Mechatronic automatic control system of electropneumatic manipulator.

Mechatronic systems of electropneumatic automation are one of the main classes of industrial automation systems. A laboratory stand for the study of the mechatronic system of automatic control of the pneumatic manipulator and a computer model for preliminary experiments on the adjustment of the automatic control system were developed. Manual and software control modes are provided for research of indicators of safety and quality of management in both modes. To implement the software control mode, a microcontroller part of the laboratory stand based on ADuC841 was developed, with the help of which it is possible to simulate a part of a certain technological process, to detect and eliminate faults in the automatic control system. A study of automatic control systems using a traditional relay-contactor control system, based on GrafCet technology and using a virtual controller. The combination of computer modeling of technological processes and physical modeling of executive mechanisms is a kind of digital double that displays its state, parameters and behavior in real time. The use of a laboratory stand in combination with an adequate simulation model reduces the complexity of developing control systems for practical applications, and also contributes to the formation of students' creative component, ability to analyze the results, and make decisions in unusual situations, which will increase their theoretical and practical training. The study of mechatronic systems of pneumatic manipulators will allow to increase their efficiency and productivity, to optimize their speed and accuracy for various applications in production. The interaction of mechatronic systems of pneumatic manipulators with other technologies, such as machine learning, artificial intelligence, IoT is the basis for creating more integrated and intelligent systems.

Adjustable Vibration Exciter Based on Unbalanced Motors.

In European industry, such as metallurgical, mining and processing, construction, food, and chemical, vibration exciters are used, which indicates their wide and, in some cases, unique technological capabilities. The most common are electromagnetic and unbalanced vibration exciters. The advantages of electromagnetic vibration exciters include the ability to control the amplitude of the vibration by changing the electrical power supplied; the disadvantages are high material consumption. However, unbalanced vibration exciters have low energy efficiency, which is associated with difficult start-up conditions and with an overestimated mechanical power of the vibration exciter in relation to the power required by the technology itself, which is due to the need to minimize the effect of the technological load on the operating mode of the vibrating unit. Adjusting the amplitude of the disturbing force of unbalanced vibration exciters, regardless of the vibration frequency, will make it possible to reduce the installed power of the unit by passing the resonant frequency with a minimum disturbing force and compensating for the effect of the process load by means of a closed-loop electric drive. In the course of the study, an analytical description of the interaction of the rotating unbalances located on a common movable platform was obtained. On the basis of these analytical dependencies, a mathematical model was developed that takes into account the dynamic characteristics of a frequency-controlled asynchronous electric drive of a closed-loop control system for the mutual arrangement of rotating unbalances. The simulation results confirmed the possibility of using the specified electric drive to control the oscillation amplitude directly in the process of operation of a four-unbalanced vibration exciter. A physical experiment was carried out to determine the transient processes of changing the angular velocity of an induction motor with an abrupt change in the frequency converter setting. On the basis of this experiment, the previously created mathematical model was refined in terms of describing the dynamic parameters of the electric drive. The proposed structure of the control system, the performance of which has been confirmed by mathematical modeling, makes it possible to implement an adjustable four-unbalanced vibration exciter using single commercially available asynchronous vibrators.

Robotic Platform for Horticulture: Assessment Methodology and Increasing the Level of Autonomy.

The relevance of the study is confirmed by the rapid development of automation in agriculture, in particular, horticulture; the lack of methodological developments to assess the effectiveness of the introduction of robotic technologies; and the need to expand the functionality of mobile robots. The purpose of the study was to increase the level of autonomy of a robotic platform for picking apple fruits based on a new method, develop a system of factors to determine the effectiveness of the introduction of robots in horticulture, and develop a control system using integrated processing of onboard data. The article discussed the efficiency factors for the introduction of robotic systems and technologies in agricultural enterprises specializing in horticulture within the framework of projects with different budgets. The study sample consisted of 30 experts-enterprises that have implemented robotic platforms and scientists specializing in this field. Based on an expert survey of enterprise specialists, a ranked list of 18 efficiency factors was obtained. To select an evaluation factor that determines the effectiveness of robotization and the developed control system, a method for calculating the concordance coefficient (method of expert analysis) was applied as a measure of the consistency of a group of experts for each group of factors. An analysis of the results of the expert evaluation showed that three factors are the most significant: the degree of autonomy of work; positioning accuracy; and recognition accuracy. The generalized indicator of local autonomy of task performance was estimated based on the analysis of a set of single indicators. A system for controlling the movement of an autonomous robotic wheeled platform based on inertial and satellite navigation and calculation of the path to be overcome was developed. The developed software allows for the design of a route for the robotic platform in apple horticulture to automatically perform various technological operations, such as fertilization, growth and disease control, and fruit harvesting. With the help of the software module, the X, Y coordinates, speed and azimuth of movement were given, and the movement of the platform along the given typical turn trajectories in an intensive horticulture environment was visualized.

Automated Mobile Hot Mist Generator: A Quest for Effectiveness in Fruit Horticulture.

The study relates to the use of automated plant protection systems in agriculture. The article presents a proprietary automated mobile platform with an aerosol generator of hot mist. Furthermore, the cause of the loss of a chemical preparation in the spraying of plant protection products on the tree crown was determined in the course of field research. A statistical analysis of the results of experiment was carried out and the effect of droplet size on leaf coating density was determined. The manuscript presents a diagram of the degree of penetration of the working solution as it drops into the crown of the tree, as well as a cross-sectional graph of the permeability of the spray from the projection of the fruit tree crown. The most effective modes of operation of the automated mobile platform for spraying plant protection products with a mist generator aggregate were established. Analysis of the results shows that the device meets the spraying requirements of the procedure for spraying plant protection products. The novelty of this research lies in the optimal modes identified by movement of the developed automated mobile platform and the parameters of plant treatment with protective equipment when using a hot mist generator. The following mode parameters were established: the speed of the automated platform was 3.4 km/h, the distance to the crown of the tree was 1.34 m, and the flow rate of the working fluid was 44.1 L/h. Average fuel consumption was 2.5 L/h. Effective aerosol penetration reduced the amount of working fluid used by up to 50 times.

The Use of Brewer's Spent Grain after Beer Production for Energy Purposes.

The aim of this study was to assess the possibilities to use brewer's spent grains (BSGs) left over from beer production for energy purposes, and to determine its calorific value and chemical composition. The research materials were samples of wet spent grain from a brewery in Poland. Three samples, that are different in ingredient composition, were examined. The examined samples of BSGs were characterised by humidity that is typical for this product (approx. 77-80%). Convective drying of the spent grain contributed to a reduction in the water content in the biomass to below 10%. Samples of dry spent grain that were examined contained a similar amount of ash (3.8-4.1% d.m.) and organic matter (91.0-91.9% d.m.). All the examined spent grain samples demonstrated similar volatile matter content-approx. 77.8-78.7% d.m. and calorific value-approx. 15.6-15.9 MJ/kg. The estimated calorific value for wet samples (approx. 1.4-2.0 MJ/kg) indicated that it is necessary to lower water content in the biomass in order to improve its energy properties.

Automated Microclimate Regulation in Agricultural Facilities Using the Air Curtain System.

Creating and maintaining the microclimate in livestock buildings is associated with numerous engineering and technical challenges. Together with adequate feeding, the microclimate determines the health, reproductive ability, and production potential of the animals (obtaining a maximum amount of high-quality products). One of the deciding steps in improving the parameters of microclimate, i.e., temperature and humidity in agricultural facilities, particularly in livestock buildings, is to develop reliable and highly efficient air curtains in the vestibules. The objective of the manuscript is to investigate the parameters of the microclimate in livestock buildings using the air curtain, supported by automation and ICT technologies for rational operating modes. The presented theoretical and experimental studies on improving the microclimate parameters in livestock buildings were carried out using an innovative air curtain system. Its power is calculated based on the dimensions of the room, and the flow rate of warm air near the floor level is three times lower than at the installation site. The use of air curtains reduces consumption of thermal energy needed to maintain an optimal microclimate for livestock by 10-15%. Furthermore, the use of an automated digital control system maintains an optimal microclimate in the building. The developed energy-saving system for creating an optimal micro-climate in livestock buildings using air curtains was tested in a pigsty of the Research and Training Farm "Vorzel" of the National University of Life and Environmental Sciences of Ukraine, located in the Kiev region. The developed automated microclimate system using air curtains significantly improves the microclimate parameters and significantly reduces power consumption. The system can be further developed by adding remote control based on the Internet of Things (IoT) technology.