INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019
UK: Managing Editor International Journal of Innovative Technology and Creative Engineering 1a park lane, Cranford London TW59WA UK E-Mail: editor@ijitce.co.uk Phone: +44-773-043-0249 USA: Editor International Journal of Innovative Technology and Creative Engineering Dr. Arumugam Department of Chemistry University of Georgia GA-30602, USA. Phone: 001-706-206-0812 Fax:001-706-542-2626 India: Editor International Journal of Innovative Technology & Creative Engineering Dr. Arthanariee. A. M Finance Tracking Center India 66/2 East mada st, Thiruvanmiyur, Chennai -600041 Mobile: 91-7598208700
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019
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IJITCE PUBLICATION
InternatIonal Journal of InnovatIve technology & creatIve engIneerIng Vol.9 No.04 April 2019
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019
From Editor's Desk Dear Researcher, Greetings! We like to think of the immune system as our own personal military, ready to attack foreign invaders. Slice your finger and immune cells rush in to destroy rogue pathogens. But it’s misleading to think of the immune system as solely a war machine. It must also keep the peace, assessing each threat and in many cases, deciding to stand down. It is a system precisely and delicately tailored to stay in balance, keep the peace and do as little damage as possible to us and our surroundings. And that balance is central to our health. Richtel explains all of this science through the stories of four individuals deeply affected by their immune systems. Richtel childhood friend Jason Greenstein is battling a stubborn form of Hodgkin’s disease that seems to be invisible to his immune response. But Richtel seems to presume that readers will find too much science tedious. Describing how the body can make hundreds of millions of different antibodies, he offers readers a pep talk and implores them to Soldier on. At times he glosses over experimental details in ways guaranteed to make scientists cringe. This is one of those experiments that is too technical to describe, he writes, adding first there were some mixtures or assays and then the data was crunched digitally and the results came over the computer. Even more frustrating, the book fails to provide references, an omission that makes it difficult for readers who do care about technical details to do their own research. Thanks, Editorial Team IJITCE
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019
Editorial Members Dr. Chee Kyun Ng Ph.D Department of Computer and Communication Systems, Faculty of Engineering,Universiti Putra Malaysia,UPMSerdang, 43400 Selangor,Malaysia. Dr. Simon SEE Ph.D Chief Technologist and Technical Director at Oracle Corporation, Associate Professor (Adjunct) at Nanyang Technological University Professor (Adjunct) at ShangaiJiaotong University, 27 West Coast Rise #08-12,Singapore 127470 Dr. sc.agr. Horst Juergen SCHWARTZ Ph.D, Humboldt-University of Berlin,Faculty of Agriculture and Horticulture,Asternplatz 2a, D-12203 Berlin,Germany Dr. Marco L. BianchiniPh.D Italian National Research Council; IBAF-CNR,Via Salaria km 29.300, 00015 MonterotondoScalo (RM),Italy Dr. NijadKabbaraPh.D Marine Research Centre / Remote Sensing Centre/ National Council for Scientific Research, P. O. Box: 189 Jounieh,Lebanon Dr. Aaron Solomon Ph.D Department of Computer Science, National Chi Nan University,No. 303, University Road,Puli Town, Nantou County 54561,Taiwan Dr. Arthanariee. A. M M.Sc.,M.Phil.,M.S.,Ph.D Director - Bharathidasan School of Computer Applications, Ellispettai, Erode, Tamil Nadu,India Dr. Takaharu KAMEOKA, Ph.D Professor, Laboratory of Food, Environmental & Cultural Informatics Division of Sustainable Resource Sciences, Graduate School of Bioresources,Mie University, 1577 Kurimamachiya-cho, Tsu, Mie, 514-8507, Japan Dr. M. Sivakumar M.C.A.,ITIL.,PRINCE2.,ISTQB.,OCP.,ICP. Ph.D. Project Manager - Software,Applied Materials,1a park lane,cranford,UK Dr. Bulent AcmaPh.D Anadolu University, Department of Economics,Unit of Southeastern Anatolia Project(GAP),26470 Eskisehir,TURKEY Dr. SelvanathanArumugamPh.D Research Scientist, Department of Chemistry, University of Georgia, GA-30602,USA.
Review Board Members Dr. Paul Koltun Senior Research ScientistLCA and Industrial Ecology Group,Metallic& Ceramic Materials,CSIRO Process Science & Engineering Private Bag 33, Clayton South MDC 3169,Gate 5 Normanby Rd., Clayton Vic. 3168, Australia Dr. Zhiming Yang MD., Ph. D. Department of Radiation Oncology and Molecular Radiation Science,1550 Orleans Street Rm 441, Baltimore MD, 21231,USA Dr. Jifeng Wang Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign Urbana, Illinois, 61801, USA Dr. Giuseppe Baldacchini ENEA - Frascati Research Center, Via Enrico Fermi 45 - P.O. Box 65,00044 Frascati, Roma, ITALY.
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019 Dr. MutamedTurkiNayefKhatib Assistant Professor of Telecommunication Engineering,Head of Telecommunication Engineering Department,Palestine Technical University (Kadoorie), TulKarm, PALESTINE. Dr.P.UmaMaheswari Prof &Head,Depaartment of CSE/IT, INFO Institute of Engineering,Coimbatore. Dr. T. Christopher, Ph.D., Assistant Professor &Head,Department of Computer Science,Government Arts College(Autonomous),Udumalpet, India. Dr. T. DEVI Ph.D. Engg. (Warwick, UK), Head,Department of Computer Applications,Bharathiar University,Coimbatore-641 046, India. Dr. Renato J. orsato Professor at FGV-EAESP,Getulio Vargas Foundation,São Paulo Business School,RuaItapeva, 474 (8° andar),01332-000, São Paulo (SP), Brazil Visiting Scholar at INSEAD,INSEAD Social Innovation Centre,Boulevard de Constance,77305 Fontainebleau - France Y. BenalYurtlu Assist. Prof. OndokuzMayis University Dr.Sumeer Gul Assistant Professor,Department of Library and Information Science,University of Kashmir,India Dr. ChutimaBoonthum-Denecke, Ph.D Department of Computer Science,Science& Technology Bldg., Rm 120,Hampton University,Hampton, VA 23688 Dr. Renato J. Orsato Professor at FGV-EAESP,Getulio Vargas Foundation,São Paulo Business SchoolRuaItapeva, 474 (8° andar),01332-000, São Paulo (SP), Brazil Dr. Lucy M. Brown, Ph.D. Texas State University,601 University Drive,School of Journalism and Mass Communication,OM330B,San Marcos, TX 78666 JavadRobati Crop Production Departement,University of Maragheh,Golshahr,Maragheh,Iran VineshSukumar (PhD, MBA) Product Engineering Segment Manager, Imaging Products, Aptina Imaging Inc. Dr. Binod Kumar PhD(CS), M.Phil.(CS), MIAENG,MIEEE HOD & Associate Professor, IT Dept, Medi-Caps Inst. of Science & Tech.(MIST),Indore, India Dr. S. B. Warkad Associate Professor, Department of Electrical Engineering, Priyadarshini College of Engineering, Nagpur, India Dr. doc. Ing. RostislavChoteborský, Ph.D. Katedramateriálu a strojírenskétechnologieTechnickáfakulta,Ceskázemedelskáuniverzita v Praze,Kamýcká 129, Praha 6, 165 21 Dr. Paul Koltun Senior Research ScientistLCA and Industrial Ecology Group,Metallic& Ceramic Materials,CSIRO Process Science & Engineering Private Bag 33, Clayton South MDC 3169,Gate 5 Normanby Rd., Clayton Vic. 3168 DR.ChutimaBoonthum-Denecke, Ph.D Department of Computer Science,Science& Technology Bldg.,HamptonUniversity,Hampton, VA 23688 Mr. Abhishek Taneja B.sc(Electronics),M.B.E,M.C.A.,M.Phil., Assistant Professor in the Department of Computer Science & Applications, at Dronacharya Institute of Management and Technology, Kurukshetra. (India).
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019 Dr. Ing. RostislavChotěborský,ph.d, Katedramateriálu a strojírenskétechnologie, Technickáfakulta,Českázemědělskáuniverzita v Praze,Kamýcká 129, Praha 6, 165 21
Dr. AmalaVijayaSelvi Rajan, B.sc,Ph.d, Faculty – Information Technology Dubai Women’s College – Higher Colleges of Technology,P.O. Box – 16062, Dubai, UAE Naik Nitin AshokraoB.sc,M.Sc Lecturer in YeshwantMahavidyalayaNanded University Dr.A.Kathirvell, B.E, M.E, Ph.D,MISTE, MIACSIT, MENGG Professor - Department of Computer Science and Engineering,Tagore Engineering College, Chennai Dr. H. S. Fadewar B.sc,M.sc,M.Phil.,ph.d,PGDBM,B.Ed. Associate Professor - Sinhgad Institute of Management & Computer Application, Mumbai-BangloreWesternly Express Way Narhe, Pune - 41 Dr. David Batten Leader, Algal Pre-Feasibility Study,Transport Technologies and Sustainable Fuels,CSIRO Energy Transformed Flagship Private Bag 1,Aspendale, Vic. 3195,AUSTRALIA Dr R C Panda (MTech& PhD(IITM);Ex-Faculty (Curtin Univ Tech, Perth, Australia))Scientist CLRI (CSIR), Adyar, Chennai - 600 020,India Miss Jing He PH.D. Candidate of Georgia State University,1450 Willow Lake Dr. NE,Atlanta, GA, 30329 Jeremiah Neubert Assistant Professor,MechanicalEngineering,University of North Dakota Hui Shen Mechanical Engineering Dept,Ohio Northern Univ. Dr. Xiangfa Wu, Ph.D. Assistant Professor / Mechanical Engineering,NORTH DAKOTA STATE UNIVERSITY SeraphinChallyAbou Professor,Mechanical& Industrial Engineering Depart,MEHS Program, 235 Voss-Kovach Hall,1305 OrdeanCourt,Duluth, Minnesota 55812-3042 Dr. Qiang Cheng, Ph.D. Assistant Professor,Computer Science Department Southern Illinois University CarbondaleFaner Hall, Room 2140-Mail Code 45111000 Faner Drive, Carbondale, IL 62901 Dr. Carlos Barrios, PhD Assistant Professor of Architecture,School of Architecture and Planning,The Catholic University of America Y. BenalYurtlu Assist. Prof. OndokuzMayis University Dr. Lucy M. Brown, Ph.D. Texas State University,601 University Drive,School of Journalism and Mass Communication,OM330B,San Marcos, TX 78666 Dr. Paul Koltun Senior Research ScientistLCA and Industrial Ecology Group,Metallic& Ceramic Materials CSIRO Process Science & Engineering Dr.Sumeer Gul Assistant Professor,Department of Library and Information Science,University of Kashmir,India
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019 Dr. ChutimaBoonthum-Denecke, Ph.D Department of Computer Science,Science& Technology Bldg., Rm 120,Hampton University,Hampton, VA 23688
Dr. Renato J. Orsato Professor at FGV-EAESP,Getulio Vargas Foundation,São Paulo Business School,RuaItapeva, 474 (8° andar)01332-000, São Paulo (SP), Brazil Dr. Wael M. G. Ibrahim Department Head-Electronics Engineering Technology Dept.School of Engineering Technology ECPI College of Technology 5501 Greenwich Road Suite 100,Virginia Beach, VA 23462 Dr. Messaoud Jake Bahoura Associate Professor-Engineering Department and Center for Materials Research Norfolk State University,700 Park avenue,Norfolk, VA 23504 Dr. V. P. Eswaramurthy M.C.A., M.Phil., Ph.D., Assistant Professor of Computer Science, Government Arts College(Autonomous), Salem-636 007, India. Dr. P. Kamakkannan,M.C.A., Ph.D ., Assistant Professor of Computer Science, Government Arts College(Autonomous), Salem-636 007, India. Dr. V. Karthikeyani Ph.D., Assistant Professor of Computer Science, Government Arts College(Autonomous), Salem-636 008, India. Dr. K. Thangadurai Ph.D., Assistant Professor, Department of Computer Science, Government Arts College ( Autonomous ), Karur - 639 005,India. Dr. N. Maheswari Ph.D., Assistant Professor, Department of MCA, Faculty of Engineering and Technology, SRM University, Kattangulathur, Kanchipiram Dt - 603 203, India. Mr. Md. Musfique Anwar B.Sc(Engg.) Lecturer, Computer Science & Engineering Department, Jahangirnagar University, Savar, Dhaka, Bangladesh. Mrs. Smitha Ramachandran M.Sc(CS)., SAP Analyst, Akzonobel, Slough, United Kingdom. Dr. V. Vallimayil Ph.D., Director, Department of MCA, Vivekanandha Business School For Women, Elayampalayam, Tiruchengode - 637 205, India. Mr. M. Moorthi M.C.A., M.Phil., Assistant Professor, Department of computer Applications, Kongu Arts and Science College, India PremaSelvarajBsc,M.C.A,M.Phil Assistant Professor,Department of Computer Science, KSR College of Arts and Science, Tiruchengode Mr. G. Rajendran M.C.A., M.Phil., N.E.T., PGDBM., PGDBF., Assistant Professor, Department of Computer Science, Government Arts College, Salem, India. Dr. Pradeep H Pendse B.E.,M.M.S.,Ph.d Dean - IT,Welingkar Institute of Management Development and Research, Mumbai, India Muhammad Javed Centre for Next Generation Localisation, School of Computing, Dublin City University, Dublin 9, Ireland Dr. G. GOBI Assistant Professor-Department of Physics,Government Arts College,Salem - 636 007 Dr.S.Senthilkumar Post Doctoral Research Fellow, (Mathematics and Computer Science & Applications),UniversitiSainsMalaysia,School of Mathematical Sciences, Pulau Pinang-11800,[PENANG],MALAYSIA. Manoj Sharma Associate Professor Deptt. of ECE, PrannathParnami Institute of Management & Technology, Hissar, Haryana, India
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019 RAMKUMAR JAGANATHAN Asst-Professor,Dept of Computer Science, V.L.B Janakiammal college of Arts & Science, Coimbatore,Tamilnadu, India Dr. S. B. Warkad Assoc. Professor, Priyadarshini College of Engineering, Nagpur, Maharashtra State, India Dr. Saurabh Pal Associate Professor, UNS Institute of Engg. & Tech., VBS Purvanchal University, Jaunpur, India Manimala Assistant Professor, Department of Applied Electronics and Instrumentation, St Joseph’s College of Engineering & Technology, Choondacherry Post, Kottayam Dt. Kerala -686579 Dr. Qazi S. M. Zia-ul-Haque Control Engineer Synchrotron-light for Experimental Sciences and Applications in the Middle East (SESAME),P. O. Box 7, Allan 19252, Jordan Dr. A. Subramani, M.C.A.,M.Phil.,Ph.D. Professor,Department of Computer Applications, K.S.R. College of Engineering, Tiruchengode - 637215 Dr. SeraphinChallyAbou Professor, Mechanical & Industrial Engineering Depart. MEHS Program, 235 Voss-Kovach Hall, 1305 Ordean Court Duluth, Minnesota 55812-3042 Dr. K. Kousalya Professor, Department of CSE,Kongu Engineering College,Perundurai-638 052 Dr. (Mrs.) R. Uma Rani Asso.Prof., Department of Computer Science, Sri Sarada College For Women, Salem-16, Tamil Nadu, India. MOHAMMAD YAZDANI-ASRAMI Electrical and Computer Engineering Department, Babol"Noshirvani" University of Technology, Iran. Dr. Kulasekharan, N, Ph.D Technical Lead - CFD,GE Appliances and Lighting, GE India,John F Welch Technology Center,Plot # 122, EPIP, Phase 2,Whitefield Road,Bangalore – 560066, India. Dr. Manjeet Bansal Dean (Post Graduate),Department of Civil Engineering,Punjab Technical University,GianiZail Singh Campus,Bathinda -151001 (Punjab),INDIA Dr. Oliver Jukić Vice Dean for education,Virovitica College,MatijeGupca 78,33000 Virovitica, Croatia Dr. Lori A. Wolff, Ph.D., J.D. Professor of Leadership and Counselor Education,The University of Mississippi,Department of Leadership and Counselor Education, 139 Guyton University, MS 38677
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019
Contents Designing, 3D Printing of a Quadruped Robot and Choice of Materials for Fabrication Akash Maity, Koustav Roy, Dhrubajyoti Gupta …………………. [660] A Study on Various Types of Farming and Factors Affecting Crop Growth and Yield G.Murugesan, Dr.B.Radha …………………. [666]
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INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019
Designing, 3D Printing of a Quadruped Robot and Choice of Materials for Fabrication Akash Maity Metallurgical and Materials Engineering, National Institute of Technology Durgapur Mahatma Gandhi Rd, A-Zone, Durgapur-713209, West Bengal, India E-mail ID: am.20150292@btech.nitdgp.ac.in
Koustav Roy Mechanical Engineering, National Institute of Technology Durgapur Mahatma Gandhi Rd, A-Zone, Durgapur-713209, West Bengal, India E-mail ID: kr.20150229@btech.nitdgp.ac.in
Dhrubajyoti Gupta Mechanical Engineering, National Institute of Technology Durgapur Mahatma Gandhi Rd, A-Zone, Durgapur-713209, West Bengal, India E-mail ID:dg.17u10024@btech.nitdgp.ac.in AbstractPurpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and also highlights its limitations. The consequences of choice of different materials for 3-D printing are evaluated in this report. Design/methodology/Approach- The parts were designed in CAD software and made into Stereo lithography files, which were fed into the 3-D printing software. They were printed with the selection of ABS material. Low torque servos were employed in the beginning of the assembly and were controlled with the Arduino Uno microcontroller. Findings- The versatility of legged robots require materials with high strength to weight ratio, where 3003 aluminium alloy sheets proved to be a better choice than conventional ABS. The ABS legs buckled under load and proved to be an inferior material choice for fabrication. The aluminium sheet fabricated legs not only imparted structural stability to the robot but also allowed in selection of more powerful servos for added strength. The bot could now achieve significant level of stability. Research Limitations/Implications- The power supply used for powering the bot was of SMPS type of power supply which made it less mobile. Due to the huge demand of current by the high torque servos used later, the power supply became a huge limitation which can be overcome by applying Lithium ion batteries. Practical Implications- The bot can be used for SLAM and autonomous navigation in areas where it is almost impossible for humans to access into.
Originality/Value- This paper shows a concrete study on efficacy of quick CAD designing and rapid fabrication. Keywords: 3-D Printing, Kinematics, EDM, Sheet Metal, Quadruped.
I. INTRODUCTION Due to increased number of degrees of freedom, legged robots, in general, a far more complex than wheeled robots which are rather simple and easy to control. But wheeled robots have numerous backlogs in terms of their movement in undulating terrain, crossing hindrance, etc.[1], [5].Legged robots effectively provide solution to such problems. This paper is focused on a very popular legged robot, the quadruped robot. Solid Works CAD software is used to design the parts of the robot and then it is manufactured using FlashforgeCreatorPro3-D printer. This is the salient part of the paper as conventional manufacturing techniques were avoided which made possible in designing customized parts rather than relying on the standard available ones. It was found that the material choice was not optimal for supporting the load of the servos and the microcontroller after the bot was fully assembled. The Tibia (Fig. 1. b) began to buckle under load and got deformed, leading to stability issues. The Tibia was then redesigned and was re-fabricated with aluminium plates with the help of EDM, which resulted in higher strength to weight parts. Then the detailed analysis was carried out in terms of some standard parameters such as kinematics, stability, etc. The choice of material further allowed us to incorporate heavier, more powerful servos in order to impart more strength to the kinematics of the bot. II. LITERATURE SURVEY The first idea of creation of legged robots was inspired from various species pre-existing in the environment such as centipedes, millipedes, etc. Subsequently some crude walking mechanism were formulated in order to accomplish the task. The first walking mechanism was developed by
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Chebyshev in 1870 which was a manifestation of four bar mechanism[4]. Subsequently, gaits were formulated and studied based on mathematical models in an attempt to improve the features of walking mechanisms. Thus, stability measurements and gait generation algorithms were created based on ideal cases, and improvements were eventually made leading to the present condition of such technology. Our research is to create a simplified version of all the complex analysis and formulations that have been done in order to develop a quadruped robot. We have tried to simplify things in terms of design, manufacturing and analysis of this particular type of legged robot, the quadruped robot. III. PROBLEM DEFINITION Modern technology is developed keeping in mind that it would assist or be of use to mankind. The prime problems which are faced by robot makers are cost, feasibility of manufacturing, resources in terms of material availability and many other things. In the recent years a significant development in the field of affordable 3-D printing has been witnessed. This has eased up the process of fabrication of 3D models which now can be produced at unprecedented frequencies. The advancements in 3D printing technology have motivated many people to get into CAD and CAM and design their own models. Those models now can be easily fabricated once the solid model has been created. This report is aimed at investigating a similar topic as stated above. The following pages exhibit the process of fabrication of a quadruped robot. First, the parts are designed in CAD software. The parts are then converted into StereoLithographic Image files which are then fed into a 3D printer software. This is followed by a brief discussion on material selection in 3D printing and numerous problems that can arise with it. Let us discuss about the kinematic analysis of the legjoints and the joint trajectory planning. IV. METHODOLOGY A. Hardware and software used 1. CAD software: CAD stands for Computer Aided Design. The name itself suggests that it is the use of computer systems to design, analyse and optimise a particular product. Some CAD softwares can even simulate the working of a particular system. Any open source or paid CAD software can be used out of the bundles available. The parts of the robot are designed in CAD software. 2. Flashforge Creator Pro 3D Printer:Thanks to the open source technology, this printer has provided precise and high quality 3D printed models. The CREATOR PRO is a Fused Deposition Moulding (FDM) type 3D printer. The sturdy metal frame seen in the product increases stability of the printer’s moving parts. Metal platform support and 10mm Z-axis guide rods allow for precise movement on the Z-axis. The build plate is made from 6.3mm thickness alloy of aluminium.
It has 227x148x150 mm build volume. Layer resolution offered by this printer is 100-500 microns. The product weighs about 17 kgs. The integrated software it uses is ReplicatorG. A solid model file, after being created, can be transformed in Stereo-Lithographic Imaging File (STL) and fed into the 3D printer via USB or SD card. The build time will depend upon size, complexity and amount of material to be used in the model [6]. 3.EDM: Electrical discharge machining, also known as spark machining, spark eroding, wire burning or wire erosion, is a manufacturing process whereby a desired shape is obtained by using electrical discharges. Material is removed from the work piece by a series of rapidly recurring current discharges between two electrodes, separated by a dielectric liquid and subjected to an electrical voltage. One of the electrodes is called the tool electrode, while the other is called the work piece electrode. When the voltage between the two electrodes is increased, the intensity of the electric field in the volume between the electrodes become greater than the strength of the dielectric, which breaks down, allowing current to flow between the two electrodes. As a result material gets removed, which gets carried away by draining liquid dielectric and fresh liquid dielectric is replaced[7]. B. Design and Fabrication of the quadruped robot As stated earlier this is a solely self-designed robot. Therefore the first step was to design the parts that would constitute the robot. The robot to be designed would have 3 servo motors on each leg, therefore, giving it 3 degrees of freedom[1]. The legs would further have sub parts viz. ‘upper leg’ (Femur) and ‘lower leg’ (Tibia). These legs would then be attached to the base plate or main body. The following parts were designed in CAD software
Fig.1 Part by part 3-D model designed in CAD software a) Femur b) Tibia c) Body d) Extension Hand Due to build volume limitations in the 3D printer a separate ‘Extension hand’ part was designed which was to be screwed in on the four corners of the base plate. They were assembled in CAD software. The assembly is shown below-
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Fig.2 Complete 3-D Constrained Assembly in CAD Software The ‘Extension hand’ part was later discarded as it lead to unnecessary instability issues. The solid models were converted into STL files and loaded into the 3-D printer. The robot had 4 legs. Therefore, as set of 4 upper and lower leg parts were fabricated and finally a base plate was fabricated. The 3D printer supported Poly Lactic Acid (PLA) and Acrylonitrile Butadiene Styrene (ABS) as materials for 3D printing. Though ABS had poor mechanical properties, it was the material of choice as PLA had poor machining properties and was resistant to adhesives. The 3-D printed parts are shown below
Fig.3 Complete 3-D Printed Parts with ABS a) Femur b) Tibia c) Body d) Extension Hand The holes were machined to satisfy the mating conditions of servo horns and screws. After each fabrication, the practice was to cut out the part from its raft, which formed the base support upon the build bed. Several parts got bent due to this as at that time they were still hot. A. Electronics and Micro-controllers Now let us focus on the control system of the robot. The robot has servo motors as its actuators, which are controlled by Arduino Mega. The Arduino Mega 2560 is a microcontroller board based on the ATmega2560. It has 54
digital input/output pins (of which 15 can be used as PWM outputs), 16 analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an ISCP header and a reset button. Arduino Mega has been chosen in order to cop up with the requirement of number of digital I/O pins. In this context, it is worth mentioning that an effective and proper power supply has to be chosen for smooth and safe functioning of the servo motors as well as the Arduino board. In order to provide external power in an integrated manner, a compatible sensor shield was used. For initial purposes a computer grade power supply was chosen as it had the capability to supply high amperes of current at 12V. The servos that were to be installed in the bot were low torque HITEC HS 311 servos which demanded 6V and 1A at full load. So, an appropriate step down voltage regulator and power supply were used. B. Assembly of the robot The hands were first screwed in to the corners of the basal plate. Servos were attached to the legs and finally for the first time the bot was beginning to take shape. The rough surface at the top was the result of the raft upon which the basal plate was fabricated. The software of the 3D printer automatically suggested the formation of raft for easy removal of the fabricated parts from the build plate. The servos were assembled at the leg joints and each of the legs was attached to the servos situated at the four corners of the basal plate with the help of small aluminium bars which were machined for this purpose. The servos were connected to the shield, which was in turn mounted on the Arduino Mega microcontroller. After the assembly was complete, it was time to test the bot for its stability. In order to perform that, a simple code was uploaded to the microcontroller which held the servos at specific angles so that the bot could stand. Upon performing initial tests, it was found that there were massive stability issues. The bot could stand but it would shake from time to time as the servos would fluctuate. This gave an insight that bot was barely able to lift its own weight! What went wrong? C. Material and Servo reselection There were two flaws evident in the process viz. selection of low torque 6W servo and 50% infill ABS as the structural material. The servos were unable to generate enough torque to prevent mild slipping of the foot tip when placed on platform which led to vibrations and excessive heat generation on the servos, and hence, our actuators needed replacement. This problem was not alone. The repeated and tedious vibration cycles created fatigue in the leg pieces: Tibia and Femur. The legs got twisted and due to unequal distribution of load bending stress was induced in the legs which started causing bending failure.
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It was realised that there were 3 main problems with the robot: Insufficient torque supplied by the servos Thin design of the foot tip which resulted in less area of contact between the tip and the platform which in turn lead to increased chances of slipping Material strength and durability So, the team decided to go for re-fabrication of the leg-pieces using aluminium (which were manufactured with the help of EDM machine) thus ensuring better tensile strength and fatigue resistance and also replacing the low torque servos with high torque Futaba bls175sv with current specification of 1 A and voltage specification of 7.4V. With respect to the good selection criterion the changes worked well, minimizing the repeated vibration and heating problem of the servos. But this was not the complete solution to our problem, the slipping of the foot-tip continued due to its thin design i.e. less contact area between the tip and the platform. Now it was decided to use a simple glue-gun on the foot-tip to increase the area of contact and reduce the smoothness due to the good surface finish thus increasing the value of the friction coefficient. But this was also not the end of our troubles. Now we needed proper servo brackets to fit in the servo motors whose fitting holes were already failing due to shear. Thus, a simple cuboidal bracket was made to fit in the servos and now the design was stable enough to withstand its own load and stand for a span of about 12-13 minutes at stretch with minimal heating problem. D. Mathematical Modelling of the problem This section will put light on the detailed kinematic and dynamic analysis of the robot. The main challenges are the planning and implementation of the legs’ motions in generating a walking sequence, namely, how to plan the steps of the robot so that it moves in a desirable way while maintaining equilibrium constraints (quasi-static walking)[4]. It will be achieved by calculating the joint variables (simply speaking, angles turned by the servos) so as to achieve the desired motion of the tip of the leg. In this context it is quite evident that not only the individual legs’ motions are to be coordinated but also there has to be a smooth coordination among the 4 legs themselves. Kinematic Analysis: As stated earlier the robot has a base plate to which all the legs are attached which are similar and symmetric about the centre of mass axis of the base plate. Each leg has three servo powered rotary joints with the typical articulated (RRR) configuration, i.e. the second and third joints’ axes are parallel to each other and perpendicular to the first joint’s axis.
Fig.4 Kinematic Diagram of a Leg of the Robot The kinematic analysis of any robot has got 2 phases viz. Forward kinematics and Inverse kinematics. The former deals with determination of the position of the end effector with known joint variables while the later deals with calculating the required joint variables in order to reach a particular position[3]. An important point is to be noted that inverse kinematics cannot be carried out without writing the forward kinematic equations. The detailed operations of all those in accordance with the robot are as follows: The frames have been attached to each of the joints according to the DH parameter rules. The problem is governed by four variables, namely link length (ai), link twist (αi), joint distance (di), and joint angle (θi), required to completely describe the leg mechanism. The general transformation matrix according to the DH parameter rule can be written as:
In our case i will have values 1, 2, 3. By putting these values turn by turn we can find the individual transformation matrices. The final transformation matrix can be obtained by multiplying those matrices, i.e.
The final transformation matrix after multiplication of those transformation matrices is:
The final coordinates of the foot tip can be expressed as:
Where (X, Y, Z)’ is the final position of the foot tip.
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Similarly the values of θi can be calculated using the inverse kinematics. After simple algebraic manipulations the results are formulated below:
body and the servo legs that further enhanced the stability of the robot. Glue (from the hot glue gun) was used on the foot tips to increase friction between the tips and the platform in order to prevent further slipping.
Where
Foot trajectory planning: After having determined, what must be the joint variables in order to move the robot to a particular position, it is the ardent need of the hour to ensure that the robot does not suffer any abrupt changes in its joint variables, which may lead to unsteady motions and fatal vibrations. Therefore, trajectory planning becomes necessary. It involves formulation of a sequence of movements that must be made to create a controlled movement between motion segments[2]. To ensure a smooth path to be followed by the swing foot, the joint trajectory is assumed to be a 3rd power polynomial function as the trajectory function of the joint angles θi Differentiating both sides, Where i= 1, 2, 3 From velocity analysis,
Fig.5 Stable Standing Robot Made With Aluminium Legs There were some power supply issues too which were provided with some adequate temporary solutions. VI. CONCLUSION So, our self-designed and self-manufactured robot worked quite well despite having some limitations. We are looking forward to use a lithium ion power supply instead of a switching mode power supply which would allow us to carry out the gaiting analysis in a more extensive way. A separate servo bracket has also been designed, that is to be manufactured with the help of aluminium sheet metal, which provide a further more stable structure to the robot.
Where
and and J is the Jacobian matrix represented as Fig.6. Redesigned and Improved Servo Bracket
V. RESULTS & DISCUSSIONS We have used additive manufacturing instead of conventional manufacturing techniques, which obviously reduced the cost to some extent and increased the design innovation to a great extent. It is also less tedious compared to the conventional techniques. The robot faced some significant stability issues which were then resolved by replacing the servos and the ABS legs with aluminium legs. Some aluminium bars were also designed to connect between the
VII. FUTURE SCOPES This paper can be significantly carried forward towards numerous manifestations. Some examples are: Correction of gaiting methods of the robot followed by enhanced locomotion like stair climbing with the help of SLAM (Simultaneous localization and Mapping) using LIDAR sensor, imitation of walking stance of a real spider and generalisation of energy efficient method for walking on uneven terrain. This particular robot’s applicability can be well extended to human body detection at any natural hazard trodden site. Furthermore the robot can be embedded with numerous sensors to achieve some demand specific tasks.
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ACKNOWLEDGEMENT First of all, we would like to thank the authorities at CSIR-CMERI for their continued support, help and for providing the required materials and electronic components. Next the authors would like to thank the CAD-CAM lab, Department of Mechanical Engineering, National Institute of Technology Durgapur for letting us use the 3-D printer and providing us with the required plastic material ABS as and when required. Next the authors would like to indebt their gratitude to Dr.AtanuMaity, HOD, Engineering Design Group, CSIRCMERI and Dr.ShibenduSekhar Roy, Professor, NIT Durgapur for their continuous support and guidance regarding the decision making and engineering analysis. Finally we would like to thank our friends, family and other fellow students for their continuous involvement and moral support towards making this project a success. [1]
[2] [3] [4]
[5] [6] [7]
REFERENCES Geva, Y. and Shapiro, A. (2014), “A Novel Design of a Quadruped Robot for Research Purposes”, International Journal of Advanced Robotic Systems, Vol. 11 No. 95, pp 1-13. Niku, S.B. (2011), Introduction to Robotics: Analysis, Control, Applications, Wiley India Pvt. Ltd, New Delhi, India. Potts, A. and Cruz, J.J. (2011), “A Kinematical and Dynamical Analysis of a Quadruped Robot”, Intech, pp 239-262. Santos, G., Pablo, Garcia, Elena, Estremera, Joaquin (2006), Quadrped Locomotion: An Introduction to the control of Four-legged Robots, Springer-Verlag, London. Silva, M.F. and Machado, M.A.T. (2007), “A Historical Perspective of Legged Robots”, Journal of Vibration and Control, Vol. 13 No. 9-10, pp 1447-1486. http://www.flashforge.com/creator-pro-3d- printer https://en.wikipedia.org/wiki/Electrical_discharge_mach ining
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A Study on Various Types of Farming and Factors Affecting Crop Growth and Yield G.Murugesan Assistant Professor, Department of IT Sree Saraswathi Thyagaraja College, (Autonomous), Pollachi, Tamil Nadu, India
Dr.B.Radha Assistant Professor, Department of IT Sri Krishna Arts and Science College, Coimbatore, Tamil Nadu, India Once a farmer is aware for what the market requires and understand the environmental conditions for cultivation the farmer is placed well to improve his standard of living. This would improve the overall agro-based industry. Subsistence Farming: Majority of farmers in our nation own small pieces of cultivable land which could run to a couple of acres of cultivatable land. Only a handful of cultivators own hectares of agricultural land. The size of the land owned generally dictates the crop and method of cultivation. With a small size of land, the traditional knowledge that farmers usually carry from their forefathers are known to use primitive tools and old farming techniques. It is most likely that these farmers produce are used for their own consumption or use. Hence reaching the open market is quite a challenge due to limited produce and product they manufacture. Products like millets, corn etc., are examples of such farming [1]. Shifting Agriculture: This is a farming method mostly adopted by people who are nomads and tribes. A piece of forest land is occupied and the area is cleared by felling of trees. The wood collected in used for burning and other purpose such as making a weapon for protection from wild animals. Once the area is cleared, cultivation is done. The most common crops are dry paddy, millets and a few vegetables. The yield per hectare is very low and resources are not used to its best. After a single cultivation, this land is abandoned for further cultivation as this land loses its fertility. This type of cultivation is also a cause for soil erosion[1]. Plantation Agriculture: This is a method promoted by the British in nineteenth century. One crop is planted in the entire cultivatable land and reap the benefits of the product for a longer time. For example, in hilly areas one can observe tea plantation. Tea is a bush that is planted once and the budding leaves can be harvested periodically for decades together. Generally a tea bush’s life time is 100 years. Such plantations require good managerial skills and equipment to deliver the end product. Other products that are under plantation category are - coco, coffee, rubber, apple, grapes, orange etc [1].
Abstract - Agriculture in general is a term that is associated with production of food crops. Other cash crops such as jute, cotton etc., are most often neglected. Agriculture–in a broader sense does include Food crops, Cash crops, Plantation crops and Horticulture crops. Despite the boom in technology and engineering advancement, India’s economic back bone is Agriculture. The ground breaking genetic engineering or any other advancements in agriculture has not had its optimum usage in real cultivating arena. The hands on the cultivating land has little or no knowledge on recent technical advancement nor do they have expertise in using such improved methods of cultivation. This slackness of knowledge reflects in all the areas that are directly or indirectly connected with agriculture. Setbacks in productions such as poor quantity and quality, leads to poor marketing and disguised unemployment. This reiteration of setbacks, deteriorate the socioeconomic wellbeing. This paper focuses on the various factors influencing the growth of plants cultivated in India. Analysis the relationship exists among the productions and factors and addresses the most pressing issues in agriculture. Keywords: Agriculture, Farming, Plant Growth, Crop Rotation, Crop Seasons, IoT, Farming. INTRODUCTION About 70% people of our country are dependent on agriculture farming for their livelihood. Despite such a vast dependency in our country, agriculture is more often overridden sector in the nation. Our government that takes steps for sustenance of agriculture should consider parameters other than finance and technological development too. Enlightening farmers on what to expect in near future in seasonal tendencies and the market requirement is of top most importance. 666
INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019 Nitrogen (N) is required by plants for greenish and leaf growth. It leads to seed and fruit production. Intensive Farming: In areas where irrigation is not a issue, Phosphorous (P) help the plants to make use of the farmers use high yield variety seeds and proper light energy to produce its food. It is very important for fertilizer and pesticide to reap the utmost benefits of formation of protein, germination and also all process the efforts put on soil. Uses of advanced machineries of growth of the plant. are also required for timely seeding and harvesting. Potassium (K) helps in production of good quality of The yield per acre of land is high when compared with fruits and the reduction of diseases. It is very important other types of farming. This intense farming help to for formation of starch, protein synthesis, sugar and cultivate dairy farming also since the byproducts after carbohydrate. the harvest will be sufficient to feed the cattle[1]. Calcium (Ca) is essential for plants cell elongation and development of roots. Dry Agriculture: This practice is followed in areas where Sulphur (S)is very essential for plants chloroplasts irrigation facilities are lacking. Crops that do not manufacturing. require much irrigation are cultivated in this type of Magnesium(Mg) is used in plants photosynthesis farming. The crops cultivated with proper irrigation are process which gives green color to the leaves. also grown under dry farming. In such circumstances Though there are several other nutrients, the primary per hectare yields are generally lower. Most of the area macro nutrients NPK are sufficient to determine the under dry cultivation entertains only one crop during soil fertility. Based on the amount of NPK present in the year. This is practiced in drier parts of Rajasthan, the soil, crops can be cultivated in a rotation basis to Gujarat and Madhya Pradesh etc [1]. improve the yield. Terrace Cultivation: The sloppy areas of hilly regions when used Macro nutrient rating of N, P and K for Plants for cultivation are called Terrace Cultivation. The hill Growth and mountain slopes are cut to form terrace and the S. Level Low Medium High land is used in the same way as in permanent No agriculture. Since the availability of flat land is limited 1 N(Kg ha–1) <280 280–450 >450 terraces are made to provide small patch of landscape –1 with even surface. Soil erosion is also checked due to 2 P(Kg ha ) <11 11–22 >22 terrace formation on hill slops [1]. –1 3 K(Kg ha ) <118 118–280 >280 Sedentary Cultivation or Permanent Agriculture: Sedentary cultivation is a process where Crop Rotation: farmers are settled in a place and use the land available This is a method to maintain and nourish the in the surroundings for cultivation. It is also known as fertility of the soil cultivated. A few crops such as settled cultivation. Year after year the same piece of groundnut do not penetrate the soil deeper as the root land is used for cultivation. The same crop may not be length is shorter. A few crops such as pumpkin have used year after year. This is the system that is widely deeper roots and this penetrate the soil deeper. This followed in India for agriculture produces [1]. brings about soil rotation in natural way and maintains Mixed and Multiple Agriculture: the fertility of the soils. The time between sowing and Mixed farming is referred to the cultivation of harvesting is rather shorter as the next crop sowing is crops and rising of animals simultaneously. The likely to take place and shorter time frame. Pulses or multiple farming method is consumed by thepractice of any leguminous crop is grown after the cereal crops. cultivating two or more crops parallel together. In this Legumes have the ability of fixing nitrogen to the soil. method, normally, multiple crops are chosen based on Highly fertilizer intensive crops like sugarcane or their varied maturing periods but sown at the same tobacco are rotated with cereal crops. The selection of time. The crop that are matured early is generally crops for rotation depends upon the local soil harvested before the growth of the long maturing crop conditions and the experience and the understanding of and therefore there is no collision between the crops the farmers [1]. growth. This practice is followed in areas having good The figure 1 represents the sample crop rainfall or facilities of irrigation [1]. rotation for 4 years. Soil Nutrients: The nutrients present in the soil is the most important for plants growth. There are several nutrients present in the soil[2].
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Fig.1 Crop Rotation for 4 Years germination of seeds and maturation and cold climate for the growth. Example: Wheat, Oat, Gram, Pea, Barley, Potato, Tomato, Onion, Oil seeds (like Rapeseed, Sunflower, Sesame, Mustard) etc. Zaid Crops are grown between March-June between Rabi and Kharif crop seasons. Example: Cucumber, Bitter Gourd, Pumpkin, Watermelon, Muskmelon, Moong Dal etc. Sowing and Harvesting Seasons of Indian Agricultural Commodities is shown in Fig- 2.
Crop Seasons in India Crops can be divided into various types based on demographics, seasons, economic value etc. Based on seasons, the crops in Tamil Nadu are divided into three types; Rabi, Kharif and Zaid. Crops are Sown in June-July when rains first begin (Monsoon crop) and harvested in SeptemberOctober. It requires lot of water and hot weather to grow. Example: Rice, Jowar, Bajra, Maize, Cotton, Groundnut, Jute, Sugarcane, Turmeric, Pulses (like Urad Dal) etc. Rabi Crops are sown in October-November and harvested in April-May. Requires warm climate for
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Fig.2 Sowing and Harvesting Seasons of Indian Agricultural Commodities[3]
INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND CREATIVE ENGINEERING (ISSN:2045-8711) VOL.9 NO.04 APRIL 2019 Composition of the atmosphere CO2 makes up 0.03 Factors Affecting Plant Growth Factors other than seed and crop are considered as per cent of air by volume. Photosynthesis converts CO2 to external or environmental factors. Things like, soil, air, organic material in the plant. CO2 is returned to atmosphere atmosphere, seasons, weather, irrigation are a few parameters by respiration and decomposition. In a corn field or closed of external factors that influences cultivation to a great extent greenhouse CO2 level may drop and become a limiting factor [4]. in growth. Increasing CO2 can increase crop yields respiration For instance, when soil is considered the parameters of plants and animalsâ&#x20AC;&#x2122; decomposition of manure or plant that affect the soilâ&#x20AC;&#x2122;s fertility are, the nutrients in the soil, the residue may release CO2 greenhouse crops. Plant growth and density of the soil, water retention capacity in soil and the quality can be enhanced by supplemental CO2. Growth changes that occur in soil in correlation with seasonal changes responses have been shown with tomatoes, lettuce, and with irrigation. cucumbers, flower crops, greens, peas, beans, potatoes. Air The factors affecting the plant growth is shown in pollutants in sufficient quantities are toxic to plants sulphur Figure 3. dioxide - provides sulphur at low levels carbon monoxide, hydrofluoric acid.
Fig.3 Factors affecting Plant Growth For saplings a particular variety of soil might be needed. For the sapling to bloom into a crop a different type of soil might be required. An area that could provide both the variety of soil will be needed for proper cultivation and increased yield. Temperature: The heat energy in the atmosphere is a very important parameter as this is the source for photosynthesis process for plant growth. The ideal temperature for plant growth is between 60 and 100oF. Extreme heat or cold could kill the plant since lower temperature lessens photosynthesis process and higher temperature evaporates the moisture and kills the plant. Germination process does not need sunlight. Hence winter season will be optimum for seeding. The ideal temperature for nourishing growth will be reached by end of winter and after the germination is completed. Temperature also influences soil fertility by directly influencing the micro-organism that helps in farming. pH values in water content varies with change in temperature. Radiant energy is quality, intensity and duration of light are important. Quality can't be controlled on a field scale - Feasible on specialty crops. Intensity of light (brightness) is an important factor, photosynthesis happen based light intensity. Photoperiodic Plant behaviour in relation to day length long day plants, flower only if days are longer than same critical period. Some crops fail to flower in certain geographical areas Chrysanthemums can be made to bloom by controlling photoperiod.
Tamil Nadu Tamil Nadu state has a geographical area of 1,30,058 sq.km. The State is bounded by Bay of Bengal in the east, Indian Ocean in the south, Western Ghats in the west and the States of Karnataka and Andhra Pradesh in the north. For administrative purpose, the State is divided in to 32 Districts, 209 Taluks and 385 Blocks. The State has 10 Corporations, 150 Municipalities, 559 Town Panchayats, 12,620 Panchayat Villages and 93,699 Habitations Physiographically, Tamil Nadu State is divided into Four units viz Coastal Plains Eastern Ghat Central Plateau Western Ghats The coastal Plains stretch over a distance of about 998 kms extending from Pulicat Lake to Cape comerin. Tamil Nadu is predominantly a shield area with 73% of the area covered under hard crystalline formations while the remaining 27% comprises of unconsolidated sedimentary formations. As far as ground water resource is concerned scarcity is the major problem in hard rock environment while salinity is the problem in sedimentary areas [5]. Rainfall Tamil Nadu is a state with limited water resources and the rainfall in the state is seasonal. The annual average rainfall in the state is 960 mm, approximately 33% of this is from the southwest monsoon and 48% from the northeast monsoon. The rainfall is water source for all the irrigated systems like canal, tanks, bore wells, open wells, etc. The rainfall is directly affect the productions of the all the crops and is depicted in Figure 4.
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Fig.4 Monsoon and Indian Agriculture [6] CONCLUSION Demographics in general dictate the type of farming and the crop to be cultivated. It has been a traditional method that farmers use till date. The knowledge obtained by most farmers is hereditary in nature. The same methods of cultivation are used that were used by forefathers. Many parameters over the years have changed. Right from rainfall, fertility of the soil, atmosphere and pollutions in water, air and noise have had drastic changes. Over the decades, change in agriculture farming or adoption of newer methods and technologies are almost negligible. With proper use of technology that works from down to earth approach will help farmers improve their production. The foremost consideration to assist farming is demographics. Demographics include all the details of soil, atmosphere, weather, seasonal tendencies, rainfall etc., Then comes the type of crop that are suggestible for farming. For instance, a dry area can be suggested to have plant cash crops such as jute and hilly areas that have more moisture content in the atmosphere can the suggested to cultivate plantations such as tea, coffee and a plain areas which have water availability to be cultivated with dairy farming. This would be a system with appropriate algorithm that incorporates all the data and updates the necessary data and exclusive analysis is run and optimum suggestion for better agriculture will be provided. Latest technologies like big data analytics and internet of things can be incorporated into farming for maximize the production. [1] [2] [3] [4] [5]
REFERENCES [1] Stefen Schroedl, Kiri Wagstaff, Seth Rogers, Pat Langley and Christopher N. Hemageetha and G.M. Nasira, â&#x20AC;&#x153;Availability of Macro Nutrients Status in Salem District Soil Using Data Mining Classification Techniquesâ&#x20AC;?, IJCTA, 9(40), 2016, pp. 57-66
WEB REFERENCES http://www.shareyouressays.com/essays/ 9-maintypes-of-farming-systems-practices-in-indiaessay/120682 http://strademedia.com/technical-comment-for-theday-copper/ https://rbi.org.in/Scripts/ BS_ViewBulletin.asp x?Id=15564 http://ecohomeware.com/factors-that-affect-plantGrowth http://www.twadboard.gov.in/twad/ tamilnadu.aspx
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