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Automatically balanced structure for minimally invasive monitoring rover

Grant number: 17/10401-3
Support Opportunities:Scholarships in Brazil - Master
Effective date (Start): October 01, 2017
Effective date (End): August 31, 2019
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Marcelo Becker
Grantee:Mateus Valverde Gasparino
Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated research grant:13/07276-1 - CEPOF - Optics and Photonic Research Center, AP.CEPID
Associated scholarship(s):18/04287-6 - Stabilized mast system for ground autonomous mobile robot in cornfield, BE.EP.MS


Due to the great advance of technology, the field is no longer treated as a space limited only to rustic and manual techniques of cultivation to become the scene of several applications of technologies of the last century. In this way, robotics has shown promising results when applied in the field, but it requires greater advances to assure the robustness and safety in a work environment so susceptible to changes and unpredictability, either by the action of weather or by the poorly controlled terrain.In addition, the environmental, economic, population, and technological factors are favorable circumstances for the increased investment in research and development applied in agriculture. As a result, the Mobile Robotics Laboratory (LabRoM) of the School of Engineering of São Carlos (EESC-USP) has been developing, since 2010, mobile robotics projects, both terrestrial and aerial, with the objective of working in the agricultural area. In this context, this project aims to develop a dynamically balanced structure for application in the agricultural environment, capable of self-balancing on a robotic platform. Such design allows the access of the analysis tool to a sufficient height to inspect the leaves of a corn plantation, whose height can reach more than 2 meters, besides allowing a height of operation for equipment like GPS that have their operation highlighted due to a better exposure to radio waves.This new self-balancing Rover concept enables the achievement of a better operating height without the need to increase the base area of the robotic platform, reducing the farming intervention and decreasing the vibration to the data acquisition equipment, while overcoming different slopes of the land, avoiding the tipping of the system. (AU)

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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
GASPARINO, MATEUS V.; HIGUTI, VITOR A. H.; VELASQUEZ, ANDRES E. B.; BECKER, MARCELO. Improved localization in a corn crop row using a rotated laser rangefinder for three-dimensional data acquisition. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 42, n. 11, . (16/09970-0, 17/10401-3)
VELASQUEZ, A. E. B.; HIGUTI, V. A. H.; GUERRERO, H. B.; GASPARINO, M. V.; MAGALHAES, D. V.; AROCA, R. V.; BECKER, M.. Reactive navigation system based on H infinity control system and LiDAR readings on corn crops. PRECISION AGRICULTURE, v. 21, n. 2, p. 349-368, . (13/07276-1, 17/10401-3, 16/09970-0)

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