Giovanni Carabin

Evaluation of a LiDAR-based 3D-stereoscopic vision system for crop-monitoring applications

Abstract When dealing with unmanned agricultural vehicles (remotely-controlled vehicles, robots), vision systems are a key-factor for implementing field-solutions having direct interactions with crops. Among all the possible information given by a vision system, the punctual estimation of the canopy volume is surely an interesting parameter: it is related to the crop vegetative status and, hence, it is fundamental for performing and setting-up properly some important field-operations (e.g., pruning/thinning, spraying). A system able to recognize the canopy volume can provide either the input-signals for implementing a robotic real-time site-specific farming system or relevant information for a proper crop management. However, there are many practical difficulties in the field implementation of such a system: complex canopy shapes, different colours, textures and illumination conditions with projected shadows. Terrestrial/aerial vision systems working on visible-light wavelengths and/or 2D-images of crops, although capable of excellent performances, have a computationally-heavy post-processing; therefore, they are unsuitable for implementing low-cost real-time servo-actuated cropping systems (e.g., robotised sprayers). Instead, a vision system composed by two LiDAR sensors aligned vertically, scanning the same targets, could give a sort of stereoscopic vision, here named “ lateral-linear-stereoscopic vision ”. The aim of this study is assessing the opportunity to use such a system on an automatic or autonomous/robotised implement by performing some preliminary tests in a controlled environment. The resulting system is independent of the lighting conditions (it works also in the dark), is highly reliable (no projected shadows) and data processing is very fast. Although further studies are required to overcome the issues that could arise in a future field implementation, this system has all the premises to be successfully embedded in an automatized monitoring system.

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

In the last decades, increasing energy prices and growing environmental awareness have driven engineers and scientists to find new solutions for reducing energy consumption in manufacturing. Although many processes of a high energy consumption (e.g., chemical, heating, etc.) are considered to have reached high levels of efficiency, this is not the case for many other industrial manufacturing activities. Indeed, this is the case for robotic and automatic systems, for which, in the past, the minimization of energy demand was not considered a design objective. The proper design and operation of industrial robots and automation systems represent a great opportunity for reducing energy consumption in the industry, for example, by the substitution with more efficient systems and the energy optimization of operation. This review paper classifies and analyses several methodologies and technologies that have been developed with the aim of providing a reference of existing methods, techniques and technologies for enhancing the energy performance of industrial robotic and mechatronic systems. Hardware and software methods, including several subcategories, are considered and compared, and emerging ideas and possible future perspectives are discussed.

Design, implementation and validation of a stability model for articulated autonomous robotic systems

The use of robots in agriculture and forestry is rapidly growing thanks to the progress in sensors, controllers and mechatronics devices. Especially in hilly and mountainous terrains, the development of (semi-)autonomous systems that could travel safely on uneven terrain and perform many operations is an open field of investigation. One of the most promising mobile robot architectures is the articulated 4-wheeled system that shows an optimal steering capacity, and the possibility to adapt to uneven terrains thanks to a central passive degree of freedom. In this paper, the kinematic and (quasi-)static model for evaluating the phase I instability presented in Baker and Guzzomi(2013) has been firstly extended to allow to threat a generic articulated robotic system and to forecast the instability conditions. Then, the model and the stability conditions have been implemented in a Matlabźźsimulator and validated by means of an experimental emulator. Finally, a first prototype for a mechatronic anti-overturning device is discussed. The articulated 4-wheeled system can be suitable in hilly and mountain terrains.A kinematic and (quasi-)static model for the articulated robotic platform is presented.The predicted phase I and II instabilities have been experimentally validated.A cheap mechatronic anti-overturning prototype is designed.

A tracked mobile robotic lab for monitoring the plants volume and health

Precision agriculture has been increasingly recognized for its potential ability to improve agricultural productivity, reduce production cost, and minimize damage to the environment. In this work, the current stage of our research in developing a mobile platform equipped with different sensors for orchard monitoring and sensing is presented. In particular, the mobile platform is conceived to monitor and assess both the geometric and volumetric conditions as well as the health state of the canopy. To do so, different sensors have been integrated and effective data-processing algorithms implemented for a reliable crop monitoring. Experimental tests have been performed allowing to obtain both a precise volume reconstruction of several plants and an NDVI mapping suitable for vegetation state evaluations.

Experimental Evaluation and Comparison of Low-Cost Adaptive Mechatronic Grippers

Nowadays, robotic systems are not an exclusive of the industry environment anymore. Indeed, in the last decades, they assumed an important role in other application fields such as medicine (e.g. robot-assisted surgery) and agriculture (e.g. fruit picking). To meet the requirements of these new fields of application, this transition has involved both an adaptation of old-technologies and the development of new ones.

Dynamic model and instability evaluation of an articulated mobile agri-robot

Stability, in particular in outdoor sloped conditions, is one of the most important requirements for design safe and effective future mobile robotic platforms. In this work, the authors’ recent results on the study and development of an articulated mobile robot for agricultural and forestry activities in hilly/mountain environments are presented. First of all, a dynamic model for the stability analysis of a generic articulated platform has been designed and implemented. Then, different practical working conditions have been simulated to assess the stability of the system; possible stabilizing actions when travelling on a sloped surface on the steering angle, velocity and central joint have been finally evaluated and discussed.

Stability Analysis of an Articulated Agri-Robot Under Different Central Joint Conditions

In hilly terrains, the exploitation of (semi-)autonomous systems able to travel nimbly and safely on different terrains and perform agricultural operations is still far from reality.