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Remote supervision of autonomous agricultural sprayers: The farmer’s perspective 自主农业喷雾器的远程监控:农民的视角
Q4 Engineering Pub Date : 2018-12-31 DOI: 10.7451/CBE.2018.60.2.19
Uduak Edit, Eric Hawley, D. Mann
The autonomous agricultural machine may soon be a reality. For it to be commercially viable, designers must also consider the design of the interface that will be used to remotely supervise the operation of the autonomous machine. Before the interface can be designed, however, it is necessary to understand the information required by the individual supervising the machine from a remote location Hence, the goal of this study was to determine the expectations of farmers regarding autonomous agricultural machines (specifically, an autonomous sprayer), and to determine the essential information that should be provided on the interface to enable the farmer to supervise the operation of an autonomous sprayer remotely. A questionnaire was developed and distributed to farmers and agriculture students attending western Canadian universities. In a follow-up study, experienced, operators were then asked to rank each parameter that was recommended from the survey using a five-point Likert scale. Findings indicated that sprayer operators are willing to accept an autonomous sprayer. However, to increase the ease of adoption, certain conditions need to be met. Parameters and features that were recommended varied in their level of importance and frequency of usage. These results will help designers minimize the chance of overcrowding the interface with irrelevant information. It will also assist designers with organization of information based on the needs of the farmer and in a way that will increase the situation awareness of the farmer.
自动农业机器可能很快就会成为现实。为了使其在商业上可行,设计者还必须考虑用于远程监督自主机器操作的接口的设计。然而,在设计接口之前,有必要了解从远程位置监督机器的个人所需的信息。因此,本研究的目标是确定农民对自主农业机器(特别是自主喷雾器)的期望,并确定应该在接口上提供的基本信息,以使农民能够远程监督自主喷雾器的操作。编制了一份调查问卷,并分发给加拿大西部大学的农民和农业学生。在一项后续研究中,经验丰富的操作员被要求使用五点Likert量表对调查中推荐的每个参数进行排名。调查结果表明,喷雾器操作员愿意接受自主喷雾器。然而,为了增加收养的便利性,需要满足某些条件。推荐的参数和功能在重要性和使用频率方面各不相同。这些结果将有助于设计者最大限度地减少不相关信息过度使用界面的可能性。它还将帮助设计师根据农民的需求组织信息,并以提高农民对情况的认识的方式。
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引用次数: 5
Non-destructive and rapid discrimination of hard-to-cook beans using hyperspectral imaging 高光谱成像无损快速鉴别难煮豆类
Q4 Engineering Pub Date : 2018-12-31 DOI: 10.7451//CBE.2018.60.7.1
Lina M. Diaz-Contreras, C. Erkinbaev, J. Paliwal
Dry beans stored under sub-optimal conditions tend to develop hard-to-cook (HTC) defect, which extends the cooking time making them less palatable while reducing their nutritional value. The current methods of identifying HTC beans are time-consuming, destructive, and unreliable. A rapid non-destructive inspection technique for pre-screening beans could help identify and discard HTC beans prior to processing. To this end, the potential of hyperspectral imaging technique covering the entire visible to near infrared (NIR) spectral range (400‒2500 nm) was evaluated for rapid and non-destructive identification of HTC beans. The HTC phenomenon was artificially induced in healthy white beans using two different combinations of suboptimal storage conditions of temperature and relative humidity (35℃, 75% RH for 45 days and 60℃, 75% RH for 10 days). Subsequently, the beans were cooked for specified durations and their hardness measured using a texture analyzer. The HTC and control (i.e. easy-to-cook (ETC)) beans were scanned with push-broom hyperspectral imaging systems. Results indicate that both sets of storage conditions rendered the beans HTC but the phenomenon induced by the two different methods was detected in different spectral ranges using hyperspectral imaging. Wavelengths across the entire visible and NIR ranges of electromagnetic spectrum were found useful in detecting HTC as beans stored at 35℃ and 75% RH for 45 days were identified mainly in the 1000‒2500 nm range and those stored at 60℃ and 75% RH for 10 days were identified in the 400‒1000 nm region. The degree of HTC defect could not be ascertained using this technique and requires further investigation.
在次优条件下储存的干豆往往会出现难煮(HTC)缺陷,这会延长烹饪时间,使其不太可口,同时降低其营养价值。目前识别HTC bean的方法耗时、破坏性强且不可靠。一种用于预筛选豆类的快速无损检测技术可以帮助在加工前识别和丢弃HTC豆类。为此,评估了覆盖整个可见-近红外(NIR)光谱范围(400-2500 nm)的高光谱成像技术在HTC豆快速无损鉴定中的潜力。采用温度和相对湿度两种不同的次优储存条件(35℃,75%RH储存45天和60℃,75%RH储存10天)在健康白豆中人工诱导HTC现象。随后,将豆子烹饪指定的持续时间,并使用质地分析仪测量其硬度。使用推扫式高光谱成像系统对HTC和对照(即易于烹饪(ETC))豆进行扫描。结果表明,这两组储存条件都使豆子变为HTC,但使用高光谱成像在不同的光谱范围内检测到了两种不同方法引起的现象。在整个可见光和近红外电磁光谱范围内的波长被发现有助于检测HTC,因为在35℃和75%RH下储存45天的豆子主要在1000-2500 nm范围内被识别,而在60℃和75%RH下储存10天的豆子在400-1000 nm范围内识别。HTC缺陷的程度无法使用该技术确定,需要进一步调查。
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引用次数: 2
Understanding the requirements for a blind-spot monitoring system on tractors from the operator’s perspective 从操作人员的角度了解牵引车盲点监测系统的要求
Q4 Engineering Pub Date : 2018-12-31 DOI: 10.7451/cbe.2018.60.2.33
Xin Chen, D. Mann
Unintentional run-overs occur because the operator of a tractor is unable to physically see all around the machine. Therefore, there is a need to devise an effective blind-spot monitoring system for tractors to prevent unintentional run-overs. The purpose of the study was to identify the locations of blind spots around two types of tractors (i.e., with and without a front-end loader), with the ultimate goal of conceptualizing a blind-spot monitoring system capable of eliminating all existing blind spots. Grids were constructed around all four sides of the tractors to determine the presence of blind spots for drivers of varying sitting height (i.e., 5th, 50th and 95th percentile male for erect and slumped postures) at four horizontal planes representing people of varying stature who might be in the vicinity of the tractor (i.e., standing male, standing female, standing child, kneeling adult). Generally, the proportion of markers not visible decreased as the sitting height increased. Differences between erect and slumped sitting postures were not statistically different suggesting this variable could be ignored in the assessment of blind spots around tractors. The proportion of the markers not visible to the operator varied from 0 to 34%, with higher values observed for the tractor with the front-end loader installed. Values were as high as 42% of the markers not visible for the condition where a passenger was present in the passenger/trainer seat. Use of the existing rear-view mirrors eliminated only a small fraction of the blind spot area around the tractors. Through trial and error, it was determined that five and eight cameras would be required to fully detect the entire blind spot area around the two tractors selected for this study. A blind-spot monitoring system composed of five or eight cameras would create substantial additional monitoring burden for the tractor operator and, therefore, is not a feasible solution. A hybrid blind-spot monitoring system consisting of cameras and proximity sensors warrants further investigation.
由于拖拉机操作员无法从身体上看到机器周围的情况,因此会发生意外的碾过。因此,有必要为拖拉机设计一个有效的盲点监测系统,以防止意外的碾过。本研究的目的是确定两种类型拖拉机(即带和不带前端装载机)周围盲点的位置,最终目标是构思一个能够消除所有现有盲点的盲点监测系统。围绕拖拉机的所有四个侧面构建网格,以确定不同坐高的驾驶员(即直立和下垂姿势的第5、第50和第95百分位男性)在四个水平面上是否存在盲点,代表可能在拖拉机附近的不同身材的人(即站立男性、站立女性、站立儿童、跪着的成年人)。一般来说,不可见标记的比例随着坐高的增加而减少。直立和下垂坐姿之间的差异在统计学上没有差异,这表明在评估拖拉机周围的盲点时可以忽略这个变量。操作员看不到的标记比例从0到34%不等,在安装了前端装载机的拖拉机上观察到的值更高。对于乘客坐在乘客/教练座椅上的情况,数值高达42%的不可见标记。使用现有的后视镜只消除了拖拉机周围的一小部分盲点区域。通过反复试验,确定需要五个和八个摄像头来完全检测本研究所选两台拖拉机周围的整个盲点区域。由五个或八个摄像头组成的盲点监控系统会给拖拉机操作员带来大量额外的监控负担,因此这不是一个可行的解决方案。由摄像头和接近传感器组成的混合盲点监测系统值得进一步研究。
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引用次数: 0
Predicting the Impact of Drainage Ditches upon Hydrology and Sediment Loads Using KINEROS 2 Model: A Case Study in Ontario. 利用KINEROS 2模型预测排水沟对水文和泥沙负荷的影响:以安大略省为例
Q4 Engineering Pub Date : 2018-08-10 DOI: 10.7451/CBE.2018.60.1.1
A. Gupta, R. Rudra, Bahram Gharabahi, P. Daggupati, P. Goel, Rituraj Shukla
Hydrologic models are calibrated and validated with an existing drainage network/drainage pattern (DNDP). However, in present times water could be routed through alternative DNDPs. The main objective of thispaper was to explore the performance of KINEROS 2 model in predicting streamflow and sediment yield in response to alterations in DNDP. Adopting the existing DNDP as an input, the model was calibrated for three events (18 April 2013, 12 June 2012, and 12 June 2013) and validated for two events (12 April 2014, and 30 August 2013) for flow at the watershed outlet. Further, the model was calibrated for eight events and validated for seven events for sediment content at the watershed outlet. Thereafter, the model was driven with a modified DNDP, and its response upon peak flow, direct runoff and sediment yield were investigated for two events (12 April 2014 and 18 April 2013) and a synthetic design storm (2-year-24 hour) at a sub-basin outlet (GUL_RSD). Three DNDPs: DNDP_M (road-side ditches with the same Manning’s n), DNDP_MV (road-side ditches lined with medium vegetation), and DNDP_HV (road-side ditches lined with thick vegetation) were considered. KINEROS 2 results revealed that peak flow, direct runoff, and sediment yield increased by 47.36 %, 31.39 %, and 26.96 % respectively for 12 April 2014 event for DNDP_M. Similar results were obtained for 18 April 2013 and synthetic design storm events. However, when road-side ditches were lined with a thicker vegetation (DNDP_MV and DNDP_HV), a reduction in peak flow, direct runoff, and sediment yield was observed. RÉSUMÉ Les modèles hydrologiques sont étalonnés et validés au moyen de configurations de drainage ou de réseaux de drainage existants (DNDP). Toutefois, à un moment donné l’eau pourrait s’écouler à travers des DNDPs différentes. L’objectif principal de cette étude était d’explorer la performance du modèle KINEROS 2 pour prédire un écoulement et un rendement de sédimentation en réponse à des changements de DNDPs. En considérant la DNDP existante comme donnée entrante, le modèle a été étalonné à l’aide de trois évènements (18 avril 2013, 12 juin 2012 et 12 juin 2013) et validé avec deux évènements (12 avril 2014 et 30 août 2013) pour évaluer l’écoulement à la sortie du bassin versant. De plus, le modèle a été étalonné à l’aide de huit évènements et validé avec sept évènements pour évaluer le contenu en sédiments à la sortie du bassin versant. Par conséquent, le modèle était attribuable à un DNDP modifié, et sa réponse après l’écoulement de pointe, le ruissellement direct et la production de sédiments ont été étudiés pour deux évènements (12 avril 2014 et 18 avril 2013) ainsi qu’avec un évènement pluvieux synthétique (2 ans – 24 h) à la sortie d’un sous-bassin (GUL_RDS). Trois DNDPs : DNDP_M (fossés de route avec le même n de Manning), DNDP_MV (fossés de route recouverts d’une végétation moyenne) et DNDP_HV (fossés de route avec une végétation dense) ont été considérées. Les résultats obtenus
水文模型使用现有的排水网络/排水模式(DNDP)进行校准和验证。然而,在目前,水可以通过其他的DNDPs输送。本文的主要目的是探讨KINEROS 2模型在预测径流和产沙量随DNDP变化的性能。采用现有的DNDP作为输入,该模型针对三个事件(2013年4月18日、2012年6月12日和2013年6月12日)进行了校准,并针对两个事件(2014年4月12日和2013年8月30日)对流域出口的流量进行了验证。此外,该模型针对8个事件进行了校准,并针对流域出口沉积物含量的7个事件进行了验证。在此基础上,采用改进的DNDP驱动模型,研究了2014年4月12日和2013年4月18日两个事件(GUL_RSD)和一个综合设计风暴(2- 24小时)对流域出口(GUL_RSD)峰值流量、直接径流量和产沙量的响应。考虑3种DNDPs: DNDP_M(曼宁值相同的路边沟)、DNDP_MV(路边沟内衬中等植被)和DNDP_HV(路边沟内衬厚植被)。KINEROS 2结果显示,2014年4月12日DNDP_M的峰值流量、直接径流量和产沙量分别增加了47.36%、31.39%和26.96%。2013年4月18日和综合设计风暴事件也得到了类似的结果。然而,当路边沟渠内衬较厚的植被(DNDP_MV和DNDP_HV)时,峰值流量、直接径流量和产沙量均有所减少。RÉSUMÉ Les modules hydrologiques sont samtalonsams et validsams au moyen de configurations de drainage ou de remesaux de drainage exists (DNDP)。Toutefois说,“我不知道你现在在做什么。”L主要目的是德这个练习曲是d 'explorer模型性能的KINEROS 2倒predire联合国重力滑动等联合国rendement de沉积在响应des de DNDPs变化。En considerant la DNDP existante像元entrante,模型的疾病etalonne l 'aide de三evenements(18艾薇儿2013,12 juin 2012等12 juin 2013)等valide用两个evenements来向(2014年四月12日等30 2013)倒安勤科技l 'ecoulement la出击杜港池山坡。另外,你可以用“mod”来表示,你可以用“mod”来表示,你可以用“mod”来表示,你可以用“mod”来表示,你可以用“mod”来表示,你可以用“sortie du bassin versant”来表示。相同的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的(2014年4月12日和2013年4月18日),可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的,可变的三个dndp: DNDP_M (fosssamas de route avec - même n de Manning), DNDP_MV (fosssamas de route revers - de 'une vacimationmoyenne)和DNDP_HV (fosssamas de route avec - une vacimationdense)和DNDP_HV (fosssamas de route avec - une vacimationdense)。结果obtenus用KINEROS 2位于安大略省revele l 'ecoulement德黑,le ruissellement直接et de沉积物augmentaient de la生产47岁的36%,31日39%等26日96% respectivement倒l 'evenement du 2014 pour le DNDP_M艾薇儿。2013年4月18日,他将自己的前程和其他的前程结合起来,将自己的前程和其他的前程结合起来。同样,也有其他的形式,例如,将所有的samsamas de route (DNDP_MV和DNDP_HV),将所有的samsamas de pointe (DNDP_MV和DNDP_HV),将所有的samsamas de pointe (DNDP_MV和DNDP_HV),将所有的samsamas de pointe (DNDP_MV和DNDP_HV),将所有的samsamas de pointe (ddrisselement direct),将所有的samsamas de observte (ssamas)转换为所有的samsamas。
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引用次数: 9
Effect of conditioning treatment parameters of cellulases solution on milling characteristics of brown rice 纤维素酶溶液调理参数对糙米碾磨特性的影响
Q4 Engineering Pub Date : 2018-07-20 DOI: 10.7451/CBE.2018.60.3.1
Qiang Zhang, Nian Liu, Mingmei Tu, Shuangshuang Wang
A new enzymatic pre-treatment method for improving milling characteristics was studied by spraying cellulases solution on brown rice. The effects of enzymatic pre-treatment parameters on milling characteristics of brown rice were analyzed by response surface methodology. The optimum milling characteristic was obtained under cellulases concentration of 117.4 mg/mL, interval time of 77.2 min and temperature of 35.5 °C. Validation experiments indicated that head rice yield and milling energy consumption were respectively 4.59% higher and 32.95% lower than the values for untreated samples, 1.83% higher and 8.10% lower than those of moisture conditioning treatment. The breaking force and surface structure of the brown rice by enzymatic pre-treatment were studied to reveal the mechanism of change for milling characteristics.
研究了在糙米上喷施纤维素酶溶液改善糙米碾磨特性的酶前处理新方法。采用响应面法分析了酶解预处理参数对糙米碾磨特性的影响。在纤维素酶浓度为117.4 mg/mL、间隔时间为77.2 min、温度为35.5℃的条件下,获得了最佳的粉碎性能。验证试验表明,处理后的稻米单产和碾磨能耗分别比未处理的高4.59%和低32.95%,比调湿处理的高1.83%和低8.10%。对糙米经酶处理后的破碎力和表面结构进行了研究,揭示了糙米粉碎特性变化的机理。
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引用次数: 4
Sustainable re-use of dairy cow manure as bedding and compost: Nutrients and self-heating potential 牛粪作为垫层和堆肥的可持续再利用:养分和自热潜力
Q4 Engineering Pub Date : 2018-06-18 DOI: 10.7451/CBE.2018.60.6.1
J. Ackerman, E. Khafipour, N. Cicek
Dairy farm operations rely on a continuous supply of bedding material for cow comfort and hygiene. The re-use of liquid manure for this purpose has become possible after solid/liquid separation of the manure stream and 24 h processing of the separated solids through a tumbling drum composter. The finished bedding solids are reported to produce superior bedding to regular straw and the separated liquid stream can be retained as crop fertilizer. Off-farm export as bedding is only possible if the material is stable to prevent re-heating if bagged or piled. The nutrient value of the retained liquid and the quality of solids for export were investigated on a Canadian dairy farm by examining nitrogen and phosphorus distribution, as well as the self-heating potential of the composted solids. The effect of curing the solids for an additional 4 weeks during both summer and winter operations was evaluated. Results showed that the solids separation and 24 h drum composting process did not result in a compost that could be classified as mature and stable. However, further curing the solid product in ambient temperature piles for 4 weeks reduced compost re-heating from 26.2°C above ambient to 7.7°C (winter curing) and 3.8°C (summer curing). Nitrogen and phosphorus analysis revealed little difference between the liquid stream (post solid separation) and the incoming raw manure on a wet weight basis. The use of either of these products as plant fertilizer is similar and solid separation does not impact the agronomic value of the liquid manure.
奶牛场的运营依赖于持续供应的床上用品,以确保奶牛的舒适和卫生。在粪肥流的固体/液体分离和通过滚筒堆肥机对分离的固体进行24小时处理之后,液体粪肥的再利用已经成为可能。据报道,完成的垫层固体比普通秸秆产生更好的垫层,分离出的液体流可以作为作物肥料保留下来。只有当材料稳定以防止袋装或堆放时再次加热时,才有可能作为床上用品出口到农场外。在加拿大的一个奶牛场,通过检查氮和磷的分布以及堆肥固体的自加热潜力,对保留液体的营养价值和出口固体的质量进行了调查。评估了在夏季和冬季操作期间将固体再固化4周的效果。结果表明,固体分离和24小时滚筒堆肥过程没有产生可归类为成熟和稳定的堆肥。然而,在环境温度堆中进一步固化固体产品4周,将堆肥的再加热从高于环境温度的26.2°C降低到7.7°C(冬季固化)和3.8°C(夏季固化)。氮和磷分析显示,在湿重基础上,液体流(固体分离后)和进入的生粪肥之间几乎没有差异。将这两种产品中的任何一种用作植物肥料都是相似的,固体分离不会影响液体肥料的农艺价值。
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引用次数: 2
期刊
Canadian Biosystems Engineering / Le Genie des biosystems au Canada
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