Staff Publications

Staff Publications

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    'Staff publications' is the digital repository of Wageningen University & Research

    'Staff publications' contains references to publications authored by Wageningen University staff from 1976 onward.

    Publications authored by the staff of the Research Institutes are available from 1995 onwards.

    Full text documents are added when available. The database is updated daily and currently holds about 240,000 items, of which 72,000 in open access.

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Evaluation of the performance of PoultryBot, an autonomous mobile robotic platform for poultry houses
Vroegindeweij, Bastiaan A. ; Blaauw, Sam K. ; IJsselmuiden, Joris M.M. ; Henten, Eldert J. van - \ 2018
Biosystems Engineering 174 (2018). - ISSN 1537-5110 - p. 295 - 315.
Autonomous navigation - Floor egg collection - Mobile monitoring - Mobile robot - Performance evaluation - Poultry farming

Assessment of animal status, housing conditions and manually collecting floor eggs are the major daily tasks for poultry farmers. To assist the farmer in these tasks, PoultryBot, an autonomous mobile robot for use in poultry houses has been developed. In earlier research, several components of PoultryBot were discussed in detail. Here, performance of the robot is evaluated under practical conditions. For navigation, different paths were used to assess its navigation performance for various tasks, such as area sweeping and surveying close to walls. PoultryBot proved capable of navigating autonomously more than 3000 m, while avoiding obstacles and dealing with the hens present. The robustness of its navigation performance was tested by confronting PoultryBot with obstacles in different positions with respect to its path and using different settings of the navigation parameters. Both factors clearly influenced the driving behaviour of PoultryBot. For floor egg collection, detection and collection of eggs was assessed at 5 predefined egg positions lateral to the path of the robot. Over 300 eggs were tested; 46% were collected successfully, 37% was not collected successfully, and 16% were missed. The most observed failures occurred when the collection device was just next to the egg. It is thought that this problem can be solved by improving the control algorithm. The results demonstrate the validity of the PoultryBot concept and the possibility of autonomous floor egg collection in commercial poultry houses. Furthermore, they indicate that application of smart autonomous vehicles in dense animal environments is feasible.

Assessing fresh urine puddle physics in commercial dairy cow houses
Snoek, Dennis J.W. ; Stigter, Hans ; Blaauw, Sam K. ; Groot Koerkamp, Peter W.G. ; Ogink, Nico W.M. - \ 2017
Biosystems Engineering 159 (2017). - ISSN 1537-5110 - p. 133 - 142.
Ammonia emission - Cow urine - Dairy barn - Puddle area - Puddle depth
Ammonia emission from dairy barns can be reduced by measures that improve removal of urine from floors. Information characterizing physical and chemical properties of urine puddles on floors are essential to improve mitigation measures, however information representative for practical barn conditions is scanty. The objective of this paper is to assess the area (A p ) and depth (D p ) of fresh urine puddles in commercial dairy barns, and to investigate the effect of floor type, season and manure scraping on these variables. Sixteen farms were measured in a factorial design of four Floor-Management types (FMTypes). Each farm was measured in two seasons and underwent an intense-floor-cleaning treatment (PREclean) before puddle creation for the D p measurement, which was compared with those created under normal floor conditions with on-farm manure scraping. Overall mean values were 0.83 m2 for A p and 1.0 mm for D p . For both A p and D p the variation within a farm was large but negligible between farms. FMType significantly affected both variables. The V-shaped asphalt floor resulted in larger A p (1.04 m2) and D p (1.5 mm) than those of slatted and grooved floors (mean values 0.76 m2, 0.93 mm). Our study demonstrates that the draining capacity of solid floors is a critical design issue in lowering ammonia emission. The PREclean treatment resulted in D p values that were 3 times lower than values for puddles created under normal floor conditions. We conclude that there is a considerable potential to improve draining of excreted puddles by increasing the cleaning performance of manure scrapers.
First test of Parrot AR drone in our office
Blaauw, S.K. - \ 2014
Farm Technology Group Wageningen UR
WURking: a small sized autonomous robot for the farm of the future
Henten, E.J. van; Asselt, C.J. van; Bakker, T. ; Blaauw, S.K. ; Govers, M.H.A.M. ; Hofstee, J.W. ; Jansen, R.M.C. ; Nieuwenhuizen, A.T. ; Speetjens, S.L. ; Stigter, J.D. ; Straten, G. van; Willigenburg, G. van - \ 2009
WURking: a small sized autonomous robot for the Farm of the Future
Henten, E.J. van; Asselt, C.J. van; Bakker, T. ; Blaauw, S.K. ; Govers, M.H.A.M. ; Hofstee, J.W. ; Jansen, R.M.C. ; Nieuwenhuizen, A.T. ; Speetjens, S.L. ; Stigter, J.D. ; Straten, G. van; Willigenburg, L.G. van - \ 2009
In: Precision Agriculture '09 : papers presented at the 7th European conference on precision agriculture, Wageningen, The Netherlands, 6-8 July 2009. - Wageningen : Wageningen Academic - ISBN 9789086861132 - p. 833 - 840.
Autonomous robots for agricultural practices will become reality soon. These mobile robots could take over regular tasks such as scouting for weeds and diseases, plant specific applications, yield and field mapping and for instance the release of info-chemicals for attracting predators of pests. This paper presents WURking, a small sized sub-canopy autonomous robot that can be used for a wide range of tasks on the farm of the future. WURking was designed for navigating within row crops like corn. It consists of a mobile platform with three independently driven steerable wheels. The robot carries ultrasound sensors and a gyroscope used for navigation between the crop rows, end of row detection and headland turning. A camera is mounted to detect objects like weeds. High level control of this robot was implemented using the visual programming language LabView. A data fusion technique is used to extract the position and orientation of the robot relative to the crop rows, from the redundant set of sensor data. Feedback linearization of the non-linear system dynamics yielded a simple linear controller structure which was fed by state estimates generated by a Kalman filter using the raw ultrasound sensor data. The headland turning was based on a proportional controller using data from the gyroscope. This paper contains a description of the robot as well as results of a performance test performed in 2008. This test revealed that the robot was able to navigate through the corn field with a maximum offset of ±10 cm from the centre of the rows and an maximum orientation error of ±0.15 rad.
CoBuS: Combined drawing and cost estimation for dairy farm buildings on the basis of MS-Visio 2000
Pompe, J.C.A.M. ; Blaauw, S.K. ; Bruin, J. de; Kikstra, J. - \ 2004
In: Engineering the future, AgEng Leuven 12-16 September 2004. - Leuven : Technologisch instituut vzw - ISBN 9076019258 - p. 636 - 637.
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