In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains and to perform precision field operations with perception. In particular, the integration of a 7 DOFs (degrees of freedom) manipulator and a mobile frame results in a reconfigurable workspace, which opens to samples collection and inspection in non-structured environments. Moreover, Agri.q mounts an orientable landing platform for drones which is made of solar panels, enabling multi-robot strategies and solar power storage, with a view to sustainable energy. In fact, the device will assume a central role in a more complex automated system for agriculture, that includes the use of UAV (unmanned aerial vehicle) and UGV for coordinated field monitoring and servicing. The electronics of the device is also discussed, since Agri.q should be ready to send-receive data to move autonomously or to be remotely controlled by means of dedicated processing units and transmitter-receiver modules. This paper collects all these elements and shows the advances of the previous works, describing the design process of the mechatronic system and showing the realization phase, whose outcome is the physical prototype.

In this study, a new passive ‘H-C' micromixer based on the split and recombine (SAR) principle is presented. The design phase was supported by a preliminary numerical analysis of the flow patterns inside the channel to quickly obtain a general idea of mixing of fluids from the distribution of path lines. Then mixing efficiency and pressure drop were investigated numerically as well as experimentally for Reynolds numbers in the range1 to 100. At the same time, two known SAR mixers, the Chain and the Tear-drop, were examined to have a point of reference for comparison. Results show that the mixing efficiency of the Tear-drop mixer is good except at the middle range of Reynolds numbers and its pressure drop is high; conversely, the Chain mixer has moderate pressure drop but relatively low mixing efficiency at low and middle range of Reynolds numbers. The H-C mixer shows an almost flat mixing characteristic over the whole range of Reynolds numbers examined; mixing efficiency is higher than 90%. Furthermore, pressure drop within the H-C micromixer, i.e. its energy requirement, is significantly less than that of the Chain and the Tear-drop mixers at the same flow rate

A new split and recombine (SAR) passive micromixer, namely the H-C mixer, is presented. The performance of the micromixer is analyzed numerically at Reynolds numbers up to 100, varying the inlet flow-rate ratio. In order to validate the numerical model, tests for an inlet flow-rate ratio of 1 were carried out on the new H-C micromixer along with the established Tear-drop and Chain micromixers for comparison, and good correspondence was found between the differently obtained data. Contrary to the Tear-drop and Chain micromixers, the H-C micromixer exhibited a mixing efficiency greater than 90% independent of Reynolds numbers. In particular, no noticeable dependence on inlet flow-rate ratio was observed. Furthermore, the pressure drop along the H-C mixer was found to be lower than those along the already known mixers.

Two novel passive micromixers, denoted as the Y-Y mixer and the H-C mixer, based on split-and-recombine (SAR) principle are studied both experimentally and numerically over Reynolds numbers ranging from 1 to 100. An image analysis technique was used to evaluate mixture homogeneity at four target areas. Numerical simulations were found to be a useful support for the design phase, since a general idea of mixing of fluids can be inferred from the segregation or the distribution of path lines. Comparison with a well-known mixer, the Tear-drop one, was also performed. Over the examined range of Reynolds numbers 1 ≤ Re ≤ 100, the Y-Y and H-C mixers showed at their exit an almost flat mixing index characteristic, with a mixing efficiency higher than 90%; conversely the Tear-drop mixer showed a relevant decrease of efficiency at mid-range. Furthermore, the Y-Y and the H-C showed significantly less pressure drop than the Tear-drop mixer.