{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:52:03Z","timestamp":1760147523456,"version":"build-2065373602"},"reference-count":15,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,2,11]],"date-time":"2023-02-11T00:00:00Z","timestamp":1676073600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>California is the world\u2019s biggest producer and exporter of almonds. Currently, the sweeping of almonds during the harvest creates a significant amount of dust, causing air pollution in the neighboring urban areas. A low-dust sweeping system was designed to reduce the dust during the sweeping of almonds in the orchard. The system includes a feedback control system to control the sweeper brushes\u2019 height and their angular velocity by adjusting the forward velocity of the harvester and the brushes\u2019 rotational speeds to avoid any extra overlapping sweeping, which increases dust generation. The governing kinematic equations for sweepers\u2019 angular velocity and vehicle forward speed were derived. The feedback controllers for synchronizing these speeds were designed to optimize brush\/dust contact to minimize dust generation. The sweepers\u2019 height controller was also designed to stabilize the gap between the brushes and the orchard floor and track the road trajectory. Controllers were simulated and tuned for a fast response for agricultural applications with less than a second response delay. Results showed that the designed system has acceptable performance and generates low amounts of dust within the acceptable range of California ambient air quality standards.<\/jats:p>","DOI":"10.3390\/s23042046","type":"journal-article","created":{"date-parts":[[2023,2,13]],"date-time":"2023-02-13T02:14:11Z","timestamp":1676254451000},"page":"2046","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Design of an Integrated Controller for a Sweeping Mechanism of a Low-Dust Almond Pickup Machine"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3254-282X","authenticated-orcid":false,"given":"Reza","family":"Serajian","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, The University of California Merced, 5200 N. Lake Road, Merced, CA 95343, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5441-7982","authenticated-orcid":false,"given":"Jian-Qiao","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, The University of California Merced, 5200 N. Lake Road, Merced, CA 95343, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Reza","family":"Ehsani","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, The University of California Merced, 5200 N. Lake Road, Merced, CA 95343, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,11]]},"reference":[{"key":"ref_1","unstructured":"(2018, February 04). \u201cAn Exciting New Standard in Low Dust Nut Harvesting\u201d. Available online: https:\/\/exactcorp.com\/products\/conditioners\/e-250-e-z-prep-conditioner\/."},{"key":"ref_2","unstructured":"Flory (2019, January 17). Flory Industries. Available online: https:\/\/www.goflory.com\/index.php\/products."},{"key":"ref_3","unstructured":"(2019, May 02). Jackrabbit, \u201cLower Dust Cleaner Product Faster Speed\u201d. Available online: https:\/\/jackrabbitequipment.com\/harvester\/."},{"key":"ref_4","unstructured":"(2018, June 27). Weiss McNair. Available online: https:\/\/www.weissmcnair.com\/."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.4027157","article-title":"Two Degree of Freedom Control Synthesis with Applications to Agricultural Systems","volume":"136","author":"Xie","year":"2014","journal-title":"J. Dyn. Syst. Meas. Control."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Yang, R., Wang, Z., Shang, S., Zhang, J., Qing, Y., and Zha, X. (2022). The Design and Experimentation of EVPIVS-PID Harvesters\u2019 Header Height Control System Based on Sensor Ground Profiling Monitoring. Agriculture, 12.","DOI":"10.3390\/agriculture12020282"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Xie, Y., Alleyne, A., Greer, A., and Deneault, D. (2010, January 12\u201315). Header Height Control of A Combine Harvester System. Proceedings of the ASME 2010 Dynamic Systems and Control Conference DSCC2010, Cambridge, MA, USA.","DOI":"10.1115\/DSCC2010-4088"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"105907","DOI":"10.1016\/j.compag.2020.105907","article-title":"Computational model and adjustment system of header height of soybean harvesters based on soil-machine system","volume":"183","author":"Ni","year":"2021","journal-title":"Comput. Electron. Agric."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"0345031","DOI":"10.1115\/1.4023209","article-title":"Fundamental Limits in Combine Harvester Header Height Control","volume":"135","author":"Xie","year":"2013","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"ref_10","first-page":"227","article-title":"A Fuzzy Adaptive PID Controller Design for Header Height Tracking Control of Agricultural Combine Harvester","volume":"44","year":"2021","journal-title":"J. Mech. Eng. Res."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Tulpule, P., and Kelkar, A. (2014, January 4\u20136). Integrated Robust Optimal Design (IROD) of Header Height Control System for Combine Harvester. Proceedings of the American Control Conference (ACC), Portland, OR, USA.","DOI":"10.1109\/ACC.2014.6859154"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1016\/j.biosystemseng.2022.04.024","article-title":"Ground surface detection method using ground penetrating radar signal for sugarcane harvester base-cutter control","volume":"219","author":"Zhao","year":"2022","journal-title":"Biosyst. Eng."},{"key":"ref_13","unstructured":"Xie, X., and Alleyne, A. (2013, January 17\u201319). A Robust Two Degree-Of-Freedom Controller for Systems with Delay. Proceedings of the American Control Conference (ACC), Washington, DC, USA."},{"key":"ref_14","first-page":"4","article-title":"Optimal design of one-rotor orchard inter-row rake 220 based on tines trajectory analysis","volume":"28","author":"Lei","year":"2019","journal-title":"Int. Agric. Eng. J."},{"key":"ref_15","unstructured":"(2018, December 06). Almond Conference. Available online: https:\/\/www.almonds.com\/sites\/default\/files\/content\/attachments\/Almond%20Orchard%202025%20Reducing%20Dust%20at%20Harvest.pdf."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/4\/2046\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:31:42Z","timestamp":1760121102000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/4\/2046"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,11]]},"references-count":15,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2023,2]]}},"alternative-id":["s23042046"],"URL":"https:\/\/doi.org\/10.3390\/s23042046","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2023,2,11]]}}}