African Journal of Agriculture

African Journal of Agriculture ISSN 2375-1134 Vol. 12 (4), pp. 001-013, April, 2025. Available online at www.internationalscholarsjournals.org © International Scholars Journals

Full Length Research Paper

Analysis of Grasp Strategies and Planning Techniques for Underactuated Multi-Fingered Robots in Agricultural Applications

Li Shanjun1*, Shuangji Yao², Zhang Yanlin¹*, Meng liang¹ and Lu Zhen²

¹College of Engineering, Huazhong Agricultural University, Wuhan P. R. China.
²School of Automation Science and Electrical Engineering, Beihang University, Beijing P. R. China.

Accepted 5 October, 2024

Abstract

To solve the unfixed grasping tasks during the fruits picking and rating, grasping modeling is researched as the most important part of the robot hand solutions. A survey for grasping synthesis method with dexterous robot hand is presented in this paper. The difference of grasping characters is introduced between dexterous hand and underactuated hand. Especially, the feature of self-adaptive enveloping grasp achieved by underactuated finger mechanism is outlined, which has good performance in grasping unknown objects. In order to generate valid grasps for unknown target objects and apply in real-time control system for underactuated robot hand, a grasping strategy synthesis model for universal grasp tasks is proposed based on human knowledge analysis. It is composed by off-line neural networks training section and on-line compute section. Firstly, daily grasped objects are used to build a sample space by human experience. Then the discrete sample space is computed by fuzzy clustering method. The data is used to generate grasp decision scheme by rough set mixed artificial neural networks. An examination is simulated for grasp configurations choice of the underactuated robot hand with the aim to show the practical feasibility of the proposed grasp strategy.

Key words: Underactuated robot hand, grasp planning, neural network, fruits grasping.
 

African Journal of Agriculture ISSN 2375-1134 Vol. 12 (3), pp. 001-008, March, 2025. Available online at www.internationalscholarsjournals.org © International Scholars Journals

Full Length Research Paper

Employing an adaptive neuro-fuzzy inference system for optimum distribution of liquid pesticides

Khalid A. Al-Gaadi¹*, Abdulwahed M. Aboukarima² and Ahmed A. Sayedahmed³

¹Department of Agricultural Engineering, Precision Agriculture Research Chair, College of Food and Agricultural Sciences, P. O. Box 2460, King Saud University, Riyadh 11451, Saudi Arabia. ²Huraimla Community College, P. O. Box 300, Shaqra University, Huraimla 11962, Saudi Arabia. ³Department of Agricultural Engineering, College of Food and Agricultural Sciences, P .O. Box 2460, King Saud University, Riyadh 11451, Saudi Arabia.

Accepted 28 November, 2024

Abstract

An adaptive neuro-fuzzy inference system (ANFIS) was implemented to evaluate different combinations of nozzle flow rates and boom heights in terms of liquid pesticide distribution uniformity from a ground field sprayer. In addition, the ANFIS was utilized to determine the optimum combination of the two principal factors (boom height and nozzle flow rate) that would result in the best distribution uniformity. In ANFIS, the two principal factors were selected as inputs, however, the Coefficient of Distribution Uniformity (CDU) was considered as the system output. For the tested set of data, the ANFIS analysis designated a boom height of 60 cm and a nozzle flow rate of 118 L/h as the optimum combination with a CDU value of 65.7%. Results of the study showed that the ANFIS technique was effective in evaluating and classifying the different possible combinations of the involved principal factors for best distribution uniformity. Moreover, results revealed that the utilized ANFIS was accurate in predicting the CDU. The R2 values for the relationship between calculated CDU and ANFIS predicted CDU were 0.992 and 0.988 for the training and testing stages, respectively.

Key words: Pesticides, nozzle flow rate, boom height, ground field sprayer, adaptive neuro-fuzzy inference system, coefficient of distribution uniformity.
 

African Journal of Agriculture ISSN 2375-1134 Vol. 12 (3), pp. 001-013, March, 2025. Available online at www.internationalscholarsjournals.org © International Scholars Journals

Full Length Research Paper

The Economics of Sustainable Water Resource Availability for Food Production in Ghana

Daniel Ofori¹, Amatus Gyilbag², Komla Ben Kakraba³, Mitchell Dodzi Morvey⁴ & Francis Xavier Kabir Mwinkon⁵

¹Kumasi Technical University, Department of Entrepreneurship and Finance, Ghana. ²Takoradi Technical University, Ghana. ³University of Energy and Natural Resources (UENR), Sunyani, Centre for Climate Change and Gender Studies (3CGS), Ghana. ⁴Kumasi Technical University, Procurement officer (Snr), Ghana. ⁵Odomaseman Senior High School, Sunyani, Ghana.

Abstract

Received 14 January, 2025; Revised 10 February, 2025; Accepted 16 February, 2025; Published 13 March, 2025

Water bodies in Ghana are being ‘’poisoned’’ by illegal mining in water bodies and also in the forest reserves; thus polluting river bodies and amplifying the crisis of the country. However, the water-agriculture nexus is poorly understood as researchers tend to focus more on agricultural sector. This research aims at gaining a comprehensive understanding of the relationship between agricultural water resource management practices and their effects on food production. Food production (FoPin), food export (FoE), and food import (FoI) served as the dependent variables, whereas the independent variables include Gross National Expenditure (GNE), Rainfall (RNF), Temperature (TEMP), Water Productivity (WPT), Gross Fixed Capital Formation (GFICFN), Foreign Direct Investment (FDINI), and arable land (ArL). The research utilizes time series data from 1973 to 2022. The numerical data included in the study was sourced from the World Bank (2024). The inquiry centers on assessing the stationarity of variables through the Augmented Dickey-Fuller (ADF) and Phillips-Perron (PP) tests. The research utilises an Autoregressive Distributed Lag (ARDL) model as the econometric method to evaluate the relationships among the variables of interest. The empirical findings of this study indicate that Water Productivity (WPT) possesses a positive coefficient, demonstrating a correlation in the same direction as the dependent variables. This connection was shown to be statistically insignificant at 1% level. The study recommends that policy-makers ensure measures to improve water – agriculture nexus, water availability and sustainability in the midst of changing climate and illegal mining activities in the country.

Keyword: Sustainable Water, Food security, Food Import & export, ARDL, Economic Growth, Ghana.
 

African Journal of Agriculture ISSN 2375-1134 Vol. 12 (3), pp. 001-007, March, 2025. Available online at www.internationalscholarsjournals.org © International Scholars Journals

Full Length Research Paper

Impact of Soil Management Approaches and Land Use on Soil Fertility in the Urban Periphery of North China Cities

Jing-wei Jin¹, Yue-fei Xu², Hui-chun Ye¹, Chong-yang Shen¹ and Yuan-fang Huang¹*

¹Department of Soil and Water Science, College of Resources and Environment, China Agricultural University,
Beijing 100193, China.
²College of Animal Science and Technology, Northwest A & F University, Yangling, Shaanxi 712100, China.

Accepted 18 January, 2024

Abstract

The objective of this study was to explore the spatial variation of soil fertility quality and the influence factors of human land use and soil management practices on soil fertility quality in North China cities' urban fringe of Beijing using data for 2007 and grey relational analysis (GRA) and geographic information systems (GIS). Soil total nitrogen, available phosphorus, available potassium, available copper, zinc, iron and manganese, soil organic matter and pH were measured. The GRA was used to calculate the grey relational degree and Kriging method was applied to map the spatial patterns of soil fertility quality. The distribution map of soil fertility quality showed that soil fertility quality was best in the southeast and well in the North, South, Northwest and East. The area of first-grade quality (I), second-grade quality (II) and third-grade quality (Ⅲ) was 120.10, 734.37 and 184.53 km2, respectively. The main factors influencing the spatial distribution of soil fertility quality were land use and soil management practices. The increasing trend of soil fertility quality might be attributed to the widespread practices of straw returning and organic manure applications.

Key words: Soil fertility quality, spatial variability, land use, soil management practices, urban fringe, North China plain.

African Journal of Agriculture ISSN 2375-1134 Vol. 12 (3), pp. 001-008, March, 2025. Available online at www.internationalscholarsjournals.org © International Scholars Journals

Full Length Research Paper

Assessing Soil Water Storage Through Spatial Dependence in Deposited Agricultural Soils

Pei Zhao¹ and Mingan Shao^2*

¹Key Laboratory of Mountain Environment Evolvement and Regulation, Institute of Mountain Hazards and Environment,
Chinese Academy of Sciences, Chengdu 610041, China.
²Key Laboratory of Ecosystem Network Observation and Modeling, Institute of Geographic Sciences and Natural
Resources Research, Chinese Academy of Sciences, Beijing100101, China.

Accepted 20 October, 2024

Abstract

Spatial dependence was widely recognized in field observations and the existence was very helpful to the development of precision agriculture. On the Loess Plateau of China, the soil water contents (SWCs) at a deposited soil farmland (DF) were measured using the neutron tubes on two sampling lines during two years. The objectives of this research were to recognize their spatial dependence to predict soil water storage (SWS) and to divide the DF for future study in such kind farmland. The results showed that the mean SWCs of 0-80 cm soil depth decreased at the prior part and increased at the later part of the DF. The coefficient of variation (CV) decreased exponentially with the mean SWC on all observations. Estimated autocorrelation values began at higher value than critical criteria and gradually decreased towards negative values following the increased lag distance. The Moran’s I and ACF both illustrate the existence of spatial correlation of neighboring points on the silting direction, and the cluster characteristics were used to predicate SWS and divide the DF. The topsoil water contents (10 cm) have a good linear relationship with its SWSs (80 cm) since the deposition characteristics of sediment. Three parts of DF should be divided in the related studies on such land. Future studies should focus on the spatial dependence of more soil variables at the DF to help the development of precision agriculture and manage soil resources.

Key words: Autocorrelation, check-dam, linear regression, soil water content.
 

African Journal of Agriculture ISSN 2375-1134 Vol. 12 (3), pp. 001-012, March, 2025. Available online at www.internationalscholarsjournals.org © International Scholars Journals

Full Length Research Paper

Investigating the Long-Term Effects of Endosulfan on Enzymatic and Microbial Functions in Two Agricultural Soils from Yaoundé, Cameroon

Michel Amery Defo^1,2*, Thomas Njine², Moise Nola² and Florence Sidonie Beboua²

¹Institut National de la Recherche Scientifique (INRS), Centre Eau Terre, Environnement, de la Couronne, Quebec,
Canada.
²Laboratory of General Biology, Department of Animal Biology and Physiology, Faculty of Science, University of
Yaounde , Yaounde, Cameroon.

Accepted 17 November, 2024

Abstract

Soil samples with different physical and chemical characteristics were taken from two sites, Minkoa-Meyos and Mendong, in Yaounde. These samples were treated with the insecticide endosulfan, using commercially recommended rates (1.5l ha-1), and incubated in the laboratory at 20°C in glass flask for 75 days in order to evaluate their toxic effects on enzyme activities, organic matter content and the availability of phosphorus in the soils studied. The enzyme activities studied included dehydrogenase, β-D glucosidase, acid and alkaline phosphatases. The results showed that, on one hand, endosulfan inhibits dehydrogenase, acid and alkaline phosphatase activities in both soils. β-D Glucosidase activity was inhibited in Mendong soil, but this activity seems not to be affected by endosulfan in Minkoa-Meyos soil. On the other hand, endosulfan appeared to have no measurable effect on the organic carbon content and on the availability of phosphorus in Minkoa-Meyos soil. However, these two functions were inhibited in the Mendong soil. Moreover, significant correlations in the Mendong soil at the highest concentration were obtained between acid phosphatase activity and the available phosphate (P = 0.024; r = 0.821), and between alkaline phosphatase activity and the available phosphate (P = 0.014; r = 0.858).

Key words: Endosulfan, soil microcosm, enzyme and microbial activities, exposition time.