Publication: Hidroponik üretim için dalgıç robot tasarımı ve kontrolü
Abstract
Bu çalışmada, hidroponik üretim yapılan alanlardaki bitkilerin köklerinde oluşabilecek hastalıkların erken teşhisi, önlenmesi, yerinde ve hızlı değerlendirilmesi için manyetik flagellum aktüatörlü, mezo ölçekli robot için bir kontrol yöntemi ve tasarım adımları sunulmuştur. Ayrıca robotun prototipi üretilerek ilk hareket deneyleri de yapılmıştır. Kök değerlendirme için yaygın olarak bilinen bir teknik, bitkiyi doğal ortamından almak, hastalıkları kontrol etmek ve tekrar bitkiyi doğal ortamına bırakarak, bitkiye stres yaratabilen ve ölümüne yol açabilecek olan hastalıkların gözlenmesidir. Bu değerlendirmelerin bitkilerin kendi ortamında yapılması, bitkilere stres oluşturmaz ve araştırmacıların köklere zarar vermeden birden fazla örnek almalarına izin verir. Robotun tasarımı, millerinin ucuna monte edilmiş, flagellum etrafına radyal olarak yerleştirilmiş neodyum mıknatıslarla donatılmış üç motor içermektedir. Flagellum, demir molekülü içeren silikon ve ferrofluidik sıvıdan yapılmıştır. Radyal olarak bulunan motorların, şaftlarının uçlarına sabitlenmiş mıknatıslarla döndürülmesi, flagellum içindeki demir moleküllerini etkileyen ve yönünü değiştirebilen kontrol edilebilir bir manyetik alan oluşturur. Bu durum tasarlanan robotun kökler içerisinde rahatça hareket etmesini sağlamıştır. Kök hastalığı ile ilgili konular, robotun ön tarafında bulunan bir kamera yardımıyla ve bu verilerin bilgisayarlı görü teknikleriyle işlenmesiyle teşhis edilebilecektir. Robotun manyetik aktüatörle hareket etmesi, daha önce bu amaçla kullanılan robotlara göre hem yenilik içermekte hem de yol planlama ve kontrol konularında üstünlük sağlamaktadır.
In this research presented a control method and design steps for a meso-scale robot with a magnetic flagellum actuator for the early diagnosis, prevention, on-site and quick evaluation of the diseases that may occur in the roots of the plants in the hydroponic fields. In addition, the prototype of the robot was produced and the first motion experiments were made. A commonly known technique for root assessment is to take the plant from its environment and check for diseases and put it back to its environment, which can cause stress on the plant and can lead the death of it. Having these evaluations inside the plants’ environment will not put any stress on the plants and will allow researchers to take multiple samples without harming the roots. The design of the robot includes three motors equipped with neodymium magnets mounted to the end of their shafts, which were radially located around the flagellum. The flagellum is made from silicone and ferro fluidic liquid of iron molecules. Rotation of radially located motors with permanent magnets attached to the tips of their shaft creates a controllable magnetic field that influences the iron molecules inside the flagellum and can change the orientation of it. The issues related with the root disease can be diagnosed with the help of a camera located in the front of the robot and with the processing of that data with computer vision techniques. The movement of the robot with a magnetic actuator is both innovative and superior in terms of path planning and control compared to the robots used for this purpose.
In this research presented a control method and design steps for a meso-scale robot with a magnetic flagellum actuator for the early diagnosis, prevention, on-site and quick evaluation of the diseases that may occur in the roots of the plants in the hydroponic fields. In addition, the prototype of the robot was produced and the first motion experiments were made. A commonly known technique for root assessment is to take the plant from its environment and check for diseases and put it back to its environment, which can cause stress on the plant and can lead the death of it. Having these evaluations inside the plants’ environment will not put any stress on the plants and will allow researchers to take multiple samples without harming the roots. The design of the robot includes three motors equipped with neodymium magnets mounted to the end of their shafts, which were radially located around the flagellum. The flagellum is made from silicone and ferro fluidic liquid of iron molecules. Rotation of radially located motors with permanent magnets attached to the tips of their shaft creates a controllable magnetic field that influences the iron molecules inside the flagellum and can change the orientation of it. The issues related with the root disease can be diagnosed with the help of a camera located in the front of the robot and with the processing of that data with computer vision techniques. The movement of the robot with a magnetic actuator is both innovative and superior in terms of path planning and control compared to the robots used for this purpose.