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Preliminary laboratory test on navigation accuracy of an autonomous robot for measuring air quality in livestock buildings

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International Journal of Agricultural and Biological Engineering 2016年第2期9卷 29-39页

作者： Qi Haixia Thomas M.Banhazi Zhang Zhigang Tobias Low Iain JBrookshaw College of Engineering South China Agricultural UniversityGuangzhou 510641China National Centre for Engineering in Agriculture(NCEA) University of Southern Queensland(USQ)West StreetToowoomba QLD4350Australia Faculty of Engineering and Surveying University of Southern QueenslandWest StreetToowoomba QLD 4350Australia International Agriculture Aviation Pesticide Spraying Technology Joint Laboratory Engineering Research Center for Agricultural Aviation ApplicationSouth China Agricultural UniversityGuangzhou 510641China

Air quality in many poultry buildings is less than ***,the measurement of concentrations of airborne pollutants in livestock buildings is generally quite *** counter this,the development of an autonomous robot that could collect key environmental data continuously in livestock buildings was *** research presents a specific part of the larger study that focused on the preliminary laboratory test for evaluating the navigation precision of the robot being developed under the different ground surface conditions and different localization algorithm according internal *** construction of the robot was such that each wheel of the robot was driven by an independent DC motor with four odometers fixed on each *** inertial measurement unit(IMU)was rigidly fixed on the robot vehicle *** research focused on using the internal sensors to calculate the robot position(x,y,θ)through three different *** first method relied only on odometer dead reckoning(ODR),the second method was the combination of odometer and gyroscope data dead reckoning(OGDR)and the last method was based on Kalman filter data fusion algorithm(KFDF).A series of tests were completed to generate the robot’s trajectory and analyse the localisation *** tests were conducted on different types of surfaces and path *** results proved that the ODR calculation of the position of the robot is inaccurate due to the cumulative errors and the large deviation of the heading angle ***,improved use of the gyroscope data of the IMU sensor improved the accuracy of the robot heading angle *** KFDF calculation resulted in a better heading angle estimate than the ODR or OGDR *** ground type was also found to be an influencing factor of localisation errors.

关键词： autonomous robot air quality navigation Kalman filter data fusion livestock building robot localization

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Optimum insulation thickness for the sandwich structure livestock buildings external envelopes in different climate regions of China

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International Journal of Agricultural and Biological Engineering 2020年第1期13卷 29-41页

作者： Yang Wang Baoming Li Weichao Zheng College of Water Resources and Civil Engineering China Agricultural UniversityBeijing 100083China Key Laboratory of Agricultural Engineering in Structure and Environment Ministry of Agriculture and Rural AffairsBeijing 100083China Beijing Engineering Research Center for Animal Healthy Environment Beijing 100083China

Determining the optimum insulation thicknesses of external envelopes for livestock buildings are one of the most effective metrics to decrease energy *** study was carried out to determine the optimum insulation thicknesses for livestock buildings in different climate zones,to examine the effects of insulation thickness and material(foam glass,mineral wool,expanded polystyrene,foamed polyurethane,foamed polyvinyl chloride,and expanded polyethylene)on life cycle total cost,life cycle savings,and payback *** finishing pig houses and laying hen buildings with sandwich wall structures(color steel laminboard)in five typical cities were studied using the degree-days method with economic *** insulation thicknesses ranged from 0.05 m to 0.25 m and 0.02 m to 0.24 m in finishing pig houses and poultry buildings,respectively;the life cycle total costs ranged from 16.49 to 37.98$/m2 and 13.37 to 36.84$/m2;the life cycle savings ranged from 29.13 to 220.60$/m2 and 0 to 202.13$/m2;and the payback period ranged from 1.11 to 5.81 years and 1.19 to 20.76 years,*** polyurethane provided the highest life cycle savings,while foam glass had the *** this research,the insulation thicknesses for the sandwich structure livestock buildings external envelopes are optimized,and the energy saving can be obtained by using proper insulation thickness in different ***,it can increase the knowledge about energy consumption in the livestock buildings and the results can be also a useful tool for farmers.

关键词： livestock building insulation material optimum insulation thicknesses degree-days life cycle total cost life cycle saving payback period

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