Pub Date : 2022-01-01DOI: 10.3844/jmrsp.2022.90.105
Sai Charan Dekkata, S. Yi, M. Muktadir, Selorm Garfo, Xingguang Li, Amanuel Abrdo Tereda
: Autonomous ground robots autonomously are being used in the places where it is very hazardous for human beings to reach and operate, such as nuclear power plants and chemical industries. The aim of the research presented here is to develop a control system that enables such ground robots navigate autonomously with various sensors as the depth camera, 2D scanning laser, 3D Lidar, GPS, and IMU. The controller uses the current position measured using the sensors on the Husky A200, given the waypoints of the destination. Then it calculates the best possible route based on the recent events provided using IMU data and GPS. The Model Predictive Control (MPC) improves the robot’s motion, by using a path planner for the robot’s trajectory generation. The use of global reference frame waypoints is planned to create the appropriate path and the actions required to follow the motion planner’s direction. The path planner depends on the active sensor data such as locations and size of obstacles. Then, a feasible path is generated based on the sensor data. The desired trajectory consists of a set of waypoints fit in a 3 rd -order polynomial. They determine the path’s feasibility for the ground robot’s dynamics and a series of points generated with a certain velocity and acceleration profile. The MPC adjusts the robot’s lateral, longitudinal, yaw motions and approximates a continuous trajectory with discrete paths to command behaviors. The kinematic model of a robot, Husky is used as the dynamic model for transient and steady-state characteristics. The camera captures the images and other types of data processed through the computational framework used to build machine learning models. TensorFlow is used for deep learning and to identify and classify various objects around the Husky. This research has limitations such as using the linear dynamic model as the LQR method. Also on vehicle models, the vehicle model considered in this research considers a constant value to describe the slope in the most linear region. Detailed discussion on MPC development with a major system design factor has been emphasized with logical steps in MPC.
{"title":"Improved Model Predictive Control System Design and Implementation for Unmanned Ground Vehicles","authors":"Sai Charan Dekkata, S. Yi, M. Muktadir, Selorm Garfo, Xingguang Li, Amanuel Abrdo Tereda","doi":"10.3844/jmrsp.2022.90.105","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.90.105","url":null,"abstract":": Autonomous ground robots autonomously are being used in the places where it is very hazardous for human beings to reach and operate, such as nuclear power plants and chemical industries. The aim of the research presented here is to develop a control system that enables such ground robots navigate autonomously with various sensors as the depth camera, 2D scanning laser, 3D Lidar, GPS, and IMU. The controller uses the current position measured using the sensors on the Husky A200, given the waypoints of the destination. Then it calculates the best possible route based on the recent events provided using IMU data and GPS. The Model Predictive Control (MPC) improves the robot’s motion, by using a path planner for the robot’s trajectory generation. The use of global reference frame waypoints is planned to create the appropriate path and the actions required to follow the motion planner’s direction. The path planner depends on the active sensor data such as locations and size of obstacles. Then, a feasible path is generated based on the sensor data. The desired trajectory consists of a set of waypoints fit in a 3 rd -order polynomial. They determine the path’s feasibility for the ground robot’s dynamics and a series of points generated with a certain velocity and acceleration profile. The MPC adjusts the robot’s lateral, longitudinal, yaw motions and approximates a continuous trajectory with discrete paths to command behaviors. The kinematic model of a robot, Husky is used as the dynamic model for transient and steady-state characteristics. The camera captures the images and other types of data processed through the computational framework used to build machine learning models. TensorFlow is used for deep learning and to identify and classify various objects around the Husky. This research has limitations such as using the linear dynamic model as the LQR method. Also on vehicle models, the vehicle model considered in this research considers a constant value to describe the slope in the most linear region. Detailed discussion on MPC development with a major system design factor has been emphasized with logical steps in MPC.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83683862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
: In this study, a prototype robotic arm yam heap-maker using Arduino was developed. Nigeria produces around 75% of global yam production which is widely consumed as staple foods in Africa and Asia and as raw materials for processing into other finished goods. The production of this economic commodity is largely crude and labor-intensive as such the need to adopt a modern approach to farming. The prototype was designed to perform heap-making activities in the cultivation process of yam and utilizes two Degrees of Freedom (2 DOF), it has an overall weight of 2.39 Kg, 350 mm length, 250 mm width, and 240 mm height. A systematic design method of the product design process was adopted in the prototype development. The heap maker was controlled remotely using an android phone. The trial experiments were performed on sandy, loamy, and clay soils. The average effective heap height and depth were best observed on loamy soil with 5 cm height and 7 cm depth.
{"title":"Development of an Arduino-Based Robotic Arm Yam Heap Maker","authors":"Agbese Raphael, Dagwa Ishaya Musa, Nurudeen Abdulhakeem Hassan, Adekunle Joshua","doi":"10.3844/jmrsp.2022.84.89","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.84.89","url":null,"abstract":": In this study, a prototype robotic arm yam heap-maker using Arduino was developed. Nigeria produces around 75% of global yam production which is widely consumed as staple foods in Africa and Asia and as raw materials for processing into other finished goods. The production of this economic commodity is largely crude and labor-intensive as such the need to adopt a modern approach to farming. The prototype was designed to perform heap-making activities in the cultivation process of yam and utilizes two Degrees of Freedom (2 DOF), it has an overall weight of 2.39 Kg, 350 mm length, 250 mm width, and 240 mm height. A systematic design method of the product design process was adopted in the prototype development. The heap maker was controlled remotely using an android phone. The trial experiments were performed on sandy, loamy, and clay soils. The average effective heap height and depth were best observed on loamy soil with 5 cm height and 7 cm depth.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77871524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-01DOI: 10.3844/jmrsp.2022.79.83
C. Sherwin, R. K., Manish V. K., Milton Fernandis, Ashwija Shetty, J. Samuel
: A new, inexpensive domestic electronic cradle that can compete with current imported, expensive models has been a long-time need. This study describes the design and implementation of a new indigenous low-cost E-Baby Cradle that swings automatically when the baby cries. The cry analyzing system recognizes the sound of a baby's cry and swings the cradle appropriately until the baby stops crying. According to the user's needs, the cradle's speed can be adjusted. The cradle also has an integrated alarm that signals two situations: First, when the mattress is wet, which is a crucial factor in maintaining the baby's hygienic state; second, when the infant continues to cry for a prolonged period, which suggests that the baby requires attention. This method enables nurses and parents to care for infants without having to physically touch them.
{"title":"Design and Fabrication of Arduino-Based Automated Cradle Rocking and Moisture Detection Mechanism ","authors":"C. Sherwin, R. K., Manish V. K., Milton Fernandis, Ashwija Shetty, J. Samuel","doi":"10.3844/jmrsp.2022.79.83","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.79.83","url":null,"abstract":": A new, inexpensive domestic electronic cradle that can compete with current imported, expensive models has been a long-time need. This study describes the design and implementation of a new indigenous low-cost E-Baby Cradle that swings automatically when the baby cries. The cry analyzing system recognizes the sound of a baby's cry and swings the cradle appropriately until the baby stops crying. According to the user's needs, the cradle's speed can be adjusted. The cradle also has an integrated alarm that signals two situations: First, when the mattress is wet, which is a crucial factor in maintaining the baby's hygienic state; second, when the infant continues to cry for a prolonged period, which suggests that the baby requires attention. This method enables nurses and parents to care for infants without having to physically touch them.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74560963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-01DOI: 10.3844/jmrsp.2022.22.27
L. Sima, M. Zapciu
: The evolution of mechatronic systems had a large impact in recent years. When comparing them in terms of their mechanical, electrical and electronic components with their older variants, responds to a more elevated level of commands and requirements. Their testing has become more complicated and hybrid methods are often used. Hardware and software interfaces are used for this software. Hardware interfaces use a predictive approach method, developed linearly in the form of a "cascade". The software approach includes system requirements, where using a hybrid combination of test methods is preferred. Testing of hardware and software interfaces must be as accurate as possible, as is choosing the right models for the respective component or integrated system. This study discusses the use of "Waterfall" and "V" as a hybrid test method. The purpose of this article is to present such a test method.
{"title":"Testing the Interfaces for Mechatronic Systems","authors":"L. Sima, M. Zapciu","doi":"10.3844/jmrsp.2022.22.27","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.22.27","url":null,"abstract":": The evolution of mechatronic systems had a large impact in recent years. When comparing them in terms of their mechanical, electrical and electronic components with their older variants, responds to a more elevated level of commands and requirements. Their testing has become more complicated and hybrid methods are often used. Hardware and software interfaces are used for this software. Hardware interfaces use a predictive approach method, developed linearly in the form of a \"cascade\". The software approach includes system requirements, where using a hybrid combination of test methods is preferred. Testing of hardware and software interfaces must be as accurate as possible, as is choosing the right models for the respective component or integrated system. This study discusses the use of \"Waterfall\" and \"V\" as a hybrid test method. The purpose of this article is to present such a test method.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91392397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Corresponding Author: Abdulrahman A. A. Emhemed Faculty of Technical Engineering, Bright Star University, El-Brega, Libya. Email: abdo_83f@yahoo.com Abstract: This study would address the suitability, adaptability and the efficiency of the electronically controlled Steer-by-Wire (SbW) technology. Future steering technology heading for a fault tolerant and fail-safe steering system with enviable recoverability; electronically controlled SbW with a back-up would be the best option to meet these demands. With mechanical connections between the hand wheel and front axle gradually phasing out, Moreover, ILC and PID controllers designed for control steering angle and enhance the vehicle performance. PID parameters obtained using Particle Swab Optimization (PSO). Matlab/Simulink used for simulation and controller design tuning. There was moderate correlation of the Matlab/Simulink and theoretical results.
通讯作者:Abdulrahman A. A. emhmed，利比亚El-Brega Bright Star大学技术工程学院。摘要:本研究旨在研究电子控制线控转向(SbW)技术的适用性、适应性和效率。未来转向技术将朝着容错和故障安全转向系统的方向发展，并具有令人羡慕的可恢复性;带备份的电控SbW将是满足这些要求的最佳选择。随着手轮与前桥之间的机械连接逐渐淘汰，设计了ILC和PID控制器来控制转向角度，提高车辆性能。通过粒子拭子优化(PSO)获得PID参数。使用Matlab/Simulink进行仿真和控制器设计整定。Matlab/Simulink与理论结果有适度的相关性。
{"title":"Controller Design for Steer-by-Wire System","authors":"Salahaddin M. Sahboun, A. Emhemed","doi":"10.3844/jmrsp.2022.1.6","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.1.6","url":null,"abstract":"Corresponding Author: Abdulrahman A. A. Emhemed Faculty of Technical Engineering, Bright Star University, El-Brega, Libya. Email: abdo_83f@yahoo.com Abstract: This study would address the suitability, adaptability and the efficiency of the electronically controlled Steer-by-Wire (SbW) technology. Future steering technology heading for a fault tolerant and fail-safe steering system with enviable recoverability; electronically controlled SbW with a back-up would be the best option to meet these demands. With mechanical connections between the hand wheel and front axle gradually phasing out, Moreover, ILC and PID controllers designed for control steering angle and enhance the vehicle performance. PID parameters obtained using Particle Swab Optimization (PSO). Matlab/Simulink used for simulation and controller design tuning. There was moderate correlation of the Matlab/Simulink and theoretical results.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73299965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Corresponding Author: Jean Bosco Samon 1Laboratory of Mechanics, Material and Photonic, Mechanical Department, ENSAIUniversity of Ngaoundere, Ngaoundere, Cameroon Email: jboscosamon@gmail.com Abstract: An interest in the mechanical topology approach is to reduce the mass considerably in order to minimize the costs of manufacturing, transporting and purchasing products. The same interest can be found in mechatronic topological approaches where many disciplines should be fit together, facing therefore many and variant constraints. Distinguish topological approaches are found in the literature. Many are more specific for a single domain than a complex system. Two main classes of topological approaches are structured. The first class is based on a theoretical approach that states the KBR topological graph and the MGS language while topology is primarily structural form. These topological modeling approaches tend to combine two disciplines of a Mechatronic system. The second class is the disciplined approaches that recapitulate the topological approaches of each mechatronic discipline. The topological optimization of the mechanical, electronic and control model is summarized. In the light of the literature, there is a lack of a specific topological method for a mechatronic system that encompasses the structural complexity of complex systems. Since the topology is first and foremost a structural shape, the mechanical topological model, which is structurally based, should constitute the algorithmic foundation by integrating the functional and structural constraints of other disciplines.
通讯作者:Jean Bosco Samon 1喀麦隆恩oundere恩oundere ENSAIUniversity of Ngaoundere机械系力学、材料和光子实验室电子邮件:jboscosamon@gmail.com摘要:机械拓扑方法的一个兴趣是大大减少质量，以最大限度地降低制造、运输和采购产品的成本。同样的兴趣可以在机电拓扑方法中找到，其中许多学科应该结合在一起，因此面临许多不同的约束。区分拓扑方法是在文献中发现的。与复杂的系统相比，许多方法更具体于单个领域。主要有两类拓扑方法。第一类是基于理论方法，说明了KBR拓扑图和MGS语言，而拓扑图主要是结构形式。这些拓扑建模方法倾向于结合机电系统的两个学科。第二类是学科方法，概括了每个机电学科的拓扑方法。总结了机械、电子和控制模型的拓扑优化。在文献的光，有缺乏一个具体的拓扑方法的机电一体化系统，包括复杂系统的结构复杂性。由于拓扑首先是一种结构形状，因此以结构为基础的力学拓扑模型应该通过整合其他学科的功能约束和结构约束来构成算法基础。
{"title":"Topological Approaches to Mechatronic Systems: A Review","authors":"J. Samon, Damasse Harold Tchouazong","doi":"10.3844/jmrsp.2022.7.21","DOIUrl":"https://doi.org/10.3844/jmrsp.2022.7.21","url":null,"abstract":"Corresponding Author: Jean Bosco Samon 1Laboratory of Mechanics, Material and Photonic, Mechanical Department, ENSAIUniversity of Ngaoundere, Ngaoundere, Cameroon Email: jboscosamon@gmail.com Abstract: An interest in the mechanical topology approach is to reduce the mass considerably in order to minimize the costs of manufacturing, transporting and purchasing products. The same interest can be found in mechatronic topological approaches where many disciplines should be fit together, facing therefore many and variant constraints. Distinguish topological approaches are found in the literature. Many are more specific for a single domain than a complex system. Two main classes of topological approaches are structured. The first class is based on a theoretical approach that states the KBR topological graph and the MGS language while topology is primarily structural form. These topological modeling approaches tend to combine two disciplines of a Mechatronic system. The second class is the disciplined approaches that recapitulate the topological approaches of each mechatronic discipline. The topological optimization of the mechanical, electronic and control model is summarized. In the light of the literature, there is a lack of a specific topological method for a mechatronic system that encompasses the structural complexity of complex systems. Since the topology is first and foremost a structural shape, the mechanical topological model, which is structurally based, should constitute the algorithmic foundation by integrating the functional and structural constraints of other disciplines.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81793868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
N. Sakagami, M. Shibata, Tomohiro Ueda, K. Ishizu, K. Yokoi, S. Kawamura
This report describes a numerical and experimental study of a posture control device based on a movable float for portable underwater robots. We numerically analyzed the static stability using a stability curve and allowable spatial range of a center-of-gravity shift caused by a payload shift or manipulator configuration. Further, we proposed a feedback controller based on direct pitch and roll signals to change and maintain robot posture. We tested the feedback control using a numerical simulator and conducted experiments in a water tank using two portable underwater robots to demonstrate the effectiveness of the movable float device and proposed controller. The results of the field experiments showed that the device and proposed controller can be employed for effective underwater operations of portable underwater robots.
{"title":"Numerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device","authors":"N. Sakagami, M. Shibata, Tomohiro Ueda, K. Ishizu, K. Yokoi, S. Kawamura","doi":"10.20965/jrm.2021.p1234","DOIUrl":"https://doi.org/10.20965/jrm.2021.p1234","url":null,"abstract":"This report describes a numerical and experimental study of a posture control device based on a movable float for portable underwater robots. We numerically analyzed the static stability using a stability curve and allowable spatial range of a center-of-gravity shift caused by a payload shift or manipulator configuration. Further, we proposed a feedback controller based on direct pitch and roll signals to change and maintain robot posture. We tested the feedback control using a numerical simulator and conducted experiments in a water tank using two portable underwater robots to demonstrate the effectiveness of the movable float device and proposed controller. The results of the field experiments showed that the device and proposed controller can be employed for effective underwater operations of portable underwater robots.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68077255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Romprakhun Tientadakul, H. Nakanishi, Tomoo Shiigi, Zichen Huang, Lok Wai Jacky Tsay, N. Kondo
Indoor navigation plays an essential role in agricultural robots that operate in greenhouses. One of the most effective methods for indoor navigation is the spread spectrum sound (SS-sound) system. In this system, the time of arrival (ToA) of the spread spectrum modulated sound is used for localization. However, there is a near-far problem. Transmitting the SS-sound from multiple anchors using time division multiple access (TDMA) is adequate to solve the near-far problem. However, localization is impossible because the ToA from multiple anchors cannot be simultaneously acquired. To solve this problem, a method for combining the SS-sound system with TDMA and an inertial navigation system is proposed in this study. The effectiveness of the proposed method was demonstrated through numerical simulations of a ground robot and experimentally using a crawler robot.
{"title":"Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment","authors":"Romprakhun Tientadakul, H. Nakanishi, Tomoo Shiigi, Zichen Huang, Lok Wai Jacky Tsay, N. Kondo","doi":"10.20965/jrm.2021.p1315","DOIUrl":"https://doi.org/10.20965/jrm.2021.p1315","url":null,"abstract":"Indoor navigation plays an essential role in agricultural robots that operate in greenhouses. One of the most effective methods for indoor navigation is the spread spectrum sound (SS-sound) system. In this system, the time of arrival (ToA) of the spread spectrum modulated sound is used for localization. However, there is a near-far problem. Transmitting the SS-sound from multiple anchors using time division multiple access (TDMA) is adequate to solve the near-far problem. However, localization is impossible because the ToA from multiple anchors cannot be simultaneously acquired. To solve this problem, a method for combining the SS-sound system with TDMA and an inertial navigation system is proposed in this study. The effectiveness of the proposed method was demonstrated through numerical simulations of a ground robot and experimentally using a crawler robot.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68078594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Takeshi Ikeda, Ryo Fukuzaki, Masanori Sato, S. Furuno, F. Nagata
In recent years, the declining and aging population of farmers has become a serious problem. Smart agriculture has been promoted to solve these problems. It is a type of agriculture that utilizes robotics, and information and communication technology to promote labor saving, precision, and realization of high-quality production. In this research, we focused on robots that can harvest tomatoes. Tomatoes are delicate vegetables with a thin skin and a relatively large yield. During automatic harvesting of tomatoes, to ensure the operation of the harvesting arm, an input by image processing is crucial to determine the color of the tomatoes at the time of harvesting. Research on robot image processing technology is indispensable for accurate operation of the arm. In an environment where tomatoes are harvested, obstacles such as leaves, stems, and unripe tomatoes should be taken into consideration. Therefore, in this research, we propose a method of image processing to provide an appropriate route for the arm to ensure easy harvesting, considering the surrounding obstacles.
{"title":"Tomato Recognition for Harvesting Robots Considering Overlapping Leaves and Stems","authors":"Takeshi Ikeda, Ryo Fukuzaki, Masanori Sato, S. Furuno, F. Nagata","doi":"10.20965/jrm.2021.p1274","DOIUrl":"https://doi.org/10.20965/jrm.2021.p1274","url":null,"abstract":"In recent years, the declining and aging population of farmers has become a serious problem. Smart agriculture has been promoted to solve these problems. It is a type of agriculture that utilizes robotics, and information and communication technology to promote labor saving, precision, and realization of high-quality production. In this research, we focused on robots that can harvest tomatoes. Tomatoes are delicate vegetables with a thin skin and a relatively large yield. During automatic harvesting of tomatoes, to ensure the operation of the harvesting arm, an input by image processing is crucial to determine the color of the tomatoes at the time of harvesting. Research on robot image processing technology is indispensable for accurate operation of the arm. In an environment where tomatoes are harvested, obstacles such as leaves, stems, and unripe tomatoes should be taken into consideration. Therefore, in this research, we propose a method of image processing to provide an appropriate route for the arm to ensure easy harvesting, considering the surrounding obstacles.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68078762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Unmanned mobile robots in rough terrains are a key technology for achieving smart agriculture and smart construction. The mobility performance of robots highly depends on the moisture content of soil, and past few studies have focused on terrain classification using moisture content. In this study, we demonstrate a convolutional neural network-based terrain classification method using RGB-infrared (IR) images. The method first classifies soil types and then categorizes the moisture content of the terrain. A three-step image preprocessing for RGB-IR images is also integrated into the method that is applicable to an actual environment. An experimental study of the terrain classification confirmed that the proposed method achieved an accuracy of more than 99% in classifying the soil type. Furthermore, the classification accuracy of the moisture content was approximately 69% for pumice and 100% for dark soil. The proposed method can be useful for different scenarios, such as small-scale agriculture with mobile robots, smart agriculture for monitoring the moisture content, and earthworks in small areas.
{"title":"CNN-Based Terrain Classification with Moisture Content Using RGB-IR Images","authors":"Tomoya Goto, G. Ishigami","doi":"10.20965/jrm.2021.p1294","DOIUrl":"https://doi.org/10.20965/jrm.2021.p1294","url":null,"abstract":"Unmanned mobile robots in rough terrains are a key technology for achieving smart agriculture and smart construction. The mobility performance of robots highly depends on the moisture content of soil, and past few studies have focused on terrain classification using moisture content. In this study, we demonstrate a convolutional neural network-based terrain classification method using RGB-infrared (IR) images. The method first classifies soil types and then categorizes the moisture content of the terrain. A three-step image preprocessing for RGB-IR images is also integrated into the method that is applicable to an actual environment. An experimental study of the terrain classification confirmed that the proposed method achieved an accuracy of more than 99% in classifying the soil type. Furthermore, the classification accuracy of the moisture content was approximately 69% for pumice and 100% for dark soil. The proposed method can be useful for different scenarios, such as small-scale agriculture with mobile robots, smart agriculture for monitoring the moisture content, and earthworks in small areas.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68078785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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