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The potential of thermal imaging to assist winemakers in the detection of downy mildew in Vitis vinifera cv Loureiro

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Procedia computer science 2025年 256卷 78-85页

作者： Fernando Portela Cláudio A. Paredes Joaquim J. Sousa Luís Pádua Centre for the Research and Technology of Agro-Environmental and Biological Sciences (CITAB) University of Trás-os-Montes e Alto Douro (UTAD) 5000-801 Vila Real Portugal PROMETHEUS Research Unit in Materials Energy and Environment for Sustainability Escola Superior Agrária Instituto Politécnico de Viana do Castelo (IPVC) 4900-347 Viana do Castelo Portugal Agronomy Department School of Agrarian and Veterinary Sciences UTAD 5000-801 Vila Real Portugal CISAS—Center for Research in Agrifood Systems and Sustainability IPVC 4900-347 Viana do Castelo Portugal Engineering Department School of Science and Technology UTAD 5000-801 Vila Real Portugal Centre for Robotics in Industry and Intelligent Systems (CRIIS) INESC Technology and Science (INESC-TEC) 4200-465 Porto Portugal Institute for Innovation Capacity Building and Sustainability of Agri-Food Production UTAD 5000-801 Vila Real Portugal

Vineyards represent one of the main crop systems of greatest importance in the world economy, both in terms of the value chain of wine production and in its current expression of generating tradable goods. One of the challenges of grape production is grapevine health, which annually forces the winegrowers to incur fixed costs associated with the prevention and/or treatment of pests and diseases, causing an impact on the environment due to the application of phytosanitary products. Among the various diseases affecting grapevines, downy mildew ( Plasmopara viticola ) stands out, which causes negative impacts throughout the phenological cycle, particularly on leaves by affecting the absorption of photosynthetic pigments and consequent chlorophyll production, ultimately influencing grape yield and quality. Traditional methods for detecting vineyard diseases are often insufficient in crop protection, favoring new forms of a more agile decision support with timely responses. Proximal sensing trough optical sensors can assist in early disease detection. In this context, thermal infrared sensors stand out for their ability to capture changes in thermal response of leaves due to changes in grapevine metabolism and photosynthetic production. This study aims to explore the use of thermal infrared imagery to assess the detection of downy mildew by evaluating temperature variations in the surface of grapevine leaves when compared with non-infected leaves in a vineyard plot of the cv. Loureiro. The effects of temporal and spatial variability on the temperature of mildew-infected vine leaves are reported. A temperature variation of 2.71 °C was found within the same leaf when comparing to infected and non-infect areas. As the infection progresses over time, thermal variation tends to increase.

关键词： proximity sensors thermography disease detection precision viticulture agricultural mechanization automation

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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Reasoning about grasping from task descriptions 7

Reasoning about grasping from task descriptions

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intelligent Robots and computer Vision VII 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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Shape recognition by random grasping

Shape recognition by random grasping

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1992 IeeE/RSJ International Conference on intelligent Robots and systems, IROS 1992

作者： Kang, Dukhyun Goldberg, K.Y. Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90059-0273 United States

ISBN: (纸本)0780307372

Our objective is to recognize parts in a structured environment (such as a factory) using inexpensive and widely available hardware. In this paper we consider the class of parts with constant polygonal cross section. We aim to recover the shape of a part's cross section by randomly grasping t,he part with a parallel-jaw gripper and measuring the distance between the jaws (the diameter). Since more than one part may give rise to the same diameter and the diameter sensor may be corrupted by noise due to surface compliance and backlaqh, we use a Bayesian decision procedure to estimate the most probable part. We describe preliminary experiments on synthetic and physical data and report on the sensitivity of recognition time to sensor noise, sensor resolution, and probability threshold. Our experiments suggest that even the most unsophisticated grasp strategy-random grasping-can be sufficient for recognizing parts. © 1992 institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： intelligent robots

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Fault detection and identification in a mobile robot using multiple-model estimation 15

Fault detection and identification in a mobile robot using m...

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15th IeeE International Conference on robotics and Automation, ICRA 1998

作者： Roumeliotis, Stergios I. Sukhatme, Gaurav S. Bekey, George A. Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA90089-0781 United States

ISBN: (纸本)078034300X

This paper introduces a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict (in parallel) the outcome of several faults. Models of the system behavior under each type of fault are embedded in the various parallel estimators (each of which is a Kalman filter). Each filter is thus tuned to a particular fault. Using its embedded model each filter predicts values for the sensor readings. The residual (the difference between the predicted and actual sensor reading) is an indicator of how well the filter is performing. A fault detection and identification module is responsible for processing the residual to decide which fault has occurred. As an example the method is implemented successfully on a Pioneer I robot. The paper concludes with a discussion of future work. © 1998 IeeE.

关键词： Mobile robots

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Transmission Control Protocol (TCP) delay analysis in real time network

Transmission Control Protocol (TCP) delay analysis in real t...

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2020 Advances in science and Engineering Technology International Conferences, ASET 2020

作者： D'Souza, Joanita Kaur, Maninder Jeet Mohamad, Hassan Anwar Maheshwari, Piyush Amity University Dubai Department of Computer Science Engineering Dubai United Arab Emirates Institute of Robotics and Intelligent Systems Toronto Canada

ISBN: (纸本)9781728146409

The aim of this paper is to evaluate the Transmission control protocol (TCP) delay performance of IeeE802.11 WLANs using Wireshark which is a network performance monitoring tool. It also shows a detailed study of sniffing tools, logging tools, pre filtering and post sniffing. This paper also provides a way to find the maximum TCP delays over a time period and to plot a graph using Microsoft excel in order to perform further analysis. The study was carried out in a real time WLAN environment. The output that is obtained shows the maximum delay over time along with certain filters that have been applied. This is only possible for the active nodes present in the network. © 2020 IeeE.

关键词： Transmission control protocol

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Software Architectures for Agents in Colonies

Software Architectures for Agents in Colonies

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1995 AAAI Spring Symposium

作者： Bekey, George A. Agah, Arvin Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089-0781 United States

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A multimodal and multilevel system for robotics treatment of autism in children

A multimodal and multilevel system for robotics treatment of...

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2016 International Workshop on Social Learning and Multimodal Interaction for Designing Artificial Agents, DAA 2016

作者： Palestra, Giuseppe Varni, Giovanna Chetouani, Mohamed Esposito, Floriana Department of Computer Science University of Bari Bari Italy Institute for Intelligent Systems and Robotics University Pierre and Marie Curie Paris France

ISBN: (纸本)9781450345606

Several studies suggest that robots can play a relevant role to address Autistic Spectrum Disorder (ASD). This paper presents a humanoid social robot-assisted behavioral system based on a therapeutic multilevel treatment protocol customized to improve eye contact, joint attention, symbolic play, and basic emotion recognition. In the system, the robot acts as a social mediator, trying to elicit specific behaviors in child, taking into account his/her multimodal signals. Statistical differences in eye contact and facial expression imitation behaviors after the use of the system are reported as preliminary results.

关键词： Diseases

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Vibration Suppression of Non-Deformable Metal Strip for Robot Assisted Assembly Operation

Vibration Suppression of Non-Deformable Metal Strip for Robo...

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2020 IeeE International Conference on Emerging Trends in Communication, Control and Computing, ICONC3 2020

作者： Jalendra, Chetan Rout, B.K. Center for Robotics and Intelligent Systems Birla Institute of Technology and Science Department of Mechanical Engineering Pilani India

ISBN: (纸本)9781728114200

Current work presents a vibration suppression strategies of a Non-Deformable Metal Strip which is induced by rapid action of an industrial robot. In this case an external controller is designed as outer controller without any interruption in the robot internal controller to suppress the residual vibration in NDMS. The proposed controller is simulated in MATLAB/Simulink environment and designed in Python IDLE to validate the controller. The external controller is a closed-loop feedback Proportional Integral Derivative (PID) controller designed especially for an industrial robot that does not have control over acceleration. The robustness of the proposed controller is tested experimentally through the vibration control of a NDMS which is supposed to perform peg in hole assembly operation in various operating conditions. The designed controller suppresses vibration in less than 5 seconds and the stability time is reduced by 95% for in a Peg-in-hole assembly task. © 2020 IeeE.

关键词： Three term control systems

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Integration of feature based design and feature recognition 15

Integration of feature based design and feature recognition

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ASME 1995 15th International computers in Engineering Conference, CIE 1995 and the ASME 1995 9th Annual Engineering Database Symposium collocated with the ASME 1995 Design Engineering Technical Conferences

作者： Han, JungHyun Requicha, Aristides A.G. Programmable Automation Laboratory Computer Science Department Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA United States

ISBN: (纸本)9780791817018

Process planning for machined parts typically requires that a part be described through machining features such as holes, slots and pockets. This paper presents a novel feature finder, which automatically generates a part interpretation in terms of machining features, by utilizing information from a variety of sources such as nominal geometry, tolerances and attributes, and design features. The feature finder strives to produce a desirable interpretation of the part as quickly as possible. If this interpretation is judged unacceptable by a process planner, alternatives can be generated on demand. The feature finder uses a hint-based approach, and combines artificial intelligence techniques, such as blackboard architecture and uncertain reasoning, with the geometric completion procedures first introduced in the OOFF system previously developed at USC. © 1995 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Gas turbines

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