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Unsupervised ore/waste classification on open-cut mine faces using close-range hyperspectral data

Geoscience Frontiers 2023年第4期14卷 89-99页

作者： Lloyd Windrim Arman Melkumyan Richard J.Murphy Anna Chlingaryan Raymond Leung Rio Tinto Centre for Mine Automation Australian Centre for Field RoboticsThe University of SydneySydney 2006Australia

The remote mapping of minerals and discrimination of ore and waste on surfaces are important tasks for geological applications such as those in *** tasks have become possible using ground-based,close-range hyperspectral sensors which can remotely measure the reflectance properties of the environ-ment with high spatial and spectral ***,autonomous mapping of mineral spectra mea-sured on an open-cut mine face remains a challenging problem due to the subtleness of differences in spectral absorption features between mineral and rock classes as well as variability in the illumination of the *** additional layer of difficulty arises when there is no annotated data available to train a supervised learning algorithm.A pipeline for unsupervised mapping of spectra on a mine face is pro-posed which draws from several recent advances in the hyperspectral machine learning *** proposed pipeline brings together unsupervised and self-supervised algorithms in a unified system to map minerals on a mine face without the need for human-annotated training *** pipeline is eval-uated with a hyperspectral image dataset of an open-cut mine face comprising mineral ore martite and non-mineralised *** combined system is shown to produce a superior map to its constituent algo-rithms,and the consistency of its mapping capability is demonstrated using data acquired at two differ-ent times of day.

关键词： Hyperspectral imaging Mineral mapping Open-cut mine face Machine learning Convolutional neural networks Illumination invariance

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Healthcare Monitoring Companion: The Social Robot 3

Healthcare Monitoring Companion: The Social Robot

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3rd International Conference on Artificial Intelligence For Internet of Things, AIIoT 2024

作者： Goraksha, Rahul Bongale, Arunkumar Sayyad, Sameer Kumar, Satish Symbiosis Institute of Technology Department of Robotics and Automation Pune412115 India Symbiosis Centre for Applied Artificial Intelligence Department of Robotics and Automation Pune412115 India

ISBN: (纸本)9798350372120

There is a rising scarcity of healthcare professionals to meet the demand of taking care of aged people. Social robots are becoming more and more popular because of the benefits they provide;during the pandemic, in particular, several of their primary applications are advantageous. The purpose of this work is to build the prototype of social robots and carry out the integration of those robots into healthcare monitoring using Thing Speak and Raspberry Pi. This prototype of social robots with Thing Speak and Raspberry Pi hosts an array of sensors (for measuring a multitude of data from the body of humans) like heartbeat sensor, Dallas temperature sensor, Radio-Frequency Identification (RFID), ultrasonic sensor, and Infrared (IR) sensor along with other components like motor controlling module and DC motor. The data from these sensors are transmitted to the cloud platform Thing Speak, offering remote monitoring and data analysis capabilities and the Raspberry Pi acts as the central processing element in our design, which additionally helps in triggering corresponding alerts regarding the patient status. Finally, we experimentally validate our design using 2 cases and then we present the assessment of the patient alerting feature. © 2024 IEEE.

关键词： Radio frequency identification (RFID)

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An approach to the automation of blueberry harvesting using soft robotics 43

An approach to the automation of blueberry harvesting using ...

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43. Jahrestagung der Gesellschaft fur Informatik in der Land-, Forst- und Ernahrungswirtschaft - Resiliente Agri-Food-Systeme: Herausforderungen und Losungsansatze, GIL 2023 - 43rd Annual Conference of the Society for Informatics in Agriculture, Forestry, and Food Industry - Resilient Agri-Food Systems: Challenges and Solutions, GIL 2023

作者： Navas, Eduardo Dworak, Volker Weltzien, Cornelia Fernández, Roemi Zeini, Mostafa Shokrian Käthner, Jana Shamshiri, Redmond Technik im Pflanzenbau Max-Eyth-Allee 100 Potsdam14469 Germany Centre for Automation and Robotics UPM-CSIC Carretera CAMPO-REAL Km 0.2 Arganda del Rey Madrid28500 Spain

ISBN: (纸本)9783885797241

Soft grippers are used to produce a significant advance in the manipulation of delicate objects. A field of application that is presented in this paper is the automation of the selective harvesting of high-value crops. This study addresses a first approach to the design of a soft gripper and its adaptation to a robotic system for blueberry harvesting. The experimental results are carried out to demonstrate the feasibility and effectiveness of the proposed prototype. © 2023 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Harvesting

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Detection of Lower-Limb Motion Using a Kneepad Sensor Based on Textile Strain Sensor 18

Detection of Lower-Limb Motion Using a Kneepad Sensor Based ...

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18th International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2023

作者： Zou, Xiaoyang Li, Xiaoting Xue, Jiaqi Lai, King Wai Chiu City University of Hong Kong Centre for Robotics and Automation Department of Biomedical Engineering Hong Kong

ISBN: (纸本)9798350333480

The monitoring of the knee joint angle during lower-limb motions is crucial for knee disorders patients and their rehabilitation. However, commonly used methods for lower-limb motion detection, such as inertial measurement units (IMUs) and motion capture systems, have limitations such as drift and high cost. To address these issues, we developed a wearable kneepad sensor using textile resistive strain sensors to measure knee angle during lower-limb motion. The strain sensors change in resistance signals caused by their deformation of them when the knee joint bends. To improve the accuracy of knee angle measurements, an encoder was integrated with kneepad sensor onto a prosthetic limb and used linear mapping method to calibrate the kneepad sensor with the encoder data as the ground truth. The calibrated kneepad sensor achieved an R2 value of 0.956, MAE of 6.15°, and MSE of 64.35 while detecting the knee angle. It was demonstrated that the ability of the kneepad sensor to measure knee angles during two types of lower-limb motions, sit-to-stand (STS) and knee extension. It is shown in this work that this comfortable, wearable kneepad sensor can help detect knee angles during lower-limb motions in various environments and has broad applications in healthcare and robotics. © 2023 IEEE.

关键词： Textiles

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Comparative Evaluation of Multiple Robotic End Effectors for Apple Fruitlet Thinning

Comparative Evaluation of Multiple Robotic End Effectors for...

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2024 Australasian Conference on robotics and automation, ACRA 2024

作者： Jangali, Rahul Lim, Hin McGuinness, Ben Au, Chi Kit Williams, Henry MacDonald, Bruce Duke, Mike School of Engineering University of Waikato Hamilton New Zealand Centre for Automation and Robotics Engineering Science University of Auckland New Zealand

This paper presents a new method to evaluate multiple end effectors for a given task, which was applied to four custom-designed robotic end effectors for apple fruitlet thinning in a controlled laboratory environment. These end effectors’ specific mechanisms are stem cutting (cutting), grasp and roll (paraboloid), suction and twist (suction), and piercing and retract (piercing). An artificial fruitlet structure that replicates real apple fruitlets critical characteristics and suitable for different mechanisms of tested end effectors was used to ensure a consistent test platform across all end effectors. Each end effector was tested on single fruitlet at approach angles varying from 90 to 30 ° and five different positions of targeted fruitlet within the cluster at approach angles varying from 90 to 60 ° (cluster). A vision system and path planning system were integrated to facilitate the evaluation. The results showed that all effectors except piercing are capable to remove fruitlets from 45 to 90 ° for single fruitlet, and suction performed best in cluster evaluation. Cutting, paraboloid and suction end effectors were deemed feasible for further development and real field evaluation. © 2024 Australasian robotics and automation Association. All rights reserved.

关键词： Piercing

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Workspace and Cutting Force Requirements for an Automated Grapevine Pruner

Workspace and Cutting Force Requirements for an Automated Gr...

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2024 Australasian Conference on robotics and automation, ACRA 2024

作者： McGuinness, Benjamin Tattersall, Andrew Bernhard, Michael Au, Chikit Williams, Henry Lim, Hin Duke, Mike School of Engineering University of Waikato Hamilton New Zealand Centre for Automation and Robotics Engineering Science The University of Auckland New Zealand

Understanding task requirements is critical to producing efficient hardware which is optimised for the specific task. Robotic manipulators are often selected based on intuition, without a thorough analysis of the task and required workspace beforehand. This paper investigates key design requirements for a grapevine cane pruning robot. It presents a method for quantifying the workspace and degrees of freedom required, and investigates the cutting force required for the end effector. A UR5 robot arm was manually moved into cut positions, and used to capture the key cut locations and orientations for 15 vines, for a total of 792 data points. The dimensions of the required cuboid for pruning where determined to be 778 wide, 294 deep and 441 high, with a centre 888 mm above the ground. 6 DOF of freedom was required to access all the cut points, or 90.2 % could be accessed with five DOF, removing the need for variable pitch. Cutting force increased linearly with increasing diameter of canes, with a maximum force requirement of approximately 1200 N. These values can be used to inform the design of a grapevine pruning robot to optimise hardware and software systems for weight, cost, and efficiency. © 2024 Australasian robotics and automation Association. All rights reserved.

关键词： End effectors

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Leader-follower Based Formation of Unmanned Boats for Surface Waste Collection 43

Leader-follower Based Formation of Unmanned Boats for Surfac...

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43rd Chinese Control Conference, CCC 2024

作者： Jiang, Zeyu Wang, Qing Wang, Haoran Beijing Institute of Technology School of Automation Beijing China Nanyang Technological University Centre for Advanced Robotics Technology Innovation Singapore

ISBN: (纸本)9789887581581

In this paper, a set of algorithms for water waste sorting system based on unmanned boat formation is investigated with the aim of improving the efficiency of water waste sorting by unmanned boat formation system. An improved particle swarm optimization algorithm is used as the path planning method. The leader-follower control model based on sliding mode control and the artificial potential field method are used as the motion control methods of the system, respectively. The final implementation is to complete the path planning for garbage at multiple predefined target locations and maintain the formation for collection in the simulation environment. During the collection process, it is able to switch between multiple predefined formations. © 2024 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Particle swarm optimization (PSO)

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Video Stabilization using RAFT-based Optical Flow

Video Stabilization using RAFT-based Optical Flow

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Ashar, Rana Sadiq, Burhan Mohiuddin, Hira Ashraf, Saniya Imran, Muhammad Ullah, Anayat Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Balochistan University of IT Engineering and Management Sciences Department of Electronic Engineering Quetta Pakistan

ISBN: (纸本)9781665464727

Video Stabilization is the basic need for modern-day video capture. Many methods have been proposed throughout the years including 2D and 3D-based models as well as models that use optimization and deep neural networks. This work describes the implementation of cutting-edge Recurrent All-Pairs Field Transforms (RAFT) for optical flow estimation in video stabilization. we use a pipeline that accommodates the large motion. It then passes the results to the optical flow for better accuracy. After that, it satisfies the inaccuracies of the optical flow and makes it robust to occlusion, Parallax, and moving objects. Our approach yields better results (visually and quantitatively) compared to other optimization and deep learning-based visual stabilization techniques. © 2023 IEEE.

关键词： Geometrical optics

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Autonomous Navigation and Mapping of Snake Robot for Urban Search and Rescue

Autonomous Navigation and Mapping of Snake Robot for Urban S...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Ullah, Syed Izzat Mahmood, Tallat Anayatullah A&M University-Corpus Christi Department of Computing Sciences Texas Pakistan National Centre of Robotics and Automation Control Automotive and Robotics Lab Rawalpindi Pakistan

ISBN: (纸本)9781665464727

In an Urban Search and Rescue situation, under extreme time pressure, rescue workers have to locate and extract the trapped people in collapsed structures. Due to the lack of medical treatment, food, and water, the victim's mortality rate dramatically increases over time. Rescue operations for both rescue workers and victims might be as dangerous as the initial event. For such situations, snake robots which are inspired by their biological counterparts, are shown to be a good option in the literature, to help the rescue workers in positioning the victims or delivering life-saving drugs to extend the life of the victims for some time. However, current research mainly focuses on mechanical design, control mechanisms, and gait generation. To alleviate this concern, we have integrated state-of-the-art methods to develop an autonomous snake robot that can navigate in an unknown environment while also generating a 3D map, to provide a better idea of the environment to the rescue workers. A simulated maze environment is implemented and demonstrated by using the CoppeliaSim simulation, running on Robot Operation System (ROS) and Linux OS. The simulation result shows the effectiveness of the proposed autonomous navigation system for the snake robot to plan an obstacle-free path from the robot's current position to the goal position without an apriori knowledge of the environment. © 2023 IEEE.

关键词： Motion planning

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Investigations on the Design and Simulation of Smart Irrigation Robot for Nurseries 3

Investigations on the Design and Simulation of Smart Irrigat...

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3rd International Conference on Advances in Computing, Communication, Embedded and Secure Systems, ACCESS 2023

作者： Abhiram, B. Jha, Swati Sai Prasad, Y. Yogendra Dhanraj, Joshuva Arockia Ramkumar, V. Hindustan Institute of Technology and Science Centre for Automation & Robotics Department of Mechatronics Engineering Tamil Nadu Chennai India

ISBN: (纸本)9798350346169

The irrigation systems in nurseries can be the cause of various water supply errors- ranging from lack of sufficient water supply to over-watering and imbalance in the water pH levels. Based on the statistics recorded by the department of agriculture and farmers welfare, we have conducted we concluded that the water supply management and plant life maintenance are the major problems. Considering all these real-time errors, we have designed a smart irrigation robot functioning on the inputs from a group of soil moisture sensors which helps eliminate the monotonous task of monitoring and keeping records of the change in soil moisture. © 2023 IEEE.

关键词： Irrigation

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