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	题名	作者	年代	出处	被引量
1	Development of a metering mechanism with serial robotic arm for handling paper pot seedlings in a vegetable transplanter显示文摘This paper describes the development of an automated metering mechanism for vegetable transplanter.It consisted of a 3-DOF serial robotic arm and an automatic feeding conveyor.The robotic arm was developed to pick and drop tomato seedlings raised in biodegradable paper pots.The volume of each pot was 50 cm^(3)(3.5 cmdiameter and 5.2 cmheight)with a maximumtotalweight of 47 g including potmix and seedling.Amatrix type feeding conveyorwas developed to convey the pot seedlings to a predefined positionwhere the robotic armcould pick up these seedlings one by one.LDR(Light Dependent Resistor)-LED(Light Emitting Diode)sensing unit was used to perform the intermittent movement of the conveyor.The developed system was evaluated under both laboratory and field conditions.The robotic arm was able to pick and drop 20 seedlings per minute and its effective cycle time per handling one seedling was varying from 2.5 to 3.1 s.Power consumption of the conveyor of the developed system and the robotic arm was 18 W and 16 W,respectively.The conveying,metering and overall efficiency of the developed metering mechanism under laboratory condition were 96.83%,95.91%and 92.86%,respectively as compared to 94.7%,93.28%and 88.33%,under field condition.The developed robotic armbasedmeteringmechanismwas simple,light inweight and effectively handled the pot seedlings without damage and would thus help in mechanizing transplanting of vegetable seedlings.	Vikas Paradkar Hifjur Raheman Rahul K.	2021	Artificial Intelligence in Agriculture2021，，1：	5
2	Design of a 4 DOF parallel robot arm and the firmware implementation on embedded system to transplant pot seedlings显示文摘This paper presents a firmware design and its implementation on a real time embedded system for driving a 4 DOF parallel robot arm.The firmware primarily comprised of two components to produce motion of the robot arm:a)generation of continuous position coordinates and b)generation of actuating signals.These two componentswere processed in two different microcontrollerswith a common communication bus.The position generation algorithm produced and transmitted continuous position data to the motion generation algorithm in the form of G-code strings by reading the input positionswhichwere previously stored by the user in EEPROMmemory of the microcontroller.The receipt of a handshake signal synchronized the data transmission between these components through a communication bus.An LCD display and keypad were used as human-machine interface(HMI)to communicate with the user to set the robot target coordinates.The mechanical structure of the robot arm comprised of multiple links which were actuated by steppermotors.The workspace boundary were sensed by limit switches.The kinematic equations represented the gripper position for the corresponding input joint angles.A microcontroller was used to compute kinematic equations of the robot arm with the help of motion generation algorithm to generate actuation signals for the simultaneous movement of robot joints.The kinematic equations were solved with the dual-core capability of the microcontroller using real time operating system(RTOS),which made the computation faster with an average computation time of 198μs per step.The developed firmware was implemented and tested on a 4 DOF parallel manipulator using embedded microcontrollers for continuous pickup and place of the paper pot seedlings for automating the metering of pot seedlings.The cycle time taken for pickup and dropping of each seedling was 3.5 s with a success rate of 93.3%.	Rahul K Hifjur Raheman Vikas Paradkar	2020	Artificial Intelligence in Agriculture2020，，1：	4
3	Development of a walk-behind type hand tractor powered vegetable transplanter for paper pot seedlings显示文摘	G.V. Prasanna Kumar H. Raheman	2011	Biosystems Engineering2011，，2：	2
4	Biodiesel production from mahua (Madhuca indica ) oil having high free fatty acids 显示文摘	Shashikant Vilas Ghadge Hifjur Raheman	2005	Biomass and Bioenergy2005，28，：	1
5	Process optimization for biodiesel production from mahua (Madhuca indica) oil using response surface methodology 显示文摘	Shashikant Vilas Ghadge Hifjur Raheman	2006	Bioresource Technology2006，97，：	1
6	Biodiesel production from jatropha oil (Jatropha curcas) with high free fatty acids: an optimized process 显示文摘	TIWARI A K KUMAR A RAHEMAN H	2007	Biomass and Bioenergy2007，31，8：	1
7	Biodiesel production from mahua (madhuca indica) oil having high free fatty acids显示文摘	Ghadge S V Raheman H	2005	Biomass and Bioenergy2005，28，：	1
8	Draught prediction of agricultural implements using reference tillage tools in sandy clay loam soil显示文摘	Sahu R K Raheman H	2006	Biosystems Engineering2006，94，2：	1
9	Biosiesel production from mahua (Madhuca indica)oil having high free fatty acids显示文摘	Ghadge S V Raheman H	2005	Biomass and Bioenergy2005，28，：	1
10	Biodiesel pro- duction from Jatropha oil (Jatropha curcas) with high free fatty acids : an optimized process 显示文摘	TIWARI A K KUMAR A RAHEMAN H	2007	Biomass Bioenergy2007，31，8：	1
11	Prediction of optimized pretreatment process parameters for biodiesel productionusingANN and GA显示文摘	Rajendra M Jena P C Raheman H		0，，05：	1
12	Steering forces on undriven tractor wheel 显示文摘	Raheman H Singh R	2004	Journal of Terramechanics2004，40，：	1
13	Working capital management and profitability:Case of Pakistani firms显示文摘	Abdul Raheman Mohamed Nasr	2007	International Review of Business Research Pa-pers2007，3，2：	1
14	Biodiesel pro- duction from jatropha oil (Jatropha curcas ) with high free fatty acids : an optimized process 显示文摘	TIWARI A K KUMAR A RAHEMAN H	2007	Biomass Bioenerg2007，31，：	1
15	Biodiesel production from mahua (Madhuca indica) oil having high free fatty acids显示文摘	Shashikant Vilas Ghadge Hifjur Raheman	2005	Biomass and Bioenergy2005，28，：	1
16	Adeeision Support Sys- tem on Matching and Field Performance Prediction of Tractor-implement System 显示文摘	Sahu R K Raheman H	2008	Computers and Electronics in Agriculture2008，60，：	1
17	Process optimization for biodiesel production from mahua (Madhuca indica) oil using response surface methodology显示文摘	Shashikant Vilas Ghadge Hifjur Raheman	2006	Bioresource Technology2006，97，3：	1
18	Biodiesel production from mahua oil having high free fatty acids 显示文摘	GHADGE S V RAHEMAN H	2005	Biomass and Bioenergy2005，28，：	1
19	Biodiesel production from mahua (Madhuca indica) oil having high free fatty acids显示文摘	GHADGE S V RAHEMAN H	2005	Biomass Bioenerg2005，28，6：	1
20	Biodiescl production from jatropha oil( Jatropha curcaz) with high free fatty acids : an optimized process 显示文摘	Tiwari Alok Kumar Kumar Akhilesh Raheman Hifjur	2007	Biomass and Bioenergy2007，31，8：	1

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