32 Design And Implementation Of Real-time Amphibious .
etInternational Journal on Emerging Technologies 11(2): 213-218(2020)ISSN No. (Print): 0975-8364ISSN No. (Online): 2249-3255Design and Implementation of Real-time Amphibious Unmanned Aerial VehicleSystem for Sowing Seed Balls in the Agriculture Field1*112M. Arun Kumar , Nagarjuna Telagam , N. Mohankumar , K. Mohamed Ismail and T. Rajasekar1Department of Electrical and Electronics and Communication Engineering,GITAM University, Bangalore (Karnataka), India.2Department of Electronics and Communication Engineering,Agni College of Technology, Chennai (TamilNadu), India.2(Corresponding author: M. Arun Kumar)(Received 14 December 2019, Revised 07 February 2020, Accepted 14 February 2020)(Published by Research Trend, Website: www.researchtrend.net)ABSTRACT: The drone is used in agriculture as an unmanned aerial vehicle (UAV) which helps farmers incrop monitoring and production. To reduce manpower and pollution this kind of UAV is used in agriculturepurposes. Drones are capable of working under strong winds and different climate conditions foragricultural applications in real-time. This article proposes an agricultural drone for sowing seeds that hasthe capability of working under strong winds. To increase its stability and biodiversity, we have used Naza v2controllers. It is also useful to avoid deforestation in Indian country. Develop the real-time amphibiousunmanned aerial vehicle system for the huge agriculture area have the major challenge to enhance thecontinuous flying time with load. To achieve this challenge, proper weight calculations should be donebefore it flies with the load. CATIA v5 software is used to design the drone from the top, bottom, right and leftviews with exact calculations. This project was designed in three phases i.e design of drones, the building ofpayload and evaluation of drone in PROTEUS and CATIA software. The design calculations along with thrustvalues are also calculated for payload weights. It is capable of complete autonomous operation and carriesspecial payload bay with seed balls that contain different seed according to the biodiversity spread of theregions and it has the capability of dropping the seed balls at an interval of 15 m in all directions. One dronehas the capacity of dropping 28800 seed balls in one eight-hour operation. In one-month, complete operationthese drones can drop 8.64 Lakhs seed balls which hopefully brings back the serenity of this nation.Keywords: BEC, BLDC, UAV, Seed sowing, Thrust, seed ball.Abbreviations: BEC, Battery elimination circuit; BLDC, Brushless Direct Current Motor; UAV, Unmanned Aerialvehicle;I. INTRODUCTIONThe government and multinational companies arefunding in UAVs because of cost-efficient and itsdemand for civil applications. This paper reports asurvey of UAV's characteristics in the years between2000 and 2015. The connectivity, privacy, and securitywere discussed which will helpful for upcoming projects[1] this paper the unmanned aerial vehicle is used asthe base station for wireless communication applicationssuch as a device to device communications, in aparticular area as shown Fig. 1. As well minimum no ofstops that UAV needs to cover the area. The coveragearea and delay are explained [2].Fig. 1. Graphical abstract of the amphibious unmannedaerial vehicle system for sowing seed balls in theagriculture field.Kumar et al.,The algorithm for UAVs base stations is proposed in thispaper. The decoupling problem in UAV deployment isrectified. The simulation results suggest that thisproposed algorithm is used for wireless services fordifferent users with spatial distributions [3]. UAVs canalso use to spray pesticides to increase the productivityof crops. This article reviews the implementation ofUAVs for monitoring crops and pesticide spraying [4].The nanotube-based on carbon was developed andinstalled on UAVs for the detection of volatilecompounds in the air. The efficiency of gas sensors wasmeasured by using the volatility of air. The Electronicnose was developed with a closed clean room andopen-air wind environments. E-nose drone is used asdetection of explosives and also for farmers in ascenario like cattle farms to emit the malodor problem[5]. The future generations need of precision agriculturemonitoring for larger scales. The UAVs is employing formonitoring for smaller areas for the last few years. Thisarticle provides an approach for large scale monitoringwith the division of land into sparse and dense fields [6].This article highlights the UAVs in the market for cropquality monitoring and preventing fields from anydamage [7]. The system was designed for spectralmeasurements of wheat, crops, and plants in the testfields. The drones have spectral imaging characteristicsthat enable imaging in different colors in visible light andInternational Journal on Emerging Technologies 11(2): 213-218(2020)213
SWIR spectral bands [8]. Drones can be used in smartsensor networks in monitoring climate which helps incrop yielding.They face challenges such as power consumption, flighttime and long-distance communication. The Witricitytechnique can also be used to charge the UAVs. Theflat spiral coil and multi-turn coil used in UAVs receiverwhich improves the efficiency of 85.25% with distanceseparation [9]. It provides a great opportunity for farmingapplications. The drone is used in the sensor nodes withinfrared thermometers. This communication proposal forwireless networks [10], with simulated results, has ahuge impact on the entire farm [11]. The agriculturedrones have many advantages when compared tosatellite imaging, aircraft with man, in such scenariossuch as large forestry and agriculture mapping problemsthe single drone is not capable of covering the entirearea. In this article, three key parts are analyzed whichinclude a fleet of drones, path planning and signalprocessing [12]. This article explains the precisionagriculture monitoring with the classification ofvegetation into sparse and dense vegetation. Theresults are verified with drone images. when comparedto satellite images. The seninel-2 data is also used forprecision agriculture monitoring [13-14]. The UAVs arevery popular now a day integrated with cameras,sensors, and modules with high efficiency. The machinelearning tools and IoT concepts are integrated with aquadcopter for increasing the scope. This article showsthe solutions of the drone with an integrated raspberryPi-3 B module [15-17]. The speed control of the electricmotor using sensors is explained [18]. Drone isdesigned as a quadcopter with four control commands,four velocity models are constructed by the stepresponse experiments [19]. This paper exposes theNavigation and Control technology embedded in arecently commercialized micro Unmanned AerialVehicle (UAV), the Augmented Reality (AR) [20]. Thereis a research gap in the previous work that all theagriculture monitoring system fails to enhance the plantgrowth. The monitoring system provides the pesticidescontrol, crops deficiency but it never gives the solutionto grow the healthy seeds in to the plant.“In this studyan attempt has been taken to provide the healthy growthto the seeds for agriculture development”. This workdevelops the real-time amphibious unmanned aerialvehicle system for the active seed growth in theagriculture field.II. MATERIALS AND METHODSA. Designing of droneThe general structure of the drone was designed byusing CATIA V5 software Fig. 2 (a) (b). CATIA is theproduct design software developed for designing the 3Ddesign structure, computer-aided engineering, andmanufacturing solutions.Fig. 2. Drone design using CATIA V5 software (a) Isometric view (b) Right view.Fig. 3. Plate design using the CNC router (a) Motor mount plate design (b) Battery plate design.Kumar et al.,International Journal on Emerging Technologies 11(2): 213-218(2020)214
Initially, the basic design structure was estimated basedon the weight of components used for the applications.The complete structure was designed through CATIAV5 software and it was followed by the fabrication steps.After the plate design, the Arduino breakout board wasmade to control the application using PROTEUSsoftware. It is used for electronic design automation. Itsapplication is schematic capture, simulation, and PCBlayout design. Herein, the system used PROTEUSsoftware to design the Arduino breakout board whichcan be used to program and control the application ofdrone. The breakout board design shows the Fig. 4.The motors were controlled by using the Arduino boardand it was powered by using the battery. In this system,the conveyer belt was made based on the estimatedpayload and also based on the estimated weight of thecomponents used for the drone design.C. Preparation of seed ballsThe seed balls were prepared by the soil material and itcovers the crop’s seeds completely by the soil. The soilmaterial was prepared by the mixture of clay, compostand coco peat. The clay helps to strong of the seedballs. The compost is a kind of fertilizer used to supplythe essential nutrients to the plants. The coco peathelps to moisturize the seeds and it creates the growingmedium. The seed balls preparation was shown in Fig.6. The main advantage of the seed balls is to preventthe seed from the birds, insects, weather, miniatureanimals, etc. and gives healthy growth to the plantswithout spoiling.Fig. 6. Seed ball preparation process. (a) Mixing of clay,compost and coco peat (b) Making seed ball (c) SeedBall.III. RESULTS AND DISCUSSIONFig. 4. Arduino breakout board design with a motorusing PROTEUS software.B. Payload designSubsequently, the system was focused on theapplication part. Herein, the seed balls acted as apayload and it plays the application role in the system.The procedure for making seed balls is explained in thenext section. The payload method was done by usingthe conveyer belt. The conveyer belt system was actingas a carrying medium of the objects which as shown inFig. 5 (a) (b). The conveyer has a lot of types such asgravity conveyer, belt conveyer wire mesh conveyer,etc. In this mechanism, the motors are used to controlthe conveyer belt.The general structure of the drone has been predesigned using the CATIA V2 and PROTEUS software.Theoretically, the weight of the components andpayload has been estimated and calculated for the predesigned drone and shown in Table 1. Furthermore, thecomponents are assembled and fabricated as per theblock diagram shown in the Fig. 7. Initially, the frametype has to be fixed for the drone design. Herein, the XFrame type model was chosen for the drone design.The aerial drone for afforestation is done by the XFrame model. It reduces the excessive weight. Theframe weight was estimated at 1712 g. The motor wasfixed in the diagonal section of the frame for specifyingthe clock and counter-clock direction. The first and thirdarms were fixed for counter-clockwise direction. Thesecond and fourth arm fixed for the clockwise, third armis considering as counter-clockwise and four arms werefixed for clockwise direction. The selection of motor ismore important for the flying mechanism of the droneand should consider the relationship between the thrustand weight as given in the Eqn. 1.Ratio (1)Patel et al., (2017) [18] explained that the vertical takeoff and landing of the drone are potential when itsatisfies the condition (a/g) 1. The flying mechanismwas shown in Fig. 8. The components begin with theselection of propellers for the drone flying. Eachpropeller has an estimated weight of about 47g per unit.The selection of motors is more important for eachFig. 5. Belt conveyer model for payload (a) Seed panpropeller to rotate in both clockwise and counter(b) conveyer belt.clockwise directions.Kumar et al.,International Journal on Emerging Technologies 11(2): 213-218(2020)215
BLDC motor is the ideal choice for application with highreliability, high efficiency, and high power-to-volumeratio. Each motor has an estimated weight of about171g per unit. It provides high torque and its lifetime isover 10,000 hours. It has tremendous benefits for longterm applications.of the drone. The continuous measurements wereobtained through sensors to maintain the body level ofthe quadcopter and the speed of each rotor alsomonitored regularly. Its function is to direct the rpm ofeach motor.Table 1: List of the components with theirrespective weight estimates.S. No.1.2.3.4.5.6.Fig. 7. Block diagram of the amphibious unmannedaerial vehicle design.Fig. 8. Flying mechanism of the drone.Estimatedweight ry1386g1Frame1712g1Payload700g1Total Weight with the payloadTotal weight without payload[4694g-700g 2g700g4694g3994gMost of the flight controller uses sensors like agyroscope for orientation to barometer for automaticallyholding altitude. GPS can also be used for autopilot. Inthis drone, Naza v2 controller was used to maintain thebody level of the drone. Once the design partcompleted, then the flying process and its capacity ofthe designed drone were checked without payload.Now, the application part has to be focused. The designpart of the payload was explained previously. Like thedrone design, the payload design was also done byCATIA software and it was processed by CNC router.The payload was estimated at 700g. The total weight ofthe drone was estimated without payload about 3994gand for with payload was about 4694g as shown inTable 1.Table 2: Thrust calculation with their respectiveweight estimatesEstimatedResultTotalThe Electronic Speed Control (ESC) is an electronicThrustweight perQuantityAnalysisWeightdevice that controls and regulates the speed of anunitelectric motor. The estimated weight for ESC is aboutTheoreticalMotor1175g44694g46g per unit. It converts the PWM signal from theAnalysisThrustat50%Experimentalcontroller and drives BLDC by providing an appropriate1250g45000gthrottleAnalysislevel of electric power. Parts included in ESC are servoamplifier, MOSFET, buffer-m controller-MOSFET andOnce the payload was estimated theoretically, afterwardbridge driver. ESC is used to manage the switchingthe payload (seed balls) was loaded inside the payloadpower (ON and OFF) of each motor and also useful forcontainer box. The payload box was inbuilt with theclockwise or counter-clockwise direction. Moreover, theconveyer belt. Once the motor-powered ON state, thecommunication system plays a major role in transmittingconveyer belt starts rotation to drop the seeds as one bythe signals from transmitter to receiver and vice-versa.one in the following path. The belt conveyer systemThe communication system is fixed to monitor theconsists of two or more pulley and continues the loopcontrol signals. The number of connection slots in thesystem. This system was easy to handle and at thereceiver depends on several channels. Pulse widthsame time transportation of heavy and bulk materialsmodulation (PWM) is the way of digitally encodingalso easy. Hence, this method was suggested for theanalog signal levels.drone.Through the use of high-resolution counters, the dutycycle of the square wave is modulated to encode aTable 3: Battery power consumption with 50%specific analog signal level. Battery eliminating circuitthrottle.(BEC) is another eminent part of the drone to giveEstimatedTotalpower supply during the flying period. It is a smallPowerpower perQuantitypowerconsumptionelectronic device that gives the power supply to theunit (amps)(amps)controller. It draws higher voltage from batteries andTotal powerconverts to a suitable voltage level. It is used in the caseconsumption at 505.7422.8of usage of more than 3 motors. The battery weight also% throttleestimated about 1386g. The flight controller is the brainKumar et al.,International Journal on Emerging Technologies 11(2): 213-218(2020)216
Flying time battery's capacity in amp hours 60average amp consumption10 60 26.31min22.8where,– Total power consumption at 50% throttle 22.8 amps– Battery capacity 10000 mAh–Batterycapacityinampperhour 10000 10 amps per hours1000For flying drones with payload, the thrust calculation ismuch important. Thrust is the force that moves anaircraft through the air. The thrust provides temporarythrust along any of the translation axes. Therefore, thethrust was estimated along with the throttle. The throttleaffords a constant thrust along the forward/backwardaxis. Hence it is more useful to fly the drone. In thissystem, the thrust was calculated for each motor at 50%throttle. The theoretical and experimental thrust analysiswas estimated at 4694g and 5000g respectively. Thrustcalculation was shown in Table 2. The total batterypower consumption at 50% throttle was also calculatedby about 22.8 amps and shown in Table 3. Finally, thetotal flying time of the drone with payload (700g seedballs) had been estimated and calculated using Eqn. 2as about 26.31 mins based on the thrust and batterycalculation (Table 2 and 3). The complete design of theprototype was shown in Fig. 9 (a) and (b).IV. CONCLUSIONA new unmanned aerial vehicle has been designed toincorporate the seed balls in the agricultural fieldswithout damaging the seeds. It is a simple, portable anduser-friendly drone to operate. The experimental andtheoretical value has been estimated and calculated forthe drone. The result analysis of the drone was donethrough the thrust calculation with 50% throttle. Theflying mechanism of the drone was analyzed both withand without payload. The overall flying time of the dronewith payload (700g seed balls) was found about 26. 31mins based on the proper thrust calculation. The dronedesign was integrated with the thrust value concurrentlyon all rotors–propellers and able to achieve a calibrationprocess of the flight control system in real-time. Theresults were validated by repeating the experiment indifferent fields. To improve the stability of the drone, thesystem is used for maximum speed and average thrust.From this experiment, it can be seen that the droneefficiently used for the production of agricultural landsand it can be concluded that this creates a goodplatform for the crop yielding without any damages forthe seeds.Fig. 9. Photograph image of the Drone (a) Complete design (b) Cross-sectional view for payloadV. FUTURE SCOPEIn this work we have designed a prototype UAV for theagricultural field. If the flying time of the UAV can beimproved by increasing the motor capacity and othermajor components by considering the throttlepercentage formerly it will be useful for huge agriculturalarea. This work has created a good platform to the UAVfor various applications such as agriculture fields,pesticides carrier, medicine carrier and food supplier forthe remote areas.REFERENCES[1]. Hayat, S., Evşen, Y., & Raheeb, M. (2016). Surveyon unmanned aerial vehicle networks for unications Surveys & Tutorials, 18(4), 2624-2661.[2]. Mozaffari, M., Walid, S., Mehdi, B., & Mérouane, D.(2016). Unmanned aerial vehicle with underlaid ffs. IEEETransactionsonWirelessCommunications, 15(6), 3949-3963.ACKNOWLEDGEMENTS[3]. Alzenad, M., Amr, El.K., Faraj, L., & Halim, Y.(2017). 3-D placement of an unmanned aerial vehicleOne of the authors (M.A) would like to thank the Garudabase station (UAV-BS) for energy-efficient maximalAerospace Pvt. Ltd. and Agni College of Technology,coverage. IEEE Wireless Communications Letters, 6(4),Chennai, India for supporting this work.434-437.[4]. Mogili, U. R., & Deepak, B. B. V. L. (2018). ReviewConflict of Interest. The authors declare that they haveon application of drone systems in precisionno conflict of interest.agriculture. Procedia computer science, 133, 502-509.Kumar et al.,International Journal on Emerging Technologies 11(2): 213-218(2020)217
[5]. Pobkrut, T., Tanthip, E. A., & Teerakiat, K. (2016).Sensor drone for aerial odor m
Design and Implementation of Real-time Amphibious Unmanned Aerial Vehicle System for Sowing Seed Balls in the Agriculture Field M. Arun Kumar 1*, Nagarjuna Telagam 1, N. Mohankumar 1, K. Mohamed Ismail 2 and T. Rajasekar 2 1Department of Electrical and Electronics and Communication Engineering, GITAM University, Bangalore (Karnataka), India.
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