# Optimization of Design Parameters Using SQP for an Agricultural Pipe Extraction Device
## 4 Conclusions  
In this study, optimization was performed by targeting the following design parameters of an agricultural pipe-extraction device: link length and initial angle. For easy interpretation, the structure through which the force is transmitted was modeled in two dimensions, and the objective function was formulated through kinematic theory. Constraints were set using the body size and muscle activity data, and the SQP algorithm was used as the optimization method with the FMINCON module in MATLAB (Version R2022a) [16]. Through the optimization, it was possible to secure parameter values such that the force required to drive the extraction device was reduced by 87.1% compared with the initial design value. In addition, the extraction device with the optimized parameters can be moved and used by elderly farmers without the risk of injury.  
The entire device mechanism includes the process of holding the pipe through tongs. However, in this study, force analysis and optimal design were conducted only from the footing of the extraction device to lifting the link. The optimal design of the extraction  
\begin{table}
\begin{tabular}{c c} \hline \multicolumn{1}{c}{**Optimization Results**} \\ \hline Angle between the extension line of Link3 and Link2 (\(\alpha\)) [\({}^{\circ}\)] & 26.56 \\ \hline Length of Link1 (\(L_{1}\)) [mm] & 287.52 \\ \hline Length of Link2 from Point B to Point C (\(L_{2}\)) [mm] & 30 \\ \hline Length of Link2 from Point B to Point D (\(L_{3}\)) [mm] & 305.41 \\ \hline Horizontal distance between points A and C (k) [mm] & 50 \\ \hline \end{tabular}
\end{table}
Table 3: Optimization results.  
Figure 9: History plot of the design parameters.  
device can be more accurate if a design plan is derived for the entire mechanism of the extraction device, considering the process of picking up the pipe through tongs.  
In addition, if an actual extraction device is manufactured using parameters obtained through optimal design, the force for driving the extraction device can be actually measured through a force-measuring instrument such as a load cell. Through this, the validity of the optimal design model presented in this study can be verified, and it will be possible to confirm how much the force required to actually drive the extraction device is reduced.  
In this study, the design was performed to minimize the force required for agricultural operations using agricultural hand tools. In addition, it was possible to select the optimal design variables by selecting and applying the objective function, design condition, and operating conditions in the parameter selection of the hand tool. These studies can help operators' health by improving the agricultural operating environment and improving the convenience of using agricultural equipment.  
Conceptualization, S.-B.S.; methodology, S.-M.L. and J.O.; validation, S.-H.L. and H.-W.H.; data curation, S.-M.L. and S.-H.L.; writing--original draft preparation, S.-M.L.; writing--review and editing, J.O.; visualization, S.-H.L.; supervision, J.O.; project administration, S.-B.S. All authors have read and agreed to the published version of the manuscript.  
This work was supported by Korea Institute of Planning and Evaluation for Technology in Food, Agriculture, Forestry (IPET) through Eco-friendly Power Source Application Agricultural Machinery Technology Development Program, funded by Ministry of Agriculture, Food and Rural Affairs (MAFRA) (322045-04).  
Not applicable.  
We all deeply appreciate the late [PERSON] for his valuable contribution on this study.  
The authors declare no conflict of interest.