No abstract

The modern development of technology determines the feasibility of the transition in agriculture from manual labor to automatic production. One of the promising areas is the automation of growing vegetable crops in greenhouse complexes. Necessary factors for intensive plant growth and unfavorable for human health, such as high temperature and humidity, as well as an atmosphere saturated with chemicals, make the task of robotizing agricultural operations urgent in this area. The method for controlling a robotic complex for automatic fruit collection in greenhouse complexes is proposed. Work in greenhouse complexes is characterized as non-deterministic and with partial observability of the environment; therefore, the deep recurrent neural network DRQN was used as the basis for the method of controlling the robotic complex. Deep learning with reinforcement was used for optimizing its weights. The presented simulation results demonstrate the efficiency of the proposed method and the need for its further development.

No abstract

The work is devoted to the study of the impact of virtual objects in virtual, augmented and mixed reality systems on the quality of human visual perception. The features of the operation of virtual, augmented and mixed reality systems, the principles of image formation of the virtual and real worlds and the problems of their combination are described. For mixed reality systems, the basic principles of building systems, their specifics and the principles of forming an image of the real world are described. The specific reasons for the formation of the conflict of visual perception in mixed reality systems are considered. There are three main causes of conflict that can be overcome in modern mixed reality systems: the position and type of the light source; the correct formation of shadows from virtual sources on the image of real-world objects; and the intensity of radiation, including the radiation diagram. A method for evaluating the correctness of the formation of illumination of virtual objects in a mixed reality system and its influence on the quality of visual perception is proposed. To evaluate the proposed methodology, a number of test scenes with correct and incorrect lighting of virtual objects have been developed. The assessment of the quality of visual perception was carried out on a test group of 24 people with experience in computer graphics systems. The quality was evaluated on a good/bad scale. Based on the results of the expert assessment, a conclusion was formed that defines the requirement for building a lighting system for virtual objects in mixed reality systems.