A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration

This paper describes the principles and theoretical investigations, supported by experimental measurements, aimed at designing and developing a novel mechatronic system for soil exploration, inspired by the apical part of the plant roots, named apex. Each single plant root has to move through the su...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics Vol. 16; no. 2; pp. 201 - 212
Main Authors: Mazzolai, Barbara, Mondini, Alessio, Corradi, Paolo, Laschi, Cecilia, Mattoli, Virgilio, Sinibaldi, Edoardo, Dario, Paolo
Format: Journal Article
Language:English
Published: New York IEEE 01.04.2011
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Apexes
Bio-inspired reactive algorithm
biomimetic robotics
Biosensors
Data acquisition
Detectors
Exploration
Gravitation
Gravitropism
Gravity
mechatronic design
Mechatronics
Moisture control
moisture sensor
osmotic actuator
Plant roots
Product development
Prototypes
Soil (material)
Soil measurements
Soil moisture
System testing
ISSN:1083-4435, 1941-014X
Online Access:Get full text
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Summary:This paper describes the principles and theoretical investigations, supported by experimental measurements, aimed at designing and developing a novel mechatronic system for soil exploration, inspired by the apical part of the plant roots, named apex. Each single plant root has to move through the substrate, orienting itself along the gravity vector and locating water and nutrients. In the same way, the mechatronic apex can steer in all directions and it embeds a gravity sensor, a soil moisture gradient detector, as well as the electronics for sensory data acquisition and steering control. A bio-inspired algorithm reproducing the gravitropism and hydrotropism behaviors, typical of plants, was developed and tested on a purposive prototype of the mechatronic apex system, actuated by hydraulic pumps. Moreover, the design and testing of a novel bio-inspired osmotic actuator module, composed of three cells separated by couples of osmotic and ion-selective membranes, is also presented. Preliminary prototypes developed in acrylic material for testing the gravitropism and hydrotropism behaviors are shown.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2009.2038997