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UG SEMINAR: EMBEDDED SYSTEM DESIGN FOR AGRICULTURAL ROBOT

NAME: DEPANI BHUMIL RAJNIKANTBHAI

ADMISSION NO.: U16EC076

GUIDE: Dr. A. D. DARJI (ASSOCIATE PROFESSOR & HEAD, ECED)

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Embedded System

https://www.google.comwww.elprocus.com%2Fbasics-of-embedded-system-and-applications

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The Agricultural Robot

https://www.google.com/search?q=different+tasks+of+agricultural+robot&rlz=1C1RLNS_enI

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Typical Block Diagram of Agricultural Robot

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Different Sensors in Agricultural Robot

  • Encoder
  • GPS Module
  • IMU

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Limitations of Different Sensors

  • Limitation of Encoder
    • Mechanical Speed Limit
    • Electrical Speed Limit
  • Limitation of GPS
    • Ionosphere and troposphere delays
    • Receiver clock errors
    • Number of satellites visible
  • Errors in IMU
    • Error due to sensor bias
    • Error due to sampling rate

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Communication Protocols

  • SPI Protocol
  • I2C Protocol
  • NMEA Protocol

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Selection of Processor

  • Processor Speed
  • Power Management
  • Security Needs
  • Safety and Fault Tolerance
  • Debugging Capabilities and Tools
  • System cost

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Algorithm for Encoder

T. Matsunaga, “high precision encoders”, JSPE, Vol. 51, no. 4, pp-722-729

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Filters

  • Why do we need a filter?
    • The problem with accelerometer
    • The problem with Gyroscope

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Complementary Filter

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Kalman Filter

C. Cai et. al., An analysis on combined GPS/COMPASS data quality and its effect on single point positioning accuracy under different observing conditions,Advances in Space Research 54 818-829(2014).

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Experimental Results

Jin-lin XUE, Bo-wen FAN, Xin-xin ZHANG and Yong FENG, “An Agricultural Robot for Multipurpose Operations in a Greenhouse”,2017, [online] Available: https://www.researchgate.net/publication/316815551_An_Agricultural_Robot_for_Multipurpose_Operations_in_a_Greenhouse

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Thank you

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