Modeling
H. Golpira; M. Loghavi
Abstract
The main aim of this study was to optimize the design parameters of the fruit shakers for efficient harvesting of Shengy olive. A single-degree-of-freedom spring-mass model was established to determine the natural frequency and damping coefficient of the limb. A tractor-mounted shaker that transmits ...
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The main aim of this study was to optimize the design parameters of the fruit shakers for efficient harvesting of Shengy olive. A single-degree-of-freedom spring-mass model was established to determine the natural frequency and damping coefficient of the limb. A tractor-mounted shaker that transmits vibration to limbs and fruits via a reciprocating mechanism was fabricated for field evaluation of the forced vibration modes. A 3×4 factorial experiment with a completely randomized design was conducted to investigate the effects of shaking amplitudes and frequencies on fruit removal. The shaking mode with a frequency of 10 Hz and amplitude of 80 mm transmitted the average power of 92 W to remove 95% of fruits in the field trial. This oscillation characteristic should be used to redesign the fruit shakers to pass human safety standards and efficient harvesting.
M. Maharlooei; M. Loghavi; S. G. Bajwa; M. Berti
Abstract
Introduction Current study tries to find a new simple and practical real-time technique to estimate forage crop nutritional quality indices at field conditions. Estimating these indices help producers to have field quality variation layer to reach the goals of Precision Agriculture. Previous studies ...
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Introduction Current study tries to find a new simple and practical real-time technique to estimate forage crop nutritional quality indices at field conditions. Estimating these indices help producers to have field quality variation layer to reach the goals of Precision Agriculture. Previous studies have shown that standardized shear characteristics of crop stem would be a good indicator for some nutritional quality indices. In previous studies, laboratory tests were conducted at controlled conditions of crop moisture content, stem diameter and employing standard shear test procedure. Materials and Methods In order to simulate field conditions, a two-stage study was conducted in Iran and United States. In the first stage fresh and naturally sun dried alfalfa stems were used in evaluating four levels of crop growth stage and eight loading conditions (four loading rates and two stem conditions). In order to evaluate the effectiveness of shear technique with respect to the conventional harvest method in Iran, shear tests were conducted using fixed and moving knives of a standard square hay baler (John Deere-348). Special fixtures were constructed to attach these knives to a universal testing machine (SANTAM, STM-20). Since evaluation of the suggested method with regard to other quality related factor indices such as different varieties and seeding rates, was not practically feasible in Iran in the second stage of this research, five different varieties and three seeding rates were tested in United States. In this part of the study, shear tests were conducted using modified Varner-Bratzler shear test with universal testing machine (TESTRESOURCES-311). Based on the results of loading rate and stem condition in the first stage, shear tests were carried out using loading rate of 500 mm/min and multiple stem condition. In both stages Specific Shear Energy (shear energy per stem diameter, J mm-1) were calculated using trapezoidal method. In order to compare the shear energy results with crude fiber nutritional quality indices such as Acid Detergent Fiber (ADF), Neutral Detergent Fiber (NDF) and Relative Feed Value (RFV), all alfalfa samples were analyzed using (Association of Official Agricultural Chemists) AOAC standard analytical laboratory methods. Statistical analyses were consisted of ANOVA mean comparison test at each level of factors and regression analysis to find the correlation between specific shear energy and nutritional quality indices. Results and Discussion Results of ANOVA analysis and mean comparisons showed a significant difference in specific shear energy at different levels of loading rates. The higher loading rates showed lower energy which was related to lower ability of knives to cut alfalfa stem thoroughly and shredding the stems at lower speed levels. Significant differences were found in different levels of annual growing cycle, harvest time and seeding rates. Alfalfa stem in fifth harvest year showed the highest shear energy due to higher lignification in plant stems. In the first year, harvested alfalfa stem did not have the lowest shear energy which might be due to existence of weeds in first year field. Results showed higher values of shear energy in fifth harvest of the season in comparison with the third harvest which was acceptable because of differences in plant received Degree Day in these harvest times. The lowest seeding rate (5 kg h-1) showed the highest shear energy respect to the other seeding rates. The reason for this significant difference could be due to lower competition to receive water and nutritions, also lower plant density helps the canopy to receive more sun light which causes higher lignification. Comparing the shear energy means in different varieties didn’t show significant differences which can be explained because of varieties adoptability to the region specific weather condition. The regression analysis showed good correlations between specific shear energy and crude fiber nutritional indices (ADF, NDF and RFV). The negative trends which were found in regression analyses were also reported in similar studies. Conclusion Two stage laboratory tests were conducted in order to evaluate the effect of alfalfa nutritional feed quality indices related factors on unitized shear energy. Results showed a significant difference of standardized shear energy mean at different levels of harvest time, annual growing cycle and seeding rates. The specific shear energy was not significantly different in different varieties because of varieties environmental adoptability. The unitized shear energy showed a good correlation with crude fiber related indices with similar trends in both stages of research and good agreements with previous studies.
Design and Construction
S. M. Nassiri; S. Samsami; M. Loghavi
Abstract
Introduction Iran is a frontier of pomegranate fruit production in the world (with almost 40 % of the world`s production). However due to traditional processing operations is not ranked as the largest pomegranate exporter. Saveh, Neyriz and Ferdows are the top pomegranate producing cities in Iran. Pomegranate ...
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Introduction Iran is a frontier of pomegranate fruit production in the world (with almost 40 % of the world`s production). However due to traditional processing operations is not ranked as the largest pomegranate exporter. Saveh, Neyriz and Ferdows are the top pomegranate producing cities in Iran. Pomegranate is consumed as a fresh fruit as well as processed product as food additive, paste, syrup, jelly, pectin, jam, beverage, essence, vinegar and concentrate. Aril extraction is the first and essential postharvest operation for pomegranate processing. Arils are mostly extracted manually even in large scales for fresh and processed consumption. This labor intensive operation is rational when aril quality is an important index for consumer. But whenever pomegranate juice is desired, the aril quality has no priority for consumer, and therefore arils can be extracted with less care. Sarig (1985) was the first inventor of a pomegranate aril extractor who employed air jet force to extract the arils. Later, other researchers employed the same method as well as water jet to extract fruit juice and sac. In the present study, fabrication and evaluation of vibratory aril extractor augmented with air system was conducted. Materials and Methods The study was conducted using Rabab cultivar samples which were manually harvested from an orchard in Neyriz town, Fars province. Samples were kept in refrigerator at 5 0C till experimental trials. Initial moisture content of fruit skin, arils and internal fleshes were measured by gravimetric method as 31.7±2.6 %, 61.5±1.8 % and 42.8±1.4 %, respectively and for a whole fruit was measured 45.3±11.5 % (w.b.). For conducting laboratory tests, an aril extraction unit was designed and fabricated. It comprised a steel main frame, a 746 W electric motor, drive mechanism (eccentric and shaft), sample retentive unit, air jet unit, aril tank, and an air compressor-tank assembly. Sample retentive unit was designed in such a manner to hold a halved fruit. This unit was made from four elements, a hemisphere bowel, four pressure (spring) arms to apply force on skin of the sample, and four tension (spring) arms for fixing the sample in the bowel by applying pressure on the edges of the halved sample. Such configuration helped sample to open more and more while extracting the arils to expose trapped aril for easier extraction. Sample retentive assembly was vibrated by the electric motor and drive mechanism. Electric motor was equipped with an electric convertor to create different levels of vibration frequency. Also, the drive mechanism was designed in such a manner to create different levels of vibration amplitudes. According to the previous studies, 2 nozzles with 3.5 mm diameter were selected for air jet unit. Nozzles were spaced at 8 cm apart according to the measured mean diameter of samples. Outlet air jet from nozzles covered the cross sectional area of the halved fruit. Nozzles assembly was rotated 180 degrees clockwise and counterclockwise with an electronically controlled stepper motor. Pressurized air (from air tank) was transferred to nozzles assembly by flexible pipes. Air pressure was controlled at 500 kPa level by air regulator. To conduct experimental trials, samples halved at three different cutting directions (horizontal (equatorial), vertical and oblique) by a sharp cutter and halved samples were used for tests. Halved sample was fixed in bowel and then the unit was excited by the electric motor. The assembly was vibrated for 60 seconds before blowing the air jet for extra 30 seconds. Tests for air jet alone were conducted for 90 seconds and percentage of detached and damaged arils were calculated. Damaged aril during cutting process was subtracted from total damaged arils for each trial. Collected data were analyzed according to factorial experiments based on completely randomized design, and means were compared by Duncan post-hoc test. Data of combined and air jet alone systems were analyzed by two independent sample t tests. Results and Discussion ANOVA results revealed that cutting type, frequency and amplitude, significantly influenced the percentage of aril extraction at 5 % level of significance. The highest amount of extraction was obtained at 30 Hz frequency and 4 mm amplitude for diagonal cutting by 87 %. At this condition, 13.9 % of arils were damaged by air jet pressure. A significant difference in percentage of extracted and damaged arils was observed between vibratory-air and air systems at 5 % level of significance. The highest amount of aril extraction as well as damage was observed for vibratory-air system with the means of 80.1 % and 9.9 %, respectively. Conclusion Maximum percentages of extraction and aril damage were achieved by applying the combined system with as compared to air jet system alone, so that combined system increased aril extraction by 7.1 % with 2.2 % extra damages.
Image Processing
H. Asaei; A. A. Jafari; M. Loghavi
Abstract
IntroductionIn conventional methods of spraying in orchards, the amount of pesticide sprayed, is not targeted. The pesticide consumption data indicates that the application rate of pesticide in greenhouses and orchards is more than required. Less than 30% of pesticide sprayed actually reaches nursery ...
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IntroductionIn conventional methods of spraying in orchards, the amount of pesticide sprayed, is not targeted. The pesticide consumption data indicates that the application rate of pesticide in greenhouses and orchards is more than required. Less than 30% of pesticide sprayed actually reaches nursery canopies while the rest are lost and wasted. Nowadays, variable rate spray applicators using intelligent control systems can greatly reduce pesticide use and off-target contamination of environment in nurseries and orchards. In this research a prototype orchard sprayer based on machine vision technology was developed and evaluated. This sprayer performs real-time spraying based on the tree canopy structure and its greenness extent which improves the efficiency of spraying operation in orchards. Materials and MethodsThe equipment used in this study comprised of three main parts generally: 1- Mechanical Equipment 2- Data collection and image processing system 3- Electronic control systemTwo booms were designed to support the spray nozzles and to provide flexibility in directing the spray nozzles to the target. The boom comprised two parts, the vertical part and inclined part. The vertical part of the boom was used to spray one side of the trees during forward movement of the tractor and inclined part of the boom was designed to spray the upper half of the tree canopy. Three nozzles were considered on each boom. On the vertical part of the boom, two nozzles were placed, whereas one other nozzle was mounted on the inclined part of the boom. To achieve different tree heights, the vertical part of the boom was able to slide up and down. Labview (version 2011) was used for real time image processing. Images were captured through RGB cameras mounted on a horizontal bar attached on top of the tractor to take images separately for each side of the sprayer. Images were captured from the top of the canopies looking downward. The triggering signal for actuating the solenoid valves was initially sent to the electronic control unit as the result of image processing. Electronic control unit was used to adjust the right time of spraying based on the signals received from the encoder to precisely spray the targeted tree. The distance between the camera and spraying nozzles was considered in the microcontroller program. The solenoid would be turned off and stop the spraying when the vision system realized that there was a gap between the trees.Water sensitive papers (WSP) were used to evaluate the sprayer performance in prompt spraying of the trees and cutting off at hollow spaces between the trees. Water sensitive papers were attached to three ropes extended along the movement direction of the tractor at top, middle, and bottom of the trees so that each tree comprised 9 WSPs whereas other 9 WSPs were placed at each gap between two successive trees. Three levels of forward speed of 2 km h-1, 3.5 km h-1and 5 km h-1 was tried in these experiments to evaluate the effect of forward speed on spraying performance. Experiments were conducted in three replications. Liquid consumption of the sprayer designed in this research was compared with the conventional overall spraying.Results and DiscussionAnalysis of variances of data gained from water sensitive paper corresponding to the sprayed areas showed a significant effect of forward speed on prompt spraying.Comparison of means of spraying coverage on WSPs at different forward speeds with four replications showed that the maximum amount of targeted sprayed pesticide has been achieved at the lowest speed (2 km h-1) while the lowest amount of sprayed was seen at the maximum speed. Although higher forward speed is preferred because it increases the operation capacity of the sprayer, increasing the forward speed of the sprayer reduces the coverage density of the liquids on WSPs because the output rates of the nozzles are constant. Therefore, in cases that higher forward speed is demanded, more nozzles should be added to the sprayer booms Comparison between the liquid consumptions of the proposed system and conventional overall spraying showed that in this study, up to 54% less material has been used for the experiment in olive orchard. ConclusionsThe sprayer designed in this study was able to detect the gap between the trees in orchards using a machine vision system to stop the spraying on places where no tree exists. Results showed that employing the new sprayer decreased a significant amount of spray liquids which can be important both economically and environmentally. Considering to lack of pesticide spraying in the hollow spaces between the trees, certainly, more significant reduction is expected to achieve in young orchards where trees are small and there are larger gaps between the trees
A. Rezaei; M. Loghavi; S. Kamgar; Y. Mehdipour
Abstract
Introduction
Olive (Oleo europaea) includes about 20 species of small trees from Oleaceae family. This point should be considered that Iran has allocated only a small universal market to its olive products in spite of having high production potentials; so that about 23 provinces of this country can ...
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Introduction
Olive (Oleo europaea) includes about 20 species of small trees from Oleaceae family. This point should be considered that Iran has allocated only a small universal market to its olive products in spite of having high production potentials; so that about 23 provinces of this country can produce olive products. Therefore mechanizing of olive production and encouraging to develop olive trade are among the effective methods for development of this market. On the basis of IOOC report, the production of olive oil in 2008-2009 in Iran and all over the world has been 3 and 2866.5 thousand tons, respectively. Currently, harvesting olive product is done by hand in Iran. The expensiveness of work force and providing the needed workers are considered as the biggest problem in olive harvesting. While harvesting the tall trees, the workers use beating method by wood sticks which causes the fruits to be damaged and their quality to be decreased. The harvesting method which the quality and quantity of the olive final products is under its effect and also high expenses of harvesting by hand are considered as the two important factors in developing the mechanical harvesting of olive. For this purpose, the mechanized harvesting of olive should be considered for producing olive conserve and olive oil and decreasing expenses of harvesting. Considering the conducted studies on one hand and shortage of informational resources in the country on the other hand, a research was designed and performed with the following purposes:
Designing and fabricating of a portable pneumatic branch shaking system.
Determining the best frequency and oscillation duration for harvesting olive by the constructed system.
Materials and Methods
The branch shaking system is made of two general parts:
(a) The set of branch shaker driving unit.
(b) The portable vibration arm.
For constructing the set of vibrating arm, two experiments “elasticity and inflectionˮ of tree branches were conducted and the maximum force of 362.40 N was registered and it was considered as the base of computations. Then a double-action pneumatic jack with the internal diameter of 32 mm and the rod diameter of 12mm with the stroke length of 200 mm was selected. An electronic circuit was designed and developed for ordering the solenoid valve to control the flow. The system was transferred to one of the olive garden’s located in kilometer 5 of Sarvestan – Fasa road in Fars province in order to be evaluated. The effects of three oscillation frequencies of 12, 16 and 20 Hz and three oscillation durations of 5, 10 and 15 seconds at constant amplitude of 5 cm on detachment percentage of olive fruit was investigated through a factorial 3×3 experiment based on completely randomized design with four replications. Then the most suitable frequency and vibration duration was selected for harvesting olive by this system.
For measuring the static detachment force of the fruits, a tensile force dynamometer system model FG-5100 made by Lutron Company was used with the accuracy of 0.1 N and a maximum capacity of 980 N.
Results and Discussion
The variance analysis of the investigated features on the basis of the factorial experiment based on completely randomized designs was conducted through using SPSS software. The results showed that both frequency of vibration and oscillation duration had significant effect on the shaker performance; with no significant interaction effects which implies the independence of the debated variables. Comparing the means by using Duncan test at 1% significance level for features of oscillation frequency and duration of shaking showed that at any constant duration of oscillation, increasing of oscillation frequency significantly increases the percentage of the olive fruit detachment. This increase is due to the increase of dynamic force with the second power of oscillation frequency compared to the static separating force (Murphy, 1950).
It was observed that the calculated dynamic force is larger than the static force for separating the fruit in frequencies of 16 and 20 Hz, but since the dynamic force is variable at each point of the branch, 84.50 percent of fruits are separated from branches at frequency of 16 Hz and 87.25 percent of the fruits are separated from branches at frequency of 20 Hz.
Conclusions
At the end, the frequency of 20 Hz with 5 second duration of oscillation was selected as the most suitable treatment for this branch– shaker in harvesting oil-type olives.
H. Hooshmand; M. Loghavi
Abstract
The most advanced part of precision agriculture technology is yield monitoring of grain and non-grain crops. In this study, the horizontal pressing force of baling plunger and the angular position of the plunger connecting rod were simultaneously measured by installing a load cell and a shaft encoder ...
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The most advanced part of precision agriculture technology is yield monitoring of grain and non-grain crops. In this study, the horizontal pressing force of baling plunger and the angular position of the plunger connecting rod were simultaneously measured by installing a load cell and a shaft encoder on the connecting rod and plunger flywheel of a small rectangular baler, respectively. The signals of these sensors were processed in an electronic board and the output data were recorded on a portable computer for monitoring and further analysis. Before baling the harvested alfalfa from the test field, random samples were collected and weighted to obtain a referenced measure of the yield variation along the entire field. Comparing the yield data with the pressing energy and angular position data indicated a good correlation between the throughput rate of the baler and the horizontal force imparted on the baler plunger. The estimated crop yield variations were geo-referenced by using a GPS receiver. By combining the output data of the installed sensors and the positioning data, the yield map of the test field was prepared.
M. Maharlooei; M. Loghavi; S. M. Nassiri
Abstract
Precision Agriculture is continuously trying to address the sources and factors affecting the in-field variability and taking appropriate managerial decisions. One of the popular research focuses in the recent three decades has been on the development of new approaches to making yield variability maps. ...
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Precision Agriculture is continuously trying to address the sources and factors affecting the in-field variability and taking appropriate managerial decisions. One of the popular research focuses in the recent three decades has been on the development of new approaches to making yield variability maps. Advancement in development of sensors and the importance of quality factor in high value crops has motivated scientists to investigate real-time and nondestructive testing methods. This study tried to introduce and evaluate a new approach to concurrent yield mapping and to estimate some nutritional qualitative factors of alfalfa production. In this study, yield quantity was determined by measurement of added hay slice in every hay compression cycle by employing a new star wheel and integrating its output with positioning data from Global Positioning System. To predict some nutritional quality properties, measurement of specific shear energy applied on the cutting blade and compressive energy on plunger head of a hay baler in field conditions were also evaluated. The results of statistical analysis of yield quantity measurement data showed a very good correlation between the suggested approach and yield mass (r=0.96 and R2=0.92). The results of using specific shear energy for estimation of crude fiber and cumulative index RFV with regard to field conditions were rated as acceptable. Using specific compression energy was suitable only for estimating the dry matter. None of the suggested methods was able to estimate the hay crude protein. Further investigations at more extensive variations of quality indices and alfalfa varieties are suggested.
M. A. Rostami; M. H. Raoufat; A. A. Jafari; M. Loghavi; M. Kasraei; S. M. J. Nazemsadat
Abstract
Local information about tillage intensity and ground residue coverage is useful for policies in agricultural extension, tillage implement design and upgrading management methods. The current methods for assessing crop residue coverage and tillage intensity such as residue weighing methods, line-transect ...
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Local information about tillage intensity and ground residue coverage is useful for policies in agricultural extension, tillage implement design and upgrading management methods. The current methods for assessing crop residue coverage and tillage intensity such as residue weighing methods, line-transect and photo comparison methods are tedious and time-consuming. The present study was devoted to investigate accurate methods for monitoring residue management and tillage practices. The satellite imagery technique was used as a rapid and spatially explicit method for delineating crop residue coverage and as an estimator of conservation tillage adoption and intensity. The potential of multispectral high-spatial resolution WorldView-2 local data was evaluated using the total of eleven satellite spectral indices and Linear Spectral Unmixing Analysis (LSUA). The total of ninety locations was selected for this study and for each location the residue coverage was measured by the image processing method and recorded as ground control. The output of indices and LSUA method were individually correlated to the control and the relevant R2 was calculated. Results indicated that crop residue cover was related to IPVI, RVI1, RVI2 and GNDVI spectral indices and satisfactory correlations were established (0.74 - 0.81). The crop residue coverage estimated from the LSUA approach was found to be correlated with the ground residue data (0.75). Two effective indices named as Infrared Percentage Vegetation Index (IPVI) and Ratio Vegetation Index (RVI) with maximum R2 were considered for classification of tillage intensity. Results indicated that the classification accuracy with IPVI and RVI indices in different conditions varied from 78-100 percent and therefore in good agreement with ground measurement, observations and field records.
Design and Construction
R. Loni; M. Loghavi
Abstract
Farmers are now more interested in application of weed control methods and tools with less environmental side effects. Flame weeding using propane gas is an approach with almost no any chemical residue on the soil and plant surfaces or underground water. In this research, a flame weeding machine with ...
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Farmers are now more interested in application of weed control methods and tools with less environmental side effects. Flame weeding using propane gas is an approach with almost no any chemical residue on the soil and plant surfaces or underground water. In this research, a flame weeding machine with the ability of uniform and also discrete flaming was developed and evaluated in laboratory and field scales. In this apparatus, machine vision technology successfully discriminates between soil and weeds (plants grown in between the corn rows are considered as weeds) under natural illumination. In the laboratory tests, the effect of three forward speeds (0.5, 0.7 and 0.9 m s-1) on flam leading or lagging was investigated. The feasibility of using this technology for site-specific weed control of a corn field in comparison with conventional continuous flaming was investigated. The field trials were conducted with both continuous and discrete flaming approaches. The system performance and weed response to flaming treatments were evaluated by measuring the fuel consumption, counting the number of and weighting the survived and dead weeds one and three days after each flaming treatment. The results of laboratory tests showed that the effect of forward speed on system accuracy was significant and the system performance was more accurate at forward speeds of 0.5 and 0.7 m s-1 than 0.9 m s-1. According to the field experiments, continuous and discrete flaming methods exhibited similar results in eradication of weeds (both number and weight-based), while the fuel consumption of the discrete flaming was lower than the continuous one. The results also showed that discrete flaming by employing machine vision technology could be an efficient substitute for continuous flaming due to its lower fuel consumption and potential reduction of air pollution as well as other benefits of flame weeding.
Design and Construction
S. M. R. Nazemsadat; M. Loghavi
Abstract
In grain yield monitoring system, the amount of clean grain mass flow rate to the storage bin is the most important yield property. In this research, an impact-plate type grain mass flow sensor was designed, developed and evaluated. After construction of the impact sensor, it was calibrated by loading ...
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In grain yield monitoring system, the amount of clean grain mass flow rate to the storage bin is the most important yield property. In this research, an impact-plate type grain mass flow sensor was designed, developed and evaluated. After construction of the impact sensor, it was calibrated by loading the impact plate with static weights ranging from 0.5 to 4.5 kg every 0.5 kg and its linear response to the applied loads was proved with a correlation coefficient of 0.99. Then, grain mass flow measurement tests and data collection were conducted according to the ASABE standard S587, developed for grain mass flow sensors. The tests were conducted in three phases: 1- constant and steady state flow, 2- linear variation of flow, 3- oscillating flow. The results showed that the output of impact plate sensor varies proportionally and linearly with increasing wheat grain (Rowshan cultivar) mass flow rate. The error in prediction of actual flow rate was decreased by increasing the mass flow rate such that the calculated errors at 25%, 50%, 75% and 100% of flow capacity (4.25 kg s-1) were 8.3%, 6.3%, 5.2% and 4.9%, respectively. The high coefficient of determination (R2 = 0.9975) between accumulated mass flow data of impact plate sensor and the reference scale data indicated high accuracy and sensitivity of impact plate sensor in prediction of mass flow variations. The average percent error of impact sensor in variable flow rate in “ramp-up-ramp-down”, “ramp-down-ramp-up” and oscillating flows were 7.4%, 8.6% and 8.3%, respectively.
