Xing Li Wu

Petiole Segmentation Method Based on Multi-Structure Elements Morphology

Leaf and petiole can be divided by using computer image processing technology. It has an important role for the feature extracting of leaf and the accuracy of characteristic analysis. In this paper, we compare the distribution of multi-channel histogram in HSV color model, and then select the appropriate channel and threshold value to process the image. Here we use the method of mathematical morphology with the element of multi-structure and multi-scales to smooth the leaf boundary and eliminate the isolated points in the image. Finally, we realize the effective segmentation between the leaf and petiole. Results show that when the condition of the color difference is not obvious, we can better remove the petiole by the use of saturation and brightness channel, and choose the appropriate structure elements according to the direction and size of the petiole. It can provide technical support for the accurate segmentation and extraction of feature information on the leaf.

Design of Hardware of Smart Plant Growth Cabinet

With the increase of nuclear radiation, soil pollution, water pollution and other man-made pollution, people are increasingly concerned about healthy eating. It gradually becomes a hot spot for scientists to develop a new green planting method. In this context, a design of smart plant growth cabinet based on LED lighting is put forward in this paper. From the analysis of social needs and the user′s analysis, transformation has been made from user requirement to the thinning mapping of product function and performance requirements. The main function and implementation principle of it and the design of the hardware are introduced in detail. This design has simple hardware structure, convenient maintenance, good stability, anti-interference ability and other characteristics. It has broad application prospect and great using value.

System Identification of Beating Heart Medical Surgery Assisted Robot

The wide bandwidth and high amplitude feature of the beating heart motion makes surgeon hard to achieve the coronary artery bypass graph surgery on his or her own. The robot could help to cancel the relative motion between the end effecter of the robotic tool and certain point on the heart surface. Therefore a stationary operation screen could be used for the surgeon. The precise robot modeling is the prerequisite for tracking control algorithm. In the paper, we process the input and output data by using the nonlinear optimization method to obtain the system model. Next, we discuss the system identification related problems and modify the model. Finally, a good system model is achieved.

Method for Non-Destructive Measurement of Leaf Area Based on Binocular Vision

Modern agriculture is developing towards the direction of intelligent. We can realize the nondestructive measurement of plant leaf area by using the digital camera. In this paper, we make the same ratio between the camera’s screen and the background plate to overcome the problem of geometric distortion. Then we use two perpendicular digital cameras from the front and side to collect images respectively for curved leaf. Because there are characteristics of the image grey value mutation on the rage of the vane, we can extract the leaf by image segmentation. The leaf area can be calculated by the statistic of the pixels number according to the projection principle. Experiments show that, the error of leaf area measurement reduces from 13.51% to 5.93% by binocular vision. So this method not only can get the measurement of leaf area data, but also can effectively avoid the two-dimensional image distortion and improve the accuracy of leaf area calculation.

The Mixed Kalman and H Infinity Filter Based Robust Model Following Control Algorithm for CABG Beating Heart Surgery

In the CABG surgery the robot dynamically cancels the relative motion between the point of interest (POI) on the beating heart and robotic instruments, such that the surgeon can operate as if the heart is stationary. However, the highly nonlinear and non-stationary nature of the beating heart motion poses difficulties for robot to follow the characteristics of the beating heart motion. Furthermore, the surgery has potential safety risk if the robot system could not track the POI properly. Therefore, in order to minimize the effects caused by the uncertainty in the heart motion model during the surgery, a robust prediction based model following control algorithm is proposed here. The adaptive Autoregressive (AR) model integrated the mixed Kalman and H infinity filter to estimate the state of the beating heart motion in the sense of minimizing minimize both RMS motion estimation error and worst case motion estimation error. In addition, the linear quadratic optimal tracking theory was used to implement the model following controller. In such way a complicated heart motion tracking problem transformed to dynamic model following problem and the robust property of the tracking control is more effective. The method is verified by two prerecorded distinguished datasets on 3D test bed robotics.

Research of Intelligent Control System for Fish-Farming

Used Atmega 8 microcontroller as the control center, with the temperature sensor DS18B20, feeding control system, combined with radio frequency technology, intelligent control system for fish-farming was designed. The system has the whole process of intelligent automatic control and testing for feeding, supplemental oxygen, and PID temperature regulation; PC and the host processor connect each other through the RS-485 to greatly improve the transmission distance, using CRC cyclic redundancy check code ensure the accuracy of data. The machine is mainly responsible for collecting the spot parameters such as temperature and transmitting the data to the host processor, and send data to PC by the host processor through the serial port to display. Using GSM short message service directly sends the relevant data to the console or the owner of the mobile phone, so as to realize the entire fish process automation management. The system can be widely used in families, and pond pisciculture, and provides the owners efficient and convenient services.

Design of μC/GUI Interface Based on STM32 Embedded System

The wide use of GUI (Graphic User Interface - graphical User Interface) is one of the great achievements in todays computer development. μC/GUI, as one of the mature GUI technology, becomes more and more common in embedded products. It has a small kernel, occupying less resources, high performance and high reliability etc, and can be designed as powerful and complex man-machine interface for embedded system. it uses the STM32 development board as the carrier. Software system is composed of hardware drivers, μC/OS-Ⅱ real-time operating system, FATFS file system, μC/GUI graphical interface system and so on. Analyzing the process and steps of μC/GUI transplantation, through the design of interface we can realizes simple human-computer interaction function. After tested, it works well.

Study on Mechanical Automation with Localization for Mobile Robot Based on Color Tag

Mechanical Automation is playing an important role in all fields. In the detecting system of robot position, how to increase the robustness of color identification is a difficult problem. To solve this problem, a real-time image processing method based on color training is put forward adopting the development platform of the completely independent robot, which is applied in a kind of detecting system at partial structured environments .The method has been already applied well in the visual detecting system of mobile robot.