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This study aims to develop an autonomous combine harvester. A manual steering combine harvester was modified autonomously using navigation systems of an RTK-DGPS, a gyroscope, and crawler speed sensors. These sensors could determine the combine position and heading required to guide the path. The control system is processed for these navigation sensors' data to make the decision of combine movement. Moreover, it commands the actuator to move the steering lever mechanism. The steering control's desired heading angle was determined from lateral error, heading error, and the traveling speed. In this study, the combined harvester's average forward traveling speed was set at 0.17 m/s, adjusted to a navigation sensor's sampling rate of 5 Hz and the steering mechanism delay. The preliminary test showed the combine could turn by pivoting one of its tracks which turned the radius was into 0.4 m. Furthermore, a guidance control system of the combine harvester was developed based on this test result. The developed guidance control system was successfully guiding the combine to follow the harvesting path. The test results showed that the root mean square of the lateral error was less than 0.1 m.

Expander is the most important component for Organic Rankine Cycle (ORC) especially to convert low-temperature heat to power in remote areas. However, most of developing countries are still far fro...

Most of paddy fields in Indonesia are not consolidated, therefore, soil hardpan usually did not exist. With no soil hardpan, mobility of any machine for crop maintenance is very difficult even in some places is almost impossible.Until now crop maintenance such as weeding, spraying and spreading fertilizer was done manually by labor. Then mechanization is required to replace the labour which is not available or very expensive. Hence, this study conducted with objective to make a prototype II of a single wheel tractor for crop maintenance operated in deep mud field or in an unconsolidated paddy field. The study also did performance test of a single wheel tractor to measure the tractor speed, traction, sinkage, and slip of wheel when operated in rice plants field. The results of performance test showed that the speed average of wheel with straight lug and curved lug were 1.15km/hour and 0.97 km/hour. The average of sinkage and slip both of wheels with straight lug and curved lug respectively were 24.8 cm, 25.9 cm and 38.7 %, 26.12%. The results of performance test olso showed that the traction average of wheel with straight lug and curved lug respectively were 45.8 kg and 41.5 kg

Control of soil moisture can save water supply for crops. The soil moisture sensor integrated with the Arduino microcontroller board can be programmed as the control system. Addition of RTC module and SD module tools also make the system as the data logger. The purpose of this research was to developed the irrigation automation system with the control of soil moisture. This system has been integrated with the automation system using the power source of solar energy. Soil texture is sandy clay loam, which is dominated by the sand content of 59.67%. Rainfall during the study was 58.5 mm. The control system with Arduino board, set to keep soil moisture between 0.23 cm3cm-3 - 0.30 cm3cm-3. The soil moisture in that range was able to be controlled with this system. Land without agricultural cultivation activities when water resources are limited, can be empowered with the application of irrigation automation systems.AbstrakPengendalian kelembaban tanah dapat menghemat pasokan air untuk tanaman. Sensor kelembaban tanah yang diintegrasikan dengan papan mikrokontroler Arduino dapat diprogram sebagai sistem pengendalian tersebut. Penambahan alat RTC module dan SD module juga menjadikan sistem sebagai data logger. Tujuan dari penelitian ini adalah untuk mengembangkan sistem otomatisasi irigasi dengan kendali kelembaban tanah. Sistem ini terintegrasi dengan sistem otomatisasi menggunakan sumber tenaga dari energi surya. Tekstur tanah adalah lempung liat berpasir, yang didominasi oleh kandungan pasir sebesar 59.67%. Curah hujan selama penelitian adalah 58.5 mm. Sistem kontrol dengan papan Arduino, diatur untuk menjaga kelembaban tanah antara 0.23 cm3cm-3 – 0.30 cm3cm-3. Kelembaban tanah pada kisaran tersebut mampu dikontrol dengan sistem ini. Lahan tanpa kegiatan budidaya pertanian pada saat sumber daya air terbatas, dapat diberdayakan dengan aplikasi sistem otomatisasi irigasi.

Static penetrometer is designed to measure the force that required to push a conical probe of the soil deepness through a constant velocity. The output data are force per unit area without soil factor influenced, i.e. soil moisture content. Soil moisture content is an important factor that affects soil penetration resistance. The soil moisture content method that commonly uses a gravimetric method can takes a long time to obtain data of soil moisture conten. Therefore a penetrometer is needed which can measure the soil moisture content at once. The objective of study is to design and develop static penetrometer equipped with soil moisture sensor and android based data record system. Loadcell and HX711 used as force sensor, HC-SR04 and DHT11 used as depth sensor and a kit soil moisture module has been modified as soil moisture sensor. Calibration and validation result of the sensor shown that the correlation value of R2=0.9994 and R2=0.9995 (force sensor), R2=0.9999 and R2=0.9999 (depth sensor) and R2= 0.9098 and R2=0.9255 (soil moisture sensor). Penetrometer performance test in land result obtained the value of R2=0.9583 for cone index, R2=0.9994 for depth sensor dan R2=0.6673 moisture content sensor. Penetrometer pervormance test in rice field result obtained the value of R2=0.9583 for cone index, R2=0.9941 for depth sensor and R2=0.7201 moisture content sensor. The result of regression anlaysis for moisture content equation obtained value R2=0.7201 for testing on dry land and R2=0.9058 for testing in the paddy fields. The experimental result shown that the new develop penetrometer instrument can be used as an alternative instrument to measure soil pentration that eqquiped with soil moisture content data.AbstrakPenetrometer statis didesain untuk mengukur gaya yang dibutuhkan untuk menekan probe kerucut kedalaman tanah dengan kecepatan konstan. Output datanya adalah gaya persatuan luas tanpa faktor sifat tanah lain seperti kadar air. Kadar air tanah merupakan faktor penting yang memengaruhi tahanan penetrasi tanah. Metode pengukuran kadar air yang umum menggunakan metode gravimetri yang membutuhkan waktu cukup lama untuk mendapatkan data kadar air tanah. Maka dari itu dibutuhkan penetrometer yang dapat sekaligus mengukur kadar air dengan baik. Tujuan dari penelitian ini adalah merancang, membangun dan menguji penetrometer digital dilengkapi pembacaan kadar air dengan perekam data berbasis android. Loadcell dan HX711 digunakan sebagai sensor gaya, HC-SR04 dan DHT11 digunakan sebagai sensor kedalaman dan kit sensor kadar air tanah termodifikasi digunakan sebagai sensor kadar air. Hasil kalibrasi dan validasi sensor didapatkan nilai R2=0.9994 dan R2=0.9995 untuk sensor gaya, R2=0.9999 dan R2=0.9999 untuk sensor kedalaman, R2=0.9098 dan R2=0.9255 untuk sensor kadar air tanah. Hasil pengujian kinerja di lahan kering secara terpadu di dapatkan nilai nilai R2=0.9583 untuk cone index, R2=0.9994 untuk sensor kedalaman dan R2=0.6673 untuk sensor kadar air. Hasil pengujian di lahan sawah didapatkan nilai R2=0.9583 untuk sensor gaya, R2=0.9941 untuk sensor kedalaman dan R2=0.7696 untuk sensor kadar air. Hasil analisis regresi pada proses kalibrasi ulang didapat persamaan penduga kadar air dengan nilai R2=0.7201 untuk pengujian di lahan kering dan R2=0.9058 untuk pengujian di lahan sawah. Berdasarkan data yang didapatkan maka penetrometer yang dirancang dapat digunakan sebagai alternatif instrumen ukur tahanan penetrasi yang dilengkapi dengan data kadar air.

Pengasapan karet RSS adalah metode pengawetan dan pengeringan karet lembaranmenggunakan asap kayu bakar agar jamur tidak tumbuh saat penyimpanan. Pada umumnya pengasapan karet RSS konvensional membutuhkan waktu 5-6 hari dan konsumsi kayu asap sebanyak 4 m 3 per ton karet kering. Selain itu mutu RSS juga ditentukan oleh pengontrolan yang rutin mengenai bahan bakar kayu dan suhu ruang pengasapan. Penelitian ini berupaya meningkatkan mutu karet RSS dan efisiensi energi proses pengasapan karet RSS dengan menerapkan sistem kendali otomatis berbasis mikrokontroller yang dapat mengatur konsentrasi asap dan suhu. Sistem kendali ini merupakan sistem yang akan mengatur suhu dan kepekatan asap pada setiap tingkatan suhu. Tujuan penelitian ini adalah untuk melakukan perancangan dan pengujian pengendalian suhu dan konsentrasi ruang asap karet RSS menggunakan mikrokontroller. Prosedur penelitian ini mencakup; 1) Disain dan Konstruksi, 2) Merancang perangkat keras kendali, 3) Merancang perangkat lunak, 4) Kalibrasi Sensor LM 35 dan 5) Pengujian sistem kendali pada ruang pengasap. Hasil pengujian sistem kendali suhu dan konsentrasi asap adalah proses pengasapan karet RSS terbagi pada 4 tingkatan suhu yaitu suhu 40 0 C-45 0 C selama 12 jam, suhu 45 0 C-50 0 C selama 12 jam, suhu 50 0 C-55 0 C selama 12 jam, dan suhu 55 0 C-60 0 C selama 24 jam. Keberhasilan pengujian ini dicapai selama 60 jam atau 2,5 hari. Mutu karet RSS berwarna coklat transparan, tidak timbul gelembung dan lembaran tidak tambah panjang atau putus. Karet RSS menjadi dominan mutu RSS 1 setelah terjadi penguapan air sebesar 35,78%. Adapun panjang karet RSS berkurang sebesar 3,81%, lebar berkurang sebesar 8,95% dan ketebalan bertambah sebesar 4,36%. Penggunaan kayu bahan bakar asap sekitar 2 m 3 dengan kapasitas karet RSS 1.000 Kg.

As the by product of palm oil, palm kernel contains high-quality oil. The manual inspection has low efficiency, subjective and inconsistent results due different perspectives between the buyer and the seller regarding the kernel quality. This research aims to determine the quality of palm kernel using the texture and morphological image analysis. Texture analysis performed on the kernel images separation to obtain the value of the mean, variance, skewness, kurtosis, entropy, energy, contrast, correlation, and homogeneity. Morphology analysis performed on the kernel images separation to obtain the value of the area, perimeter, metrics, and eccentricity. The classification was performed by KNearest Neighbor (KNN) method. Based on a simulation, the classification system could classify the palm kernel into the whole kernels, broken, and shells. The highest accuracy of 66.59 % was obtained by using a combination of mean and morphology when k was 1.

The high population rate has an impact on increasing of land function change from agricultural land become housing and commercial building. As a result, it is difficult to get land for planting in the urban area. Therefore, this research is aimed to design equipment that can be used for planting in the narrow land using vertical gardening. This paper will report about design and functional testing of drive and control system on ROVERGARD. Drive system is based on water pump with additional gear train and chainsprocket mechanism. Control system use was on open loop type based on timer. The performance test of drive system was focused on electrical energy consumption and rotational speed of the system that was measured by multifunctional mini ammeter and tachometer. The control system was tested during 4 days, to evaluate their performances between set point and actual timing while filling water tank and rotate the system at maximal load condition. Electrical power consumption was 208 W at average rotational speed 2703 rpm. Increasing load caused an increase of energy consumption but made the drive rotation decline. The position control performance had on position error around 50 cm. Consequently, setting time on timer must be adjusted. Abstrak Laju pertumbuhan penduduk yang tinggi, mengakibatkan tingginya alih fungsi lahan pertanian menjadi bangunan perumahan dan komersial. Masalah ini mengakibatkan sulitnya mencari lahan pertanian di daerah padat penduduk khususnya perkotaan. Oleh karena itu perlu dirancang sebuah alat yang dapat digunakan untuk bercocok tanam di lahan sempit. Tujuan dari penelitian ini adalah mendesain dan menguji sistem penggerak dan kendali pada ROVERGARD. Sistem penggerak berasal dari pompa air yang dimodifikasi. Sedangkan sistem kendali menggunakan tipe open loop berbasis waktu dimana timer sebagai komponen utamanya. Pengujian kinerja penggerak difokuskan pada konsumsi listrik dan rpm yang diukur menggunakan multifunctional mini ammeter dan tachometer. Sistem kendali diuji selama 4 hari. Hasil pengujian kinerja penggerak menunjukkan bahwa pada kondisi pengisian penampung dan beban maksimal. Daya listrik yang dihasilkan adalah 208 W dimana putaran penggerak adalah 2703 rpm. Penambahan beban pada pot berbanding lurus dengan konsumsi listrik yang dihasilkan, namun berbanding terbalik dengan putaran penggerak. Sementara itu, kinerja sistem kendali belum maksimal, karena masih terdapat kesalahan posisi yang mencapai 50 cm, karenanya pengaturan waktu pada timer harus diperbaiki.

Presently. Rise of crop production often face major obstacle, such as plant disease and pests.Crop losses can occur when plant disease and pests are not treated properly. However, excessive use of chemical pesticide cause environmental damage.The objective of present study was to develop and evaluate control system of variable rate sprayer and its performance for precision farming. The methods consist of some sequential steps i.e. measuring disease and pest intensity and determine its respective dose then input it in microcontroller grid sequence; controlling several sprayer components, i.e. pump motor, solenoid valve, and proximity sensor for plant detection; and conducting performance test of sprayer prototype based on microcontroller data input. The results showed that in order to obtain appropriate flow rate correspond to disease and pest intensity, a PWM (pulse width modulation) ranged of 100-250, 217-592 rpm of motor speed, 2-10 sec/plant of spray duration, and 4-11 ml/s of flow rate, were used. The field test with data input, i.e. 120 plants, with 8.1% and 15.5% of disease intensity, 10 and 8.3 ml/sec/row (10m/row), and 20 and 60 sec/plant of spray duration; generated average actual results with 10.2 and 7.8 ml/sec/row of flow rate and 23.2 and 64.3 sec/plant of spray duration. The field test also indicates 91% of precision time of application.

The main problem in the solar drying is the fluctuation of solar radiation that causes drying process takes place un-continuously. The purpose of this research was to design a control system in a grain dryer model using solar collectors and water as a heat storage so that the drying process model, heat storage and its utilization can take place effectively and efficiently. The control method used the ON-OFF control system based on microcontroller ATmega 16. The control system algorithm was based on comparison among air equilibrium moisture content (Me) of environment, Me in the drying chamber and the potential air Me. The results showed that the control system worked well on grain dryers system using solar collectors and water as the medium of heat storage.The average ambient air temperature of 35.6oC, RH of 51.3%, plenum of 35.4oC and the total radiation of 1.66 kWh/m2, the system could dried 5 kg of grains at the top level from initial moisture content of 42.5% d.b to 18.3% d.b and at the bottom level of 42.2% d.b to 16.1% d.b during 10 hours. The water temperature rise although still used, from 32.1oC to the maximum reached 44.2oC and the remaining of 38.8oC.

Ripeness estimation of oil palm fresh fruit bunches is a crucial component in the management of oil palm harvesting, as it will lead to profitability and marketability of the product. The purpose of this study is to develop an oil palm maturity detection device that is not only able to identify oil palm maturity, but also predict harvest time. In this work, the resonant frequency data were collected using an inductive sensor from a total of 600 fruits at various ages of ripeness. Intelligent algorithms are embedded into the system to recognize the oil palm ripeness, i.e., discriminant analysis for identifying ripeness and polynomial regression for forecasting harvest time. In oil palm plantations, we prepared 55 fresh fruit bunches to identify their ripeness and forecast harvest time. Based on the field test performance, the inductive sensor system can determine the oil palm ripeness with an accuracy of 100 % and forecast the harvest time with RMSE of 13.45. Therefore, the proposed system has the potential to be implemented in the evaluation of harvesting oil palm due to its various advantages, i.e., being accurate, rapid and non-invasive.

The objective of present study was to investigate the effect of various sounds on the green mustard’s (Brassica Juncea) morphology characteristic and productivity. The plant has been subjected to three various sound, namely classical music (rhythmic violin music), machine and traffic noise, and mixed sound (classical music and traffic noise) with 70-75 dB sound pressure level, from germination to harvest for three hours (7-10 am.) each day. Six parameters, i.e. germination, plant height, leaf width, leaf lenght, total plant lenght, and fresh weight, related with growth and productivity of plant were been monitored on regular basis.The results showed classical music improves germination up to 15% for 36 hours, plant height 13,5%, leaf width 14,8%, leaf length 14,2%, and wet weight 57,1%. In general, exposure to classical music gives the best results on the morphological characteristics and productivity of green mustard.

Most of the four wheeled tractors were operated manually for many agricultural applications. Therefore the operator’s fatigue during operating tractor can’t be avoided. To decrease operator’s fatigue it was necessary to operate tractor automatically for forward and backward motion. This research focus on the automatic backward motion and decrease turning radius by modify the brake pedal and forward-backward transmission mechanisms, which were controlled using DC motor with H-bridge actuator. Functional test was done by lifting up the tractor so that it was not move sideways while the tires were rotated. Performance test was done on the field to know the ability of the tractor to move forward and backward automatically and to know the turning radius when the left or right brake pedal was pushed down automatically. Experimental result showed that the time required to push the brake was about 0.47 s for left brake and 0.61 s for right brake. Field test result showed that the tractor was able to control automatically for forward motion with average speed of 0.62 m/s, backward motion with average speed of 0.63 m/s, to turn left with average turning radius of 2.2 m, and turn right with average turning radius of 2.4 m.

Uniform Rate of fertilizer Application (URA) practice is disregarding the productive potential of the various areas within the field. Thus, some area is less fertilized and other is over fertilized. It is also an important issue recently that nitrogen from fertilizers may be subjected to lost into atmosphere or enters streams through surface or subsurface drainage (leaching). The place with over-fertilization will be a potential source of pollution in the form of ammonia (NH3), nitrite (NO2) and nitrate (NO3) which may hazard people health. Variable rate of fertilizer applicator is a solution to overcame the negative impact of URA. It can control the appropriate of fertilizer dosage and location of application in the field. The objective of this research is to design a metering device for variable rate granular fertilizer applicator. The result of variable rate fertilizer testing with single metering device with single rotor indicated that the rate of urea, SP-36 and NPK are 0.84, 0.96 and 1.2 g/rotation respectively. The testing with double rotor indicated that the rate of urea, SP-36 and NPK are 1.14, 2.22 and 2.1 g/rotation respectively. The all of the testing result indicated that metering device which designed can be applied with urea, SP-36 and NPK fertilizer.

A research on designing an end-effector for a sweet pepper (Capsicum grossum) harvesting robot has been conducted. The objectives of this research were to design an end-effector prototype for the sweet pepper harvesting robot and to examine the performance of the end-effector in actuating the harvesting work. The end-effector was constructed in such a way so that enable to perform cutting and gripping motion in one action. The end-effector was designed using aluminum materials in order to get as light mass as possible. It dimension was 28 cm in length, 14 cm in width, and about 90 grams in weight. The field test of the prototype was conducted based on the conditions of plantation inside the greenhouse. Three kinds of inclination slope including 0o, 10o, and 20o were treated for the end-effector installation. The experimental result show that the third installation treatment ie: the end-effector with 20° inclination slope tend to produce the best performance which has the highest number of harvesting succeed.

Unmanned tractors, even though it uses global positioning system (GPS) technology to identify the working path, still require an ability to recognize the environment in front of it in order to avoid obstacles thatmay exist. A device that can be used to recognize the environment in front of the tractor and avoid obstacles that may exist, is the camera. However, images captured by the camera need to be processed to detect possible obstacles at the front of the tractor. This study aimed to develop image processing algorithms to detect the possible presence of obstacles on the path to be traversed by an unmanned tractor, and directed the tractor to a safe path by giving the new coordinates when there are obstacles in front of it. Several mage processing techniques such as edge detection, opening and closing, marking free area, and the determination of the coordinates were used for the purpose of directing the path in front of the tractor when there are obstacles that must be avoided.

Coffee has good prospects as a motor of development in Indonesia agribusiness and agroindustry, therefore needs to be handled properly and professionally. Grading process in commercial green coffee asgrain commodity is still done manually. This process has the disadvantage of low efficiency, objectivity and the level of consistency. Therefore weneed a machine that can workautomatically to classify the quality of the green coffee by visual inspection. Theobjective of this study was to design the green coffee sorting machine controlled by a computer based on image processing program consisted of conveyor belt, the image capture station used twodigital cameras, and the parallelsimulator divider. The design of sorting machine was used for the development of the green coffee sorting system that will categorizeinto four quality classes based on the qualifications according to the standard of SCAA ( Specialty Coffee Association of America).

The objective of this research was to develop a computer program of image processing and articial neural netwok to the quality of fresh soybean (edamame) into four classes namely SQ (standar quality), SG (scond grade), TG ( third grade), and RJ (reject) using image processing and artifical neural network. The total samples were 2500 fresh soybean produced by PT. Mitra Tani Dua Tujuh Jember. Soybean image was analyzed to get six quality parameters whose match with Soybean quality criteria namely pod length, pod area, perimeter, defect area, index of red color, and of the artifical neural network (AAN). Six variations of ANN weredeveloped for ANN training purposes (2000 data). The weights of the selected ANN architecture was used to identify the quality class of testing data (500 data). Thenintegrated with image processing program so the program could identify Soybean quality class automatically. The quality parameter used in this research has relevancy with Soybean quality criteria. The selected architecture of the AAN was the one with 20 nodes hidden layer in which normalization onput data representation with zero mean and standard deviation equals one. The accuracy of image processing program observed 81,4 percent based on the 500 testing data.

Evaluation of ribbed smoked sheet (RSS) quality is commonly done manually through an assessment of rubber sheet surface appearance based on its unifromity and brightness of color, and also existence of physical defect like air bulb, with spot and spotted by fungus prior to classification into RSS-1, RSS-2 and of RSS-3. This reseacrh aimed to develop a method to evaluate RSS quality using image processing. Each 40 sheets of simple in a size of 30x25 cm was capture using a CCD camera from 40 cm distance with a resultion 341x256 Pixels. The characteristics observed were RBG index, HSI color components, and textural features. Three goups of sample could be discriminated using blue color index with 80.0%, 82.5% forRSS-1, 60.0% for RSS-2 and 97.5%, ForRSS-3. Grading based on HSI color modelgave better result with 86%, 77.5%, 85.0% and 95.0% accuracy for the RSS-1, RSS-1 and RSS-3, respectively. The computer-based grading indicated that the classification by computer using HSI component was more reliabe than manually grading.In conclusion, the developed algorithm was able to classify 120 samples and corrected some of miss-classification by manual grading.

The objective was to develop a non-destructive determination of physical and chemical properties of citrus and lanzone fruits as a screening method for fruit quality differentiation. The results show that although the highest correlation were shown in juice, the correlation in the whole-fruit samples were very low. Consequently, the NIRS method was judged to be inappropriate for a non-destructive determination on the chemical qualities of citrus. The tested method of visible light with the light dependent resistor system could not predict seed number and weight in citrus as two important seediness parameters, but might still be applicable to lanzone fruits.