Papers by wan ishak wan ismail
Jurnal Teknologi, 2018
Harvesting oil palm fresh fruit bunches (FFB) on tall oil palm trees is a laborious and hazardous... more Harvesting oil palm fresh fruit bunches (FFB) on tall oil palm trees is a laborious and hazardous task. Lately, with the escalating problem of labor shortage, the exigent demand to mechanize the harvesting task cannot be overlooked. Over the years, many harvesting methods and technologies have been used and developed to increase the harvesting productivity. This paper reviews the conventional manual harvesting using manual labor, mechanization of harvesting task using harvesting machines as well as research on climbing robots for harvesting FFB in Malaysia. In essence, it provides an overview of the trend in the development of harvesting technologies in Malaysia. Realizing the potential of climbing robots for harvesting, the morphological structures and physical characteristics of oil palm trunks in its natural surroundings are examined closely to identify the challenges in the climbing and harvesting processes. Next, a set of design criteria is introduced to overcome those challeng...
International Journal of Agricultural and Biological Engineering, 2010
The existing mechanized oil palm harvester is claimed to be unsuccessful due to its inefficiency ... more The existing mechanized oil palm harvester is claimed to be unsuccessful due to its inefficiency to harvest F resh F ruit B unch (FFB) . It tak es a lot of time compared to the conventional harvesting method, using human power. Therefore a study was carried out using Denavit and Hartenberg (D-H) approach to automate the five D egree s of F reedom (DOF) harvester manipulator. The general objective was to reduce the number of workers required for harvesting as well as to provide comfortable ergonomic for the operator of oil palm harvester. The D - H’s convention was used for selecting frames of reference in robotics application which has become the standard way of representing robots and modeling their motions. In this study, the forward kinematics and inverse kinematics were used to deduce joint angles variables while the conventional Jacobian was used for motion velocity computation. The formulated inverse equations were tested manually on the harvester with given locations to obtai...
For several decades, Malaysia was the largest producers of agricultural products especially palm ... more For several decades, Malaysia was the largest producers of agricultural products especially palm oil and rubber. Presently, Malaysian agricultural sector is at crucial stage. Labor problem is said to be one of the contributing factor for the higher cost of production and deteriorating agro-based industries. Automation and robotics technology must be introduced and developed immediately in the plantation sector especially in solving the harvesting, collection and transportation of the oil palm FFB. This paper describes on the development of oil palm FFB bio-production robot at Universiti Putra Malaysia.The initial project started in 1993 involved in the modification of the grabber for oil palm FFB by changing of the manual control to an automatic control system using the solenoid control valves. With the use of hydraulic cylinders, relief valves, flow control valves, relays, sensors, limit switches and 4/3 way solenoid valves, the grabber was able to function automatically to grab, l...
African Journal of Agricultural Research, 2011
This paper introduces the new method of procedure in studying the relationship of the mesocarp oi... more This paper introduces the new method of procedure in studying the relationship of the mesocarp oil content with the skin colour of oil palm fruit in respect to its maturity. The procedure started after collecting the fruitlets sample from fresh fruit bunches (FFB) during unripe, until overripe stage. The variety of oil palm is Pisifera (Dura X Tenera). The images on each three age categories of FFB were captured at monitoring area with setting image parameter. NIKON coolpix4500 digital camera with tele converter zooming device was used to capture the image. Subsequently, after the end of the capturing session, the fruitlets were pulled from FFB and sent to analyse for oil mesocarp content. The Soxhlet Extractor Soxhlet apparatus is used to determine the oil content of the fruit based on the experiment of standard bunch analysis procedure. The image will be analysed for optical properties of colour, using developed analysis Graphical User Interface (GUI). Using regression analysis o...
Introduction The production of our primary commodities, namely oil palm, rubber and cocoa, is ver... more Introduction The production of our primary commodities, namely oil palm, rubber and cocoa, is very labour intensive. Labour problem is said to be one of the contributing factor for the higher cost production and deteriorating agro-based industries. One major problem currently faced by agricultural and plantation industry in Malaysia is the inadequate technology input. Technology input will reduce the dependence of labour and thus increase the utilization of labour and thus increase the utilization of natural resources. Engineering inputs in the agricultural sector are very essential. Automation system, artificial intelligence, dynamic and kinematics for agro-robot, machine vision and image processing and instrumentations and controls for agricultural machines are among the new technology that must be introduced in the agro-based industries. To shape the agro-based industry in Malaysia, new technology such as automation and robotics, information technology, nanotechnology, space tech...
This study describes the design and development of a camera-vision guided unmanned mover sprayer ... more This study describes the design and development of a camera-vision guided unmanned mover sprayer for the purpose of automatic weed control. The sprayer system was mounted on the mover. Modifications were carried out for both sprayer and mover systems, so that it can be operated remotely. The automated system was developed using the electromechanical system and controllers. It is capable of directing the mover sprayer to the target location given by the user. The electromechanical system was developed to control the ignition, the accelerator and the spraying systems. The controllers consist of an I/O module (ICPCON I-87057) and also a pair of radio modems (SST-2400) for data transmission. The graphical user interface (GUI) software to control the automatic system was developed by using Visual Basic Programming. The GUI has features which enable the user to perform desired tasks using the computer instead of going directly to the sprayer/mover. The combination of the multi controllers...
Precision agriculture with regard to crop science was introduced to apply only the required and o... more Precision agriculture with regard to crop science was introduced to apply only the required and optimal amount of fertiliser, which inspired the present study of nutrient prediction for oil palm using spectroradiometer with wavelengths ranging from 350 to 2500 nm. Partial least square (PLS) method was used to develop a statistical model to interpret spectral data for nutrient deficiency of nitrogen (N), phosphorus (P), potassium (K), magnesium (Mg), calcium (Ca) and boron (B) of oil palm. Prior to the development of the PLS model, pre-processing was conducted to ensure only the smooth and best signals were studied, which includes the multiplicative scatter correction (MSC), first and second derivatives and standard normal variate (SNV), Gaussian filter and Savitzky-Golay smoothing. The MSC technique was the optimal overall pre-treatment method for nutrients in this study, with highest prediction R2 of 0.91 for N and lowest RMSEP value of 0.00 for P.
Among the practices of System of Rice intensification is the intensive mechanical weeding need at... more Among the practices of System of Rice intensification is the intensive mechanical weeding need at 10 to 12 days intervals up to 40 days after transplanting (DAT) or canopy closure. This practice aerates the soil, adds biomass and increase yield. This study was carried out to evaluate the effect of levels of mechanical weeding using four different locally fabricated rotary weeders on the yield and vegetative components of rice under the System of Rice Intensification at Tanjung Karang Irrigation Scheme of Malaysia. Results indicated that mechanical wedding levels had a significant effect on vegetative paddy height at P (0.05) level with 60.05 cm as the highest average vegetative height obtained at three levels of rotavation (mechanical weeding) using treatment D. The analysis of variance of the yield from the treatments indicates a significant difference in yield with increase in the levels of mechanical weeding with 13.1 tons/Ha being the highest obtained from treatment D (three lev...
International Journal of Agricultural and Biological Engineering, 2012
Abstract: The need to mechanize major field operations that are labor intensive in oil palm indus... more Abstract: The need to mechanize major field operations that are labor intensive in oil palm industry of Malaysia has led to the study on agricultural machine automation. In general, study was on machine automation to reduce the number of workers required for harvesting as well as to provide comfortable ergonomic for the operator of oil palm harvester. The objective of the study was to perform interfacing between the oil palm tree and hardware (harvester) as well as to compare the harvesting efficiency between the mechanical and automated manipulator. Kinematic analysis was calculated based on the D-H configuration for the position and orientation of harvester arm using high resolution webcam and ultrasonic sensor to obtain 3D coordinates required by the D-H notations. PIC Circuit Board (PCB) design and fabrication as well as testing and implementation of concept of camera vision operation system for FFB harvester with fully developing a Graphical User Interface (GUI) was conducted t...
The previous development of the "robot eye" system for agriculture arm machine was succ... more The previous development of the "robot eye" system for agriculture arm machine was successfully designed and fabricated to predict the actual distance of the object target. Stereo pair of Videogrammetry technique and triangulation was used to determine the distance measurement of object target. By a “click� on the images displayed on developed graphical user interface created by Visual Basic V6, the three-dimensional target distance was generated and robot arm able to move and grab the selected target automatically. The enhancement done with the application of camera vision system for recognizing the matured cocoa fruit in the field. The training image/ benchmark concept was applied into developed graphical user interface software. The user only click for make the training image/ benchmark data, then the threshold of the target image produced and the software decided for image recognition. The user needs to update the training image data by click to training image due ...
IIUM Engineering Journal, 1970
The focus of this paper is to present the designing framework of an off-road special segmented ru... more The focus of this paper is to present the designing framework of an off-road special segmented rubber tracked vehicle that may be required to run on low bearing capacity peat terrain. To complete this study: firstly, mechanical properties of the peat terrain were first determined by using different type of apparatus. Direct shear test was performed using a Wykeham Farrance 25402 shear box apparatus to determine the internal friction angle, cohesiveness and shear deformation modulus of the peat sample. Load-sinkage test was performed using a specially made bearing capacity apparatus to determine the stiffness values of surface mat and underlying peat. Secondly, substantiate the validity of the mathematical model and finally design parameters of the special segmented rubber tracked vehicle were optimized by simulation. Keywords: Tracked vehicle, peat terrain, tractive performance.
Research Journal of Applied Sciences, Engineering and Technology, 2013
The aim of this study was to design automatic and accurate control systems for wheel speed and st... more The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to control the angular rate of the shaft of a DC motor actuator for a field survey mobile robot that moves between plants rows to perform image acquisition task through a digital camera mounted on a two link arm attached on the robot base. The response of the actuator model for each controller were determined and compared for a sinusoidal and a step input that simulated robot speed and positioning references respectively. Performance analysis showed the effectiveness of the PID and lead-lag compensator response for the wheel steering task, while the fuzzy logic controller design had a better performance in wheel speed control. The output of this analysis was a proved satisfaction of the proposed design criteria which results enhanced mobility of the robot in terms of fast response, speed control accuracy and smooth steering at row-end turnings.
International journal of machine intelligence, Jun 30, 2010
The variations of day light intensity must be taken into account to recognize the color of the ag... more The variations of day light intensity must be taken into account to recognize the color of the agriculture product when using camera vision system. In this study, the development of outdoor image analysis for oil palm fruit fresh bunches (FFB) was developed to analyses image of oil palm FFB. The software analysis will generates the mathematical model and correlation factor between the light intensity in relation to value of FFB from Red, Green and Blue component (RGB) of image taken. The visual basic programming language was used. An Excel worksheet programming software was developed to draw a chart and modify the charts location and dimensions. The API (Application Programming Interface) called GDI32 (Graphic Device Interface: 32-bit version) was applied to read and manipulate the pixel value of image. The software automation technique was used in the development of outdoor image analysis for agriculture product. The automation concept is to describe the automatic generation of the software to manipulate the data for producing the graph, mathematical analysis and equation, automatically from a bundle of data collected by only a click of mouse button. The result generated was used to develop mathematical model for color-based recognition for outdoor image of agriculture product. Linear regression function was used to find the equation of mathematical model for outdoors image analysis. To find the best equation of mathematical model, various trendline of data manipulation can be chosen manually from option provided in Microsoft Excel. The images of FFB were taken by using sony digital camera Handycam at various times of day from morning to afternoon in the oil palm plantation.
Jurnal Teknologi, 2016
One of the challenges faced by farmers in adopting the system of rice intensification is the seed... more One of the challenges faced by farmers in adopting the system of rice intensification is the seed establishment required high labor demand. This research aims at providing an alternative to seedling transplanting for the system of rice intensification. In this research the paddy seed was enhanced with the use of pharmaceutical capsule as a seed coating material for ease of seed singulation and suitability in handling by a conventional direct seeding technique. It covers the study of capsules as a suitable paddy seed coating material. The solubility of starch and gelatin capsules in water was studied at three different temperatures of 25 o C, 35 o C, and 45 o C. Three paddy seed treatments of dry seeds, primed seed, and pre germinated were each placed in to the capsule at the ratio of 1:1 and planted in the soil with three replications. The planted seeds were irrigated two times daily for a period of 10 days within which the germination and emergence were recorded on daily bases. Gelatin capsule was found to be soluble in water at temperature of 45 o C and above. Starch capsule on the other hand was found to be soluble at temperatures of 25 o C which made it the more suitable paddy coating material in comparison with the gelatin capsule. The germination and emergence results of starch capsule coated paddy were found to be 95%, 83%, and 58% for the pre germinated, primed, and dry paddy seeds respectively.
The application of computer and machines for agricultural production has been one of the outstand... more The application of computer and machines for agricultural production has been one of the outstanding developments in Malaysian agriculture, especially in overcoming labour shortages in Oil Palm plantations. The on-line automated weedicide sprayer system was developed at Universiti Putra Malaysia to locate the existence and intensity of weeds in real-time environment and to spray the weedicides automatically and precisely. During the start of the spraying operation, the web camera will initially capture the image of weeds. The computer programme will compute the red, green, blue (RGB) values in the form of computer pixel. These values will be used as reference RGB values to be compared with the RGB values of the weeds captured real-time during the spraying operation. The sprayer nozzle will be turned 'on' or 'off', depending on the percentage or intensity of the green colour pixel value of weeds. The sprayer valve will open the nozzle/s when the camera detected the presence of weeds. The purpose is to reduce wastage, reduce labour, reduce cost, and control environment hazard.
Journal of Modeling, Simulation, Identification, and Control, 2013
In farm mechanization course, the most physical implement that will be used on primary applicatio... more In farm mechanization course, the most physical implement that will be used on primary application is the disc plough. The disc plough is the perfect tool when ploughing uneven ground that has obstacles and buried rocks. These ploughs have been specifically made to suit the tractors that used in filed application. This finding of this experiment suggests that the implement is easy to attach with tractor if specific procedures are followed. In this experiment, three disc ploughs were applied within the experiment and working width is 0.77m. Some basic calculation on field experiment is also presented.
Agriculture and Agricultural Science Procedia, 2014
A mean mechanization index of 0.59 and a total machinery energy of 477.78 MJ/ha were recorded for... more A mean mechanization index of 0.59 and a total machinery energy of 477.78 MJ/ha were recorded for the direct seeding paddy cultivation in Malaysia. Highest mechanization index and machinery energy were obtained in the harvesting operation (0.99 and 336.81 MJ/ha) while the lowest values were in pesticides operations (0.19 and 3.97 MJ/ha). The benefit-cost ratios for an average farmer with and without government support within the block were respectively 1.37 and 1.68 with a mean yield of 7.63 tons/ha and mean total production cost of RM 6658.18/ha.
Pertanika Journal of …, 1997
Shortage of labour, whether it exists throughout the year or occurs at the peak time of an operat... more Shortage of labour, whether it exists throughout the year or occurs at the peak time of an operation, translates into higher production costs. The adoption of modern technologies and production process to increase productivity will free labour, which is very important for ...
Bulletin of the Polish Academy of Sciences: Technical Sciences, 2011
Development of variable rate sprayer for oil palm plantationThis project describes the design and... more Development of variable rate sprayer for oil palm plantationThis project describes the design and development of a camera vision with color detection for the variable rate technology (VRT) automated sprayer. In this project, the smart sprayer system was already developed and mounted on the ATV. The automated sprayer system was developed by combination of the electromechanical system, PC parallel port relay board, the controller and visual basic programming software. This smart sprayer system is guided with the camera to detect the presence of weeds. Detection of weeds is based on the green color value from RGB value. The amount or percentage (%) of weeds detected determines the rate of spraying that is controlled by an electric motor and the relay board. In this project, the spray nozzles were modified to be fully open, fully closed and half open. The closing and opening of valves were controlled by the electromechanical system that receives the instruction from the camera vision. E...
Pertanika Journal of …, 2010
This paper describes the design and development of harvesting system for the gantry system to har... more This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PLC. Meanwhile, a PLC ladder diagram was designed and developed to control the operation of the eggplant harvester. A visual basic programme was developed to interface the harvester with a greenhouse gantry control system. A videogrammetry method was employed to calculate the distance between the stems of eggplants and the cutter of robot end effector. The end effector used electric as its power source and it was controlled via Programmable Logic Controller (PLC). Visual Basic Programme was developed to interface the harvester with the gantry control system. The accuracy of the videogrammetry was tested to be 67.2% for X-axis, 88.2% for Y-axis and 84.7% for Z-axis. Meanwhile, the speed of the end effector for harvester is 2.4 km/h and it could lift up to 55 cm. In order to determine detachment force of eggplant, 16 samples of mature eggplants were tested in a greenhouse, and as a result, more than 22.76 N force was needed to detach a mature eggplant inside the gantry system.
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Papers by wan ishak wan ismail