I.W. Astika, M. Solahudin, R. P. Setiawan, M. F. Syuaib, I. E. Nugroho, M. Ardiyansah
E 148
An Undergraduate Artificial Intelligence Laboratory: Colour Sensing Using Fuzzy Logic
Mohd Fadzil Abu Hassan, Yusman Yusof, Mohd Alif Syami Azmi and Mohd Nazrul Mazli
ii
158
E 149
Determining the Velocities Before and After Impact of Components in a Vibratory Part Feeder
164
M.Suresh, S.Udhayakumar and P.V.Mohanram
ET 106
Development of an Intelligent Control Green House
Muhammad Nasiruddin Mansor, Ruzlaini Ghoni, Noraznafulsina, Kharudin Ali,Muhammad Nor Safieni Sulaiman and
Bahari A. Aziz
169
ET 107
Precision Analysis of Mobile Robot Map Making
Suditama, A.S. Samsi, L. Zulkarnain and A.B. Samat
173
ET 108
Automatic Balance Evaluator and Rehabilitation Mechanism
Suditama, I. B.I. Zunaidi, Z. Zuraida, S. Dinsuhaimi, Z.M. Normaini, A.B. Shahriman
179
ET 109
Path Planning for the Crazy Robot
185
A.A.Bahri, G.Ruzlaini, A.Kharudin, M.Nasiruddin and S.M. Nor Safieni
ET 110
Construction of Temperature Sensor Activated Fan Control
188
Muhammad Nor Safieni Sulaiman, Ruzlaini Ghoni, Kharudin, Ahmad Bahari A. Aziz and Mohd Nasiruddin Mansor
ET 111
Ant Colony Approach in Digital Image Processing – Review
191
Ng Yian Ying, Noraznafulsima Khamshah and Damhuji Rifai
ET 112
Temperature Compensation of a Thermal Flow Sensor by Using Temperature Network
193
Noraznafulsima Khamshah, Ahmed N. Abdalla, Ruzlaini Ghoni, Mohd Syafawi
ET 113
Performance Control of the Three-Phase an Induction Motor Couple to DC Motor in HEV
Zulkarnain Lubis, Solly Aryza, Suditama Sulaiman
ET 114
A Binary Particle Swarm Optimization Approach for Routing in PCB Holes Drilling Process
197
201
Mohd Hafiz Othman, Amar Faiz Zainal Abidin, Asrul Adam, Zulkili Md Yusof, Zuwairie Ibrahim, Seri Mastura
Mustaza, Lai Yee Yang
ET 115
Optimisation of Palm Oil Screw Press Machine Motor Current Load by Using Fuzzy Logic Control
System
207
O. W. Zulkarnain, A.A. Mohamad Redhwan, M.Z. Norul Azlin
ET 116
Stabilise the Press Cage Pressure of Palm Oil Screw Press Machine Using Fuzzy Logic Control
System
211
O. W. Zulkarnain, A.A. Mohamad Redhwan, M.Z. Norul Azlin
ET 117
Evaluating User’s Acceptance of Groupware System based on Computer Self-Efficiency: A Case Study
at TATIUC
215
Wan Roslina, Syahrul Fahmy and Nurul Haslinda
ET 118
An Intelligent Reward Application for Bio-Informatics Knowledge Management System
221
Nurul Haslinda, Syahrul Fahmy and Wan Roslina
ET 119
Comparison of Search Schemes in the Design of a Memo Retrieval System
226
Aini Zuriyati, Syahrul Fahmy, Nazri Ibrahim
ET 120
Analysis of Sensor Perfomance In Line Following Robot
Muhammad Aiman Othman, Mohamad Zahari Zakari, Ruzlaini.G, Damhuji. R and Muhammad Luqman.M.Z
iii
231
ET 121
Smart Temperature Sensor for Patient Health Monitoring
234
Mohammad Hariz Syafiq Suhaimi and Ruzlaini Ghoni
ET 122
Assessing Groupware Acceptance Based on Computer Competency: A Case Study at TATIUC
238
Wan Roslina and Syahrul Fahmy
ET 123
Comparison of Search Schemes in the Design of an Information Retrieval System for Malay Language
Fatwa Documents
244
Nazri Ibrahim, Syahrul Fahmy and Aini Zuriyati
ET 124
A Review Paper on Windows Gadget as a Tool for Office Automation
249
Syahrul Fahmy, Akhyari Nasir, Aini Zuriayati, Muriati Muda, Suhana Sulaiman, Wan Roslina and Nurul Haslinda
E 101
Active Suspension Using Optimal Control
254
Norsarizan Mat Youb, Mohd Ruddin Abd. Ghani, Hamzah Sakidin and Syed Najib Syed Salim
E 103
DC Motor Position Control with Disturbance Compensation
255
Nasimullah
E 109
Image Processing Technique Through Refinement Technique with Adaptive Simulation
256
PV Senthiil
E 117
Multiple Mobile Robots Trajectory Tracking While Maintaining Time-Varying Formations via
Synchronization Approach
257
Ibrahim Mohamed Hafiz Sanhoury, Shamsudin H.M. Amin and Abdul Rashid Husain
E 119
Loosely Coupled Low Cost IMU\GPS Integration for Car Navigation Like Robot
258
O. M. Maklouf, A. Ghilla, S. A. Gashoot
E 120
Client Information Registration and Activities Tracking System
259
Akram M. Zeki, Augerto Manci and Ljuljzim Hodzic
E 124
Flight Stability in Hovering Of A Fixed-Wing Unmanned Aerial Vehicle (UAV)
260
A. G. Azlan and D. Hazry
E 125
The Effect of Anomaly Detection Accuracy in Varying the Angular Resolution of Sonar Sensor Using
Repetitive Observation Strategy (ROS)
261
M.N.A.H. Sha’abani and M.F. Miskon
E 126
Hybrid Controller for Multi Fingered Robot Hand
262
Wan Faizura Tarmizi, I. Elamvazuthi, K.M. Begam, W. Amirfaiz and M. Azmi Adly
E 127
De-noising of Ultrasound Images of Bone Fracture In Wavelet Domain
263
M. Luqman M. Zain, I. Elamvazuthi, K.M. Begam, Razif Rashid and Lindasalwa Muda
E 129
Virtual Medical Instrument for OTOROB Based on LabVIEW for Acquiring Multiple Medical Instrument
LCD Reading Using Optical Character Recognition
264
Muralindran Mariappan, Vigneswaran Ramu, Thayabaren Ganesan, Brendan Khoo T. T. and Kumarheshan Vellian
E 130
A Remote Navigation Methodology for a Four Wheel Rectangular Configured Holonomic Mobile
Telemedicine Robot
Muralindran Mariappan, Vigneswaran Ramu, Thayabaren Ganesan, Brendan Khoo T. T. and Kumarheshan Vellian
iv
265
E 134
Evaluation of EMG Signal Classification Techniques
266
I. Elamvazuthi, N.H.H.M., Hanif, P. Vasant and N.C., Sahoo
E 135
Hemodynamic Effect of Anastomosis Length and Angle in Side-to-side and End-to-side Radiocephalic
Arteriovenous Fistula (RCAVF) using Computational Fluid Dynamics (CFD)
267
W.A.W. Hassan, K. Osman, M.R.A. Kadir, J. Haron
ET 101
Implementation of Fuzzy Logic using Industrial Robot: Part 1, Fuzzification
268
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 102
Implementation of Fuzzy Logic using Industrial Robot:
Defuzzification
Part 2, Knowledge Embodiment and
269
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 103
Blending Predictive and Reactive Contour Tracking Industrial Robot
270
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 104
Comparison between Reactive Contour Tracking and the Hybrid Blending Contour Tracking approach
for Industrial Robot Application
271
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
ET 105
Matlab-based Neural Network Modeling for Financial and Industrial Robot Predictive Contour Tracking
Application
272
Samsi M S, N Nagarajan, Sazali Y,Zunaidi I, Anton S and Rozailan I
POST ER PRESEN T AT I ON
EPT 101
Comparison of Deliberative and Reactive Mobile Robot Navigation Systems
273
Nor Hana Mamat, Zunaidi Ibrahim and Samsi Md Said
EPT 102
A Survey on ICT Usage and Perception at TATI University College
Azliza Yaacob, Zurairah Ahmad, Zainuddin Othman and Aini Zuriyati Abdul Kadir
v
274
I nt e rna t iona l Confe re nc e on Robot ic Aut om a t ion Syst e m (I CORAS 2 0 1 1 )
Design and Performance Test of Embeded Module Metering
Device for Variable Rate Fertilizer Applicator
1
P.A.S. Radite 1, W. Hermawan 1, A. Azis1, B. Budiyanto2
Dept. Of Agricultural Engineering, Fac. of Agricultural Engineering andTechnology,
Bogor Agricultural University, Indonesia. E-mail: iwan_radit@yahoo.com
2
Dept. of Meteorology and Geophysics, Fac. of Mathematics and Natural Sciences,
Bogor Agricultural University, Indonesia
Abstract — Uniform rate of fertilizer application
(URA) practice is disregarding the productive
potential of the various areas within the field. Thus, it
is not efficient method because some area is less
fertilized and other is over fertilized. With variable
rate application (VRA) machines, the dose and the
position of application could be given precisely as
required by crops. Machinery with variable rate
capabilities impressed as technologically sophisticated
and expensive. In Indonesia, implementation of VRT
in crop production is also still questioned, because
fear of the complicated and expensive prices of the
machines. Therefore the objective of this research is
to develop an embeded system for variable metering
device of granular applicator. The metering was
equipped with two rotor, which could be operated as
single rotor or double rotor. The dose of granular
fertilizer could be controlled by controlling the
rotation of the rotor. The rotation of the rotor was
controlled using digital PID algorithm. The result of
the test showed that using single rotor the output of
urea, SP-36 and NPK are 0.84, 0.96 and 1.2 g/rotation
respectively. Test on double rotor showed that the
output of urea, SP-36 and NPK are 1.14, 2.22 and 2.1
g/rotation respectively. All results showed that the
prototype of metering device can control fertilizer
dose of urea, SP-36 and NPK fertilizer precisely with
coefficient of determination of more than R2=0.99.
For field operation in the future, the developed VRT
applicator will be mounted on multi-purpose vehicle
which was modified from riding type rice
transplanter. Position of the vehicle in the field will be
acquired using agriculture type RTK DGPS.
INTRODUCTION
Design Of Variable Rate Applicator
Vehicle: Concept design of developed VRT granular
fertilizer applicator is shown in Fig.1. In this concept,
the applicator is mounted on a multipurpose vehicle or
light tractor using three-point hitch. The concept of
149
VRT applicator has four mains components, electric
parts (motor and controller), fertilizer bins with total
capacity 120 liters, 2-4 metering devices and 4- 8
nozzle spreaders.
The applicator works as follow; first the fertilizer
was metered by a roller feeder, the grains are then
released gravitationally or transported pneumatically
by pressured air stream, through delivery hoses and
finally put in the soil. The fertilizer is put into the soil
to dept of 5-10 cm, in order to avoid vapor losses in
dry season or losses due to water runoff during rainy
season.
8
1
7
9
2
3
5
4
6
1. Fertilizer hopper 2. Servo motor
4. Furrow opener
5. Cover
7. Controller module 8. GPS Antenna
3. Delivery hose
6. Hitch frame
9. Tractor
Fig.1. Concept of variable rate applicator
As shown in Fig. 2, computer or controller module
was utilized to organize the system. This machine
performed variable rate application based on
fertilization mapped. The map contained desired rates
of application (kg/ha) as well as their position in the
field will be used to guide the operation of the
machine in the field.
Change of the desired
application rate was implemented by precisely control
the rotor speed of metering device while monitoring
the ground speed of the vehicle An agriculture
purpose RTK-DGPS with accuracy of 5 to 10 cm is
used to perform accurate positioning during
fertilization, and the data were sent to the PC
computer through serial port (RS232) at 5 Hz. While
I nt e rna t iona l Confe re nc e on Robot ic Aut om a t ion Syst e m (I CORAS 2 0 1 1 )
the speed of the vehicle was monitored, through the
vane disc and a magnetic proximity sensor
Fertilization map
1st PTO
DGPS
Computer
PID
Controller
driver
Counter
board
Speed sensor
D/A board
2nd PTO
DC motors
Rotary encoder
Blower
Metering devices
Data line
Control line
Drive line
Air manifold
Nozzles
Fig.2. System control of variable metering.
Metering rotor: As shown in Fig.3, the metering rotor
was star-types with 6 fins with cylindrical notched
chambers. For single rotor, if the rate of application is
decided, the rotor speed (Nm, in rps) can be simply
calculated as follows:
Fig 3. Design of metering rotor
N m ( 10 S W Ds )/Q
where,
Nm
Q
S
W
Ds
(1)
= Rotor speed (rps)
= Metered fertilizer per rotation(g/r)
= Ground speed of the applicator (m/s)
= Effective width covered by one metering
device (m)
= Rate of application (kg/ha)
Motor and Controller: DC geared motor was use
because it is tough and reliable for field application,
beside it is also cheap and availability in local market.
Through a careful design a DC motor can be directly
coupled to the shaft of fertilizer metering device for
simple construction.
A 30 W DC motor has
specification of 22 V/ 2600 rpm equipped with 1/20
reduction gear box. The whole system is knockdown, thus easy for maintenance. The motor is
equipped with an optical rotary encoder of 30 pulses
per rotation.
The controller module for metering system
controller consists of microcontroller module (DT-51
Minsys), Smart Peripheral Motor Controller (SPC
Motor Controller, and motor driver (EMS Hybrid
30A) made in Innovative Electronics. For flexibility, a
3 x4 keypad was functioned as input device, while a 2
150
x 20 line LCD display was used as output of the
controller. With input and output devices, the
controller parameters could easily be adjusted and the
result could be easily monitored.
The specification microcontroller used was 8 bit
micro-processor base on AT89C51, 8kb EEPROM
expandable to 64k, 4 I/O ports (PPI portA, portB and
portC, port1), LCD port, and serial port interface for
communication with PC computer, laptop or netbook.
A pulse width modulation (PWM) driver (EMS
Driver from Innovative Electronics) with hybrid
transistors was used. The motor driver has ranges
output up to 36 V at maximum current up to 30 A.
This driver was interfaced to micro-controller through
Smart Peripheral Controller (SPC). SPC motor
controller has 2 channel input driver, equipped with
four 16 bit counters. Communication between SPC,
EMS driver and micro-controller could utilize i2c
protocol, UART or parallel port.
Material And Method
Materials of experiment: Design of granular fertilizer
applicator with volumetric metering system is adopted
and modified to become variable output. Variable
dose is performed by controlling the rotation of
metering device rotor by meant of controlling the
rotation of a dc gear motor. With digital control it is
possible to set the desired speed of the rotor very
precise and accurate.
For this purposed, material of experiment will be
consists of metering device, dc geared motor, rotary
encoder, counter, interface controller, motor driver,
usb to serial port and laptop computer. Computer was
use to program the micro-controller, and also to
monitor and record the data during process
development. C programming language was use to
developed the system control and data acquisition.
Data acquisition was done through serial
communication by using usb to RS-232 cable. Data
were displayed in the laptop monitor and recorded in
computer's hard drives. Microsoft excel was used to
do further data processing.
In this technique, the map-based application
method was adopted. In this method, soil and plant
were sampled and laboratory analyzed prior to
fertilizer application. After further calculations, a
fertilization map was constructed. The fertilization
map contained information of the required application
rates (kg/ha) on each plot in the field. The work of
soil and plant analysis was conducted by another team
of precision farming research, and there is not discuss
further.
I nt e rna t iona l Confe re nc e on Robot ic Aut om a t ion Syst e m (I CORAS 2 0 1 1 )
Speed
Sensor
monitored using an optical rotary encoder with
resolution 30 pulses per rotation. A 16 bit counter
was used to count the pulses every 20 ms.
RTK GPS
(rover)
encoder
Metering device
LCD
LLCCD
Mikrokontroler
Minsys DT-51
r +
Fig. 4. Block diagram of control system
-
Block diagram of the system is presented in Fig.4.
This system is an open-loop system except at the
metering device which used a closed control system to
adjust the rotation of the metering rotor. To performed
variable rate application in the field, micro-controller
should manage accurate information of vehicle
position in the field and dose of application. The
change of rate of application is done by precisely
control the metering rotor while monitoring the
vehicle's ground speed. The ground speed was
measured by a segmented vane disc and a proximity
sensor will be sampling at 1Hz. While an agriculture
purposes RTK-DGPS having accuracy 5 to 10 cm will
be used to perform accurate positioning in real time
(5Hz) during field operation.
System identification: The metering system
approximated with linear model of first order system
with delay, as represented in Laplace transform as
follows;
R( s )
Ke ds
C( s ) 1 T s
(2)
Gp(s)
Ts+1
Keypad
Computer
G( s )
K e-d s
Gp(s) =
PWM Controller
Gc(z)
k
c
Gm(s)
motor
PID compensator
1
Rotary encoder
Figure 6. Schematic diagram of digital control
A feedback control is designed to generate an
output that causes some corrective effort to be applied
to a process so as to drive a measurable process
variable(r) towards a desired value(c) known as the
set-point, as shown in Figure 5. PID digital is
implemented as follows:
e 2e e
Cn Cn1 Kp(en en1 )KITen KD( n n1 n2 )
T
(3
)
Where,
Cn = next value of control
en = error of process
Kp, Ki, KD is PID constant for proportional, integral
and differential component.
RESULTS AND DISCUSSIONS
Where,
R = speed of rotor or output of control
C = set point or input control
K = gain of system (rps)
Ts= time constant (s)
d = delay time (s)
The value of K, T and d was determined by using
step response model. Curve fitting using Least
Square Method was adopted to fit data of response
and model as stated in equation (2). Procedure of
system identification is presented in figure 5.
Input signal
r(S)
Signal
Generator
Servo
motor
System
Metering Device
Driver
Table 1: Particle Size Distribution dan Bulk Density of The
Fertilizer
Type
Particle size distribution (%)
Bulk
of
>4.76 2.36-4.76 1.4-2.36