1st Workshop BOOK - project RHEA

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Effect of flaming with different LPG doses on maize plants was used for crop emergence treatment with a driving speed of about 3 km h -1 and different LPG pressures. During the trials, a hand flamer, equipped with a 15 cm wide rod burner was also used by a walking operator at a LPG pressure of 0.2 MPa and average speed of 2 km h -1 . 16 Fig. 4. Mounted flaming machines used during the study in Vessalico 2.5 Precision hoe The precision hoe is equipped with a hand guidance system and six working units connected to the frame by articulated parallelograms (Fig. 5). Each unit has a 9 cm wide horizontal blade and two sets of tools (spring tines suitable as vibrating tines and a torsion weeder) in order to perform both inter and intra row weed control (Fig. 6). 2.6 The experimental trial Our weed control strategy consisted in creating a false seedbed with a rolling harrow, followed by flaming after crop emergence. This is because garlic can tolerate exposure to thermal radiation for a few tenths of second. Flaming or precision hoeing were used for further weed control . Harvesting was carried out manually for both systems. This is because the garlic plants are dried with whole leaves, in order to twist them into the traditional strings. During the experimental trials, physical weed control treatments were carried out separately. Firstly, a false seed bed was created with the rolling harrow on each experimental plot. Subsequently, garlic was sown manually in three rows spaced 20 cm apart. At early post emergence, flame weeding was carried out at different working pressures (0.2; 0.3; 0.4; 0.5 MPa) using a 3 km h -1 driving speed. At the four leaf stage, three different secondary treatments for each working pressure were performed:
Robotics and associated High technologies and Equipment for Agriculture precision hoeing with vibrating tines + torsion weeder, precision hoeing + torsion weeder and manual flaming carried out with a device carried on the operator's back and operating at a speed of about 2 km h -1 and a working pressure of 0.2 MPa. On some experimental plots, no secondary treatment was performed. Weed interrow and intra-row densities were determined on the basis of a 25×30 cm sampling area. At harvest, crop production and weed biomass were determined. The experimental design was a strip plot with three replicates. Data were analysed by ANOVA. Treatment means were separated using Fisher's least square difference at P< 0.05 (Gomez and Gomez 1984) Fig. 5. The six-element precision hoe: A) seat for the operator; B) hand guidance system; C) directional wheel; D) articulated parallelogram; E) horizontal blade; F) lateral disc; G) wheel of the articulated parallelogram; H) spring tines Fig. 6. The precision hoe spring tools: vibrating tines (left); torsion weeder (right) 17
Page 1: RHEA-2011 ROBOTIICS AND ASSOCIIATED
Page 5: The research leading to these resul
Page 9 and 10: FOREWORD These proceedings are the
Page 11 and 12: CONTENTS Weed management A Five-Ste
Page 13: A Five-Step Approach for Planning a
Page 16 and 17: A Five-Step Approach for Planning a
Page 26 and 27: Effect of flaming with different LP
Page 37 and 38: Robotics and associated High techno
Page 45: A Five-Step Approach for Planning a
Page 48 and 49: Hyperspectral imagery to discrimina
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4. Methods Robotics and associated
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Robotics and associated High techno
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Camera System geometry for site spe
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3. Experiments Robotics and associa
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Techniques for Area Discretization
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2.3 Temperature sensor cards Roboti
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2.5 Principal points of interest Ro
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Temperature (ºC) Temperature (ºC)
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4. Conclusions Robotics and associa
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3. Results and Discussion Robotics
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4. Conclusions Robotics and associa
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1.3. Time management in Webots Robo
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3.2 Risk assessment Robotics and as
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References Robotics and associated
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6. Conclusions and Future Work Robo
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1st Workshop BOOK - project RHEA

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