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Design and force analysis of end-effector for plug seedling transplanter.

ABSTRACT: Automatic transplanters have been very important in greenhouses since the popularization of seedling nurseries. End-effector development is a key technology for transplanting plug seedlings. Most existing end-effectors have problems with holding root plugs or releasing plugs. An efficient end-effector driven by a linear pneumatic cylinder was designed in this study, which could hold root plugs firmly and release plugs easily. This end-effector with four needles could clamp the plug simultaneously while the needles penetrate into the substrate. The depth and verticality of the needles could be adjusted conveniently for different seedling trays. The effectiveness of this end-effector was tested by a combinational trial examining three seedling nursery factors (the moisture content of the substrate, substrate bulk density and the volume proportion of substrate ingredients). Results showed that the total transplanting success rate for the end-effector was 100%, and the root plug harm rate was below 17%. A force measure system with tension and pressure transducers was installed on the designed end-effector. The adhesive force FL between the root plug and the cell of seedling trays and the extrusion force FK on the root plug were measured and analyzed. The results showed that all three variable factors and their interactions had significant effects on the extrusion force. Each factor had a significant effect on adhesive force. Additionally, it was found that the end-effector did not perform very well when the value of FK/FL was beyond the range of 5.99~8.67. This could provide a scientific basis for end-effector application in transplanting.

SUBMITTER: Jiang Z

PROVIDER: S-EPMC5498097 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:End-effector-based robotic systems provide easy-to-set-up motion support in rehabilitation of stroke and spinal-cord-injured patients. However, measurement information is obtained only about the motion of the limb segments to which the systems are attached and not about the adjacent limb segments. We demonstrate in one particular experimental setup that this limitation can be overcome by augmenting an end-effector-based robot with a wearable inertial sensor. Most existing inertial motion tracking approaches rely on a homogeneous magnetic field and thus fail in indoor environments and near ferromagnetic materials and electronic devices. In contrast, we propose a magnetometer-free sensor fusion method. It uses a quaternion-based algorithm to track the heading of a limb segment in real time by combining the gyroscope and accelerometer readings with position measurements of one point along that segment. We apply this method to an upper-limb rehabilitation robotics use case in which the orientation and position of the forearm and elbow are known, and the orientation and position of the upper arm and shoulder are estimated by the proposed method using an inertial sensor worn on the upper arm. Experimental data from five healthy subjects who performed 282 proper executions of a typical rehabilitation motion and 163 executions with compensation motion are evaluated. Using a camera-based system as a ground truth, we demonstrate that the shoulder position and the elbow angle are tracked with median errors around 4 cm and 4°, respectively; and that undesirable compensatory shoulder movements, which were defined as shoulder displacements greater ±10 cm for more than 20% of a motion cycle, are detected and classified 100% correctly across all 445 performed motions. The results indicate that wearable inertial sensors and end-effector-based robots can be combined to provide means for effective rehabilitation therapy with likewise detailed and accurate motion tracking for performance assessment, real-time biofeedback and feedback control of robotic and neuroprosthetic motion support.

Project description:Purpose G Protein-Coupled Receptors (GPCRs) are a large family of therapeutically important proteins and as diverse X-ray structures become available it is increasingly possible to leverage structural information for rational drug design. We present herein approaches that use explicit water networks combined with energetic surveys of the binding site (GRID), providing an enhanced druggability and ligand design approach, with structural understanding of ligand binding, including a ‘magic’ methyl and binding site mutations, and a fast new approach to generate and score waters. Methods The GRID program was used to identify lipophilic and hydrogen bonding hotspots. Explicit full water networks were generated and scored for (pseudo)apo structures and ligand-protein complexes using a new approach, WaterFLAP (Molecular Discovery), together with WaterMap (Schrödinger) for (pseudo)apo structures. A scoring function (MetaScore) was developed using a fast computational protocol based on several short adiabatic biased MD simulations followed by multiple short well-tempered metadynamics runs. Results Analysis of diverse ligands binding to the adenosine A2A receptor together with new structures for the ?/?/? opioid and CCR5 receptors confirmed the key role of lipophilic hotspots in driving ligand binding and thus design; the displacement of ‘unhappy’ waters generally found in these regions provides a key binding energy component. Complete explicit water networks could be robustly generated for protein-ligand complexes using a WaterFLAP based approach. They provide a structural understanding of structure-activity relationships such as a ‘magic methyl’ effect and with the metadynamics approach a useful estimation of the binding energy changes resulting from active site mutations. Conclusions The promise of full structure-based drug design (SBDD) for GPCRs is now possible using a combination of advanced experimental and computational data. The conformational thermostabilisation of StaR® proteins provide the ability to easily generate biophysical screening data (binding including fragments, kinetics) and to get crystal structures with both potent and weak ligands. Explicit water networks for apo and ligand-complex structures are a critical ‘third dimension’ for SBDD and are key for understanding ligand binding energies and kinetics. GRID lipophilic hotspots are found to be key drivers for binding. In this context ‘high end’ GPCR ligand design is now enabled. Electronic supplementary material The online version of this article (doi:10.1186/2193-9616-1-23) contains supplementary material, which is available to authorized users.

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Design and force analysis of end-effector for plug seedling transplanter.

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