Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots

Arbo, Mathias Hauan; Utstumo, Trygve; Brekke, Edmund; Gravdahl, Jan Tommy

doi:10.4173/mic.2017.1.1

Cited by 8 publications

(4 citation statements)

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“…In terms of the agricultural production process, the agricultural robots include seeding, planting, harvesting, weeding, and pesticide application-based robots. Moreover, in the agricultural management category, they can be divided into harvesting, collection, and management robots; field mapping robots; dairy farm management robots; soil management robots; irrigation management robots; trimming and management robots; weather tracking and forecast management platforms; and inventory management platforms [21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Actuators and Sensors for Application in Agricultural Robots: A Review

et al. 2022

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In recent years, with the rapid development of science and technology, agricultural robots have gradually begun to replace humans, to complete various agricultural operations, changing traditional agricultural production methods. Not only is the labor input reduced, but also the production efficiency can be improved, which invariably contributes to the development of smart agriculture. This paper reviews the core technologies used for agricultural robots in non-structural environments. In addition, we review the technological progress of drive systems, control strategies, end-effectors, robotic arms, environmental perception, and other related systems. This research shows that in a non-structured agricultural environment, using cameras and light detection and ranging (LiDAR), as well as ultrasonic and satellite navigation equipment, and by integrating sensing, transmission, control, and operation, different types of actuators can be innovatively designed and developed to drive the advance of agricultural robots, to meet the delicate and complex requirements of agricultural products as operational objects, such that better productivity and standardization of agriculture can be achieved. In summary, agricultural production is developing toward a data-driven, standardized, and unmanned approach, with smart agriculture supported by actuator-driven-based agricultural robots. This paper concludes with a summary of the main existing technologies and challenges in the development of actuators for applications in agricultural robots, and the outlook regarding the primary development directions of agricultural robots in the near future.

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Section: Introductionmentioning

confidence: 99%

Actuators and Sensors for Application in Agricultural Robots: A Review

et al. 2022

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“…System Development and Research was explored. This work was presented in (Arbo et al, 2017), and is reproduced in Section 2.5. …”

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Robotic in-row weed control in vegetables

Utstumo

Urdal

Brevik

et al. 2018

Computers and Electronics in Agriculture

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Vegetables and other row-crops represent a large share of the agricultural production. There is a large variation in crop species, and a limited availability in specialized herbicides. The robot presented here utilizes the systematic cultivation techniques of row crops to navigate and operate in the eld. By the use of machine vision it separates seeded vegetable crops from weed, and treat each weed within the row with individual herbicide droplets, without aecting the crop. This Dropon-Demand (DoD) method allow the use of non-selective herbicides and signicant reductions in herbicide use.This thesis presents six research papers concerning the development of the DoD system and the mobile robot. The robot is tailored to its purpose with cost, maintainability, ecient operation and robustness in mind. The three-wheeled design is unconventional, and the design maintains maneuverability and stability with the benet of reduced weight, complexity and cost. The DoD system for herbicide application has been developed within and in connection with this project. The inuence of liquid properties viscosity and surface tension on the formation and stability of droplets has been tested in lab trials. A control circuit for synchronized control of solenoid valves was developed and tested.Indoor pot trials with four weed species demonstrated that the Drop-on-Demand system (DoD) could control the weeds with as little as 7.6 µg glyphosate or 0.15 µg iodosulfuron per plant. The results also highlight the importance of liquid characteristics for leaf retention, as the common herbicide glyphosate had no eect unless mixed with suitable additives. The trials document the DoD eect on weed species not previously described in literature, and with an alternative herbicide to glyphosate, iodosulfuron. A eld trial with the robot was performed in a carrot eld, and all the weeds were eectively controlled with the DoD system.iii Abstract The robot and DoD system represent an important contribution to the range of systems presented witin Precision Agriculture for in-row weed control -a movement which as a whole represent a paradigm shift to the environmental impact and health risks of weed control, while providing valuable new tools to the producers. My advisor, Prof. Jan Tommy Gravdahl has the ability to delve deeply into a wide array of technical elds. He has been a solid and consistent support, which has been vital for me to bridge the divide between the industrial and academic worlds. I will strive for the opportunities to work more together.Friendships have grown both at NTNU, UMN and Adigo which will outlast this thesis. I thank you, my family, colleagues and friends for the support to complete this journey. And not the least, I thank my wife Camilla. This introduction will describe the background for the project and its motivation, and the context and relationship between each paper is described in Section 1.4. The conclusion in Chapter 3 will tie together our ndings and describe our perspective on the path forwards for Drop on De...

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“…It is an auto-steered and self-propelled field-based phenotyping platform for tall dense canopy crops.Companies that work on commercial robots exists as well. For the open field, there is the ANATIS from Carre, the Robotti from AGROINTELLI and Asterix from Adigo [11]. Ecorobotix is developing a solar powered robot for ecological and economical weeding of row crops, meadows and intercropping cultures, while Naio technologies has developed the robots OZ, BOB, TED and DINO.…”

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confidence: 99%

A Novel Multirobot System for Plant Phenotyping

et al. 2018

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Phenotypic studies require large datasets for accurate inference and prediction. Collecting plant data in a farm can be very labor intensive and costly. This paper presents the design, architecture (hardware and software) and deployment of a multi-robot system for row crop field data collection. The proposed system has been deployed in a soybean research farm at Iowa State University.Robotics 2018, 7, 61 2 of 15 Several agricultural robots have been developed in the recent past. Unlike industrial robots, the challenges for robots in agriculture are diverse. First, agricultural fields do not have a structured and controlled environment, in contrast to industrial facilities. Second, agricultural robots operate on farms with infrastructure and operating conditions different from industrial robots. Third, industrial processes can be designed by modules to complete particular tasks by a particular robot, whereas the complex tasks in agriculture sometimes cannot be split into simple actions. Due to the aforestated reasons, agricultural applications require more versatile and robust robots.One of the earliest robots deployed in agricultural applications was the German BoniRob [6]. This robot was initially developed by AMAZONEN-WERKE (Hasbergen, Germany) together with the Osnabruck University of Applied Sciences, Robert Bosch GmbH (Stuttgart, Germany) and other partners, and is now a part of Deepfield Robotics, a Bosch start-up company (Stuttgart, Germany). BoniRob was developed to eliminate some of the most tedious tasks in modern farming, plant breeding, and weeding. Another agricultural application example was RHEA [7]. It was a automatic and robotic systems with a fleet of heterogeneous ground and aerial robots developed for effective weed and pest control. Many universities have developed their own robots, for example, the multi-purpose Small Robotic Farm Vehicle (SRFV) from Queensland University of Technology, Brisbane, Australia [8]. This modular design allows the SRFV to undertake a range of agricultural tasks and experiments, including harvesting, seeding, fertilizing and weeding management. Another example is the Thorvald II [9], a completely modular platform both on the hardware and the software side. It can be reconfigured to obtain the necessary physical properties to operate in different production systems, for example, tunnels, greenhouses and open fields. Another example of a university-developed agricultural robot is the Phenobot 1.0 [10] from Iowa State University. It is an auto-steered and self-propelled field-based phenotyping platform for tall dense canopy crops.Companies that work on commercial robots exists as well. For the open field, there is the ANATIS from Carre, the Robotti from AGROINTELLI and Asterix from Adigo [11]. Ecorobotix is developing a solar powered robot for ecological and economical weeding of row crops, meadows and intercropping cultures, while Naio technologies has developed the robots OZ, BOB, TED and DINO. Other robots are designed for greenhouses. One example is the fully-auto...

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Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots

Cited by 8 publications

References 15 publications

Actuators and Sensors for Application in Agricultural Robots: A Review

Actuators and Sensors for Application in Agricultural Robots: A Review

Robotic in-row weed control in vegetables

A Novel Multirobot System for Plant Phenotyping

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