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AGRICULTURAL : THE NEEDS AND LIMITATIONS IN LARGE SCALE COMMERCIALIZATION Rushali Pant1*, Jyoti Joshi2, Pushpendra Kumar3, Pravin P Patil4 1Department of Mechanical , Graphic Era Hill University, Dehradun, 2,3,4Department of , Graphic Era Deemed to be University, Dehradun, India Email: [email protected]

Received: 10 July 2019 Revised and Accepted: 14 August 2019

ABSTRACT: Although agricultural operations are complex, diverse, labor-intensive, and -directed, agricultural productivity has significantly and continuously increased over the centuries as a result of mechanization, intensification, and more recently, with the introduction of . The advent of agricultural robots has the potential to raise the quality of fresh produce, lower production costs, reduce the drudgery of manual labor, and, in some parts of the world, to compensate for the lack of workers in some agricultural sectors. A key feature of agricultural robots is that they must operate in unstructured environments without impairing the quality of currently achieved. The main limiting factors are production inefficiencies and the lack of economic justification. will inevitably become smarter and fully autonomous; it is only a matter of time. Increases in labor costs and the demand less arduous work, the demands for better quality of life and higher quality produce and the progressively decreasing cost of increasingly powerful computers, electronics and , are all promoting the economic feasibility of agricultural autonomous systems. This paper presents a review of of art robotic and supporting tasks for applications in agricultural processes including , ploughing, harvesting, etc .

Keywords: , Mobile robots, Tracking, Sowing.

1. INTRODUCTION The aim of introducing mechanization in agriculture is to increase the productivity and improve the quality while reducing the labor cost and time of operation. The productivity of agriculture processes can be increased by timeliness of operation and good quality of work. Currently, certain operations like are done partially or completely neglected because of inadequate amount of power availability thus resulting in low yield .

Automation in agriculture has resulted in increased productivity as well as improved social status of all over the world. It is known that due to low production per hectare Indian farmers have the lowest earning per capita. Also, the physical exertion and life of toil are the reason that men of intelligence and ability avoids getting involved in agriculture. It is therefore favorable to reduce this to some extent. It can also be noted that the attitude of people towards agriculture and the status of farmers in India can be uplifted radically by empowering farmers with support of robots. Another query that most people have is that India has surplus labor and animals to carry out cultivation and mechanization would result in unemployment as seventy percent of population in India is dependent on agriculture. However, it is a fact that in coming years increased requirement in the country could only be achieved by increasing the productivity which requires mechanized and effective labor that can perform processes efficiently and this can be achieved by mechanization and automation. Concerns over the increasing demand of food production are the main reason of introduction of automated machines or robots in the fields.

Based on the characteristics of the surrounding environment, every domain of is associated with either of the four categories: 1. Structured environment and structured object, example industrial domain; 2. Unstructured environment and structured object, example military applications; 3. Structured environment and unstructured object, example medical domain; 4. Unstructured environment and unstructured object, example agriculture [1, 2]. The complicated dynamics of agricultural environment makes it an arduous task to build a robotic system.

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Table 1: Various domains in Robotics Various Robotics Domain

OBJECTS Structured Unstructured

Structured Industrial domain Medical ENVIRONMENT Unstructured Military, Space, Agriculture domain

Robots can be defined as a programmable that is capable of performing series of operations automatically. Robots are controlled by using a control system which is handled either externally by an operator or it can be embedded within the robot. Robots perform the given task in a humanlike manner with greater accuracy and high yield and reduces the manpower and workload under stable situations. Designing of autonomous robotic system has to overcome two important challenges; first to deal with non-linear real time response requirements underlying -motor control formulations and second to deal with how to model and use approach to address each different situation [3].

Agricultural processes are complex, labor-intensive, diverse and unique for each crop. Crop characteristics, environmental conditions, market demand, consumer preferences, and ’s capabilities affect the process. Therefore, the or system developed for a certain crop need not necessarily be applicable to another crop or different environmental conditions. The diversity of agricultural processes, complexes the generalization of automation.

However, despite the advances in the field of robotics, not much commercial fully autonomous robots are available for agricultural applications. In the past few decades, many research projects have been carried out that never reached the implementation stage. This is mainly because unlike industrial applications which mostly deal with relatively simple, well-defined and predetermined tasks in a stable environment, agricultural processes deal with a complex, unstructured and dynamic environment. The complexity only increases while considering natural objects such as seeds, or because of variation in shape, size, texture, orientation, position and color. Therefore, various factors such as environment conditions, , payload, maneuverability, visibility, propulsion system, control system, navigation etc., have to be considered while designing a robot for performing agricultural tasks. Reliability and robustness can be considered the primary focus of the design. Another that affects the commercialization of automation for agriculture is the cost of developing a system and inability to perform the same task in different context.

It can be said that the autonomous system developed for carrying out agricultural process should comply by the following rules: 1. The system should be feasible. 2. The system should be robust. 3. The cost of the robotic system should not exceed the cost of any concurrent system.

Some other conditions that need to be fulfilled include increased production, better quality, uniformity, minimized uncertainty in production process and the system developed can efficiently carryout any task which is time consuming and labor intensive.

This paper focuses on the review of robotic technologies and numerous supporting tasks that enables the robot to find its application in the field of agriculture. The application may vary depending upon several agricultural processes like ploughing, sowing, harvesting, , etc. The remaining paper is organized in the following subsections: Section 2 presents a review of agricultural robots and the different supporting tasks such as navigation and path planning. In Section 3, various applications of robots in agricultural activities are described such as sowing, ploughing, harvesting, etc.

2. AGRICULTURAL ROBOTS Agricultural robots are designed to perform a specific task such as sowing, , weeding, irrigation, fertilization, pest control, harvesting, handling and storage. These are the main task that needs to be performed by 349

ISSN- 2394-5125 VOL 6, ISSUE 5, 2019 the robot, but in order to complete these tasks, robot have to perform numerous other supporting tasks such as navigation, path planning, mobility and steering etc. (Fig. 1). One subsystem of controls one or more supporting tasks of the system. Continuous flow of information between the systems controlling the main and supporting tasks results in effective working of a robotic system.

Fig. 1: Structure of Robot System to Perform some Agricultural Task [1]. 2.1 Mobility and Steering An effective subsystem is to be developed that maintains the ground contact, trajectory tracking, and helps in navigating the system. Ground contact in itself is a crucial parameter. The design of the robot frame should be flexible enough so as to continuously maintain the wheel contact with the ground. Also, the system should be capable of operating while neither getting stuck nor damaging the structure. Robots designed for agricultural purpose generally comprises of 4-wheel platform with either 2- or 4-wheel drive and 2- or 4-wheel steering. Some platforms with 6-wheel drive or tracked platforms are also used. Lin et al. [4] developed a 4 wheel-drive/ 4 wheel- steering robot system for seeding purpose (Fig. 2). All wheels are able to perform steering and propulsion. The four wheels are capable of steering in any desired direction using four stepper motors. The propulsion of each wheel is controlled with four servomotors. The platform maintains the orientation even during turning process.

Gat et al. [5] developed a steering algorithm for autonomous vehicle used for performing agricultural processes in a green house. An overhead guide is constructed in a that marks the desired path of the vehicle and is connected to the vehicle by a rigid bar. Lipinski et al. [6] examined steering modes; one where the is steered manually and another is autonomous steering system. Autonomous steering system was found to be much superior to conventional method. Fan et al. [7] designed and fabricated a four-wheel drive for crop/soil information collection. The four driving wheels are equipped with in wheels motors and two steering motors are used for maneuvering. Four motion drivers and one arduino chip are used to control the driving and steering motors.

2.2 Trajectory Tracking For autonomous steering of a vehicle operations such as mobility, navigation and object identification need to be carried out effectively in order to execute tasks (decision making) assigned. Kayacan et al. [8] proposed a robust trajectory tracking error-based control approach for . Tube based approach was used to increase the robustness of the algorithm. The approach was evaluated in real time to measure the tracking accuracy with respect to its computational time. The result showed that the system was able to track linear and curvilinear trajectories with low tracking error. Fernandez et al. [9] proposed a robust digital method based on pole placement to control the lateral position of the skid-steered robot. Xue et al. [10] developed a mathematical model for path tracking control of agricultural wheeled robots. The work is divided into two parts, first to establish motion model of the robot and then sliding mode variable structure was applied to design the controller. The simulation and experimental result both showed that the robot can track the trajectory effectively.

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Fig. 2: 4WS/ 4WD robot for wheat seeding [4].

2.3 Sensors Vision sensors are often used to perform operations like object identification, navigation, guidance etc. Vision sensors are powerful and inexpensive sensing tools that consists of a camera and semiconductors, operating in the IR, NIR or visible spectrum to extract both color and depth information [11]. For proper working these have to be paired with other sensors. Another promising tool that can be used for measuring distance, mapping and obstacle avoidance is . Underwood et al. [12] developed an algorithm that uses 2D LIDAR sensor mounted on a platform for framing detailed map of . Bietresato et al. [13] used LIDAR to create a stereoscopic vision for scanning the targets. Obstacle detection and avoidance are important for proper functioning of robotic system as it prevents the system to collide with bin, trees or other obstacles in the path.

2.4 Path Tracking One other core problem in designing an autonomous vehicle is the path tracking. Path tracking is an important part of the navigation process. It deals with finding the optimal path to move from starting point to the end point while avoiding the obstacles in the path. Research have been done for developing an acceptable path planning algorithm capable of fulfilling navigational demand for autonomous robotic system. Utstumo et al. [14] developed a controller for navigation purpose of a mobile robot being used for weeding purpose. A wheeled track was established and mobile robot followed the established track. The study was made to reduce soil compaction in the field because of robot movement. Hameed et al. [15] developed an approach which ensure 3D full coverage of the field. The approach can be used irrespective of topographical of the field. Cheein et al. [16] proposed a controller based on algebraic approach for path tracking. Kalaivanan et al. [17] proposed a novel coverage path planning using high resolution grid map to reduce the directional constraints. Space is classified as covered, unexplored, obstacle and partial obstacle grid cells. Distance transformation function is used to calculate the shortest distance between the current and the next location. The results showed that the duration to achieve coverage was decreased but the overall coverage percentage was increased.

2.5 Manipulators A robotic is an arm-type electromechanical robotic device that is able to move in a confined space and has an end-effector or tool attached at the end. The manipulator moves and adjusts the end -effector in such a way, that it is able to perform the required operation. Manipulators and end-effectors are actively used in industries for pick and place operations, however, the same can find its application in agriculture viz. for picking, pruning, harvesting and storage purposes. Korayem et al. [18] introduced a dual arm mobile robotic manipulator that can be used to carryout multiple agricultural processes such as spraying , harvesting and removing damaged products. Zhang et al. [19] developed a PPPR robot manipulator with translational and rotational degrees of freedom being three and one, respectively for the purpose of harvesting . The simulation result showed that the mechanism can meet movement requirements of four active joints allocated on the fixed platform. Jiang et al. [20] proposed a genetic algorithm based non-linear programming to design a robot for performing harvesting. The design consists of manipulator for picking purpose, the speed of the wheel varies depending upon the size of the watermelon. Pinhole imaging technology and PID control method was used for enhancing the control system’s dynamics.

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3. ROBOTS APPLICATIONS IN DIFFERENT AGRICULTURAL PROCESSES 3.1 Sowing Sowing is the first step in production of crops. Automating the preliminary stage of crop production can help in increasing the accuracy and efficiency of the field. Although automated seed sowing can offer advantages but it is very complex. Durmus et al. [21] designed a general-purpose . Robot developed can be used to perform operations like fertilization, disease diagnosis, yield analysis and soil analysis with the primary focus of increasing the production efficiency and decreasing the cost. The work was divided into two stages, first to fabricate the robot and second to integrate the task management with the cloud service so that the application software can be linked with the farmer’s mobile phone. Umarkar et al. [22] introduced a similar kind of mobile robot with primary focus of reducing the cost and increasing the productivity.

Xue et al. [23] designed a differential drive robot and controller to perform the simulation followed by tests for path tracking. Jayakrishna et al. [24] designed a four-wheel drive robot for sowing purpose. The robot maximized the seeding point and reduced the seed wastage and future work may include a better fabrication technique to improve the functionality and seed dropping work. Also, a multifunctional robot can be developed that can be used for monitoring, control and others. Srinivasan et al. [25] designed a seed metering mechanism for a mobile robot for seed sowing purpose (Fig. 3a). The proposed design exhibit appreciable efficiency in power consumption. Future work may include use of solar panels to make the robot more cost effective. Gollakota et al. [26] designed a robot namely Agribot to minimize labor of farmer and increasing the speed of work. Naik et al. [27] presented a prototype of an precision agricultural robot for efficient seed sowing purpose.

3.2 Pruning, and Spraying Pruning is done to control the shape of the , to increase sun exposure and to remove protruding branches. It is a labor-intensive task. Although no autonomous system has been reported to carry out this process, automating this process can reduce the overall time invested in the production process of the crop. Weed control and pesticide spraying processes are carried out to prevent any harm to the plant. The focus of both the process is to remove unwanted plant and pests from the vicinity of the crop as it may affect the quality of crops as well as its production. Paul et al. [28] proposed a prototype of autonomous agricultural robot. The robot was designed to perform pesticide spraying operation. Ozgul et al. [29] build a semi-autonomous mobile robot that can be used to perform spraying operation without human interference.

3.3 Irrigation and Harvesting Irrigation plays an important role in growth and development of crop. For increasing the production o f the crops, irrigation system is also to be modified. Satisfactory irrigation technique is yet to be introduced in the market. Therefore, carrying out irrigation with the help of an autonomous device can help to improve the system to some extent. Rafi et al. [30] proposed an autonomous irrigation system that is cost-effective (Fig. 3b). The robot carries the water reservoir and pump. The designed robot is capable of distinguishing between movable items and stationary plants to minimize water loss. Harvesting is the process of cutting, picking, plucking and or a combination of these operations for removing the crop from under the ground or above the ground or removing the useful part or fruits from plants.

(a) (b)

Fig. 3: (a) Autonomous Seed sowing robot [25], (b) Irrigation system prototype [30]

The review of robotic applications in agricultural processes is summarized in Table 2, where various robots supporting tasks and applications are presented with their scientific contributions.

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Table 2: Summary of supporting & main tasks to be performed by Robot that ensure its feasibility in agriculture. CATEGORY APPLICATIONS CONTRIBUTION

Mobility and Steering Lin et al. 2015 [4], Gat et al. 2016 [5], Lipinski et al. 2016 [6], Fan et al. 2017 [7] Trajectory Tracking Kayacan et al. 2015 [8], Fernandez et al. 2018 [9], Xue et al. 2018 [10]

Sensors Nissimov et al. 2015 [11], Underwood et al. 2015 [12], SUPPORTING TASKS Bietresato et al. 2016 [13]

Path Tracking Utstumo et al. 2018 [14], Hameed et al. 2013 [15], Cheein et al. 2016 [16], Kalaivanan et al. 2017 [17]

Manipulators Korayem et al. 2014 [18], Zhang et al. 2016 [19], Jiang et al. 2006 [20]

Sowing Durmuş et al. 2015 [21], Umarkar et al. 2016 [22], Xue et al. MAIN TASKS 2018 [23], Jayakrishna, et al. 2018 [24], Srinivasan et al. 2016 [25], Gollakota et al. 2011 [26], Naik et al. 2016 [27] Pruining, Weed Paul et al. 2017 [28], Ozgul et al. 2018 [29] Control and Pesticide Spraying

Irrigation & Harvesting Rafi et al. 2016 [30]

4. CONCLUSION Robots are complex autonomous systems that consist of various subsystems that are integrated together to carry out a certain set of instructions. For proper synchronization and working of the robotic system in real application, certain parameters such as cycle time, time delay, etc. needs to be handled while integrating the sub-systems. Dynamic and unstructured environment of agricultural systems make use of robots a much complex task. In the last few decades, research have been carried out in this field with the primary focus of increasing the productivity of the agricultural system.

An efficient robotic system that can ascertain its application in the field of agriculture must possess certain qualities. Firstly, the system developed should be robust, i.e. the system must be capable of detecting sudden changes in its environment and also make necessary changes in order to overcome them without affecting the system’s efficiency. Secondly, an intelligent system needs to be introduced that can help the system to overcome these problems. Although many obstacle detection and avoidance algorithms have been proposed, much research is required to be done. Thirdly, economic feasibility of the system needs to be taken into account. The cost of developing and operating a robotic system must not exceed the cost of concurrent system. At last, safety of people, crops, environment and machines is to be considered. The system cannot be allowed to operate in open field unless its reliability can be assured.

Before commercializing agricultural robotic system, it must be ensured that the system consists of sophisticated sensors integrated together, capable of localizing and navigating the system in a dynamic and unstructured environment, an intelligent system that ensures robot’s robustness and reliability in obstacle identification and avoidance and at last, an optimized path planning and tracking system should be incorporated. An efficient manipulators and end-effectors system have to be incorporated that can perform a certain agriculture operation with ease.

Future work must focus on developing an agricultural robotic system that is robust, reliable, optimized and compact. Data analysis and sensors integration should be improved to make the system much more suitable for dynamic conditions. Robotic system being developed should be compact and small in size, should help in reducing

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ISSN- 2394-5125 VOL 6, ISSUE 5, 2019 its impact on the environment (ground pressure, soil compaction) and reduce the cost of the system as small systems are usually cheaper than larger ones. Research needs to be carried out to integrate between the robotic system and human operators in order to increase the performance of th e system. Research can be done to develop robots that can perform certain set of complex and labor-intensive agricultural task simultaneously with ease.

In order to develop machines that are smarter and fully automated, it is necessary to determine the appropriate behavior and intelligence of these systems. In the field of agriculture, need of increased food production, improved social status of farmers, increased labor costs, better quality of crops and less arduous work are all prompting the demand of reliable agricultural autonomous robotic system.

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