Mr. Xinmin Deng Profile

Xinmin Deng

at Zhejiang Univ of Science and Technology

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Publications (2)

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Proceedings Article | 27 September 2024 Paper

Design and simulation of a robotic arm imitating human arm motions for a spraying actuator arm

Xinmin Deng, Junxian Zou, Ronglin Zhu, Denghui Li, Yong Liu, Lingxue Kong

Proceedings Volume 13261, 1326110 (2024) https://doi.org/10.1117/12.3047639

KEYWORDS: Actuators, Design, Monte Carlo methods, Robots, Robotics, Kinematics, 3D modeling, Agriculture, Matrices, Angular velocity

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Aiming to address the issues of low positioning accuracy and high waste of spray application robots in China's facility agriculture, a robot capable of imitating manual spraying behavior is highly needed to enhance spraying precision and reduce pesticide waste. We have designed a robot equipped with a mechanical arm that can move up and down for spraying, aiming to achieve imitation of manual up-and-down spraying for facility-grown tomatoes and cucumbers. The robot is modeled in 3D using SW software. The kinematic equations of the actuator arm are established using the DH method, and the forward and inverse kinematics are analyzed numerically. MATLAB was employed for simulation purposes, and the Monte Carlo method was utilized to generate the workspace diagram, which demonstrated that the maximum workspace of the actuator arm in the vertical direction was 0.8 m. By integrating the joint space and Cartesian space trajectory planning method, the trajectory curves of the actuator arm were obtained in the simulation. The simulation results yielded the angular displacement, angular velocity, angular acceleration, and angular change curves for each joint, which further substantiated the rationality of the design by demonstrating the continuous and moderate nature of the curves' change. The continuous and gradual evolution of the curves serves to reinforce the rationale behind the design. The design is further validated by the continuous and gradual evolution of the curves. It provides a reference point for the construction of automated spraying robots.

Proceedings Article | 29 November 2023 Paper

Development of a programmable and scalable smart IoT cultivation apparatus

Huanbo Zhang, Qiangke Luo, Xingjiang Chen, Xinmin Deng, Junxian Zou, Hongyi Han, Yong Liu

Proceedings Volume 12937, 1293704 (2023) https://doi.org/10.1117/12.3013262

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To address a series of issues existing in the current incubators, including cumbersome data processing, limited programming capabilities, difficulties in secondary development, sharp hot and cold stress on cultures, and the inability to provide effective temperature stimulation, a smart cultivation apparatus was constructed on the base of STM32 microcontroller chip. The apparatus employed temperature and humidity sensor, JXM oxygen sensor, and MQ-135 ammonia sensor for the purpose of data collection. Additionally, the ESP-12F wireless module is utilized as a medium for custom control through a mobile application, being compatible with both of Android and iOS systems, real-time data was upload to the cloud, and real-time customized controls through mobile apps were implemented. Actual operation of this cultivation apparatus showed the proficiency to achieve functions such as automatic constant temperature and humidity control, gradient cultivation conditions setting and operation, real-time remote data uploading, and app control. The temperature fluctuation range is controlled as ±0.1 °C, and the relative humidity variation rate is of ± 1%. Additionally, the programmable and scalable performance was embedded into this apparatus by providing program burning interfaces, multiple serial ports, and relay modules, to meet the technical needs for teaching and research.

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