electronics

Article
Low-Cost Fuzzy Logic Control for Greenhouse
Environments with Web Monitoring
Carlos Robles Algarín * ID
, Jesús Callejas Cabarcas and Aura Polo Llanos
Facultad de Ingeniería, Universidad del Magdalena, Carrera 32 No. 22-08, Santa Marta 470004, Colombia;
[email protected] (J.C.C.); [email protected] (A.P.L.)
* Correspondence: [email protected]; Tel.: +57-5-300-6733635

Received: 19 August 2017; Accepted: 6 September 2017; Published: 23 September 2017

Abstract: The design and implementation of a low-cost system for monitoring and remote control
of a greenhouse using fuzzy logic is presented. For the control system, an Arduino Mega board
was programmed with a fuzzy algorithm to monitor and perform control actions for environmental
temperature, soil moisture, relative humidity, and lighting. A website was designed to visualize
the main indicators of agricultural interest and to get access to tools such as forced ventilation,
misting systems, and sprinkler irrigation. For connectivity to the webpage, an Arduino Ethernet
Shield was used. Thus, it was possible to establish a local area network and monitor and control the
greenhouse climate variables manually or automatically. The application designed allowed access to
the configuration, monitoring, and control of climatic conditions in the greenhouse. The effectiveness
of fuzzy logic to control nonlinear systems was therefore verified without the mathematical model of
the plant. Thus, the use of resources for a gable roof greenhouse prototype was optimized.

Keywords: greenhouse agriculture; fuzzy control; Arduino; web monitoring

1. Introduction
The management of production in a greenhouse presents two major challenges, the meeting of
which depends on good development, maintenance, production, and profitability. The first is the
optimal use of soil, and the second is the efficient use of water and electricity resources. Generally,
optimization of the growth conditions of crops, the cultivation period, and control of the indoor
environment require the implementation of systems that are adaptive to changing climatic conditions.
Therefore, there is a need to implement high-tech greenhouses focused on creating appropriate climate
conditions that enhance plant growth and reduce production costs and energy consumption [1].
Implementing a control system in a greenhouse is a complex process due to the number of
variables involved and the dependence between them. To meet these requirements, different intelligent
control strategies such as fuzzy logic have been discussed, and achievements have been made in the
remote control of climatic variables [2–4]. In addition, research has been conducted using different
versions of fuzzy controllers such as traditional [5], inverted [6], adaptive [7], and improved via
particle swarm optimization [8]. It also highlights the growing use of neural networks for smart frost
control [9], the dynamic modeling of temperature and relative humidity [10], and climate control and
energy saving in different types of greenhouses [11].
Recently, the use of open source hardware for remote control systems for low-cost greenhouses [12,13]
and for the monitoring of environmental parameters in precision agriculture [14] has become popular.
Furthermore, wireless sensor networks are now used for irrigation control and monitoring in different
sectors of agriculture [15,16]. Strategies that have been used include wireless sensor networks
for precision agriculture [17], the control of a greenhouse ventilation system with a field gate
programmable array [18], a hybrid controller predictive of nocturnal greenhouse temperatures [19],

Electronics 2017, 6, 71; doi:10.3390/electronics6040071 www.mdpi.com/journal/electronics

Electronics 2017, 6, 71 2 of 12
Electronics 2017, 6, 70 2 of 12

the
the optimal
optimal control
control ofof climatic
climatic conditions
conditions in in aa greenhouse
greenhouse usingusing minimal
minimal energy
energy and and grower
grower defined
defined
bounds [20], and
bounds [20], and an
an irrigation
irrigation remote
remote monitoring
monitoring system
system based
based on
on ZigBee
ZigBee [21].
[21].
Here,
Here, aa fully
fully automated
automated system system for for monitoring
monitoring and and control
control ofof climate
climate variables
variables of of aa greenhouse
greenhouse
is proposed. For
is proposed. For this
this purpose,
purpose, aa fuzzyfuzzy controller
controller waswas implemented
implemented in in the
the Arduino
Arduino open open source
source
platform, which
platform, which offers
offers thethe possibility
possibility of of sharing,
sharing, modifying,
modifying, and and studying
studying thethe source
source codecode of of aa
computer system [22]. Arduino has been the core of numerous projects
computer system [22]. Arduino has been the core of numerous projects under the philosophy of under the philosophy of
rapid
rapid prototyping;
prototyping; allowing
allowing students
students and and advanced
advanced programmers
programmers to to design
design applications
applications in in robotics,
robotics,
education, the Internet of Things, precision agriculture, and the construction
education, the Internet of Things, precision agriculture, and the construction of low-cost scientific of low‐cost scientific
instruments
instruments [23].
[23]. The
The main
main reasons
reasons why why Arduino
Arduino technology
technology waswas selected
selected consist
consist in in its
its low cost, its
low cost, its
cross‐platform
cross-platform compatibility,
compatibility, and and itsits easy-to-use
easy‐to‐use development
development environment
environment withwith free
free and
and extensible
extensible
software through C libraries.
software through C libraries.
The
The main
main novelty
novelty of ofthis
thispaper
paperisisthe thedevelopment
developmentofofa auser‐friendly
user-friendly webwebinterface
interface that
thatworks
works in
conjunction
in conjunction with
withlow‐cost
low-cost Arduino
Arduino tools
toolstotoallow
allowany anyuser
usertoto manually
manually or or automatically
automatically control control
environmental variablesofofa greenhouse.
environmental variables a greenhouse. In addition,
In addition, the main
the main motivation
motivation of this of this isproject
project is to
to replicate
replicate
the resultsthe resultswith
obtained obtained with the of
the prototype prototype of the greenhouse
the greenhouse on the experimental
on the experimental farm of the
farm of the Universidad
Universidad del Magdalena, so that the consumption of water and
del Magdalena, so that the consumption of water and electricity in different types of cropselectricity in different typescanof
crops can be
be optimized. optimized.
This paper is
This paper is structured
structured as as follows:
follows: Section
Section 22 presents
presents the
the hardware
hardware design
design in in each
each stage
stage of the
of the
greenhouse. Section 3 describes the design and implementation of the fuzzy
greenhouse. Section 3 describes the design and implementation of the fuzzy controller. Section 4 controller. Section 4
presents the web interface for remote communication with the control system.
presents the web interface for remote communication with the control system. Section 5 shows the Section 5 shows the
results
results obtained
obtained withwith thethe control
control system
system forfor the
the environmental
environmental variables
variables ofof the
the relative
relative humidity,
humidity,
temperature, and soil moisture of a gable roof greenhouse. Finally,
temperature, and soil moisture of a gable roof greenhouse. Finally, Section 6 presents Section 6 presents a discussion
a discussion of
the results,
of the results,which
which arearecontrasted
contrastedwith withthetheresults
resultsofofother
other investigations.
investigations. In In addition,
addition, we present
we present
improvements that can be made in
improvements that can be made in future work. future work.

2. Hardware Design
Figure 1 is the block diagram of the system that was implemented to control the temperature,
temperature,
relative humidity,
humidity, and
and soil
soil moisture
moisture in
in the
the greenhouse.
greenhouse.

Figure 1. Block
Figure 1. Block diagram
diagram of
of the
the system.
system.
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Electronics 2017, 6, 71 33 of 12

2.1. Soil
2.1. Soil Moisture
Moisture Sensor
Sensor
2.1. Soil Moisture Sensor
To measure
measure this variable,
variable, aa sensor
sensor based
based onon resistive
resistive properties
properties of of the
the soil
soil and
and aa voltage
voltage divider
divider
To this
was
was Todesigned using
measureusing
designed two
this variable, conductors
a sensor based
two conductors to monitor the
on resistive
to monitor area under
the properties
area under study
of the (Figure
soil (Figure
study 2).
and a voltage Through the
divider was
2). Through the
configuration
designed
configuration presented,
usingpresented,
two conductors it was
it was possiblethe
to monitor
possible to area
to obtain an study
under
obtain an analog
analog reception
(Figure depending
2). Through
reception on the
the soil
soil
the configuration
depending on
moisture,
presented,
moisture, as as shown
it shown in
was possible Equation
to obtain
in Equation (1).
(1). an analog reception depending on the soil moisture, as shown in
Equation (1). analog signal
signal == 5R
5R22/(R
/(R11 ++ R
R22)) V.
V. (1)
analog (1)
analog signal = 5R2 /(R1 + R2 ) V. (1)
When the soil is moist, resistor R 1 decreases, so the output voltage increases; on the contrary, if
When the soil is moist, resistor R1 decreases, so the output voltage increases; on the contrary, if
When
the soil
soil the Rsoil
is dry,
dry, is moist,resulting
increases, resistor Rin1 adecreases, so the
lower output
output outputItvoltage
voltage. increases;
is noteworthy
noteworthy thatonthethe contrary,
sensor was
the is R11 increases, resulting in a lower voltage. It is that the sensor was
if the soil isusing
calibrated dry, Rexperimental
1 increases, resulting
tests. in a lower output voltage. It is noteworthy that the sensor was
calibrated using experimental tests.
calibrated using experimental tests.

Figure 2.
Figure Soil moisture
2. Soil moisture sensor.
sensor.

2.2. Temperature
2.2. Temperature and
Temperature and Humidity
and Humidity Sensor
Humidity Sensor
Sensor
A DHT11
A DHT11 sensor
DHT11 sensor (Adafruit,
sensor(Adafruit, New
(Adafruit,New York
NewYork City,
YorkCity, USA),
City,USA), which
USA),which
which delivers
delivers
delivers aa digital
digital output
a digital dependent
output
output on
dependent
dependent on
temperature
on temperature
temperature andand
and relative humidity,
relative
relative humidity,
humidity, was used,
wasused,
was ensuring
used,ensuring high
ensuringhigh reliability
highreliability and
reliability and excellent long-term
and excellent long‐term
long‐term
stability.
stability. A single‐wire protocol was implemented to transmit data in packets of 8 bits with aa time
single‐wire
stability. A single-wire protocol was implemented to transmit data in packets of 8 bits with time of
of
initial communication of 4 ms. Figure 3 shows the DHT11 sensor and the connection to the
initial communication of 4 ms. Figure 3 shows the DHT11 sensor and the connection to the Arduino. Arduino.

Figure 3.
Figure Temperature and
3. Temperature and humidity
humidity sensor.
sensor. (a)
(a) DHT11;
DHT11; (b)
(b) circuit
circuit diagram.
diagram.
Figure 3. Temperature and humidity sensor. (a) DHT11; (b) circuit diagram.

2.3. Forced Ventilation System

This final control system consists of two DC fans responsible for generating an airflow that enters
the greenhouse. Furthermore, an additional extractor whose function is to extract hot air from the
prototype was implemented. With these extractors, air renewal takes place inside the greenhouse,
Electronics 2017, 6, 70 4 of 12

2.3. Forced Ventilation System

This final control system consists of two DC fans responsible for generating an airflow that
enters the2017,
Electronics greenhouse.
6, 71 Furthermore, an additional extractor whose function is to extract hot air from
4 of 12
the prototype was implemented. With these extractors, air renewal takes place inside the greenhouse,
contributing to the decrease in temperature. The DC fans have the following specifications: (voltage:
contributing to the decrease in temperature. The DC fans have the following specifications: (voltage:
12 V; current: 290 mA; power: 3.48 W; speed: 2200 rpm; dimensions: 120 mm × 120 mm × 25 mm).
12 V; current: 290 mA; power: 3.48 W; speed: 2200 rpm; dimensions: 120 mm × 120 mm × 25 mm).
2.4.
2.4.Nebulization
Nebulizationand
andDehumidification
DehumidificationSystem
System
AAhumidification
humidificationsystem
systemconsisting
consistingofofananair
aircompressor
compressorofof2068.4
2068.4kN/mkN/mto
2
2 to1212VVDC
DCand anda a
medical nebulization kit was implemented. This system introduces air forcedly
medical nebulization kit was implemented. This system introduces air forcedly into the meteringinto the metering
chamber,
chamber,which
whichhas
hasananoutlet
outletorifice
orificethrough
throughwhich
whichthe thepressurized
pressurizedair
airisisreleased,
released,keeping
keepingspraying
spraying
water
water to a minimum. The system consists of two nebulizers nozzles connected in paralleltotothe
to a minimum. The system consists of two nebulizers nozzles connected in parallel theair
air
outlet compressor.
outlet compressor.
ToTodecrease
decreasethe
therelative
relativehumidity,
humidity,aasystem
systemofofforced
forcedventilation
ventilationand
andhalogen
halogenlamps
lampswere
wereused,
used,
generating
generating a decrease in relative humidity by raising the temperature and exchanging theair
a decrease in relative humidity by raising the temperature and exchanging the airinside
inside
the
thegreenhouse.
greenhouse.

2.5.
2.5.Irrigation
IrrigationSystem
System
AAsprinkler
sprinklerirrigation
irrigationsystem
systemwith
witha awater
waterstorage
storagetank,
tank,an
anelectric
electricpump
pump1212VVDC,
DC,a ahose,
hose,and
anda a
sprayer nozzle was implemented. The flow delivered by the irrigation system was
sprayer nozzle was implemented. The flow delivered by the irrigation system was 4 cm of waterper 4 cm of
33 water per
unit
unitofoftime
timeininseconds.
seconds.ThisThisamount
amountisissufficient
sufficientfor
foroptimum
optimumwetting
wettingaccording
accordingtotothe
thevolume
volumeofof
soil
soilused.
used.
For
Forthethefinal
final control elements,the
control elements, theArduino
Arduino two‐channel
two-channel relay
relay module
module withwith optically
optically isolated
isolated inputs
inputs with respect
with respect to the outputs
to the digital digital outputs of the microcontroller
of the microcontroller was implemented.
was implemented. To raise theTo raise the
temperature
temperature of the greenhouse,
of the greenhouse, a pair of
a pair of halogen halogen
lamps lamps
located in located
the rearinofthe
therear of the prototype
prototype was used.was used.
Similarly,
Similarly, a fluorescent lamp of 6 W at 110 V AC was used for the lighting
a fluorescent lamp of 6 W at 110 V AC was used for the lighting mechanism. Figure 4 shows themechanism. Figure 4
shows the components
components used
used for the for the irrigation
irrigation system. system.

Figure
Figure4.4. Final control elements.
Final control elements.(a)(a)The
The nebulization
nebulization system;
system; (b)irrigation
(b) the the irrigation system;
system; (c) the
(c) the Arduino
two-channel
Arduino relay module;
two‐channel (d) the extractor
relay module; and halogen
(d) the extractor lamp. lamp.
and halogen

3. Fuzzy Logic Controller Design

3.1. Programming Arduino Mega Board

The entire programming prototype was implemented on the development board Arduino Mega
because of its low cost, its small size, its simple programming environment, its variety of libraries, and
its memory capacity [24,25]. Furthermore, Arduino is an open source platform, which means that any
3. Fuzzy Logic Controller Design

3.1. Programming Arduino Mega Board

The entire programming prototype was implemented on the development board Arduino Mega
Electronics 2017, 6, 71 5 of 12
because of its low cost, its small size, its simple programming environment, its variety of libraries,
and its memory capacity [24,25]. Furthermore, Arduino is an open source platform, which means
that any additional
additional costs for costs for the payment
the payment of licenses
of licenses are avoided.
are avoided. Table 1 Table
shows1 some
showsofsome of the Arduino
the Arduino Mega
Mega technical
technical specifications.
specifications.
Figure 5 shows the flowchart of the fuzzification and defuzzification processes for temperature
and relative humidity. For the irrigation and lighting
Table 1. Arduino Megastages a similar process was used.
specifications.

Table 1. Arduino Mega specifications.

Specifications Values
Microcontroller
Specifications ATmega 2560
Values
Operating Voltage 5V
Microcontroller
Digital I/O Pins 54 (of which ATmega
15 provide2560
PWM output)
Operating Voltage
Analog Input Pins 5V
16
Clock
Digital Speed
I/O Pins 54 (of which 1516provide
MHz PWM output)
FlashInput
Analog Memory
Pins 25616
KB
SRAM 8 KB
Clock Speed 16 MHz
EEPROM 4 KB
Flash Memory
Communication Interfaces UART, 256 KBI2C
SPI,
SRAM 8 KB
EEPROM 4 KB
Figure 5 shows the flowchart of the fuzzification and defuzzification processes for temperature
Communication Interfaces UART, SPI, I2C
and relative humidity. For the irrigation and lighting stages a similar process was used.

Figure 5. Flowchart for the fuzzification and defuzzification processes.

Figure 5. Flowchart for the fuzzification and defuzzification processes.

3.2. Fuzzification
Ten fuzzy sets for defining levels related to the input variables were identified. The linguistic
values used for membership functions are MLT (Minimum Lethal Temperature), MBT (Minimum
Biological Temperature), OT (Optimum Temperature), MABT (Maximum Biological Temperature),
MALT (Maximum Lethal Temperature), MLRH (Minimum Lethal Relative Humidity), MBRH
(Minimum Biological Relative Humidity), ORH (Optimum Relative Humidity), MABRH (Maximum
Biological Relative Humidity), and MALRH (Maximum Lethal Relative Humidity).
 Ten fuzzy sets for defining levels related to the input variables were identified. The linguistic
values used for membership functions are MLT (Minimum Lethal Temperature), MBT (Minimum
Biological Temperature), OT (Optimum Temperature), MABT (Maximum Biological Temperature),
MALT (Maximum Lethal Temperature), MLRH (Minimum Lethal Relative Humidity), MBRH
(Minimum
Electronics 2017,Biological
6, 71 Relative Humidity), ORH (Optimum Relative Humidity), MABRH (Maximum 6 of 12
Biological Relative Humidity), and MALRH (Maximum Lethal Relative Humidity).
For the representation of membership functions, triangular shapes were used because they
For the representation of membership functions, triangular shapes were used because they have
have a central optimal value that is lost as the study variable increases or decreases, affecting the
a central optimal value that is lost as the study variable increases or decreases, affecting the degree
degree of membership, which is between 0 and 1. Figure 6 represents fuzzy sets of temperature and
of membership, which is between 0 and 1. Figure 6 represents fuzzy sets of temperature and relative
relative humidity in the triangular function. As shown in Figure 6, linguistic labels representing
humidity in the triangular function. As shown in Figure 6, linguistic labels representing qualitative
qualitative measurement values delivered by sensors of the greenhouse were created. To ensure a
measurement values delivered by sensors of the greenhouse were created. To ensure a membership
membership range between 0 and 1, a normalization process is made according to parameters set by
range between 0 and 1, a normalization process is made according to parameters set by the user on
the user on the website.
the website.

Figure6.6. Triangular
Figure Triangularmembership
membershipfunctions
functionsused.
used.(a)
(a)Temperature;
Temperature;(b)
(b)Relative
Relativehumidity.
humidity.

Membershipranges
Membership rangesof
oftemperature
temperatureand andrelative
relativehumidity
humidityare
aredetermined
determinedby
byEquation
Equation(2)
(2)from
from
theset
the setpoint
pointand
andthe
thecurrent
currentvalue
valueofofthe
thesensors.
sensors.
membership range = current value / set point. (2)
membership range = current value/set point. (2)
When the sensors deliver values above the set point, Equation (3) was used to ensure the range
When the
in degrees sensors deliver values above the set point, Equation (3) was used to ensure the range in
of membership.
degrees of membership.
membership range = 2 − (current value / set point), (3)
membershipfunctions
Table 2 shows the membership − (current
range = 2 and genericvalue/set
ranges of point),
the fuzzy variables. (3)

Table 2 shows the membership functions and generic ranges of the fuzzy variables.

Table 2. Membership generic values.

Linguistic Values Temperature Relative Humidity

Minimum Lethal MINT/OT MINHR/ORH
Minimum Biological (MINT-5)/OT-(MINT)/OT (MINRH-5)/ORH-(MINRH)/ORH
Optimum (MINT + 1)/OT or 2-(MAXT-1)/OT (MINRH + 1)/ORH or 2-(MAXRH-1)/ORH
Maximum Biological 2-(MAXT + 5)/OT-(2-MAXT/OT) 2-(MAXRH + 5)/ORH-(2-MAXRH/ORH)
Maximum Lethal 2-(MAXT)/OT 2-(MAXRH)/ORH
Electronics 2017, 6, 71 7 of 12

3.3. Fuzzy Inference System

Once the fuzzy inputs were defined, each input variable with an inference mechanism was
evaluated. Fuzzy variables were obtained, from which the control actions represented by the following
parameters were established: FEMP (Front Extractor at Medium Power), FEMAP (Front Extractor at
Maximum Power), REMP (Rear Extractor at Medium Power), REMAP (Rear Extractor at Maximum
Power), HMP (Humidifier at Medium Power), HMAP (Humidifier at Maximum Power), HEMP
(Heater at Medium Power), HEMAP (Heater at Maximum Power), and OS (Off System).
By applying the fuzzy associative matrix, possible combinations of antecedents were obtained
with consequent variables, determining control actions for each climatic situation inside the greenhouse.
This procedure was applied to define the 11 fuzzy if–then rules shown in Table 3.

Table 3. Fuzzy associative matrix.

RH/TEMP MLRH MBRH ORH MABRH MALRH

MLT HEMAP & REMP
MBT HEMP HEMP HEMAP
OT HMP OS REMP
MABT HMAP FEMP REMAP
MALT FEMP & HMAP

The Mamdani controller was used with the centroid defuzzification method. It is important
to highlight that the code used to implement the controller was developed by the authors without
Arduino libraries.

4. Remote Communication and Web Server

The Arduino Ethernet Shield is used for remote communication between the control system of the
greenhouse and the user. This makes it possible to link the data with a router through an IP address
that is within the range of addresses unused. Thus, it was possible to incorporate features in the
prototype server that allow the user to manipulate the system from anywhere as long as access to the
Internet or a local area network is obtained.
For the design of the website, information from Arduino was used as a reference for the web
servers, where, using HTML, details are presented to create a web page from analog readings. From
sample code, HTML code required to meet the needs of the prototype was annexed. Figure 7 shows
the final structure of the website that was developed for the monitoring and control of greenhouses.
Initially, there is a configuration panel where the user can set the start time of irrigation and the
time limit of the water supply in seconds. It is also possible to set the start time and end time for cases
in which additional lighting in the greenhouse is needed. Similarly, the user can define minimum,
optimum, and maximum parameters for temperature and humidity.
Subsequently, the interface allows the definition of server status in automatic or manual modes.
In automatic mode, the control system makes decisions based on previously set parameters, disabling
manual control. In the set point climate settings, the values set in the configuration panel for
relative humidity and temperature are displayed. In the climatic settings box, relative humidity,
soil moisture, and temperature measurements, which are obtained in real time from sensors installed
in the greenhouse, are displayed. In the current status box, the final control elements are displayed in
real time. Finally, in manual mode, the web interface enables the user to activate lighting, irrigation,
extractors, humidifiers, and heaters. Figure 8 shows the flowchart that summarizes the process
followed when using the web interface.
Electronics 2017, 6, 70 8 of 12

lighting, irrigation, extractors, humidifiers, and heaters. Figure 8 shows the flowchart that
Electronics 2017, 6, 70 8 of 12
summarizes the process followed when using the web interface.
Electronics
lighting,2017, 6, 71
irrigation, extractors, humidifiers, and heaters. Figure 8 shows the flowchart that 8 of 12
summarizes the process followed when using the web interface.

Figure 7. Web interface.

Figure 7.
Figure 7. Web
Web interface.
interface.

Figure 8. Flowchart for the web interface.

8. Flowchart for the web interface.

Figure 8.

5. Prototype Implementation
To test the system, a greenhouse using aluminum and acrylic was built. The greenhouse was
50 cm long, 40 cm wide, and 30 cm high with respect to the upper corner of the structure, in which the
sensors, the control system, and the final control elements were installed (Figure 9).
 5. Prototype Implementation
To test the system, a greenhouse using aluminum and acrylic was built. The greenhouse was 50
cm long, 40 cm wide, and 30 cm high with respect to the upper corner of the structure, in which the
Electronics 2017, 6, 71 9 of 12
sensors, the control system, and the final control elements were installed (Figure 9).

Figure 9. Greenhouse prototype. (a) Left side. (b) Right side.

Figure 9. Greenhouse prototype. (a) Left side. (b) Right side.

6. Results
6. Results
In this
In thissection,
section,thethe
results obtained
results fromfrom
obtained applying the automatic
applying control system
the automatic controlthrough
systemactivation
through
on the website
activation by setting
on the websitedifferent
by setting reference values
different and varying
reference values the
andinitial climatic
varying conditions
the initial are
climatic
presented. In the first case, a critical situation where the temperature and relative
conditions are presented. In the first case, a critical situation where the temperature and relativehumidity were
outside thewere
humidity ranges defined
outside theby the setdefined
ranges points was evaluated.
by the Thewas
set points initial values ofThe
evaluated. the initial
indoorvalues
and outdoor
of the
climatic variables are shown in Table 4 and the set points configured.
indoor and outdoor climatic variables are shown in Table 4 and the set points configured.

4. Initial
Table 4.
Table Initial settings.
settings.

Set Point
Set Point
Min Temp Opt Temp Max Temp Initial Settings in Real Time
Min Temp Opt Temp Max Temp Initial Settings in Real Time
20 °C 20 ◦ C 25 °C ◦
25 C 3030°C◦ C
Min RH Opt RH Max RH Ext Temp Int Temp Ext RH Int RH
Min RH Opt RH Max RH Ext Temp Int Temp Ext RH Int RH
45% 50% 55% 25 °C 36 °C 59% 35%
45% 50% 55% 25 ◦ C 36 ◦ C 59% 35%

According to Figure 10, the fuzzy system manipulates the final control elements to decrease the
According
temperature, to Figurebetween
stabilizing 10, the fuzzy system
28 and 29 °C,manipulates the final
while the relative controlincreases
humidity elements to
to adecrease
value ofthe
54%
temperature, stabilizing between 28 and 29 ◦ C, while the relative humidity increases to a value of 54%
which is within
Electronics 2017, 6, 70 the defined ranges. The stabilization time of the variables was 4 min. 10 of 12
which Foris within
the secondthe defined
stage ofranges.
testing,The
the stabilization
temperaturetime
was of the variables
within the rangewas 4 min.
determined in the initial
parameters and the relative humidity was outside the range defined by the set points. Figure 11
shows how the system allows for a reduction in relative humidity to 54%, setting it within the range
defined by the set points while the temperature remains stable. The stabilization time was 10 min.
Finally, to test the irrigation system, the activation of this mechanism was carried out for a total
time of 105 s, which was previously set through the web interface. A total of 9 irrigations were made,
with a duration of 5 s and a waiting time of 5 min between each irrigation. During the first 5 min of
waiting, after applying the first irrigation, the results showed a large variation in moisture sensor
readings, from 30% to 100%, which was due to the effect of water distribution in the soil, which
covered the sensor and the lack of homogeneity. However, for the ninth irrigation, an average
moisture stabilized at 93% was obtained, so the proper functioning of the system was verified
(Figure 12).

Figure10.
Figure Results obtained
10. Results obtained when
whenthe
thetemperature andand
temperature relative humidity
relative are outside
humidity the ranges
are outside defined
the ranges
by the set point. (a) Relative humidity. (b) Temperature.
defined by the set point. (a) Relative humidity. (b) Temperature.
Electronics 2017, 6, 71 10 of 12

For the second stage of testing, the temperature was within the range determined in the initial
parameters and the relative humidity was outside the range defined by the set points. Figure 11 shows
Figure 10. Results obtained when the temperature and relative humidity are outside the ranges
how the system allows for a reduction in relative humidity to 54%, setting it within the range defined
defined by the set point. (a) Relative humidity. (b) Temperature.
by the set points while the temperature remains stable. The stabilization time was 10 min.

Figure 10. Results obtained when the temperature and relative humidity are outside the ranges
defined by the set point. (a) Relative humidity. (b) Temperature.

Figure 11. Results obtained when the relative humidity is above the set point and the temperature is in
Figure 11. Results obtained when the relative humidity is above the set point and the temperature is
the defined range. (a) Relative humidity; (b) Temperature.
in the defined range. (a) Relative humidity. (b) Temperature.

Finally, to test the irrigation system, the activation of this mechanism was carried out for a total
time of 105 s, which was previously set through the web interface. A total of 9 irrigations were made,
with a duration of 5 s and a waiting time of 5 min between each irrigation. During the first 5 min
of waiting, after applying the first irrigation, the results showed a large variation in moisture sensor
readings, from 30% to 100%, which was due to the effect of water distribution in the soil, which
Figure 11. Results obtained when the relative humidity is above the set point and the temperature is
covered the sensor and the lack of homogeneity. However, for the ninth irrigation, an average moisture
in the defined range. (a) Relative humidity. (b) Temperature.
stabilized at 93% was obtained, so the proper functioning of the system was verified (Figure 12).

Figure 12. Soil moisture for Irrigation 9.

Figure 12. Soil

Figure 12. Soil moisture
moisture for
for Irrigation
Irrigation 9.
9.

7. Discussion and Conclusions

A prototype for the monitoring and real-time control of climatic variables within a greenhouse
was presented. The DHT11 and soil moisture sensors showed good stabilization times and average
tolerances of 5% for relative humidity, 2% for temperature, and 6% for soil moisture under different
Electronics 2017, 6, 71 11 of 12

environmental conditions. Thus, it was possible to contribute to the stabilization of climatic parameters
and the proper control of periodic processes such as lighting and irrigation, managing mitigation
of the risks that threaten the optimum productivity of crops. These results are consistent with the
research carried out in [14] for monitoring environmental parameters in precision agriculture, in which
tolerances of 0.7% for temperature and 5.2% for relative humidity were obtained.
It was possible to obtain the wireless connectivity needed to allow any device with Wi-Fi
available within the local area network established to easily and accurately monitor and control
the system, additionally providing the option to manually activate the final control elements in real
time, as proposed in [4]. The effectiveness of fuzzy logic, with which it was possible to define all
situations that may occur in the greenhouse, was demonstrated. The results mentioned above are
further supported in work carried out in [2], in which the temperature and illuminance of a greenhouse
were controlled. On the other hand, the results obtained in [8] highlight the improvements that can be
achieved in terms of greenhouse temperature control when a fuzzy controller is used with particle
swarm optimization. Finally, it should be emphasized that the application developed in this work,
allowed for man–machine interaction, offering access to the configuration, monitoring, and control of
a fuzzy system, as proposed in [5–8].
For future work , the web interface can be improved by including graphical charts showing the
evolution of the main variables being monitored in the greenhouse. It is also proposed to increase the
storage capacity of the prototype with the use of SD cards. The utilization of cloud storage and access
to managed data is also proposed.

Acknowledgments: This work was partially supported by the Vicerrectoría de Investigación of the Universidad
del Magdalena.
Author Contributions: Carlos Robles conceived and designed the fuzzy controller. Jesús Callejas developed
the web interface for remote communication and implemented the hardware. Aura Polo contributed to the
experimental design, analyzed data, and wrote the paper. All authors read and approved the manuscript.
Conflicts of Interest: The authors declare no conflict of interest.

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