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Item type:Документ, Access status: Open Access , Mobile Autonomous Energy Station with Battery Swapping for Agricultural Robotics: Design and Commercialization Prospect(Environmental and Climate Technologies, 2026) Liivapuu, Olga; Ihnatiev, Yevhen; Olt, Jüri; Ігнатьєв, Євген ІгоровичENG : Innovation is a major driver of progress across all sectors, including agriculture, while intellectual property, particularly industrial property, plays a central role in supporting both innovation and economic development. The successful commercialisation of industrial property can contribute to economic growth by encouraging investment, creating new employment opportunities, and enabling the development of innovative products and services. This paper investigates the commercial potential of a novel autonomous, mobile, and environmentally sustainable energy station created at the Estonian University of Life Sciences. The process requires securing industrial property rights and managing them appropriately through the necessary legal procedures, followed by the initiation of technology transfer from academia to industry. In this case, the transfer takes place from a university to a commercial company. To facilitate commercialisation, a licensable technology portfolio must be prepared around the core licensing asset, which may include patents, utility models, and know how. In addition, the key value propositions of the product or technology must be clearly defined. The proposed mobile energy station consists of a solar power unit, operating as the primary non dispatchable source, with a maximum total output of 6.82 kW, a biomethane powered generator serving as a secondary dispatchable source, an energy storage system with a total capacity of 14.4 kWh, and a rapid battery swapping and charging system for an agricultural robot. By combining solar energy with generator support, the system is able to maintain continuous operation even in unfavourable weather conditions. The battery swapping and charging mechanism includes a platform alignment system, a motor driven trolley for battery transfer, and an automated locking and unlocking solution. The entire station is automated and managed by a programmable logic controller together with several embedded microcontrollers. The central SIMATIC PLC supervises the main control processes, including solar tracking drive operation, battery state of charge monitoring, generator control, and wireless communication with approaching robots. UKR: Інновації є головним рушієм прогресу в усіх секторах , включаючи сільське господарство , тоді як інтелектуальна власність , зокрема промислова , відіграє центральну роль у підтримці як інновацій , так і економічного розвитку . Успішна комерціалізація промислової власності може сприяти економічному зростанню , заохочуючи інвестиції , створюючи нові робочі місця та сприяючи розвитку інноваційних продуктів і послуг . У цій статті досліджується комерційний потенціал нової автономної , мобільної та екологічно стійкої енергетичної станції , створеної в Естонському університеті наук про життя . Процес вимагає забезпечення прав промислової власності та належного управління ними через необхідні юридичні процедури , а потім ініціювання передачі технологій з академічних кіл до промисловості . У цьому випадку передача відбувається від університету до комерційної компанії . Для сприяння комерціалізації необхідно підготувати портфель ліцензованих технологій навколо основного ліцензійного активу , який може включати патенти , корисні моделі та ноу - хау . ВКрім того , ключові ціннісні пропозиції продукту або технології повинні бути чітко визначені . Запропонована мобільна енергетична станція складається з сонячної енергоблоку , що працює як основне недиспетчеризоване джерело , з максимальною загальною потужністю 6,82 кВт , генератора на біометані , що служить вторинним диспетчеризованим джерелом , системи накопичення енергії загальною ємністю 14,4 кВт · год та системи швидкої заміни та заряджання акумуляторів для сільськогосподарського робота . Поєднуючи сонячну енергію з підтримкою генератора , система здатна підтримувати безперервність.Item type:Документ, Access status: Open Access , Цифрові технології запорука підвищення ефективності скотарства в Україні(Харків : ДБТУ, 2026) Скляр, Олександр ГригоровичРозглянуто використання автоматизованих процесів підготовки кормів і годівлі великої рогатої худоби. Впровадження цифрових технологій, як одного із найперспективніших напрямів розвитку тваринництваItem 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 robots