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An autonomous braking control system for a 2017 Yamaha Grizzly 700

Wheatley Greg, Rubel Robiul Islam

Zeszyty Naukowe. Transport / Politechnika Śląska

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2022

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z. 115

211--226

EN

Weed control is an important issue for environmental protection all around the world. Traditional hand weed control is laborious whereas chemical control is costly and a threat to the atmosphere. A chemical patch weed control system is an optimized system but lacks cheap technical equipment. This research outlines a design process and test of a braking system that can be applied during the designing of an autonomous braking system for a 2017 Yamaha Grizzly 700. The system is intended to be used as an autonomous weed chemical spraying. A bolt-on approach that did not require any manipulation of the stock, an internal braking system was followed to reduce the complexity and installation time of multiple systems. Three different types of autonomous braking system solutions were initially investigated, with the linear actuator solution being decided on through the assistance of a weighted decision matrix. The system was designed around a 30 kg hand force; however, a spare actuator of approximately 20 kg of force was repurposed and used instead. Finite element analysis concluded that all major components within the proposed system were suitable for a lifetime of at least 1,000,000 cycles with a mild steel yield stress failure criterion of 370 MPa. A stationary test for the system was conducted to determine the success of the system, which pushed the brake lever approximately 25% of its disengaged the expectation and could be used to apply the ATV’s brakes autonomously while retracting the gear interlocking mechanism enough to change gears.

2

Carpobrotus Management in a Mediterranean Sand Dune Ecosystem: Minimum Effective Glyphosate Dose and an Evaluation of Tarping

Fos Mariano, Sanz Borja, Sanchis Enrique

Journal of Ecological Engineering

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2021

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Vol. 22, nr 7

57--66

EN

At a global scale, biological invasions represent one of the most important threats to biodiversity conservation. The Carpobrotus (Aizoaceae) genus, which is native to South Africa, has been introduced into five different continents and is particularly invasive in many coastal habitats. The application of glyphosate avoids some problems associated with manually controlling Carpobrotus over large spatial scales. However, before this practice can be extended and its impact minimized, its effectiveness under different application conditions must be assessed first. Thus, glyphosate was sprayed at different concentrations (0.5, 0.4, 0.3, 0.2, 0.1, and 0.05 g/m2) on experimental plots with 100% Carpobrotus coverage to determine the minimum effective dose. Tarping was also evaluated as an alternative method for Carpobrotus management over reduced areas. Thus, four different weed-control fabric types were tested: black anti-weed fabric, sewn felt, black G-300 polyethylene, and Fijavert coconut-anti-weed matting on experimental plots with 100% Carpobrotus coverage. The obtained results showed that the minimum effective dose of glyphosate which prevents Carpobrotus regrowth in dune ecosystems was 0.4 g/m2. It was also shown that at least three months of tarping were required under winter conditions to produce complete Carpobrotus plant wilting and thus, prevent their regrowth. No significant effect on Carpobrotus growth was observed in terms of the fabric type used for the tarping tests. The presence of native species seedlings in the experimental plots after the death of the Carpobrotus plants following the application of herbicides or tarping was also monitored.

3

Virtual Physics Framework for Multi-Robot Chemical Plume Tracing under Ventilated Indoor Condition

Zou Y., Chen W., Luo D.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 5

92-99

EN

This paper presents a virtual-physics based control framework for swarm robotic chemical plume tracing and source localization problem under ventilated indoor environment with complex turbulent conditions. The control force includes three kinds of effort, which are lattice formation force, plume tracing force, and obstacle avoidance force. The plume tracing and source identify strategy are based on the chemical mass flux passing through the robot colony. Simulation results show that the proposed control framework and tracing strategy can effectively navigate the multi-robot system to the chemical source emitter region. The virtual-physics based framework is highly flexible, endows the robot formation the properties of self-organization and self-repair. Compare to traditional approaches, the mass flux driven plume tracing can inhibit the robots from adhering to the obstacle-induced local density maxima and guide the robots forward to the real source region.

XX

W artykule opisano metodę śledzenia smugi dymu chemicznego przy wykorzystaniu robotów oraz metodę wykrywania źródła dymu w pomieszczeniu wentylowanym przy zawirowaniu powietrza. Stosowane są trzy środki – określenie siatki, śledzenie dymu i eliminacja zjawiska. Roboty śledzące mogą się same organizować i naprawiać. W porównaniu do innych metod zaproponowana metoda zabezpiecza roboty przed zatrzymaniem się przy lokalnym maksimum i prowadzi je do źródła dymu.

4

Blaski i cienie chemicznej ochrony roślin

Więckowski S.

Chemia i Inżynieria Ekologiczna

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1998

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Vol. 5, nr 5-6

519-527

PL

Środki chemiczne w wielu krajach stały się główną bronią w walce ze szkodnikami i chorobami roślin. W dużej mierze ułatwiły one produkcję żywności, paszy i tkanin w większej ilości i o lepszej jakości. Oprócz wielkiego wzrostu produkcji roślinnej i zwierzęcej, środki chemiczne uwolniły ludzi od chorób zakaźnych do granic dawniej nie spotykanych. Wydaje się, że stosowanie chemicznych środków ochrony roślin musi być nadal kontynuowane, jeśli chcemy utrzymać lub zwiększyć obecną produkcję żywności. Z drugiej strony wiadomo jednak, że stosowanie preparatów chemicznych nie jest takie proste. środki te, niszcząc np. szkodliwe owady, mogą być równocześnie szkodliwe dla roślin uprawnych, dla zwierząt pożytecznych i dla człowieka. Toksyczne właściwości preparatów chemicznych w dużych dawkach były dobrze znane i zawsze starano się zachować środki ostrożności, żeby niepotrzebnie nie narażać ludzi. W chwili obecnej zdajemy sobie dobrze sprawę z tego, że także długoletnie i stałe narażanie się na wpływ małych dawek preparatów toksycznych jest dla ludzi bardzo niebezpieczne. Aktualnie, rozwój nauk ekologicznych oraz coraz silniejsza krytyka masowego stosowania chemicznych środków ochrony roślin, zmieniły bezkrytyczny dawniej stosunek do pestycydów na podejście bardziej wyważone, oparte na rzetelnej wiedzy i obserwacjach.

EN

In many countries pesticides have become the chief weapon of plant protection against pests and diseases. They have largely facilitated the production of food fodder and also tissues in not only a greater quantity but better quality as well. In addition to their contribution to a substantial growth of organic and animal foods, pesticides have freed human beings from contagious diseases to a degree impossible to imagine in the past. If we want to maintain or increase the current level of food production, further use of pesticides will be a must. On the other hand, however, it is known that the use of them may create problems. While destroying insects, for example, they may also be harmful to plants, animals and even humans. Toxic property of chemical substances in large doses were well known in the past and efforts were made not to expose people unnecesary to them. We are now aware of the fact that a long and permanent exposure to a small dose of toxic substances is very dangerous to humans. The development of environmental sciences and growing criticism of a massive use of chemical substances have changed a former uncritical attitude to pesticides and has led to a more careful and balanced approach to them, increasingly based on solid knowledge and observation.