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ISSN: 2524-0714
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Item type:Документ, Access status: Open Access , Study of finger-star disc working tools of an inter-row cultivator(Agronomy Research, 2026) Bulgakov, Volodymyr; Savchenko, Ihor; Holovach, Ivan; Rykhlivskyi, Petro; Olt, Jüri; Ihnatiev, Yevhen; Ігнатьєв, Євген ІгоровичThis study combines laboratory force-deflection characterization, tomato transplant pull-out measurements and a descriptive field verification of an inter-row cultivator equipped with polyurethane finger-star discs. The objective was to relate finger hardness to crop mechanical resistance and thereby define a practical screening criterion for reducing crop damage. Discs with hardness values of 73, 83 and 93 Shore A were loaded at finger deflections from 0 to 50 mm. Pull-out force was measured for individual established tomato transplants at MG-44 instrument-reported relative soil-moisture readings of 18% (n = 5) and 10% (n = 7) in the 0–100 mm layer. The force–deflection relationships were linear (R2 = 1.000), and transplant pull-out force increased linearly with stem diameter (R2 = 0.991–0.994). During field operation at a working width of 4.2 m, travel speed of 1.0–2.0 m s–1 and disc working depth of 1.5–5.0 cm, complete visible destruction was observed for weeds at the white-thread stage and no visible injury to established tomato plants was recorded. These field proportions were obtained in a non-randomized engineering verification and are therefore descriptive. Within the tested range, 73, 83 and 93 Shore A discs are provisionally recommended for crops with pull-out forces of at least 10, 15 and 25 N, respectively. An Euler–Bernoulli cantilever-beam analysis explains the observed linear response and identifies the contact conditions that favour finger sliding rather than crop displacement.Item type:Документ, Access status: Open Access , Computational Model for Predicting the Remaining Battery Energy of an Unmanned Agricultural Ground Vehicle(International Scientific Conference of Environmental and Climate Technologies, 2026) Mugra, Andreas; Liivapuu, Olga; Ihnatiev, Yevhen; Lillerand, Tormi; Ігнатьєв, Євген ІгоровичThis paper presents a computational model and an approach for predicting the remaining battery energy of an autonomous unmanned ground vehicle (UGV) used for fertilizer application in blueberry plantations under the soil conditions of drained peatlands. The primary objective of the study is to optimize battery operating modes by reducing non-productive energy consumption, justifying an appropriate depth of discharge, and extending the service life of the energy storage system. To achieve this, a computational model for energy consumption estimation and prediction is proposed, enabling an optimal for battery operating regime of the field UGV under operator defined constraints. The developed model supports dynamic adaptation of work cycles, minimizes non-productive motion, and maintains the state of charge within ranges that are optimal for the specific battery chemistry. The proposed approach combines a rolling resistance based vehicle motion model with a temperature dependent Thevenin equivalent circuit model (ECM) of the battery pack. Based on a set of typical duty cycles, the developed vehicle model determines the mechanical power required for the planned operation. Battery parameters are obtained from cell characterization data, including the open-circuit voltage-state of charge (OCV–SOC) relationship, ohmic resistance, and polarization dynamics. The state of charge and polarization effects are estimated using an extended Kalman filter (EKF), which is driven by measured current and corrected using voltage measurements with temperature dependent parameter scaling. To reconcile the calculated energy demand with measurement results, a drivetrain efficiency map dependent on speed and torque was developed. This map was identified using controller area network (CAN) bus, IMUs, and current measurement data by comparing the predicted mechanical power with the measured electrical power. The resulting efficiency map captures losses in the hub motors, power controllers, wiring, and auxiliary systems, and is used for mission simulation and real-time prediction of voltage, power, and remaining usable energy under alternative combinations of drive cycles. The approach was validated on an autonomous agricultural UGV developed by the Field Robotics Research Group of the Estonian University of Life Sciences. The platform is equipped with four 48 V, 1 kW hub motors, an onboard computing system based on two Raspberry Pi Zero 2W units, CAN communication, motion sensing via OpenLog Artemis IMUs, and a lithium-ion battery pack based on Samsung SDI 94 Ah cells.Item type:Документ, Access status: Open Access , Innovative Mobile Power Station for Field Robotics: System Design and Commercial Perspectives(International Scientific Conference of Environmental and Climate Technologies, 2026) Liivapuu, Olga; Ihnatiev, Yevhen; Olt, Jüri; Ігнатьєв, Євген ІгоровичInnovation plays an important role in all fields, including agriculture. Intellectual property, specifically industrial property is a key driver of innovation and economic growth. Effective commercialization of industrial property can stimulate economic activity by attracting investment, creating additional jobs, and fostering the development of new products and services. This research examines the commercialization prospects of a novel autonomous, mobile, environmentally friendly energy station developed at a university. The process begins with obtaining industrial property protection rights and understanding their management, which involves a series of legal procedures, and then initiating technology transfer. This is an academic technology transfer from a university to a commercial enterprise. To support this process, a licensable technology portfolio must be compiled, centered on the licensing asset, which may include one or more patents, utility models, and know-how. Naturally, the selling points of the commercialized product or technology must be clearly articulated. The mobile energy station comprises a solar power plant (non-dispatchable, primary) with a maximum total power of 6.8 kW, a biomethane powered generator (dispatchable, secondary), an energy storage system with a total capacity of 14.4 kWh, and a rapid battery swapping and charging device for an agricultural robot. This hybrid solution (solar + generator) ensures continuous operation even under adverse weather conditions. The battery swapping and charging device includes a platform alignment mechanism, a powered trolley for transferring the battery, and an automated locking and unlocking mechanism. The energy station is automated and controlled by a programmable logic controller (PLC) and several embedded microcontrollers. The central PLC (SIMATIC) coordinates process-control functions: operation of the solar tracking drives, battery state of charge, generator operation, and wireless communication with approaching robotsItem type:Документ, Access status: Open Access , Research of the technological process of granulation of bulk agricultural materials(INMATEH - Agricultural Engineering, 2025) Bulgakov, Volodymyr; Rucins, Adolfs; Ihnatiev, Yevhen; Stepanenko, Serhii; Popa, Lucretia; Pascuzzi, Simone; Holovach, Ivan; Trokhaniak, Oleksandra; Ігнатьєв, Євген ІгоровичEN: This research addresses the axisymmetric problem in the theory of granulation of porous bodies, with practical application in calculating the forces involved in the granulation of dispersed bulk materials such as chips, granules, and other agricultural and woodworking waste. For such materials, the shape of the particles (structural elements) is generally irregular and not geometrically well-defined. This characteristic served as the basis for adopting a continuum model of porous media. In this model, the material is treated as a continuous substance that fills all available layers of bulk space, allowing for the mechanical behavior of materials with internal pores or voids to be accurately described. The pores within the material are considerably smaller compared to other characteristic dimensions of the material's properties. In the continuum model, the mechanical characteristics of the material, such as stress, strain, and compaction, are described by mathematical equations that account for the material’s physical properties and its behavior under loading. By reducing this model to a two-dimensional spatial form, a closed-form analytical solution was obtained using a general method for solving the differential equations of equilibrium along with the Huber–Mises energy condition for plasticity. The following assumptions were adopted as working hypotheses: radial and tangential stresses are equal, and the lateral pressure coefficient is equal to the proportional granulation density. Given that the problem is solved in a general form, the solution should be regarded as methodological, that is, it can be applied to any loading scheme exhibiting axial symmetry. Transcendental equations were derived to describe the deformation compaction process of a porous body. These equations account for both the ideal granulation process and the influence of contact friction forces. As a result of developing a solution method for these equations, dependencies were obtained for calculating the local characteristics of the stress state during granulation, as well as for integral parameters of the process, such as compaction and deformation work. UK: Дане дослідження присвячена вирішенню вісе-симетричної задачі теорії гранулювання пористих тіл з практичним застосуванням у вигляді силового розрахунку процесів гранулювання дисперсних сипучих матеріалів: стружкових, гранульованих та інших відходів сільськогосподарського виробництва і деревообробки. Для таких матеріалів форма частинок (структурних елементів) не є геометрично правильною або взагалі визначеною. Це служило підґрунтям для того, що в основу вирішення була покладена континуальна модель пористого тіла, яка дозволяє описувати механічну поведінку матеріалів, які мають пори або порожнини в своїй структурі. В даній моделі матеріал розглядається як неперервна речовина, що заповнює усі доступні шари сипкого простору. Пори у матеріалі вважаються невеликими в порівнянні зі значеннями інших властивостей матеріалу. У континуальній моделі, механічні характеристики матеріалу, такі як напруження, деформація та тиск, описуються математичними рівняннями, що враховують фізичні властивості матеріалу та його поведінку під навантаженням. Ця модель застосовується для аналізу різних видів механічних деформацій та взаємодії матеріалів, включаючи стискання, розтягування, згин, обертання тощо. В результаті зведення даної моделі до двовимірної просторової моделі отримано замкнене аналітичне рішення методом спільного вирішення диференціальних рівнянь рівноваги та енергетичної умови пластичності Губера-Мізеса. В якості робочих гіпотез прийняті наступні припущення: радіальне і тангенціальне напруження рівні, коефіцієнт бічного тиску рівний пропорційній щільності гранулювання. З огляду на те, що задача вирішена у загальному вигляді, саме рішення слід розглядати як методологічне, тобто може бути використано для будь-якої схеми навантаження, яка виявляє осьову симетрію. Були отримані трансцендентні рівняння, які описують процес деформаційного ущільнення пористого тіла. Ці рівняння враховують як ідеальний процес гранулювання, так і вплив сил контактного тертя. Внаслідок розробки методу розв'язання цих рівнянь були отримані залежності для обчислення локальних характеристик напруженого стану в процесі гранулювання, а також для інтегральних параметрів цього.Item type:Документ, Access status: Open Access , Numerical simulation of air cooling processes in a poultry house with a tunnel-side ventilation system(INMATEH - Agricultural Engineering, 2025) Trokhaniak, Viktor; Synyavskiy, Oleksandr; Tkachuk, Vadym; Lillerand, Tormi; Skliar, Oleksandr; Ihnatiev, Yevhen; Olt, Jüri; Скляр, Олександр Григорович; Ігнатьєв, Євген ІгоровичDuring the warm season, when ambient temperatures exceed +28 °C, the tunnel ventilation system is predominantly used in poultry facilities. This system effectively removes excess heat from the environment. However, under conditions of high ambient temperatures and high humidity, specialized systems were required to cool the incoming air and create a controlled microclimate within the poultry house. In ventilation systems, various types of cooling methods are employed to reduce the temperature of incoming air during the summer. Most commonly, these involve water spray systems. The core objective of this study is to conduct theoretical research on regulating heat and mass transfer processes in poultry houses, considering both internal dynamics and interactions through external barriers. This study proposes an innovative approach to cooling incoming air in poultry house ventilation systems. The method utilized water sourced from underground wells and heat exchangers-recovery units (recuperators) to efficiently cool the incoming air. As a result of the numerical modeling, the temperature distribution within the service zone of the poultry house was determined. When heat exchangers were used, the inlet air temperature in the facility was maintained at +20 °C. The temperature increase along the length of the facility was clearly observed in the provided diagrams. The outlet temperature of the cooled air is +27.89 °C, which was attributed to heat generated by the poultry and the warming of the poultry house walls by external air. Thus, the air temperature within this cooling system did not exceed permissible limits. Analyzing the numerical modeling results at a height of 0.7 m from the floor level, it was concluded that no more than 2% of the poultry would experience discomfort under the proposed cooling system. The average air velocity was 0.83 m∙s⁻¹, and the air temperature was +23.64 °C.