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Development and Control of a Suitable Robotic Manipulator for Wash Root Paddy Nursery
(Punjab Agricultural University, 2023) Jaideep; Manjeet Singh
The study aimed to develop a robotic manipulator for the singulation and transplanting of seedlings from a bunch of wash-root paddy nursery. Previous attempts to develop mechanical transplanters for wash root paddy nursery faced challenges, leading to the exploration of robotic systems for seedling singulation. To develop robotic manipulator, study was conducted to determine physical and mechanical properties of wash root seedlings at different growth stages for consecutively two years in 2020-21 and 2021-22. The collected data was used in the development of the robotic manipulator and different electro-mechanical mechanisms used for seedling segregation and conveying. During the evaluation phase, the electro-mechanical mechanisms showed inadequate segregation from the bunch of wash-root seedlings. Modifications were made in the robotic manipulator’s design, enhancing its arm reach and end-effector design to achieve the desired functionality. The approach to program the robotic manipulator for pre-specified positions instead of image processing technique was considered for more flexibility and adaptability in segregating the wash-root seedlings. The Jetson Nano microprocessor was utilized for control and coordination, enabling execution of the manipulator’s operations. A forward kinematic analysis using the standard Denavit-Hartenberg (D-H) algorithm and RoboAnalyzer software were used for the control of robotic manipulator. Python language was used for the programming to control the manipulator’s actions and interactions with the wash-root seedlings in tray. Seedling height ranged from 153.3 mm (PR-121 variety) to 553.4 mm (PB-1125 variety) across different ages and varieties. PB-1125 variety is the longest variety, and PB-121 variety is the shortest variety amongst all four varieties selected for the study. Cross-sectional area of the wash-root seedlings varied from 3.63 mm2 (PB-1509 variety) to 9.46 mm2 (PB-1125 variety). Average tensile force and compressive force varied 6.72-26.53 N and 5.74- 14.74 N respectively for all 3 varieties and 3 growth stages of the seedlings. During the evaluation of robotic manipulator, the minimum percentage of cycles i.e., 15.33% missing the seedlings were observed for the washed seedlings of varieties PB-1121 and PB-1509 at the age of 30 DAS. It was concluded that average seedlings picked per cycle varied in the range of 1.45 to 1.88 with highest seedlings picked at 25 DAS and lowest picking was of seedlings at 35 DAS. Data analysis showed that the percentage of more than 3 seedlings picked per cycle varied in the range of 10.00-20.67% with the highest percentage was observed at 25 DAS of the seedlings and lowest percentage was recorded for seedlings aged 35 DAS. Overall, the performance of developed robotic manipulator was better for the seedlings of all the selected varieties at the age of 35 DAS.
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Development and evaluation of a seeding attachment of combine harvester for sowing wheat while harvesting paddy
(Punjab Agricultural University, 2023) Parihar, Dilwar Singh; Narang, Mahesh Kumar
An intensive paddy-wheat rotation system produces high yields but leaves abundant residue in the fields after harvest, which interferes with sowing operation of the next crop. In the North Western part of IGP (Indo-Gangetic Plains), more than 75% of the paddy is harvested with the combine harvesters. After combine harvesting, usually a considerable amount of loose straw and standing stubble left in the field. For timely sowing of next crop paddy residue burning performed by farmers which is a major environmental problem in many rice-producing regions. The practice not only causes air pollution but also contributes to greenhouse gas emissions and climate change. This residue needs to be managed through incorporation and/or mulching for timely sowing of wheat crop. Presently, straw incorporation or direct sowing of wheat in stubble fields require highly energy-intensive machinery and time to attain desired results. Direct seeding of wheat during paddy harvesting is a promising alternative to mitigate paddy residue burning, but it requires specialized equipment. Therefore, a seeding attachment was developed for combine harvester for sowing wheat simultaneously during harvesting of paddy. In light of this, three different furrow openers (i.e. concave disc, double disc and punch hole) were evaluated at three levels of forward speed and stubble heights. The concave disc type furrow openers has been selected for development of seeding attachment because of good straw handling ability and less choking observed during the field evaluation. Thereafter, the performance of the seeding attachment was carried out while paddy harvesting at three different forward speeds (i.e. 1.5, 2.1 and 2.8 km/h) and stubble heights (i.e. 38, 45 and 52 cm). The dependent parameters for the study were plant emergence per meter length, tillers per meter length, effective tillers per meter length, plant height, panicle length, number of grains per ear head, weight of grains per ear head, grain yield, fuel consumption and field capacity of the seeding attachment. The plant height, panicle length and number of grains per ear head were found non-significant at selected forward speeds and stubble heights. Plant emergence per meter length, tillers per meter length, effective tillers per meter length, field capacity, fuel consumption, and grain yield were found 23.6-31.6, 76.6-80.4, 72.06-75.82, 0.6 ha/h, 14 l/ha, and 4408 kg/ha respectively. The best results were obtained at 2.1 km/h forward speed and 38 cm stubble height. It was found that the seeding attachment improved the utility of combine harvester, reduced energy and time associated in straw management and wheat sowing operations. The current study indicated a significant gain in energy-use efficiency, and a reduction in environmental pollution is possible with developed seeding attachment by avoiding paddy residue burning.
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Development and evaluation of paddy straw size reduction machine for industrial application and energy production
(Punjab Agricultural University, 2023) Mahadik, Akshay Sanjay; Dogra, Ritu
A motor operated paddy straw size reduction machine was designed, developed and evaluated. The machine consisted of a rotating inlet bale drum, an adjustable feeding grate, two rotating drums, three concave sieves, power unit, power transmission unit and discharge unit. A rotating bale drum was provided for feeding the square or rectangular bales to the machine. So, labour requirement was less in the developed machine as the bales were directly fed to the machine. The cutting mechanism was designed to cut the straw effectively. The knives were used for cutting the paddy straw which reduces the energy requirement of the machine. There were two rotating drums used in the cutting mechanism of the machine, where the first rotating drum cuts the straw and passes it to the second rotating drum for further size reduction as per the requirement. Power to the rotating drums were provided from suitable motor. An inclined platform as discharge unit was provided to draw out the chopped paddy straw from the machine. The machine was evaluated in the laboratory conditions at three level of grid size of concave (G1=8 mm, G2=10 mm and G3=12 mm), three levels of number of rows of counter blades (C1=3, C2=2 and C3=1), three levels of rotational speed of drum 1 (A1=851, A2=1020 and A3=1277 rpm) and three levels of rotational speed of drum 2 (B1=851, B2=1020 and B3=1277 rpm). These independent parameters significantly affected the dependent parameters namely energy consumption, output capacity and straw size (10-15 mm, 5-10 mm and 1-5 mm) percentage at 5% level of significance. Minimum energy consumption was 15.88 kWh/t found at combination of 12 mm (G3), one row of counter blades (C3), 851 rpm (A1) and 851 rpm (B1). Maximum output capacity was 668.01 kg/h found at combination of 12 mm (G3), one row of counter blades (C3), 1277 rpm (A3) and 1277 rpm (B3). The best combination of independent parameters for the machine was found at 12 mm of grid size of concave (G3), one row of counter blades (C3), 1020 rpm of rotational speed of drum 1 (A2) and 1020 rpm of rotational speed of drum 2 (B2) with higher output capacity of 575.68 kg/h, lower energy requirement of 18.60 kWh/t, higher straw size (10-15 mm) percentage (28.24%), higher straw size (5-10 mm) percentage (34.88%) and lower straw size (1-5 mm) percentage (16.85%).
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Development of sensor based integrated system for measuring soil compaction and electrical conductivity of soil.
(Punjab Agricultural University, 2022) Vinay Kumar; Bector, Vishal
The tractor mounted and hydraulically operated real time sensor based integrated system for measuring soil compaction was successfully developed and evaluated in the field. The preliminary computer aided design version developed in the department was further modified and upgraded by using NX software considering its both direct modelling and parametric capabilities. The design parameters of the developed soil sensor were similar to ASAE Standard S313.3 with incorporation of soil electrical conductivity measuring sensors at the tip of the cone of the cone penetrometer. The major components of the developed cone penetrometer were frame, hydraulic cylinder, probe, ultrasonic depth sensor, global position system (GPS), control panel and data acquisition system. The Finite Element Analysis (FEA) of the critical parts as well as the whole assembly with different types of materials was done by using ANSYs software. The Structural steel was selected for construction of frame of the soil sensor due to easy availability and cost efficiency. The En8 was selected for fabrication of probe of the assembly and low carbon-based steel (EN 8 BS970 080M40) material was selected for hydraulic cylinder. The developed soil sensor was evaluated in two different types of soil at two different locations after the harvesting of wheat crop, where the paddy crop was the previous crop in rice wheat rotation and paddy residue was managed as per the treatments. The three treatments for both the location were treatment T1 (rice residue retained on the soil), treatment T2 (rice residue removed manually) and treatment T3 (rice residue incorporated). The developed soil sensor showed sensing accuracy of 95.38 and 95.06% for soil compaction measurement in comparison with manual cone-penetrometer and, 73.42 and 74.45% for soil electrical conductivity measurement in comparison with standard laboratory method in sandy loam soil (S1) and loamy soil (S2), respectively. The coefficient of correlation between the developed soil sensor and hand cone penetrometer was R2= 0.88 and R2= 0.83 for site one and two respectively. The coefficient of correlation between the developed soil sensor and laboratory was R2= 0.93 and R2= 0.89 for sandy loam soil (S1) and loamy soil (S2) respectively for electrical conductivity. The overall results of the machined concluded that it was feasible to adopt the developed soil sensor to establish the reliable, faster and cost-effective soil compaction monitoring system with EC measurements.
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Design, Development and Evaluation of Tractor Operated Tree Shaker for Fruit Crops
(Punjab Agricultural University, 2023) Apoorv Prakash; Dixit, Anoop Kumar
A hydraulically controlled tree shaker has been designed and developed which is capable of generating enough vibrations to shake any fruit tree for harvesting of fruits. It has provision of holding the trunk of tree at desired level up to a height of 2438 mm. The machine has three main assemblies viz., main frame, telescopic arm and vibration unit with grippers. A collecting basket was also developed to collect the fruits falling from the tree. The extended upper diameter of a fully opened basket is around 6706 mm. Type of fruit tree, material of shaking rod, stroke rate and type of collecting basket were selected as independent parameter for the study. The effect of independent parameters was observed on dependent parameters viz., magnitude of vibration (displacement and acceleration), tree damage assessment, fruit detachment efficiency, weight of harvested fruits, percentage distribution of mature, immature, and damaged fruits and harvesting rate, shaking time/tree and fuel consumption. The developed prototype was optimized and evaluated in actual field conditions for harvesting of Aonla and Jamun fruits at university orchards and at village Birmi of district Ludhiana (Punjab). In both type of fruit trees, stroke rate and material of gripping unit has significant effect on displacement at the place of gripping unit of machine and at different positions on the branch of the tree away from the gripping point. Similar trend has also been observed for acceleration, fruit detachment efficiency, weight of harvested fruits and mature fruits. Type of collecting basket has no significant effect on damage of fruits. Bark damage of the tree in case of EPE Foam on grippers was more as compared to rubber type material. During field evaluation good quality mature fruits, immature fruits and damaged fruits were 78.59%, 5.59% and 15.81% respectively for Aonla whereas it was 82.34%, 7.10% and 10.56% respectively for Jamun fruits. The overall fuel consumption recorded while harvesting Aonla and Jamun fruits from the tree is 5.6 and 6.06 l/h respectively. The overall saving in labour was 74-80% in Aonla and 75-81% in Jamun fruit harvesting as compared to manual fruit harvesting i.e., Control.
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Design, development and evaluation of electronic metering mechanism for liquid urea application in straw mulch field.
(Punjab Agricultural University, Ludhiana, 2022) Parveen; Khurana, Rohinish
Currently, granular urea (most commonly used fertilizer) is applied through broadcasting by the farmers in the field. While surface application of urea not only contributed to higher losses and low use efficiency, applying liquid fertilizer below the soil surface gave better utilization by the plant and lower losses. A tractor operated liquid urea injector was developed for injecting measured quantity of liquid urea, under pressure, into the soil surface through a surface mulch of crop residue. The prototype was used to apply liquid fertilizer below soil surface under high mulched no till condition. The machine had five wheels, spaced 40 cm apart, and with periphery mounted 8 injectors. Pressurized liquid fertilizer was supplied to the central hub of the wheel and metered into soil using electronically controlled cut-off mechanism. The electronic mechanism consisted of limit switch, sensor, solenoid valve and relay whereas flow measurement mechanism consist of flow sensor, communication module, power module and display screen. Evaluation of developed machine was done in lab as well as field conditions. In lab conditions, the maximum discharge obtained at maximum operating pressure (P3) was 11.3 L/min. whereas minimum discharge at operating pressure P1 was 3.86 l/min. The field evaluation of the machine was conducted on two different locations having different type of soil using three forward speeds [F3 (1.8 km/h), F2 (2.7 km/h), F1 (3.6 km/h)]. The control was broadcasting method of applying urea to the crop which is used by the farmers. Combined optimum performance in soil S1 (sandy loam soil) and S2 (loamy soil) was obtained of machine at forward speed F2 (2.7 km/h) without affecting crop yield. At this operational parameter the application rate was 1090.85 l/ha and 1035.18 l/ha, field capacity 0.36 ha/h and 0.35 ha/h, and crop yield 39.50 q/ha and 39.63 q/ha, respectively for two soil types. Cost of operation of machine was found 1996.53 Rs/ha. The developed prototype has high field capacity of mechanically injecting liquid fertilizer in the crop root zone. This technology also contributes to the adoption of precision agriculture practices.
Open Access
Design, development and evaluation of baling attachment with self propelled combine harvester
(Punjab Agricultural University, Ludhiana, 2022) Ajaib Singh; Singh, Shashi Kumar
Paddy straw burning is the major issue of Punjab and its adjoining states. The problem of paddy residue burning can be reduced if the loose paddy residue coming out from the conventional combine harvester is managed successfully. A baling attachment with the self propelled combine harvester was designed and developed. Performance of the baling attachment with the combine harvester was evaluated at two levels of forward speed (F1 = 2.0 and F2 = 2.5 km h-1), three levels of belt conveyor speed (B1 = 1.15, B2 = 1.40 and B3 = 1.50 m s-1) in two paddy varieties (V1 = PR 126 and V2 = PR 122). The best operational parameters on the basis of less straw walker and sieve loss were F1B1, F1B2 and F1B3 and on the basis of less fuel consumption (l ha-1) and higher field capacity, the better operational parameters were F2B1, F2B2 and F2B3. The samples of untreated paddy straw, urea fermented baled and stacked paddy straw were analyzed for proximate principles (dry matter, total ash and crude protein) and cell wall constituents (acid detergent fibre, neutral detergent fibre and acid detergent lignin). All the parameters of the proximate principles and cell wall constituents of urea treated paddy straw (both in stack and bale form) were significantly different from the untreated paddy straw. The total income from the fermented bales formed by the baling attachment with self propelled combine harvester and bales from the conventional baling system came out to be Rs. 10046.00 ha-1 and Rs. 13065.10 ha-1, respectively.
Open Access
Design, Development and Evaluation of Paddy Transplanter for Wash Root Nursery
(Punjab Agricultural University, Ludhiana, 2022) Singh, Neeraj Kumar; Narang, Mahesh Kumar
A tractor operated paddy transplanter for wash root nursery was designed, developed, and evaluated. The paddy transplanter is PTO driven and hitched to a tractor three-point linkage. This machine can be operated by 35 hp or above tractor. The machine consists of main frame, gear boxes, chain-sprockets, major & sub shafts, seedling trays and nine transplanting mechanisms. The planting mechanism to delivers seedling from seedling tray and place it into ground by plunger which was operated via cam. A four-bar extended arm mechanism was selected, because the working end oscillates under the designed path by converting the rotary motion which was initially supplied to the smallest link. The power from tractor PTO is transmitted to planting mechanism through a series of connecting shafts, chain-sprockets and gear boxes mounted on main frame. Forward speed (1.5, 2.2 and 3.3 km/h), mechanism speed (200 & 254 RPM) and age of nursery (25, 35 and 45 days) was selected as independent parameters whereas the missing index, numbers of plants per hill, damage percentage and plant to plant spacing were observed for evaluating the developed transplanter under laboratory condition. As the speed index increases, the plant to plant spacing and missing index increase from 123.1 mm to 240.4 mm and 31.11 percent to 64.44 percent, respectively. The number of plants per hill and the damage percentage both decreased as the nursery grew older, from 4.47 to 2.20 plants and 6.67% to 2.22%, respectively. Forward speed of 1.5 km/h and mechanism speed of 254 RPM was selected for field evaluation. The age of nursey (25, 35 and 45) was selected as independent parameter for field evaluation, whereas missing index, multiple index, damage percentage, plant to plant spacing, planting efficiency, field capacity, fuel consumption, cost of operation and yield were selected as dependent parameters and compared to manual transplanting (control). Significant difference was observed in missing index, multiple index, damage percentage, and field capacity at different ages of nursery, however plant to plant spacing, planting efficiency and yield had no significant difference at different ages of nursery. The observed missing index, damage percentage, plant to plant spacing were found higher and multiple index, planting efficiency and yield were found lower as compared to control. The best operating parameter found as forward speed of 1.5 km/h and mechanism speed of 254 RPM for 35 days of nursery. At these operation parameters, missing index was 31.18%, multiple index and damage percentage 4.40%, plant to plant spacing 142.5 mm, planting efficiency 60.75%, field capacity 0.29 ha/h, fuel consumption 4.13 l/h, cost of operation 9512.60 Rs/ha and yield 4.75 t/ha.
Open Access
Design, development and evaluation of a variable rate applicator for real time application of fertilizer
(Punjab Agricultural University, Ludhiana, 2020) Mirzakhaninafchi, Hasan; Manjeet Singh
There is a strong need to avoid use of excessive N as it is unlikely to be effective in increasing crop yields because of its diminishing returns. Therefore, a study was conducted to design and develop a variable rate fertilizer applicator to detect real time deficiency of nitrogen in the field and applying it as per requirement of the crop. To design and develop variable rate applicator, fluted roller type metering mechanism was selected due to having more uniformity than spinner disc type applicator. Suitable nitrogen (N) sensor i.e. Greenseeker was selected for the development of applicator. The microcontroller system was developed and PWM valve was used to vary the rotational speed of hydraulic motor resulting variation in the rotation of metering mechanism shaft. Field performance of the developed machine was measured at different levels of nitrogen (kg/ha), height (cm) of sensor from the crop canopy and at different growth stages of the crop. Fluted roller type metering mechanism was selected having lesser variation (CV ranging from 6.0 to 8.0 %) in fertilizer rate applied as compared to the spinner disc type fertilizer applicator having CV ranging from 20.0-50.0 %. Fertilizer rate at 10 rpm of metering mechanism shaft was minimum i.e. 15.18 kg/ha and was maximum 54.38 kg/ha at 40 rpm of the shaft speed. Speed of shaft of metering mechanism changed from 0 to 40 rpm when NDVI was changing from 0.75 to 0.35. The response time of the control system to apply fertilizer in the field was within the range of 6.45 to 7.81 s. Applied fertilizer by using developed variable rate applicator at different growth stages of the rice crop at 40, 60 and 80 DAT indicated that when fertilizer rate is increasing from N1 to N4, NDVI is increasing from 0.49 to 0.69. Hence, shaft speed is decreasing from 27 to 7 rpm to apply the fertilizer rate 35.47 to 9.00 kg/ha respectively. Total fertilizer applied by variable rate applicator was 122.32 kg/ha instead of 225 kg/ha as recommended by the university resulting 45% saving in fertilizer by using developed variable rate applicator.

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