ALBERT

Description: One of the challenges in the future of food production, amidst increasing population and decreasing resources, is developing a sustainable food production system. It is anticipated that robotics will play a significant role in maintaining the food production system, specifically in labor-intensive operations. Therefore, the main goal of this project is to develop a robotic fruit harvesting system, initially focused on the harvesting of apples. The robotic harvesting system is composed of a six-degrees-of-freedom (DOF) robotic manipulator, a two-fingered gripper, a color camera, a depth sensor, and a personal computer. This paper details the development and performance of a visual servo system that can be used for fruit harvesting. Initial test evaluations were conducted in an indoor laboratory using plastic fruit and artificial trees. Subsequently, the system was tested outdoors in a commercial fruit orchard. Evaluation parameters included fruit detection performance, response time of the visual servo, and physical time to harvest a fruit. Results of the evaluation showed that the developed visual servo system has the potential to guide the robot for fruit harvesting.

Description: The loss of fresh fruits after harvesting is not new since it has constantly been a challenge for humankind. The growing population in developing countries, where food shortages exist, require serious food security measures to address hunger and malnutrition. Present research focused on the development, fabrication and testing of mango pulp extractor to assist small-scale fruit farmers in the countryside with a view to minimizing fruit spoilage. The unit, whose major material was food grade stainless steel (SS-304), consists of major components such as teflon brushes mounted shaft, motor, main frame, hopper, extraction compartment, pulp outlet, fruit residue outlet, perforated sieve and bearings. After construction, the machine was tested at three feed rate (2.0, 2.5, 3.0 kg/min) and extraction speed levels (500, 900 and 1400 rpm). Each of these factors was replicated three times, which resulted into 3 × 3 × 3 factorial experimental design. The optimum operating parameters for maximum pulp yield, maximum extraction efficiency and minimum extraction losses were determined. The physicochemical analysis of the extracted pulp was also carried out. Results revealed a maximum pulp yield of 77.9%, highest extraction efficiency of 96.03% and highest extraction loss of 9.3%. The mango pulp extraction machine was found to be affordable, easy to operate and maintain. The breakeven point of the machine was found to be 40 h if the machine is operated at its peak capacity. Therefore, it is recommended for small-scale farmers and for cottage industry.

Description: Aimed at issues associated with the poor air supply and poor automatic targeting accuracy of existing orchard sprayers, this paper designs a jet-type orchard remote control sprayer with automatic targeting which is suitable for standardized orchards in hilly and mountainous areas. By optimizing the structure of the diversion box, the uniformity of deposition and penetration ability of the pesticide droplets to the fruit tree canopy are improved, and a uniform wild field distribution is realized simultaneously. An accurate positioning of the fruit tree canopy space orientation is achieved through automatic targeting and azimuthal adjustment systems. When the target is detected, the solenoid valve is controlled to open, and vice versa, and the distance from the nozzle to the fruit tree canopy is adjusted in real time to improve the utilization rate of pesticides. The test results show that the effective range of the jet-type orchard remote control sprayer is no more than 3.5 m, and the maximum flow rate range is 6~6.5 L/min. Within the effective spraying range, the farther the distance is, the higher the automatic targeting accuracy. The pesticide droplets sprayed by the spraying machine have a certain penetration ability, and the uniformity of the droplets is good, which solves solidification problems caused by the penetration of pesticide into the soil. This research provides a reference for jet spraying operation and automatic targeting spraying structure design.

Description: High piglet pre-weaning mortality rates can be attributed to poor creep area microclimate resulting in negative productivity, welfare, and economic consequences. A piglet mechanistic steady-state thermal balance model was developed using previous models and expanded to assess (a) thermal interactions of multiple pigs and (b) conduction heat transfer. The piglet Effective Environment Temperature (EET) equation was also modified to incorporate piglet age (day 0 to 30) and a conduction heat transfer term. Model parameters were validated with empirical data consisting of the thermal component (dry-bulb temperature, Tdb; mean radiant temperature, TMR; airspeed, U; mat underside temperature, Tm) of the microclimate and dimension data of the piglets (i.e., body weight, length, height, width, and calculated surface area). Model results demonstrate that the common microclimate supplemental heat sources (heat mats and heat lamps; HL) can meet the needs of the piglets. The new EET was more consistent for a novel semi-enclosed heated microclimate (SEHM) in comparison to the HL. This demonstrates the benefit of precision technologies over manually adjusted supplemental heat sources. The experimental data and model results suggest further development of an ideal thermal index for piglet microclimates needs to account for variations of piglet health and body condition to be more applicable in industry.

Description: Fungal infection is a pre-harvest and post-harvest crisis for farmers of peanuts. In environments with temperatures around 28 °C to 30 °C or relative humidity of approximately 90%, mold-contaminated peanuts have a considerable likelihood to be infected with Aflatoxins. Aflatoxins are known to be highly carcinogenic, posing danger to humans and livestock. In this work, we proposed a new approach for detection of mold-contaminated peanuts at an early stage. The approach employs the optical coherence tomography (OCT) imaging technique and an error-correcting output code (ECOC) based Support Vector Machine (SVM) trained on features extracted using a pre-trained Deep Convolutional Neural Network (DCNN). To this end, mold-contaminated and uncontaminated peanuts were scanned to create a data set of OCT images used for training and evaluation of the ECOC-SVM model. Results showed that the proposed approach is capable of detecting mold-contaminated peanuts with respective accuracies of approximately 85% and 96% after incubation periods of 48 and 96 h.

Description: The aim of this research is to expand recent developments in the mapping of pasture yield with remotely piloted aircraft systems to that of satellite-borne imagery. To date, spatially explicit and accurate information of the pasture resource base is needed for improved climate-adapted livestock rangeland grazing. This study developed deep learning predictive models of pasture yield, as total standing dry matter in tonnes per hectare (TSDM (tha−1)), from field measurements and both remotely piloted aircraft systems and satellite imagery. Repeated remotely piloted aircraft system structure measurements derived from structure from motion photogrammetry provided measures of pasture biomass from many overlapping high-resolution images. These measurements were taken throughout a growing season and were modelled with persistent photosynthetic pasture responses from various Planet Dove high spatial resolution satellite image-derived vegetation indices. Pasture height modelling as an input to the modelling of yield was assessed against terrestrial laser scanning and reported correlation coefficients (R2) from 0.3 to 0.8 for both a coastal grassland and inland woodland pasture. Accuracy of the predictive modelling from both the remotely piloted aircraft system and the Planet Dove satellite image estimates of pasture yield ranged from 0.8 to 1.8 TSDM (tha−1). These results indicated that the practical application of repeated remotely piloted aircraft system derived measures of pasture yield can, with some limitations, be scaled-up to satellite-borne imagery to provide more temporally and spatially explicit measures of the pasture resource base.

Description: Vegetable transplanting is an important and advantageous practice in vegetables production systems. In recent years, the development of vegetable transplanting tools has increased, as well as the interest for automatic and robotic transplanters. However, at present, the feeding of transplanting machines is often still performed by hand. This paper presents the design, development and testing of a needle gripper and a two-finger gripper for vegetable transplanting. Both grippers were self-designed and tested for picking, lifting and transplanting plug seedlings. Tests have been conducted on fennel (Foeniculum vulgare L.), leek (Allium ampeloprasum L.) chicory (Cichorium intybus L.) and lettuce (Lactuca sativa L.) seedlings to determine the impact that gripper typology might have on the further growth of plants after transplanting. The average success rate of the two-finger gripper in the transplanting experiment was 95% and of the needle gripper 81.75%, respectively. Although neither gripper typology affected the growth of the seedlings after transplanting, several design implications were identified in order to improve the performance of both grippers. Furthermore, the two-finger gripper is more reliable for lettuce and chicory, while the needle gripper requires root plugs with higher firmness and cohesion to prevent shattering.

Description: Chlorophyll fluorescence is interesting for phenotyping applications as it is rich in biological information and can be measured remotely and non-destructively. There are several techniques for measuring and analysing this signal. However, the standard methods use rather extreme conditions, e.g., saturating light and dark adaption, which are difficult to accommodate in the field or in a greenhouse and, hence, limit their use for high-throughput phenotyping. In this article, we use a different approach, extracting plant health information from the dynamics of the chlorophyll fluorescence induced by a weak light excitation and no dark adaption, to classify plants as healthy or unhealthy. To evaluate the method, we scanned over a number of species (lettuce, lemon balm, tomato, basil, and strawberries) exposed to either abiotic stress (drought and salt) or biotic stress factors (root infection using Pythium ultimum and leaf infection using Powdery mildew Podosphaera aphanis). Our conclusions are that, for abiotic stress, the proposed method was very successful, while, for powdery mildew, a method with spatial resolution would be desirable due to the nature of the infection, i.e., point-wise spread. Pythium infection on the roots is not visually detectable in the same way as powdery mildew; however, it affects the whole plant, making the method an interesting option for Pythium detection. However, further research is necessary to determine the limit of infection needed to detect the stress with the proposed method.

Description: There are two key parameters in short-haul truck operations to deliver biomass to a biorefinery: (1) mass of the load and (2) cycle time (load, travel, unload, and return). A plan to optimize both these parameters is outlined in this study. Operation of a logistics system to deliver 20-bale racks to a biorefinery for continuous 24/7 operation, 48 weeks/year is described. Round bales are stored in satellite storage locations (SSLs) by feedstock producers. A truckload consists of two tandem trailers (40, 0.4 Mg bales), a specification that maximizes load mass. Load-out at the SSL (loading bales into racks) is performed by a contractor and paid by the biorefinery. Subsequent hauling (truck tractor to pull the trailers) is also contracted for by the biorefinery. Central control is specified; the “feedstock manager” at the biorefinery decides the order SSLs are loaded out and can route a truck to any SSL where a load is ready. Tandem trailers with empty racks are dropped at the SSL, and the trailers with full racks are towed to the biorefinery. Uncoupling the loading and hauling in this manner reduces the time the truck waits for loading and the SSL load-out waits for a truck; thus, productivity of both operations is increased. At the biorefinery receiving facility, full racks are removed from the trailers and replaced with empty racks. The objective for this transfer is a 10 min unload time, which completes a logistics design that minimizes cycle time. A delivered rack is placed in a rack unloader to supply bales for immediate processing, or it is placed in central storage to supply bales for nighttime and weekend operations. Three biorefinery capacities were studied: 0.5, 1.0, and 1.5 bale/min. The analysis shows that rack cost to supply a biorefinery processing a bale/min for 24/7 operation is ~3.00 USD/Mg of annual biorefinery capacity, and the rack trailer cost is ~3.25 USD/Mg. Total delivery cost, beginning with bales in SSL storage and ending with a rack being placed in an unloader to deliver individual bales for processing, is 31.51, 28.42, and 26.92 USD/Mg for a biorefinery processing rates of 0.5, 1.0, and 1.5 bale/min, respectively.

Description: Spraying pesticides using air induction nozzles is a well-known method to reduce drift. These drift-reducing nozzles have been tested on many different tree crops (such as apples, citrus, and grapes), but we are still lacking information on their utilization on hazelnut (Corylus avellana L.) groves, although hazelnut is a major nut crop in Italy, and in recent years its cultivated area has been constantly growing. This paper reports a comparison between treatments carried out with cone and flat-fan low-drift nozzles versus two conventional nozzles. The distribution quality, the number of droplets per cm2 of the target area, and the drift in non-target trees adjacent to those treated were evaluated by analyzing the impact of the droplets on water-sensitive papers placed on the tree canopies. The results show that because no significative differences in terms of application quality were found between the tested nozzles, low-drift nozzles can be a good alternative to the standard nozzles to reduce the drift of pesticide applications in hazelnuts without altering the chosen distribution of the pesticide.