1. Weed Reaper Roscoe Kane, John Audlin, John Barton and Marcus Ortuno

2. Background Weeds have been a problem since the advent of agriculture Many methods have been used to reduce losses due to weeds All have been either energy intensive or damaging to the environment

3. Problem Statement Create an automated system to remove weeds from corn rows The corn will be 5-20” in height The weeds will be 0-3” in height The rows are 30” apart Destroy weeds only more than 6” from a corn plant

4. General Solution Waypoint navigation using crop row “Feelers” sense weeds 2 axis weed auger

5. Project Management John Audlin – Navigation Roscoe Kane – Weed Detection John Barton – Programming Marcus Ortuno – Weed Destruction

6. System Block Diagram

7. Robotic Navigation Three Main Types –Map Navigation Map of entire operating environment –Waypoint Navigation Follow recognizable ‘landmarks’ to destination –Local Navigation Triangulate position from relative position to a landmark and destination’s relative position to it

8. Waypoint Navigation ‘Follow’ left-hand row 6-10” between plants Potentiometer angle determines distance from row Control software adjusts path accordingly

9. Force Calculations Minimum Theta approx. 14 degrees Tension must be anchored at least 1.62” forward of arm hinge

10. Weed Detection “Feelers” on the ground Along front, 7 rows When feeler is lifted by profile of weed, circuit is closed

11. Sensor Array

12. Weed Sensors

13. Sensor Testing Sensor array was held by hand and dragged over weeds Weeds detected (contact is made) depending on 2 major factors The first is the size of the weed. The second is the height of the array off the ground

14. Design Implications A more sensitive and/or lower weed sensor will detect smaller weeds. A less sensitive and/or higher sensor will detect let weeds grow before killing A less sensitive sensor will give less false positive readings.

15. Sensor electrical diagram 7 active low switches with pull up resistors

16. Programming for the Weed Reaper The program will run through a series of routines: Check the sensors Kill weeds previously detected Adjust relative motor speeds Move forward

17. Navigation Routine

18. Weed Detecting Routine

19. Weed Recall Routine

20. Kill Routine

21. Weed Removal Using an X and Z axis rail mount. An attached drill with auger. Auger based from actual weeding application.

22. Auger Force Diagram

23. X-axis General Design

24. X-axis & Gear Force

25. Z-axis Design

26. Z-axis Gear Design Dp = 8 Pitch Dia. = 3” Pitch Dia. = # of Teeth / Dp = 24 Teeth Outside Dia. = # of Teeth + 2 / Dp =3.25” Gear is cut every 15°

27. Gaant Chart

28. Projected Budget

29. Questions?