Team 25 Define Phase Semi-Autonomous Palm Harvester

1. Team 25Define PhaseSemi-Autonomous Palm Harvester

2. Team Organization Ricardo

3. Sponsor Dr. okenwaokoli • Ph.D., University of Warwick, 1996 • Current chair of the Department of Industrial & Manufacturing Engineering • Research Interests include • Composite manufacturing • Metallurgic properties of casting Ricardo

4. Advisors Dr. David Olawale Dr. Jonathan Clark • Ph.D. Industrial & Manufacturing Engineering, Florida State University, 2011 • Research interests • Structural Health Monitoring • Multifunctional Composites • Ph.D. Mechanical Engineering, Stanford University, 2004 • Assistant Professor • Research interests • Robotics - legged locomotion • Dynamic system analysis • Mechanical design and fabrication Ricardo

5. What is an Oil Palm? • Elaeisguineensis • Typically grown within 20° of equator • Trees can grow up to 20m tall • Plantation trees usually cut around 12m • Oil extracted from fruit pulp and kernel • High oil yield crop • Common cooking ingredient in SE Asia and tropical belt of Africa • Potential use in biofuels Ricardo

6. Project Definition • Background Research • Project Scope • Assumptions • Project Deliverables David

7. Background Research David

8. David

9. Background Research David

10. Background Research • Safety issues • Current climbing methods are risky and dangerous • Goal is to replace the climbing methods with a safer alternative David

11. Background Research Affordability quote • Expensive business • Keep labor costs down • Potential clients won’t buy complicated product • Won’t buy expensive product “Oil palm planters, including smallholders, will bleed red ink if palm oil prices were to dip below RM2,000 per ton, said Malayan Agricultural Producers Association (Mapa). Many of our planters borrow money from banks and issue bonds. If palm oil prices were to fall further, some planters may face difficulties in repaying the banks.”(Btimes) David

12. Background Research Oil Palm Plantation Rainforest • Environmental impact • PRO: Palm Oil can be used for biofuel • CON: Plantations displace rainforests David

13. Background Research • Customers • Plantation owners • Plantation workers • Service companies David

14. Project Scope • Goal • Construct semi-autonomous oil palm harvesting machine • Budget • $2,000 • Considerations • Safety • Affordability • Efficiency • Reliability David

15. Assumptions • Tree specifications are as previously defined • Climate • Assuming tropical climate with a lot of rainfall • Harvesting plantations • Trees spaced in triangular pattern 9m apart • Potential customers • Clients will not buy an expensive product David

16. Team Deliverables David

17. Project Charter Business Case Opportunity Statement Needs Statement Louis

18. Business Case • Need for an efficient harvesting method • Total global production of palm oil 45 million tons • Palm oil consumption ranges from cooking oil, margarine, soap, and detergent • Denmark, Switzerland and some U.S counties banned use of trans-fats • This presents an opportunity for vegetable oils such as palm oil Louis

19. Business Case Potential output for oil palm production (In thousands of hectares) Louis

20. Business Case Actual output is world share of palm oil Nigeria’s plantations can be utilized better Louis

21. Opportunity Statement • Product opportunity • Consumption of vegetable oil went from 40 million tons to 130 million tons • Also, Belgian companies are investing in West and Central African countries’ plantations • Demand is going up for Palm Oil Louis

22. Opportunity Statement • Oil Palms have highest return per area of all oil crops • Profits from plantations are • $960/ha for low-yield independent growers • $2,100/ha for supported growers • $2,340/ha for high yield independent growers • $3,340/ha for large scale growers Louis

23. Review of Needs There exists a need for a safe, reliable method of harvesting This method should reduce cost of labor by requiring less work It should improve productivity Louis

24. Analysis of Customer Requirements • Critical Customer Requirements (CCR) • Economic Analysis • Environmental Impact • Ethical Considerations • Health and Safety • Sustainability Gianni

25. Voice of the Customer (VOC) Gianni

26. Voice of the Customer (VOC) Gianni

27. Design Concepts • Previous Concept: Improve Previous Prototype • Concept 1: Treaded Robot • Concept 2: Cart with Extendable Pole • Concept 3:Modified Linkage • Decision Matrix Brian

28. Previous Concept Improve Existing Prototype • Pros: • Already constructed • Cons: • Heavy: ~150 lbs • Slow:~10 minutes to climb tree • Incomplete electronics • Parts may be salvageable Brian

29. Concept 1Treaded Robot Pros: • Can climb over rough surfaces • Fast and lightweight • Self-stabilizing Cons: • Mechanically and electrically complex • Difficult programming Brian

30. Concept 2Cart with Extendable Pole Pros: • Very simple design • No complex programming • Easy maintenance Cons: • Less portable • More material cost Brian

31. Concept 3Linkage climber Pros: • Has been proven to work on smooth trees • Small in size • Very fast Cons: • Somewhat complexmechanically • Likely to get stuck Brian

32. Decision Matrix Cart with Extendable Pole wins Brian

33. Meeting the VOC FAST OPERATION SAFE Minimizecamera weight Follow ergonomic guidelines for posture and force inputs Reduce manual input with greater autonomy Make cart easy to move Developstableplatform Make telescoping autonomous Avoid damaging tree VOC ASSESSMENT Selectinexpensivematerials Use corrorsion-resistantmaterials Use suitablystrongmaterials Manageforces and mechanics Use sufficient battery power Stayenergyefficient Improve material quality Simplifythedesign Maximizeteam’seffort EFFECTIVE OPERATION AFFORDABLE DURABLE Gianni

34. PORTABILITY CLIMBING Telescopingmechanism Mid-sizecartwithhandle Manual or automatic crank to raise telescopic pole Handle located at elbow level If manual: Crankforce< 10LB Treaded tires Pole mustreach 12m height Initial push force < 55LB Sustained push force < 35 LB Independentfromtree OPERATION Arduinomicrocontroller Operated by semi-autonomous manipulator on a joint Elastic bands from pole to Oil Palm Manual controlsforthecutter Screenoncart’s base Cart legs to stabilize on ground Camera fixedtocutter Tools: electric chisel, sickle, or rotary saw Mobile powersource LOCATION CUTTING STABILITY Meeting theCCRs Ricardo

35. House of Quality Gianni

36. Correlations Gianni

37. Results Gianni

38. Competitive Analysis Gianni

39. Conclusion Our product Human climbing • Safe • Productive • More advanced • Rugged • Risky • Inconsistent • Expensive • Simple Ricardo

40. Conclusion • Goal • Reach the top of the tree • Locate ripe fruit • Harvest fruit • Move device easily • Minimize ergonomic risks • Prevent injuries • Minimize human input with automation Ricardo

41. Upcoming Plans Ricardo

42. References • Manufacturing Facilities Design & Material Handling by F.E. Meyers, P. Stephens. • Quality Management 5 ed by Dr. David L. Goetsch, and Stanley B. Davis • Six Sigma – The McGraw-Hill 36-Hour-Course. by G. Brue and R. Howes • Engineering Design, G. Dieter, McGraw-Hill • Project Management and Team Work, K. Smith, McGraw- Hill • http://www.etawau.com/OilPalm/Plantation/Oil_Palm_Plantation.jpg • http://www.enoughof.us/wp-content/uploads/2012/05/Indonesian-palm-oil-plantation-Photo-IndonesianPalmOil.com_.gif • http://worldgrowth.org/site/wp-content/uploads/2012/06/WG_Indonesian_Palm_Oil_Benefits_Report-2_11.pdf • http://climate-connections.org/tag/peasant-farming/ • http://archive.unu.edu/unupress/unupbooks/80918e/80918E10.htm • http://docsdrive.com/pdfs/academicjournals/ajbmb/0000/38799-38799.pdf • http://ecocrop.fao.org/ecocrop/srv/en/cropView?id=972 • http://www.naandanjain.com/uploads/catalogerfiles/oil-palm-2/NDJ_OilPlam_eng_booklet_130311F.pdf • http://eng.fsu.edu/me/senior_design/2012/team26/

43. Questions?