MULTIPURPOSE ROBOT WITH ULTRASONIC ATOMIZER SPRAYER

FOR INSECT INFESTATIONS CONTROL

ATHIQURRAHMAN BIN ABDUL HAMID

COLLEGE OF ENGINEERING
UNIVERSITI TENAGA NASIONAL

2014
MULTIPURPOSE ROBOT WITH ULTRASONIC ATOMIZER SPRAYER FOR
INSECT INFESTATIONS CONTROL

By

ATHIQURRAHMAN BIN ABDUL HAMID

Project Supervisor
ASSOC. PROF. DR. MOHD AZREE BIN IDRIS

THESIS SUBMITTED IN PARTIAL FULFILMENT OF

THE REQUIREMENTS FOR THE DEGREE OF
BACHELOR OF MECHANICAL ENGINEERING

COLLEGE OF ENGINEERING
UNIVERSITI TENAGA NASIONAL

2014
 LETTER OF APROVAL

Title of Thesis : Multipurpose Robot With Ultrasonic Atomizer For Insect Infestations

Control

Submitted by : Athiqurrahman Bin Abdul Hamid

Student ID : ME085545

The above thesis, submitted in partial fulfilment of the requirements for the degree of
Bachelor of Mechanical Engineering, College of Engineering, Universiti Tenaga
Nasional, has been accepted.

Supervisor : Assoc. Prof. Dr. Mohd Azree Bin Idris

Signature :

Date : 10th February 2014

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DECLARATION

I hereby declare that this report, submitted to Universiti Tenaga Nasional as a partial
fulfilment of the requirements for the degree of Bachelor of Mechanical Engineering, has
not been submitted to any other university for any degree. I also certify that the work
described herein is entirely my own, except for quotations and summaries sources of
which have been duly acknowledged.

This thesis may be available within the university library and may be
photocopied or loaned to other libraries for the purposes of consultation.

10th February 2014 Athiqurrahman Bin Abdul Hamid

ME085545
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ACKNOWLEDGMENT

All praises to Allah for giving me strength to complete this thesis successfully.
Without blessing from him, for sure this project and thesis can’t be completed. Plus, I
would like to thank to all the individuals that help me directly or indirectly help me in
completing this thesis.
I would like to thank to my supervisor, Assoc. Prof. Dr. Mohd Azree Bin Idris
who tersely helps me in giving guidance and all the necessarily tool for me to complete
this project. On top of that, I would like to thank to my mother and two sisters, Puan
Zubaidah Begam, Banu Nisa Abdul Hamid and Shakila Barvin Abdul Hamid who had
help me in giving moral support in continuing this project. Plus, they are also the one who
helps me financially in pursuing the project. I also would like to thank my best friend,
who helps me throughout the project till the day one. Helping me in building the
prototype and also doing the testing in the lab and farm. Furthermore, I would like to
thanks to all the friends that taking final year project under my supervisor for helping me
directly or indirectly.
Last but not least, I would like to thanks to all my friends and lecturers that have given
me ideas and support during this project. Thank you.
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ABSTRACT

This thesis report the design, development and analysis of a multipurpose robot
with ultrasonic atomizer for insect infestations control. In this design, the robot need to
make a complete movement front and back in the farm within a time interval while
spraying pesticide. However, the major problem of this project is the uneven surface of
the farm which makes the movement of the robot unbalance. Therefore, a proper design
and railing system is done to overcome the problem. Technical analysis were done
parallel with the design. This to ensure the design to be optimized and practical in the real
world. Few sketches were done before one finalize design were chosen to be draw in
CAD drawing. To implement a green technology, solar panel is used in this robot as the
power source. After finalizing the design and analyses were satisfied, the robot was
fabricated. Then the robot was tested in lab and farm. Rail for the robot were fixed in the
farm with the total length of 30m. The robot were successfully manage to travel front and
back of the farm within the time interval while spraying the pesticide.
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CONTENTS

PAGE

LETTER OF APPROVAL ii

DECLARATION iii

ACKNOWLEDGEMENT iv

ABSTRACT v

CONTENTS vi

LIST OF TABLES ix

LIST OF FIGURES x

LIST OF ABBREVIATIONS xiv

LIST OF SYMBOLS xvi

CHAPTER 1 INTRODUCTION

1.1 Overview 1

1.2 Problem Definition 2

1.3 Project Objectives 2

1.4 Objective Clarification 2

1.5 Thesis Organization 3

1.6 Chapter 1 Conclusion 3

CHAPTER 2 LITERATURE REVIEW

2.1 Overview 4
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2.2 Agriculture Robot 4

2.2.1 Overview of agriculture robot 4

2.2.2 Sensor in robots 5

2.3 Robot Design 6

2.3.1 Mechanical Design 6

2.3.2 Robot Locomotion 7

2.3.2.1 Rhombus Configuration 7

2.3.2.2 Tracked Vehicles 8

2.3.3 Robot Operation 9

2.4 Type of sprayers 10

2.4.1 Air blast and Proptec Sprayer 10

2.4.2 Ultrasonic Atomizer Sprayer 11

2.5 Comparison of sensing films structure obtained by spray and 12

atomizer methods

2.6 Lead Acid Battery 13

2.7 Aluminium Alloys 14

2.8 Thermal Expansions 14

2.8.1 Overview of Thermal Expansions 14

2.8.2 Linear Expansion 15

2.9 Solar Panel 15

2.10 Safety 15

2.11 Chapter 2 Conclusion 16

CHAPTER 3 METHODOLOGY
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3.1 Overview 17

3.2 Description of methodology 17

3.2.1 Design idea for the robot 19

3.2.2 CAD drawing of the final design 19

3.2.3 Indentify the components for the robot 20

3.2.4 Fabrication of robot base 20

3.2.5 Testing of robot base with load 21

3.2.6 Fixing ultrasonic atomizer on the robot 21

3.2.7 Build track for the robot 21

3.2.8 Works on controller and electronics part for robot 22

3.2.9 Testing the robot in lab 23

3.2.10 Testing robot in the farm 23

3.3 Chapter 3 Conclusion 23

CHAPTER 4 RESULTS AND DISCUSSION

4.1 Overview 24

4.2 Design of the robot 24

4.2.1 CAD Drawing 24

4.2.2 Robot base 25

4.2.3 Track design 26

4.2.4 Sprayer placing on the robot 28

4.3 Material selection 28

4.4 Electronics Components 28

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4.4.1 Microcontrollers 28

4.2.2 Motor Driver 29

4.5 Software Implementation 30

4.5.1 Adruino Programming Language 30

4.6 Motor Selection 31

4,7 Thermal expansions 31

4.8 Wheel Shaft Stress Analysis 33

4.9 Battery 35

4.10 Solar Panel Calculation 36

4.11 Safety 37

4.12 Cost Analysis 38

4.13 Final Design 39

4.14 Chapter 4 Conclusion 42

CHAPTER 5 ROTOTYPE TESTING, DISCUSSIONS AND

RECOMMENDATIONS

5.1 Overview 43

5.2 Prototype Testing 43

5.2.1 Tested in lab 43

5.2.2 Tested in farm 49

5.3 Discussions and Recommendations 51

5.3.1 Tyres 51

5.3.2 Solar Panel and Battery 52

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5.3.3 Arduino 53

5.3.4 Design 53

5.3.5 Sensor 54

5.4 Chapter 5 Conclusion 54

CHAPTER 6 PROJECT CONCLUSION

6.1 Overview 55

6.2 Project Conclusion 55

REFERENCES 57

APPENDICES 59

A FINAL DRAWING OF ROBOT 60

B COMPLETE CODING FOR THE ROBOT 62

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LIST OF TABLES
TABLE NO. PAGE

3.1 List of material and components for the robot 20

4.1 Cost breakdown of the robot 38

4.2 Robot Specifications 40

Using Taguchi Design Method

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LIST OF FIGURES

FIGURE NO. PAGE

2.1 Layout of the YAIR infrared ring. Shadowed 6

sectors show the sensitivity lobes

2.2 Rhombus Configuration; (a) Schematic lateral view of 7

the rover; (b) configuration of the wheels on ground

2.3 Principle of the front fork 8

and Detail of Mesh Around The Tool Tip

2.4 Robot on concave and convex ground 8

2.5 Working of Ultrasonic Atomizer Sprayer; 12

(a) Ultrasonic atomizer sensing film deposition system,

(b) Ultrasonic atomizer Unit

2.6 Microscope images of the surfaces of sensing films 13

deposited by atomizer and spray methods, respectively:

(a) EC, spray; (b) EC, atomizer; (c) Ap-L, spray;

(d) Ap-L, atomizer

3.1 Flowchart of methodology 18

3.2 Robot design sketches 19

3.3 Early simulation in CAD Drawing 20

3.4 Base robot fabrication 21

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3.5 Rail of robot fabrication 22

3.6 Adruino and motor driver in junction box 22

4.1 Simulation of the final design 25

4.2 Fabrication of base design 26

4.3 Testing the base with the rail 26

4.4 Rails joints 27

4.5 Rails fixed of the bricks 27

4.6 Area for placing sprayer 28

4.7 Motor driver 30

4.8 Screenshot of the Audruino program 31

4.9 Linear expansion 32

4.10 Area applied force on the shaft 33

4.11 Von Mises stress analysis 34

4.12 Deflection analysis 35

4.13 Block diagram on solar system working principle 36

4.14 The safety button and reset button from inside view 38

4.15 Isometric drawing of final design 40

4.16 Final prototype of robot 41

4.17 Final robot design with rail in CAD Drawing 41

4.18 Robot in the farm 42

5.1 Robot tyre movement 44

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5.2 Testing the programming for tyre movement 45

5.3 Testing the robot base movement with wireless controller 45

5.4 PWM value for speed control 47

5.5 Robot tested in lab with 30m track 48

5.6 Robot tested its function in the farm with 6m track 49

5.7 Robot tested fully in farm with 30m track 50

5.8 Trolley tyre with roller bearing 51

5.9 Trolley tyre with ball bearing 52

5.10 Microcontroller were kept in water proof box 53

 1

CHAPTER 1

INTRODUCTION

1.1 Overview

Fertigation increases productive utilization of water and composts, produces higher

yields, enhances nature of the handling and nature's domain. To guarantee uniform
dispersion of water and composts, the watering system framework must be legitimately
planned and worked. Fertigation cultivation method has its advantages and disadvantages.
Among the advantages identified in this cultivation method is like giving a complete and
efficient nutrient by the amount of nutrients required by the crop and is the method that is
identified as an alternative method to overcome poor soil, host of diseases and pests.

A robot is the main application where can help to reduce or be an alternative

solution for human man power .It can be more accurate and time efficient. On top of that ,
it can help the farmer to maintains and managed the crops with less works for the them.
Pesticide which is harmful to the people when they use to spray the plant . Therefore a
pesticide robot would help much in reducing the problem .This pesticide infection will
not effect to the farmer . Since ,the robot will work autonomous to spray the pesticide to
the plant .

So, from the development of pesticide spraying robot use in the fertigation farm
can give more benefits for the farmer. The track for the pesticides spraying robot
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movements and the suitable pesticide spray will be count to make sure the robot will
working in efficiently.

1.2 Problem Definition

The main obstacle in designing a multipurpose robot with ultrasonic atomizer sprayer for
insect infestations control is to design a suitable rail for the robot to mobilize in the farm.
This is due to the uneven surface on the farm. Plus, a effective base of robot that suit with
the rail also need to be consider and design it well. Base of the robot is the main part for
the robot which help the body of the robot to work stable. On top of that, designing a
potable robot and rail for this project is quiet a hurdle as well.

1.3 Project Objectives

Supplementing the main objective of designing a multipurpose robot with ultrasonic

atomizer sprayer are three objectives.

1. To design a robot that help to spray pesticide using an ultrasonic atomizer.

2. To design an autonomous robot that follow a rail in the farm.

3. To design a robot that move forward and back along a straight rail at a certain

time interval while spraying pesticide.

1.4 Objective Clarification

The main objective of this project is to design an autonomous robot that can help to spray
the plant using an ultrasonic atomizer sprayer. This objective can be divided into three
sub-objectives: usable in the uneven surface of a farm, can travel within a certain time
interval while releasing the pesticide and save cost and time.

In order for this robot to work in the uneven surface of the farm, it need to have a
proper rail for it to move on the right path. Plus, the robot tyre also need to suit with the
rail design and material. A proper programming need to be done for the robot to move on
 3

the certain time interval and with a constant speed. Constant speed of robot will help the
constant value of pesticide release.

For saving cost and time, this autonomous robot can do it by spraying the
pesticide with constant amount and reduce the cost of labor to spray the pesticide.

1.5 Thesis Organization

This thesis will discuss the process of the design of a multipurpose robot with ultrasonic
atomizer sprayer and is divided in six chapters: Introduction, Literature Review,
Methodology, Design, Development and Analysis, Prototype Testing, Discussion and
Recommendations, and Conclusion.

The Introduction chapter describe the background of this project, problem

definition, project objectives and objective clarification. The Literature Review chapter
discuss on the previous designs done by others and various important components that are
critical for this project such as the solar panel and type of locomotion. The Methodology
describe the way this project is undertaken from staring of this project till the end it was
completed. Plus, the Design and Development chapter tells us how the design and
material were chosen for this project and final design of this project. The Prototype
Testing, Discussion and Recommendations chapters documents all the test done in the lab
and finally in the farm it self. It also discuss on the betterment done to this robot compare
to previous design done for this project and also numbers of recommendation for future
works. Finally this thesis end with the Conclusion chapter, which aim to summarize of the
whole project and its results.

1.6 Chapter 1 Conclusion

This chapter has secured the background information on the project, and defined the
problems to be solved. As a result, three objectives were determines as an answer for said
problems. The objectives then we clarified to get a greater picture to move on with this
project. Finally, a brief view of this thesis were discussed to get a clear picture of this
thesis.
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CHAPTER 2

LITERATURE REVIEW

2.1 Overview

This chapter reviews the history and research of robotic in agriculture in general and
touches deeply on the spraying pesticide robot. Plus, in this chapter also it touches the
innovation done in robotics towards agriculture. Using the green technology in the
robotics and methods of how makes the robot railway system.

2.2 Agriculture Robot

2.2.1 Overview of agriculture robot

Precision agriculture takes the variation within the field into account by observing and
responding to this variation. It is considered vital for sustainable farming. Precision
agriculture can be labour intensive. In this way, there is incredible necessity for
computerization of different farming undertakings like yield scouting, weed control,
gathering and working. In this vein, mechanical results have been connected in different
rural areas. [1]

An essential part of automation in agriculture is self-ruling route. Unanticipated route

frameworks in rural dominion utilized a camera as the sensor and were dependent upon
computer vision method. They were popular in agriculture robotics because of the
 5

accessibility of low cost cameras and the plenty of computer vision strategies that could
be promptly connected. Case in point, a few strategies dependent upon the Hough
transform were developed for line following [2].

Laser range finder(LIDAR) technology does not suffer from the effects of ambient
lighting conditions and thus can be more reliable in an agricultural environment. Also the
viewing range can be larger than that of a camera. Regardless of these advantages there is
very little keep tabs on LIDAR based route in agriculture mainly because of its high
expenses. Diminishing expenses lately has started reestablished investment in this
innovation [1].

2.2.2 Sensor in robots

Infrared (IR) sensors are generally utilized as closeness sensors and for deterrent evasion
in robotics. They offer more level expense and speedier reaction times than ultrasonic
(US) sensors. Notwithstanding, in view of their non-straight conduct and their reliance on
the reflectance of encompassing items, estimations dependent upon the force of the back-
scattered IR light are extremely loose for going purposes. Therefore, environment maps
made with this sort of sensor are of low quality, and IR sensors are practically solely
utilized as closeness indicators as a part of versatile robots. [3]

The IR sensor has been produced as a piece of a versatile robot model called YAIR. This
robot is a multi-sensor model being created for examination in a few issues related with
constant circulated frameworks. YAIR has two fundamental sorts of sensors for guide
building and article area: a US rotational sensor put on top, and a ring of 16 IR sensors
conveyed in eight sets around the edge of the robot, as indicated in Figure 2.1. [3]
 6

FIGURE 2.1: Layout of the YAIR infrared ring[4]

2.3 Robot Design

2.3.1 Mechanical Design

The agricultural wheeled mobile robot in this work is designed as a development platform
of an autonomous field machine for white asparagus harvesting. White asparagus is
cultivated in parallel trapezoidal beds that are heaped up about 60 cm over ground
surface. The cultivation beds are built with 80 cm intervals and 100 cm wide at the
bottom. The heaped beds are always covered with a film to keep the soil moisture in order
to guarantee the product’s quality. The field robot is demanded to operate by striding one
bed at a time. It is also necessary for the robot to have sufficient place for the harvested
white asparagus spears for future development. [4]

The vehicle has a moving system to insurance versatility and mobility in an

environment with extensive unsettling influence. The stage has two drive wheels at the
front with a radius of 30 cm, which are autonomously actuated by two DC motors, and
two casters with a span of 15 cm at the rear. A 450W DC motor (MY1020Z2, Zhejiang
Unite Electric Motor Co., Ltd., China) was chosen under the assumption that the vehicle
goes on a sandy surface with a maximal slant of 5°. Sabertooth motor driver is connected
to activate both motors. The drive wheel is joined with the DC engine pivot through a
second-request chain gears with a degree of 16:1 to enhance the drive force and decrease
the revolution speed. Steering is proficient just by changing the differential speeds of the
front drive wheel.[4]
 7

2.3.2 Robot Locomotion

Keeping in mind the end goal to investigate the interaction constrains between the wheels
and the ground throughout movement in rough landscape, we secured different numerical
models of the robot. Since the robot is intended for moderate rates, we can investigate the
wheel–ground communication dependent upon a static model. The simplest model that
still permits breaking down the key concept of the proposed motion standard is exhibited
in the following sub chapter.

2.3.2.1 Rhombus Configuration

Using a rhombus configuration, the vehicle has one wheel mounted on a fork in
the front, one wheel in the rear and two bogies on each side (refer to Figure 2.2).
Although our bogies have a special geometry, it is the same basic principle as
used for a train suspension: two wheels mounted on a support that can freely
rotate around a central pivot between the two wheel axles. [5]

FIGURE 2.2: Rhombus Configuration; (a) Schematic lateral view of the rover; (b)
configuration of the wheels on ground.[5]

The front fork has two capacities: its spring suspension ensures optimal ground
contact of all wheels at whatever time and its specific parallel component
 8

transform a rise of the front wheel if a an obstacle is experienced (refer to Figure

2.3).

FIGURE 2.3: Principle of the front fork.[5]

The parallel architecture planning of the bogies and the spring suspended fork
give a non-hyperstatic arrangement for the six motorized wheels while supporting
a high ground celarance. This guarantees greatest security and flexibility and also
amazing climbing capabilities. The robot is intended to keep all its six motorized
wheels in contact with the ground on an arched ground up to an insignificant
sweep of 30 cm and on a convex ground up to a negligible span of 35 cm (refer to
Figure 2.4).[5]

FIGURE 2.4: Robot on concave and convex ground.[5]

2.3.2.2 Tracked vehicles

Tracks are by and large favored for general rough terrain requisitions as they offer
low vehicle linkage, thus low resistance to movement. Tracked vehicles have
similar properties to wheeled vehicles and are by and large favored for their
 9

higher attractive effort over additional tough landscape as they spread the load
over a much more wider region a tracked vehicle will just about constantly offer
higher drawbar pull than a four-, six-, or eight-wheeled vehicle of the same mass.
Tracked vehicles for the most part contain a tread, a driver sprocket, an idler
wheel (or on the other hand it may be controlled), and alternatively various
supporting bogie wheels. Tracks by and large experience the ill effects of high
power utilization because of wastefulness from contact between the track and the
ground, and grinding between the substantial number of bogie wheels which
uphold the track profile against the ground. Tracks utilize slide controlling by
differentially driving the tracks for turning. This depends on track slippage so
vehicle odometry on such vehicles is lost, however this is not a significant
drawback as wheel odometry is exceptionally incorrect and must be expanded
with outside sensing modalities.[6]

2.3.3 Robot Operation

The operation of the robot might be separated introduction three classifications to

be specific fully automated, semi-automated, and manually operated. Depending upon the
target nature, any of these three sorts of operation could be chosen.

Manually operated robots refers to robot obliging a human driver to control the
robot. The operator works the robot remotely from an alternate area while the spraying
robot, fastened through link or remotely, is let to spray the plant. This operation usually
depends on the operator controlling way. This is the most essential approach to control a
spraying robot.

Semi- automated robot impart the similitude to physically worked robot in that in
any case they oblige a human operator to work. These sort of robot however incorporate
modules that permit the robot to spray at its own, yet at the same time might be control by
the operator. The outcome prepared by these robots still need to be interoperated by
human operators.
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Fully automated robots alludes to spraying robot can independently spray the
plant without the requirement of a human operator. The fully automated robot incorporate
a control framework that computerizes route of the robot through the track. This robot
will in the end begin spray and stop its process on its own consistent with the program
that was embedded to it.

2.4 Type of sprayers

2.4.1 Air blast and Proptec Sprayer

Two sprayer designs were assessed in these studies; an airblast sprayer (model 1029,
FMC Corp., Jonesboro, AR, USA), and an AARA Proptec sprayer (Ledebuhr Industrial
ventures Inc., Bath, MI, USA). The airblast sprayer was worked at 4 km/h with three
spouts on a side, and tried at three industry delegate water volumes; 187 (nozel disc
#21/2, 1-hole ceramic whirl plate, and 1104 kPa), 468 (nozzle disc #3, 3-gap clay ceramic
plate, and 1104 kPa), and 935 L/ha (nozzle disc #4, 3-hole ceramic whirl plate, and 1242
kPa) (Durand-Wayland Inc., Lagrange, GA, USA). The AARA Proptec sprayer was
worked at 7.2 km/h with three rapid fans, one positioned underneath and two above the
covering at restricting 45° positions, tried at three industry delegate water volumes; 47
(CP #4916-35 orphice plate, and 207 kPa), 93 (CP #4916-46 orphice plate, and 207 kPa),
and 187 L/ha (CP #4916-63 orphic plate, and 221 kPa) (Shower Results Inc., Wheaton,
IL, USA). Untreated plots served as controls in all studies. [7]

Applications were made to both sides of each one treated line; the air blast sprayer
making two passes in the same bearing to finish the requisition, while the AARA sprayer
treated both sides of a column with one pass. Preceding requisition with every sprayer
and water volume blend, ten consistently measured, untreated bunches were picked
randomly from inside in the same vineyard and set into the line to be dealt with at ten
foreordained positions. In each one case, bunches were clung the trellis wire on an opened
paper cut in the fruiting zone, and these positions were stamped to permit bunch
arrangement in the same position for every medication. After every provision, grape
bunches were permitted to air dry for roughly 10 min, and afterward were precisely
recovered and carried to the research facility for further investigation (see beneath).
 11

Kaolin earth (Surround® WP, Engelhard Corp., Iselin, NJ, USA) was utilized to speak to
the splash statement of a pesticide dynamic part, when measuring bunch scope utilizing
the sprayer advances and volumes portrayed previously. Kaolin was connected at 22.4
kg/ha in all treatments.[7]

2.4.2 Ultrasonic Atomizer Sprayer

The sensing films were saved utilizing a ultrasonic atomizer frequently and again utilized
within nebulizers. A fine mist of the film result is processed owing to the ultrasonic
vibration of the atomizer. The film material held in the mist is conveyed to the anode of
the quartz crystal microbalance (QCM). After the vanishing of the dissolvable (generally
chloroform) the sensing material stays as a slight film on the QCM electrode. The
statement framework and the ultrasonic atomizer unit (Honda Gadgets Co. Ltd. Model
HM-2412) are indicated in Figure 2.5. The atomizer is spotted at the lowest part of a
holder loaded with water to a certain tallness (h). The film result is held in a cup found
straight over the atomizer so as to permit the ultrasonic radiation to achieve it. The
transformed mist is conveyed by a stream of dry air, with its rate regulated by a mass
stream controller, and transported to the QCM cathodes through a Teflon tube. The
measure of mist conveyed by the wind stream is controlled by the stream rate and also by
the measure of fog inside the jar that, in turn, is determined by the separation between the
flask and the atomizer (h). A h quality of 25–35 mm is prescribed by the maker with a
specific end goal to get the most highest atomization rate (250 ml/h at 25 °c). The extent
of the transformed mist particles is determined by the vibration recurrence of the
ultrasonic oscillator, hence 3.4 Mhz. The normal size of the produced particles is 3 μm at
that frequency.[8]
 12

FIGURE 2.5: Working of Ultrasonic Atomizer Sprayer; (a) Ultrasonic atomizer sensing
film deposition system, (b) Ultrasonic atomizer Unit. [8]

The principle of the weight atomizer is that fluid is splashed under high weight by
changing over high weight into kinetic energy (velocity). The illustrations of the weight
atomizers are plane hole, weight swirl, double holes, and fan splash.[9]

2.5 Comparison of sensing films structure obtained by spray and atomizer

methods

In Figure 2.6 there are indicated the microscopic images of ethyl cellulose (EC) and
Apiezon L (Ap-L) sensing films stored on QCM gold anodes by the splash and atomizer
routines, individually. The atomizer films were stored at a wind stream rate of 80 ml/min
(EC) and 50 ml/min (Ap-L). EC atomizer films indicate a strong structure while the
splash film shows a structure of round realms owing to the spreading of spread drops on
the cathode surface throughout affidavit. The atomizer film presents more diminutive
dominions and a much littler grain size. Then again Ap-L movies demonstrate an
alternate structure contrasted with EC owing with that Ap-L is a fluid film. Moreover, on
account of Ap-L films stored by the splash strategy, the spaces are segregated expansive
droplets instead of grains. The droplets were because of a dewetting sensation, as is
watched in the figure. Despite the fact that the films saved by the atomizer technique
demonstrate likewise a droplet-like structure, the droplet size is smaller than spray films
and practically all the surface is secured with the film material. [8]
 13

FIGURE 2.6: Microscope images of the surfaces of sensing films deposited by atomizer
and spray methods, respectively: (a) EC, spray; (b) EC, atomizer; (c) Ap-L, spray; (d) Ap-
L, atomizer. [8]

2.6 Lead Acid Battery

According to Benchetrite D. et al. (2005), Lead–acid batteries reconciled into

photovoltaic (PV) frameworks experience the ill effects of an absence of unwavering
quality prompting heterogeneous lifetimes (heading off from 3 to 14 years). In the
additionally punishing cases, the electric cell must be traded much of the time and the
space framework compares to half the worldwide framework require 20 years later of
management. Remarkable and sturdy lead–acid electric cell management is then
important to acquire solid space capacity and in this way, dependable PV systems.[10]
 14

Battery storage device concerns both the charge and the release of the electric cell
however most endeavors concern the charging stage and bunches of charge management
procedures could be watched in the written works. More often than not, they hail from the
auto provision, which working conditions determinedly contrast from PV requisitions.
These management should then be streamlined to PV range, both for the every day and
occasional administrations for restoration. The everyday management, which is the
motivation behind this work, is essentially separated into two sorts: the ampere-hour
administration and the voltage management. [10]

A rechargeable battery storage device vigor space framework is an empowering

part for making the force from a photovoltaic framework dispatch able. A photovoltaic-
based power supply framework is measured to acceptably benefit the framework load,
and to charge the vigor space sub-framework (commonly a lead–acid battery), that will
supply the framework load when the photovoltaic framework is not producing power.
[11]

2.7 Aluminium Alloys

Odeshi A.G. et al. (2013) says that Aluminium alloys are exceptionally famous for car
and aviation application as a consequence of their high particular quality, exceptional
crack durability, excellent corrosion resistance and great formability. These combinations
can experience element stun stacking as on account of car accident or winged animal
strike on flying machine's fuselage or wings. Heat era and maintenance along limited
ways throughout such extreme and quick stacking will prompt neighborhood warm
softening and mechanical shakiness that bring about compelling strain limitation along
tight groups called adiabatic shear groups.

2.8 Thermal expansions

2.8.1 Overview of Thermal Expansion

Most materials stretch when their temperature increases. The decks of extensions
requirement unique joints and backings to take into account extension. A totally filled and
 15

tightly capped bottle of water splits when it is warmed, yet you can relax a metal jug top
by running boiling point water over it (Young et al. 2000).

2.8.2 Linear Expansion

Suppose a rod of material has a length L0 at some intial temperature T0. When the
temperature changes by ΔT, the length changes by ΔL. Experiment shows that if ΔT is not
too large (say, less than 100oC or so), ΔL is directly propotional to ΔT. If two rods made
of the same material have the same temperature change, but one is twice as long as the
other, then the change in its length is also twice as great. Therefore ΔL must aso be
proportional to L0. Introducing a proportionality constant α (which is different for
different materials) [12], we may express these relations in an equation:

(2.1)

The consistent α, which depicts the thermal expansion properties of a specific

material, is known as the coefficient of linear expansion. The units of α are K-1 or (oC)-1.
[12]

2.9 Solar panel

Solar panels are units that change over light into power. They are called "solar" panels on
the grounds that more often than not, the most effective wellspring of light accessible is
the Sun, called Sol by astronomers. A few researchers call them photovoltaic which
implies, fundamentally, "light-electricity."

The solar panels are made of solar cells. A cell is a little plate of a semiconductor
like silicon. They are joined by wire to a circuit. As light strikes the semiconductor, light
is changed over into power that moves through the circuit. When the light is uprooted, the
solar cell quits preparing force. [13]

2.10 Safety

Security viewpoints must be recognized to guarantee the well being of the robot,
the individuals that may be inside the nursery and the nursery itself. Effectively receptive
 16

emergency stop buttons, against knock begin buttons divide empower switches for pump
and motor, key actuated force switch, quick blow wires and knock sensors are the
principle security segments incorporated with the outline of this robot. In the event that a
crisis stop catch is triggered by either bind or micro controller, the robot will stop and
client intercession is obliged to restart to robot. Ready for connectivity takes into account
what's to come acknowledgment of remote control of the robot. This takes into
consideration remote screening and control of robot capacities. [14]

2.11 Chapter 2 Conclusion

The chapter discussed the overall projects revise on things that need to be undertaken.
There are many types of robot in the market that help in agriculture industries. This shows
that how important a robot in helping the agriculture industry such as this project. A
Multipurpose Robot with Ultrasonic Atomizer Sprayer for Insect Infestations Control.
 17

CHAPTER 3

METHODOLOGY

3.1 Overview

After the literature review is completed, it is important to get all the project well planned.
Therefore a proper methodology is needed to ensure all the progress of this project goes
well. This is design based project, therefore it is necessary to follow the engineering
design procedure to produce a reliable end product. This chapter will discuss brief on the
process on how the project will be done starting from the sketch design to the final
product.

3.2 Description of the methodology

Figure 3.1 shows the flow chart that is done prior to this methodology. This flow chart
gives a procedure how we can move on in this project. Plus, if we have any obstacle in
carrying on this project, we can refer back to this flow chart to check back the flow and
continue the project. This flowchart helps much in planning the project.
 18

Design idea for the robot

CAD Drawing of the final

design
Identify the components for the
robot

Purchases components needs to

build the robot

Build robot base

No
Test robot base and it
can move with load

Yes
Understand how ultrasonic
atomizer works

Purchase suitable ultrasonic

atomizer

Build track for the robot

Works on controller and

electronics part for the robot.

Testing the robot in the lab

Testing the robot in the field

FIGURE 3.1: Flowchart of methodology

 19

3.2.1 Design idea for the robot

At the early stages, few sketches is done to come out with a good idea for this robot. For
example, designing a two or four wheel drive robot. This sketches helps to identify with
robot would be efficient for this project.

FIGURE 3.2: Robot design sketches

3.2.2 CAD drawing of the final design

Final design is choose from those sketches of robot design. It cannot be denied that the
CAD drawing is one of the important thing need to be done for any engineering design
project. It helps to get a clear picture before starting building the prototype. Plus, to get an
early simulation in the CAD drawing can help to find the defect in the design. The CAD
software used to draw this robot is Solid Works.
 20

FIGURE 3.3: Early simulation in CAD Drawing

3.2.3 Indentify the components for the robot

All the material, parts and components has been finalized to build the prototype. This is
really important to finalize all the components because we can estimate the cost for the
whole projects .

TABLE 3.1: List of material and components for the robot

No Item Unit
1 150W Scooter Motor 2
2 30A Motor Driver 1
3 Arduino Uno 1
4 Tyres 4
5 Gears and chain 4
6 Aluminium 6061 (Body Frame and Rail) 18
7 Lead Acid Battery 12 V , 18AH 1
8 Ultrasonic Atomizer Sprayer 1

3.2.4 Fabrication of robot base

In order to see the design works well, the fabrication of the robot started from it base. In a
robot, base is a important thing for it as it is the one which makes the robot to be stable
 21

and it will withstand the load on it. The fabrication of the base robot is done using
Aluminum 6061.

FIGURE 3.4: Base robot fabrication

3.2.5 Testing of robot base with load

After completing the design of the base robot including its tyres on it. It was tested with
30 kg load on it to ensure the base robot can be withstand it. If the base robot can’t
withstand the load, the fabrication need to be done again with a different material .

3.2.6 Fixing ultrasonic atomizer on the robot

After the base is finalized, finally the ultrasonic atomizer is ready to be place on the robot.

3.2.7 Build track for the robot

The final part of mechanical design in this project is to build the track for the robot. The
rail is really important for the robot to move smoothly on the uneven surface in the farm.
Plus, it also will guide the robot to move in the direction that need. The material for the
rail is Aluminum 6061 same material with the body of the robot. The rail is design to be
portable where It can be easily fix. Therefore, the rail is design with 1.5m long for each
division and then it is fix for the total length of 30m.
 22

The left and right rail is attached together with an aluminum bar that will be rivet
together. This helps to hold the rail together.

FIGURE 3.5: Rail of robot fabrication

3.2.8 Works on controller and electronics part for robot

To ensure the robot to move autonomous, a microcontroller is needed to be program.

Plus, motor driver is needed as well to makes the motor to move. The microcontroller is
really important as it is the brain for the robot. The microcontroller that was used in this
project is Adruino. The circuits will be place in a water proof box where it can protect the
circuit from getting wet during rainy day.

FIGURE 3.6: Adruino and motor driver in junction box

 23

3.2.9 Testing the robot in lab

After completing all the fabrication of the robot and also the electronics component. The
robot is ready to be tested. First, the robot is tested in the lab to ensure it move smoothly
before it will tested in the farm. The robot was tested on three conditions. The conditions
are :

1. Robot without load and rail

2. Robot with load without rail

3. Robot with load and rail.

3.2.10 Testing the robot in farm

Finally, the robot and rail is fixed in the farm and the robot was tested there. The robot
first was tested with a shorter rail of 6m to ensure it is working in a shorter rail before
going to a longer rail. After that, the robot is tested fully in the 30m rail.

3.3 Chapter 3 Conclusion

In this chapter, it describe on all the stages that will be undertaken to complete the
project. It show how important a methodology in a design based project, from the starting
of designing to the fabricating of the robot. This methodology makes to save the cost and
time in this project.
 24

CHAPTER 4

DESIGN, DEVELOPMENT AND ANALYSIS

4.1 Introduction

By having a clear picture on how the project will be undergone in the Chapter 3, this
project is now focus on the design, development and analysis. To start a design project,
lots of constraints need to be undertaken such as size or weight requirement. All the
design and development of this project is done parallel with the engineering analysis to
ensure the design is practical in the real life.

4.2 Design of the robot

Few design had been done to suit the robot purpose and also the constrain that has in this
project. Main consideration of the design is to create a design that can drive on a rail on
the farm. After sketching few ideas of the it was applied on CAD software using Solid
Works to find whether it can work in real before fabricating the real prototype.

4.2.1 CAD Drawing

After done with the final drawing in the CAD software. Both the robot and the rail is
undergone the simulation in the Solid Works to ensure the robot works well with the rail.
This kind of simulation really important in project which involving design, where this
simulation can help us to get an early picture and show if there is any defect in the design.
 25

By doing this, we can save our money and time. We can just do the product in the first
attempt rather than trying it few time without doing simulation which will waste the time
and increase the cost.

Before starting to design it on the Solid Works, rough sketches for the dimension
of the product was done to ensure easy drawing in the CAD drawing. The drawing was
done part by part then was fully assembled. Before doing the simulation, all the assembly
part need to be checked doesn’t have any error. The error can cause the simulation to be
wrong.

FIGURE 4.1: Simulation of the final design

4.2.2 Robot base

Considering the uneven surface of the track . Therefore a straight rail is need to be build .
This to ensure the robot to move easily in the uneven surface. Therefore, the robot base
need to be work fine with the rail. According to the rail design the simplest way to design
the base is using a 4 tyre robot. This 4 tyres will ensure the robot will not slip from the
track when it is moving. The dimension of the robot 500mm x 550mm x 12mm. Trolley
tyres were chosen for its high strength and can withstand high temperature. In this design,
only two tyres were fix together with the motor through chain and another two tyre were
let free. The motor is mount in the middle of the robot between the two tyre.
 26

FIGURE 4.2: Fabrication of base design

4.2.3 Track design

Track is one of the most challenging part in this project. To tackle the uneven surface of
the farm a suitable track need to be build. A L-bar track has been finalized. This type of
track will avoid the robot to slip has it has its block at the side. Considering the thermal
expansion the track. The track is fix by portion and each of its portion is 1.5 m long. Plus,
this also become easy in fixing the farm and also easy to mobilize when transferring it to
other place.

FIGURE 4.3: Testing the base with the rail

 27

The both left and right rail is joint by a aluminum bar in the middle of it with a
distance of 0.5m each. All of the joins are connected with rivet. Later the rail parts are
tack together on each of them

FIGURE 4.4: Rails joints

To avoid the rail from being slip in the farm, the rail was fix in the farm on a brick. This
brick were then cement to avoid the rail from slip. Plus, this brick also help to raise up the
rail platform and make the robot to avoid touches the ground of farm. This is because, it
can prevent from the grass or other growing from interfering with the robot. Plus, putting
the rail on the brick could help to overcome the uneven surface of the farm as well.

FIGURE 4.5: Rails fixed of the bricks

 28

4.2.4 Sprayer placing on the robot

This robot will be using a ultrasonic atomizer sprayer. The sprayer will be placed in the
middle of the robot. A 30cm x 30cm clear base is leave to put this prayer on. Even though
the sprayer dimension is small but a bigger space is allocated so that in future other type
of sprayer can be placed which is bigger. The base material is aluminum.

FIGURE 4.6: Area for placing sprayer

4.3 Material selection

The robot was mostly build using one type of material, Aluminum 6061. This type of
material is really suitable for this project as it is light, corrosion resistance, and cheap.
Aluminum 6061 was chosen to be used as the rail of the robot as well. As Aluminum
6061 is anti rust it can prevent the rail from being rust. This is because, the rail will be in
outdoor and expose to all kind of weather.

Plus, Aluminum 6061 helps to makes the robot to be lighter which eventually
reduce the force needed for the robot to move.

4.4 Electronics Components

4.4.1 Microcontrollers
 29

The microcontroller that has been used in this project is Arduino Uno. It is an open source
prototype platform (in single board) where it allows the designer to program the board
based on the external wiring. The Arduino Uno is installed with 8 bit Atmel AVR
processor which is Atmega328p. It is used 5V as operating voltage and 16 MHz crystal
oscillator. For the input/output pin, the Arduino has 20 pins with 6 of them are analogue
pin while the other are digital pin. The programming language that is used in this program
is based on Arduino programming language. It is almost similar to the C language
environment. The process of writing the program into the microcontroller is also easy and
convenient as it has pre-programmed boot loader on board that will directly download the
programming into on-chip flash memory. As a comparison, the Arduino is more efficient
comparing to other microcontroller that typically require external programmer to burn the
program into memory such as Peripheral Interface Controller (PIC) microcontroller.

4.4.2 Motor Driver

The motor driver chosen for this project is MD30C an 30 Amp motor driver as it is easy
to get in market. MD30C which is intended to drive medium to high power brushed DC
engine with current limit up to 80A top and 30A consistently. Completely NMOS outline
not just gives quicker exchanging time, it is likewise more productive and no high
temperature sink or fan is needed.

Plus that, MD30C likewise consolidates some easy to understand characteristics,

for example, reverse extremity security and installed PWM generator which permits it to
work without a host controller. The engine can basically be regulated with the installed
switches and rate potentiometer. Outside switches and potentiometer can additionally be
utilized.

As the motor used in this project produce 14.5 A. Therefore this type of motor
driver is suitable for this robot.
 30

FIGURE 4.7: Motor driver

4.5 Software Implementation

4.5.1 Adruino Programming Languange

The programming in this undertaking uses the Arduino modifying programming. It is a

cluster programming that is given by the maker of the Arduino Uno Prototype board
which is can download freely from Arduino site.

The programming language that is utilized as a part of this micro controller is

called as an Arduino programming language. This language is just about like the C
programming environment. Case in point, the thought of control structure in this language
is like the C language. The microcontroller is additionally accompanies the boot loader
ready for. Along these lines the procedure of stacking the system into the memory is
simpler contrast with other microcontroller that require an outside equipment programmer
to smolder the coding into the memory chip.

As for this robot, Arduino programming language is used since the Arduino board
is used as the micro controller for this project (refer to Apendices B for full coding).
 31

FIGURE 4.8: Screenshot of the Audruino program

4.6 Motor selection

Considering the weight of this robot together with the pesticide is consider heavy.
Approximately 30kg. A suitable motor need to be chosen to support this load of robot.

In this case, few experimental was done to compare the sufficient of the motor
within a 12V 100W , 12V 250W , and 12V 400W motors. Due to money constrains,
either this three motors have to be selected as the motor for this project as the motor is
already available.

All of this motor were, tested with an average speed of, PWM 150 and the strain
of the motor was observed. By looking the average speed for this robot and with the load
of 30kg, motor 12V 100 W was chosen as the motor for this project. The other motor is
consider over specification that we needed.

4.7 Thermal expansion

For this project, both the rail and robot will be expose to the environment. The robot and
rail will be place in the farm and they will be expose to different temperature. This
 32

eventually will cause thermal expansion to the robot and rail. However, the most would
be affected is the rail. The expansion on the rail may cause the robot to slip and stuck if
the expansion of the rail is huge.

A thermal expension to the rail was done to ensure the rail is safe to be expose to
the environment in the farm. Below is the equation used to calculate the thermal
expansion of the rail:

FIGURE 4.9: Linear expansion

(4.1)

= ( 23.1 x 10-6) (1.5)(32-25)

= 2.4255 x 10-4 m

= 0.00000024255 mm

where

= The length of expansion (m)

= Thermal expansion coefficient of material(oC)-1.

= The original length of the material (m)

= Temperature difference (oC)

 33

It is proven that, there is almost 0mm expansion. The rail are safe to be used in the farm
and the material selection was right. Therefore we can neglect the thermal expansion on
the rail.

4.8 Wheel Shaft Stress Analysis

The tire of this robot is support a shaft. The shaft which is at the fix position makes the
tyre to move freely with a roller in the tyre. Therefore, there will be a force acting on the
shaft since the tyre will have to support the load of robot and the pesticide.

FIGURE 4.10: Area applied force on the shaft

Assumption of 50kg or 500 N of total weight was taken. Considering there are 4
tyre therefore each shaft will have to withstand approximately 125N .

Stress analysis was done towards the shaft using the Solid Works Simulation. This
helps us to optimize the design of the robot especially the critical part of the robot like the
shaft for the tyre. Taking the material as Aluminum 6061.
 34

FIGURE 4.11: Von Mises stress analysis

Referring to the figure 4.11, the maximum Von Mises stress value for the wheel
shaft is 2.396 (MPa). The yield strength for the Aluminum 6061 is 62.053. Calculating
the factor of safety for the wheel shaft.

(4.2)

= 25.89

Even the factor of safety is high. However , this already be optimize by reducing
the diameter of the shaft. Therefore the factor of safety is consider acceptable. As the
shaft of the wheel should have high factor of safety because it has the maximum tension
among all the parts in the robot. The shaft is the main part have to withstand the load of
the robot.
 35

FIGURE 4.12: Deflection analysis

Referring to figure 4.12, it show the maximum and minimum displacement

happen in the shaft of the wheel. However, it can be neglected as the maximum
displacement is just, 1.635x10-6 mm. The deflection is almost to 0mm. So, there will not
be any major deflection in the wheel shaft.

4.9 Battery

The main power source of this robot is the battery. There is many types of battery that
being used in this current era. The working principle of a battery is the battery consist of
electrochemical cells that convert the chemical energy into electrical energy. There is
positive and negative terminal in each of the cells. Type of batteries that can be used in
this project are lead acid and Lithium Polymer battery.

However, for this robot a Lead Acid battery was chosen as it is cheap and had
long life cycle. The battery was chosen based on the voltage required for the motor and
the electronics components. The motor specification in this robot is 12V. So, a 12V lead
battery was chosen for this project.

Each battery has its own Amp Hour (AH) where we can identify how long the
charge can use for an hour. In this robot, 18AH battery was selected as the battery for this
 36

project. To identify the total amount of power produce by this battery we can calculate
using this equation:

(4.3)

4.10 Solar Panel Calculation

As the world technology is going for green technology, this project is also using
renewable energy as the main source to power up the robot. Solar panel was used as the
power supplier to the robot.

Solar panel is consist of a set of solar photovoltaic modules electricity connected

and fix on a supporting base. This photovoltaic module is made by assembling the solar
cells. Solar panels can be use in commercial or residential area. It’s all depend on the
power rating and efficiency of the solar panel. However, the working principle of this
solar panel is not to power up the robot directly. The solar panel will go through a solar
charger controller then to the battery. The purpose of this solar charger controller is to
make sure the amount of charge to the battery doesn’t exceed and also to ensure the flow
of current in only one direction. A diode is place in the solar charger controller to make
sure the slow is on one way. The solar panel is fix on to of the robot where it will directly
expose to the sunlight.

FIGURE 4.13: Block diagram on solar system working principle

The battery that was used in this project is 12V 18AH battery. Therefore, a
suitable solar panel is needed to charge this battery. For choosing the best solar panel, we
 37

need to identify the amount of works done by the robot. Below are the calculation for the
solar panel :

Based on the previous calculation, it is known that the battery power is 216WH (refer
equation 4.3).

The required solar panel :

(4.4)

Therefore the best solar panel for this robot to charge full the battery for a day is 42.35 W
of solar panel.

However, we can use a less power rating of solar panel but this will affect the rate of
charging of the battery. The time will be longer.

As we know that the motor consume 25 WH of power from the battery to run a full track
of 30m in 10minute, based on the previous calculation (refer equation 4.4). As this robot
will run three time per day , the total power consume for the robot is just 75 WH.

By calculation, the robot can run 2 day with the battery fully charge. Therefore, a
smaller rating of solar panel can be used as the battery can run for 2 days. For this project
a rating of 20W solar panel was chosen as the solar panel will manage to charge the
battery within two day.

4.11 Safety

In building a robot, there will always need to consider the safety. Safety is one of the
important things that we can’t take it minor as it may involve people safety. As this robot
used in fertigation farm where we have people walking around . Therefore few safety
element need to be applied in the robot. An emergency button is placed to stop the robot
function immediately if it malfunctions. This button will help to stop robot immediately
 38

and restart the robot function. There is also an on/off button where we can off the robot if
we want to stop the robot to function.

FIGURE 4.14: The safety button and reset button from inside view

4.12 Cost Analysis

This robot may cost expensive. Even though it is more expensive but it can move with
greater load on it . As the design is develop such that it can carry greater load which
would help in future undertaking.

Table 4.1: Cost breakdown of the robot

No Item Unit Price (RM)

1 150W Scooter Motor 2 560

2 30A Motor Driver 1 119

3 Arduino Uno 1 100

4 Tyres 4 32

5 Gears and chain 4 400

 39

6 Body Frame and Rail ( Alluminium 6061 ) 18 900

7 Lead Acid Battery 12 V , 18AH 1 98

Total 2159

One of the most expensive in designing this project is the rail . As this robot need
a guide to move where it can move in a straight line. The track is build in aluminum and it
proves it can free from corrode. Plus , this track is easy to fix as it is fix by portions . The
previous design of track which uses pipe line is not effective at all since the design is not
practical. This design is practical and affordable. Plus it tackles the huge problem in the
farm which is the uneven surface of the farm. This proves that this track is worth it to be
use and have a long life span. As aluminum is on of the cheapest material that is reliable
for this project in the market. So, aluminum is chosen for the robot and rail.

A higher power motor is choose to encounter the problem of load on the robot. It
is worth it to spend on this type of motor as it can carry more load. Plus , in future the
design of this robot can be modified and put more load of pesticide on this robot .
Therefore a 150W is a worth choice because it can help to bring a heavy load without
giving a strain to the motor. This is because, when the motor has it strain the stall current
will increase which eventually will burn the board.

In this project , the basic and universal controller were used . This controller is the
same as previous design however there is changes in the program . The controller is cheap
and reliable .

Even though this robot is consider expensive. This robot is worth it to be spend ,
as it is more efficient and reliable . This robot , having a greater power motor , solid body
frame , free from corrosion body , tyre can withstand high temperature and higher load .

4.13 Final Design

After doing the necessary design, development and analysis. The final design has be done
in CAD drawing and then fabricated. Below are the robot specifications :
 40

Table 4.2: Robot Specifications

No Details Specifications

1 Dimensions (mm) 50mm (W) x 55mm (L) x 65mm (H)

2 Motor Rating 12V , 150 W
3 Body Material Aluminum 6061
4 Wheel Type Trolley Tyre
5 Wheel Diameter 200mm
6 Weight 15 kg

This is the robot design in the Solid Works:

FIGURE 4.15: Isometric drawing of final design

This is the robot prototype final design:

 41

FIGURE 4.16: Final prototype of robot

This is the robot with the rail in Solid Works :

FIGURE 4.17: Final robot design with rail in CAD Drawing

This is the final robot prototype of the robot in the farm:

 42

FIGURE 4.18: Robot in the farm

This design done after taking consider all the necessary analysis. As the main objective
of this project to make the robot to travel in the rail and don’t slip from it. Plus, the rail
need to help the robot to let the robot to move on the straight part. By doing all the
analysis it proves the calculation was right and the fabrication of the design was as
planned in the CAD drawing. Therefore, this project will move on to the next phase. That
is testing the prototype in the lab and farm.

4.14 Chapter 4 Conclusion

With the completion of this chapter. It marks that, the final design and all the analysis are
done for this are finalize. As such, the final design of the robot was a success. However,
this robot need to be tested after doing the prototype . All the design, development and
analysis makes the robot to be design as optimize as possible.
 43

CHAPTER 5

PROTOTYPE TESTING, DISCUSSIONS AND RECOMMENDATIONS

5.1 Overview

The completion of the design, development and analysis marks the end of design phase.
This chapter will discuss the tests done using the robot in the lab and farm to prove the
functions of the robot. The recommendations for improvise this project is also discuss in
this chapter.

5.2 Prototype Testing

5.2.1 Tested in Lab

In order to start testing, few objectives were list out to make sure the prototype is parallel
with the objectives. The prototype testing objectives are:

1. To ensure it moves front and back with a constant speed.

2. To ensure the robot can withstand the sprayer on it while moving.

3. To ensure the robot moves smoothly with the rail.

As the function of the robot is to move front and back, both motors polarities were fix
parallel to each other and fix it to the motor driver. This makes the motor to move at the
same direction at the same time. Plus, it will also move at the same speed as programmed
 44

due to the connection is parallel to each other. This robot will move forward and will hit
limit switch at the end of rail and will move back after that. Eventually will stop at the
end of the rail as it hits the limit switch.

By connecting in this way, it will avoid differential drive. Differential drive is

where the both polarity of motors is connected in the opposite direction where it helps the
robot to make turns.

FIGURE 5.1: Robot tyre movement

For the first test, the robot is tested with the tire lifted up to ensure the tyre
direction is on the same direction. The limit switch is also tested; when the limit switch is
touched the tyre will reverse the direction.
 45

FIGURE 5.2: Testing the programming for tyre movement

After done with the testing, it then been tested on the smooth surface without the
rail. To ensure, the robot move smoothly. The limit switch is tested as well the
functionality. Gris was applied in the chain and sprocket to ensure a smooth movement
and to avoid high frictions. During the testing, the robot works well by moving forward
and backward with a constant speed. Plus, the limit switch is working fine as it reverse it
direction and stop when the switch is touched at the front and back of the robot.

FIGURE 5.3: Testing the robot base movement with wireless controller
 46

This shows that the first objective achieved as the robot manage to move forward
and backward and the motor selection was successful.

Move on to the second objective, to ensure the robot can withstand the sprayer on
it while moving. The robot was tested with load on it to replace the sprayer. This is
because of the sprayer was not ready. A load of 30kg was place on the robot to test the
movement of the robot. This is to ensure the robot can withstand the load while moving.

By having the load on the robot, the programming was change as the speed of the
motor need to be increase due to the weight. The speed was increased in the programming
in the input of PWM. PWM changes over a stream of digital signals to analog output by
means of beat width balance. The value of PWM is between 0 till 255. This value is the
value need to be change in the program to change the speed of motor.
 47

FIGURE 5.4: PWM value for speed control

The motor selection was right as the motor works fine with the load of 30kg on the robot.
The motor doesn’t not strain to carry the load of 30 kg as he motor manage to move even
the speed is just set to 105. This proven the objective achieved.

As for the last test for the robot in the lab, the robot was tested the movement on the rail.
This was the major part where the robot need to move smoothly on the rail. The rail was
to ensure the robot from slipping from the track and help the robot to move on the straight
path.
 48

After setting all the programming and finalize the robot design the robot is placed
on the rail to test run. The robot with the shape of L, helps to avoid the robot to slip from
the rail. The robot move smoothly on the rail with the distance of 30m and hit the block at
the end and manage to reverse the direction and back to the original position.

The material selection for the tyre was proven right as the trolley tyre doesn’t slip
from the rail and it can move smoothly on the rail.

FIGURE 5.5: Robot tested in lab with 30m track

 49

5.2.2 Tested in the farm

After completing all the testing in the lab and satisfy with the movement of the robot on
the rail. The next stage is to test it in the farm. In order to start testing in the farm,
objective was stated before the starting it. The prototype testing objectives is to ensure the
robot can move smoothly forward and back in on the rail in the farm.

As the robot already tested in the lab for its function, it time for testing its
movement in the farm with the rail. However, the robot was tested in without a rail in the
early stage and the robot can’t manage to move in a straight path and stuck in the middle
of the way. This is due to the uneven surface and no any guiding for the robot to follow.
Later, a partial length of rail was placed in the farm to test the robot on the farm to check
is mobilizations. A total length of 6m track was tested first for the robot to move. The
robot move smoothly on the track and manage to complete the 6m track.

FIGURE 5.6: Robot tested its function in the farm with 6m track
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After completing the test with 6m rail, it is time for the real test where 30m rail is
placed in the farm for testing the robot. All the rail division was placed on the brick to
overcome the uneven surface. The robot move smoothly forward and backward after
hitting the limit switch. The robot manages to complete the full the full distance of 30m
while releasing the pesticide spraying. Plus, the robot manages to overcome the uneven
surface of the farm and avoid itself to slip from the rail. This proven the objective was
achieved.

FIGURE 5.7: Robot tested fully in farm with 30m track

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5.3 Discussions and Recommendations

5.3.1 Tyres

During the testing done, the tyre has no much problem and has one problem where it
doesnot move straight. This is due to the bearing in the tyre. This type of tyre using a
roller type bearing with makes the movement not smooth. However, this can be overcome
by using a more expensive type of trolley tyre. Trolley tyre which uses a ball bearing
inside it.

FIGURE 5.8: Trolley tyre with roller bearing

Other than that, the trolley tyre was a good choice for this type of robot as it can
withstand high load plus can withstand high temperature as well. Moreover, this tyre
doesn’t slip when travelling on the aluminum rail because it has high coefficient of
friction. So, this material of tyre is the best choice for this robot and just the bearing
modification needed to be consider.
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FIGURE 5.9: Trolley tyre with ball bearing

However, if we intended to change the rail design in future then the tyre design
could be different.

5.3.2 Solar Panel and Battery

The current design using a 20W solar panel which need 2 days to fully charge the battery.
Based on the engineering calculation for the solar panel and battery, this 20W solar panel
is enough to fully charge the battery in 2 days. The battery uses in this robot, 12V 18 AH
can run the robot for 6 times for 2 days and runs 10 minute each time. This battery charge
is enough to run the robot, while the battery is charged from the solar panel. So, the cycle
can help to run the robot every day.

In future, the power of the solar panel can be increased. This is to increase the rate
of charging battery to one day. This would save the time of charging the battery. Not that
all, a solar tracker deisgn can be fix on the robot and design the solar panel to move to the
side where more intensity of sun light area. This can help to increase the charging rate.

Solar tracker is a device which helps to collect the data on which side the high
intensity of sun light. Therefore, this could help the solar panel to move in the area where
there is more sunlight. Another way maybe just using a higher power rating solar panel
and high efficiency solar panel. This may cause more money but it will be more effective.
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5.3.3 Adruino

Audrino is one of the easiest microcontroller to be programmed and it work well with
most of the motor driver. Plus, the Audrino can have input of 12V which is the same
voltage with the motor. Therefore it make the circuit easy as the battery supply can be use
for motor and micro controller.

However, there is many case that Audrino is not that reliable in outdoor whether
where the board can spoil quickly. This can be overcome by placing the board in a proper
manner and box it well from expose to the environment. However, in future by creating a
custom made board with a motor driver in it would be more efficient. This is because it
help to malfunction.

FIGURE 5.10: Microcontroller were kept in water proof box

5.3.4 Design

During designing this project one of the most thing included in the consideration is to be a
user friendly robot. This is because to make it easy to transfer the robot from a place to
another. Plus, the rail also is easy to fix any where since it is portable. This design really
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helps to make this robot as user friendly. In this project design, the 4 tyre with the rail of
L shape helps it to avoid the robot to slip from the rail.

However, there is always a room to make improvement in the design. In future,

this robot can be change to be more light in weight and small in dimension where it can
be a hanging robot. The pesticide can be placed in a specific area and fix a tube to the
hanging robot. The robot will move to help spray the pesticide. Eventually this will
reduce the size of the robot.

5.3.5 Sensor

In this project design, the is no sensor used on the robot to help the movement of robot. In
the current situation, the design is working well as it has the guidance from the rail. The
rail has become as the ‘sensor’ for the robot to move. However, in future maybe sensor
can be placed and used in the robot.

This sensor could save the cost from using the rail. As it helps the movement of
the robot from moving in other direction. Fro example, Infrared Sensor (IR) could help to
maintain the robot distance from the plant and makes the robot to move in a straight
direction.

5.4 Chapter 5 Conclusion

This chapter finalizes of the project works where all the test were done in lab and farm.
During the test, the objectives were kept clear to make sure the testing was to accomplish
those objectives. Plus, during the literature review readings and doing the testing. A lots
of other idea an recommendations were take noted. This is because in every design there
will always be a room of improvement. Therefore, this chapter conclude the prototype
testing and also the recommendation could be done in the future undertaking of this
project.
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CHAPTER 6

PROJECT CONCLUSION

6.1 Overview

This chapter will conclude the process taken, the outcome of this project and finally the
objectives completed.

6.2 Project Conclusion

The project started by stating the problem in the projects. Then come out with the
objectives. All the objectives stated in for this project (refer Chapter 1.3) were
accomplished. Therefore, the project can be consider as success. To evaluate a success of
a project is by accomplishing all the objectives .

The main problem in this project is to design a robot to overcome the uneven
surface in the farm. By keeping this in the mind, the objective were set out. The literature
review help to understand and get a understanding on the current situation in the real
industry out there. Based on the study done through the literature review, the objective
gets more clear and helps to overcome the projects problems. To start the project the
methodology is one of the important elements. Methodology helps in planning all the
things need to be done.
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After getting all the details, it helps to proceed with design, development and
analysis. In doing a engineering projects, analysis and calculation plays a major role as it
saves people cost and time. By doing in the CAD Drawing for the drawing and simulation
for the robot it makes the task become easier. The simulation helps to make the design to
optimize. Not that all, the rail and robot design can be tested the working by using the
simulation. After the design was satisfied in the simulation its ready to fabricate as all the
analysis done.

As the main objective for this project, design an autonomous robot that can help to
spray the plant using an ultrasonic atomizer sprayer. It has been achieved. This objective
was achieved by programming the robot to move on autonomous and following a rail.
The concept of rail in this project helps to overcome the uneven surface and makes the
robot to move in a straight path while spraying the pesticide. This robot was tested fully
in the lab and the real farm and its proves works well.

Besides that, there are always rooms of improvement in this project. For example,
improving the solar system of the robot and fabricating the own microcontrollers.

Looking back to the main objective, this project is considered to be successful as

all the requirements and objectives achieved. The design and analysis completed proves
that the robot’s final design is able to move in the farm autonomously front and back
within a certain time interval while spraying pesticide. Moreover, the main problem of the
uneven surface of the farm was overcome by designing a proper rail in the farm for the
robot.
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REFERENCES

[1] S.A. Hirematha et al., “Laser range finder model for autonomous navigation of a
robot in a maize field using a particle filter,” in Computers and Electronics in
Agriculture, vol. 100, Elseivier, January 2014, pp. 41-50.

[2] T. Hague and N.D. Tillett, “Navigation and control of an autonomous horticultural
robot,” in Mechatronics, vol. 6, Elseiver, March 1996, pp 165-180.

[3] G.Benet et al., “Using infrared sensors for distance measurement in mobile
robots,” in Robotics and Autonomous Systems, vol. 40, Elseiver, 30 September
2002, pp. 255-266.

[4] F. Dong et al., “Time-optimal guidance control for an agricultural robot with
orientation constraints,” in Computers and Electronics in Agriculture, vol99,
Elseiver, November 2013, pp. 124-131.

[5] R. Siegwart et al., “Innovative design for wheeled locomotion in rough terrain,” in
Robotics and Autonomous Systems, vol. 40, Elseiver, 31 August 2002,pp. 151-
162.

[6] A. Ellery, “Environment–robot interaction—the basis for mobility in planetary

micro-rovers,” in Robotics and Autonomous Systems, vol. 51, Elseiver, 30 April
2005, pp. 29-39.

[7] J.C. Wise et al., “Sprayer type and water volume influence pesticide deposition
and control of insect pests and diseases in juice grapes,” in Crop Protection, vol.
29, Elseiver, 2000, pp. 378-385.

[8] S.M. Aguirre et al., “Study of deposition of gas sensing films on quartz crystal
microbalance using an ultrasonic atomizer,” in Sensors and Actuators B:
Chemical, vol. 105, Elseiver, pp. 144-149.
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[9] Phattharawadee Phanphanit, “Experimental and Computational Study of an

Ultrasonic Atomizer,” Ph.D.dissertation, Faculty of Engineering and Physical
Sciences, Manchester Univ., England, 2011

[10] D. Benchetrite et al., “Optimization of charge parameters for lead–acid batteries

used in photovoltaic systems,” in Power Sources, vol. 144, Elseiver, pp. 346-351.

[11] A.F.Caballero et al., “Optical flow or image subtraction in human detection from
infrared camera on mobile robot,” in Robotics and Autonomous Systems, vol.58,
Elseiver, 31 December 2010, pp. 1273-1281.

[12] H.D. Young and R.A. Freedman, “Thermal Expansions,” in University Physics,
vol. 10, 2000, pp. 465-466.

[13] Qualitative Reasoning Group ,Northwestern University,

http://www.qrg.northwestern.edu/projects/vss/docs%20/Power/1-how-do-solar-
concentrators-work.html. Accesed on 7 February 2014.

[14] P.J. Sammons et. al., “Autonomous Pesticide Spraying Robot for use in a
Greenhouse,” School of Mechanical and Manufacturing Engineering, New South
Wales Univ., Australia, 9 September 2005
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APPENDICES
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APPENDIX A

FINAL DRAWING OF ROBOT

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APPENDIX B

COMPLETE CODING FOR THE ROBOT

int dir = 2; //red wire

int spd = 3; //pwm(green)

int sw1 = 6;

int sw2 = 7;

void setup(){

pinMode(dir, OUTPUT);

pinMode(spd, OUTPUT);

pinMode(sw1, INPUT);

pinMode(sw2, INPUT);

delay(5000); //starting delay time

void loop(){

digitalWrite(6,HIGH);

digitalWrite(7,HIGH); //front

digitalWrite(2, HIGH);

analogWrite(3, 100); //speed(0-255)

if(digitalRead(sw1)==0)

{
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while(digitalRead(sw2)==1)

digitalWrite(7,HIGH); //back

digitalWrite(2, LOW);

analogWrite(3, 245); //speed(0-255)

analogWrite(3, 0);

delay(28800000); //stop hw long