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1.21 Automatic fruit harvesting robot.Source: Based on Kaltjob P.Identify the major I/O (continuous and binary) variable systems and sketch the hybrid control block diagram with I/O variables of this harvesting robot integrating the following continuous and logic control functions:Fruit detection (fruit tree location) using 3D camera image processing (color uniformity, maturity recognition using near-infrared for sugar content, selection based on size and shape) and a laser ranging sensor.The path generation and motion planning (position, speed, and acceleration) for the harvesting robot's exploration using optical, magnetic, laser-guided, and GPS tools while ensuring that the robot manipulator avoids collisions.The logic control for activating a solenoid in charge of a vacuum suction nozzle, especially for mature but resistant-to-vibration fruit.The continuous control of the angular position of the robot picker arm fingers with interior foam sponge pads combined with a cutter for picking. The same arm logically controls the shaking magnitude and frequency to ensure reliable fruit picking.The steering control of a mobile robot, with especially synchronized control of motors position, speed and acceleration in charge of the robot carrier movement (horizontal motion of the trolley), platform movement (vertical motion of the retractable self-propelled elevator system) and direction of robotic picking arm operations such as vertical inching, twisting rotation, retraction, and depositing.The control of camera rotation and translation with respect to the targeted object whose features are not time-varying, while avoiding any blurring resulting from camera motion and the influence of large illumination variation in image processing using vision sensors for edge detection and square angular estimation.

      17 1.17 In a typical nuclear power plant, as illustrated in Figure 1.22, heat is released after scission of uranium atoms within the reactor component to heat water, the steam from which generates electrical power within the generator component. Within the reactor, cylindrical tubes of uranium are grouped within assemblies of rods and inserted simultaneously by remotely controlled arms into the reactor core. Water flowing through the reactor core absorbs the heat energy from uranium atoms splitting through a successive radioactive fission sequence. The generated heat energy is transferred from the reactor core to the turbine component in the form of steam. This resulting high-pressure steam drives the turbine/generator unit. This highly pressurized steam causes rotation of the turbine blades and consequently rotation of the attached electric generators. For such a plant, complete the continuous control block diagram as depicted in Figure 1.23 and draw the overall hybrid control block diagram and operator panel including the following control objectives:The speed and bidirectional control of the uranium rods within the reactor. The speed of the process of absorbing neutrons and the chain reaction is related to their vertical motion.Control of the temperature of the reactor core due to the fact that the number of neutrons absorbed is raised, resulting in fewer neutrons being available to cause fission.The control of the flowrate of circulating water within the reactor.The control of the pressurized water level in the reactor where water flows in to be heated to produce steam that then flows to the turbine to generate electricity.The logic control of energy operation in the reactor core by removal of the uranium rods from the water at maximum speed with respect to safety and emergency requirements. The energy generated in the water-based reactor is converted into high-pressure steam, which is used directly to turn the turbine (steam generator).The logic control of the selection of a subgroup of individual rods to move upward and downward by individual attached bidirectional motors above the reactor core.The logic control of energy storage by switching the charging/discharging operation based on battery charge status, load level, and the level of energy collected.The control of the rate of flow of heat energy circulating between the tank and the collector.The monitoring of the radiation activity within the reactor and surrounding air, ground, and liquid environment.Figure 1.22 Schematic of nuclear plant.Figure 1.23 Incomplete block diagram of a nuclear plant continuous control system.

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