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International Conference on Control, Automation and systems ( ICCAS)

作者： Changjo Kim Hyoung Il Son Department of Convergence Biosystems Engineering Chonnam National University Gwangju Republic of Korea Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Gwangju Republic of Korea Research Center for Biological Cybernetics Chonnam National University Gwangju Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

The automation of agricultural systems is essential for enhancing productivity and ensuring sustainable food production. The introduction of autonomous tractors and fleet of autonomous tractors technology is important to the advancement of agricultural automation. This paper proposes an optimization method for workspace partitioning using a weighted voronoi diagram for fleet of autonomous tractors. The proposed method generates a node map based on an orchard environment, determines the centers of the areas to partition the workspace to be assigned to the k tractors, sets weights based on the specifications of each tractor, optimizes these weights, and partition the workspace to maximize work *** study validated the performance of workspace partitioning optimization through simulations and field evaluations. The results of this study expect that the proposed method can be applied to fleet of autonomous tractors technology to improve the efficiency of agricultural work.

关键词： Productivity Automation Food manufacturing Scalability Optimization methods Agricultural machinery Control systems Robots

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Field Evaluation of a Prioritized Path-Planning Algorithm for Heterogeneous Agricultural Tasks of Multi-UGVs

Field Evaluation of a Prioritized Path-Planning Algorithm fo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yuseung Jo Hyoung Il Son Department of Convergence Biosystems Engineering Chonnam National University Gwangju Republic of Korea Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Gwangju Republic of Korea Research Center for Biological Cybernetics Chonnam National University Gwangju Republic of Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper introduces a prioritized path-planning algorithm for heterogeneous tasks performed by multiple unmanned ground vehicles (UGVs) in agricultural environments. The algorithm considers varying robot priorities, thereby extending the traditional multi-agent path finding (MAPF) approach. The proposed algorithm is evaluated in scenarios occurring during representative agricultural operations: harvesting and transportation. An experimental validation is conducted in agriculture-like settings by using multiple simultaneous localization and mapping systems and navigation systems. The results revealed that the path of agent 1 , which was assigned the highest priority in both the indoor and outdoor environments, was shortened considerably (3.38 m, 3.6 m, and 5.6 m, respectively). Especially in the face scenario, the sum of changes in distance, calculated using the proposed algorithm was negative, meaning that traffic congestion in the multi-robot system used in the experiment was alleviated without the need for inter-robot communication.

关键词： Simultaneous localization and mapping Navigation Transportation Symbols Path planning Reliability Task analysis

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A Path Planning and Coordination Algorithm for Heterogeneous Tasks of Multi-UGV in Smart Farm: Work in Progress

A Path Planning and Coordination Algorithm for Heterogeneous...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Yuseung Jo Hyoung Il Son Department of Convergence Biosystems Engineering Chonnam National University Gwangju Korea Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Gwangju Korea

We propose a path planning and coordination algorithm for the heterogeneous tasks of multiple unmanned ground vehicles in a smart farm. The proposed algorithm considers the priorities of each of the tasks to maximize the productivity of smart farms. The algorithm can solve a scenario in which the robot operations are stopped unnecessarily. The proposed algorithm will be verified in a field evaluation. In this paper, we describe our experimental scenarios and list the performance metrics used in the field experiments. For evaluation, situations in which multiple UGVs are required to be coordinated in a smart farm were assumed as the experimental scenarios. The following performance metrics were used: (1) utilization rate, (2) success rate, (3) number of collisions, and (4) localization errors. The experimental results will be statistically analyzed. We hope that the analysis results will help determine whether the proposed path planning and coordination algorithm is effective when used in smart farms.

关键词： Smart agriculture Measurement Location awareness Productivity Statistical analysis Robot kinematics Path planning

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Drone-Based Three-Dimensional Photogrammetry and Concave Hull by Slices Algorithm for Apple Tree Volume Mapping

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Journal of biosystems Engineering 2021年第4期46卷 474-484页

作者： Dong, Xuhua Kim, Woo-Young Lee, Kyeong-Hwan Department of Rural and Biosystems Engineering Chonnam National University Gwangju61186 Korea Republic of Agricultural Automation Research Center Chonnam National University Gwangju61186 Korea Republic of BK21 Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Gwangju61186 Korea Republic of

Purpose: Apple tree volume is an important factor in apple quality control and spraying strategies. The measurement is a laborious task because of the complex structure of the apple tree. This study developed a technology for accurately estimating the apple tree volume from unmanned aerial vehicle-based multi-view three-dimensional reconstruction data using a novel concave hull by slices algorithm. Method: The CloudCompare software was used to preprocess the 3D data and extract a single tree. The 3D point cloud data of the tree were divided into truncated cone-type small slices of a specific thickness. The area of each slice was calculated using the proposed concave hull by slices algorithm. The tree volume was calculated by summing the volume of slices. The proposed method was verified on ten apple trees by comparing the results obtained using the proposed method with those calculated by two existing methods. Results: The proposed method provided the most accurate tree volume, while avoiding the influence of gaps and holes in the tree. The mean absolute percentage error (MAPE) and root mean squared error (RMSE) were 8.07% and 0.55 m3, respectively. Conclusion: These results indicate that the concave hull by slices method can be used to calculate the tree volume from 3D point cloud data more effectively. Tree volume mapping was achieved by combining the tree volume with the tree position. © 2021, The Korean Society for Agricultural Machinery.

关键词： Mapping

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Calculation of Seasonal Thermal Energy Storage system Capacity for Melon Greenhouse Using Energy Analysis program

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SSRN 2024年

作者： Park, Sungwan Seonwoo, Hoon Sunchon National University Suncheon57922 Korea Republic of Department of Convergent Biosystems Engineering College of Life Science and Natural Resources Sunchon National University Suncheon57922 Korea Republic of Interdisciplinary Program in IT-Bio Convergence System Sunchon National University Suncheon57922 Korea Republic of

Carbon dioxide (CO₂), one of major reason of global warming and climate change, is predominantly cultivated in greenhouses which require significant fossil fuel consumption for heating during the winter season. There is a need to implement facilities that utilize renewable energy to heat greenhouses and reduce carbon emissions. In this study, the application of seasonal thermal energy storage (STES) using renewable energy sources in single- and double-layer melon greenhouses was investigated using building energy simulation (BES) software, specifically the transient system simulation tool (TRNSYS, Ver 18, USA). The double-layered greenhouse reduced the cooling load by 17.8% and the heating load by 61.6% compared to the single-layered greenhouse. The solar collector and storage tank capacity of the double-layer greenhouse was reduced by 25-46% and 37-60%, respectively, compared to the single-layered greenhouse. The single-layered greenhouse required the area of the solar collector of 20 m², the volume of the storage tank of 200 m³ and the pump flow rate of 3000 kg/h. The research can contribute to the selection of solar collectors and storage tanks of appropriate capacity for greenhouses implementing STES in the future. Consequently, it can promote sustainable agricultural practices by reducing fossil fuel consumption and mitigating greenhouse gas emissions. © 2024, The Authors. All rights reserved.

关键词： Greenhouses

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Semantic SLAM-based Autonomous Tributary Navigation system Using 3D LiDAR Point Cloud for UAV

Semantic SLAM-based Autonomous Tributary Navigation System U...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Jeonghyeon Pak Hyoung Il Son Department of Convergence Biosystems Engineering Chonnam National University 77 Yongbong-ro Gwangju Republic of Korea Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Yongbong-ro 77 Gwangju Republic of Korea

Remote sensing methodologies are useful for managing natural systems. Among them, we focused on a methodology for collecting data by attaching three-dimensional (3D) light detection and ranging (LiDAR) sensors to unmanned aerial vehicles (UAVs) that can perform detection over a wide area with high mobility. In this study, we propose a semantic simultaneous localization and mapping (SLAM)-based autonomous driving system for tributary mapping by using a UAV equipped with a 3D LiDAR. As a natural system, tributaries are not studied extensively for diagnosing polluted watersheds and managing water quality. Therefore, it is necessary to develop a robust autonomous driving system for mapping tributary environments.

关键词： Point cloud compression Laser radar Three-dimensional displays Simultaneous localization and mapping Navigation Semantics Water quality

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A Multi-Antenna-based Active Tracking system for Localization of Invasive Hornet Vespa velutina

A Multi-Antenna-based Active Tracking System for Localizatio...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Bosung Kim Jeonghyeon Pak Chanyoung Ju Hyoung Il Son Department of Convergence Biosystems Engineering Chonnam National University Yongbong-ro 77 Gwangju Republic of Korea Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Yongbong-ro 77 Gwangju Republic of Korea

Herein, we design three experiments to prove the traceability of a multi-antenna-based active tracking system by using an unmanned aerial vehicle (UAV) in variable environments and actual Vespa velutina. In the first experiment, the movement of Vespa velutina with an attached sensor is measured, and it is checked whether there is a difference between the measurements obtained with and without the attached sensor. In the second experiment, we track a small drone instead of a Vespa velutina, which cannot provide ground truth data, and compare and analyze the path of the small drone with the tracking path of the UAV. In the third experiment, we track an actual Vespa velutina in various environments, in addition to measuring and evaluating the distance between the UAV and the target at the end of tracking, the localization result, and the tracking path. The experimental results will help to prove that transmitter attachment does not affect the target and traceability of the multi-antenna-based active tracking system when it is attached to real Vespa velutina.

关键词： Location awareness Target tracking Automation Transmitters Autonomous aerial vehicles Control systems Drones

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Guest Editorial: Special Issue on Technology Trends in Control, Robotics and systems - For the 30th Anniversary of the Institute of Control, Robotics and systems -

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Journal of Institute of Control, Robotics and systems 2024年第4期30卷 295-295页

作者： Ko, Nak Yong Kang, Taesam Song, Jin Woo Lim, Myo Taeg Jo, Kang-Hyun Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of Department of Mechanical and Aerospace Engineering Konkuk University Korea Republic of Department of Intelligent Mechatronics Engineering Sejong University Korea Republic of School of Electrical Engineering Korea University Korea Republic of Department of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of

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Harnessing Diatom-Encapsulated Hydrogels for Sustainable Agriculture: Enhancing Gibberellic Acid Delivery in Plants Through Prolonged Release Behavior

SSRN

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SSRN 2024年

作者： Bhat, Mahesh P. Lee, Jae-Ho Kurkuri, Mahaveer Kim, Cheol Soo Lee, Kyeong-Hwan AI AgriTech Research Center Chonnam National University Gwangju61186 Korea Republic of Jain Global Campus Karnataka Bengaluru562112 India Department of Applied Biology Chonnam National University Gwangju61186 Korea Republic of Department of Convergence Biosystems Engineering Chonnam National University Gwangju61186 Korea Republic of BK21 Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Gwangju61186 Korea Republic of

Gibberellic acid (GA), a crucial plant growth hormone that has a beneficial role in agriculture, faces the significant challenge of instability, hindering its effective field application. To address this, a pH-responsive hydrogel system was designed to enhance GA's stability, retention, and sustained release, thereby optimizing seed germination and plant growth. The approach involves the synthesis of hydrogel beads using dopamine-functionalized nanoporous diatom (DE-PDA) microparticles combined with GA, which are then encapsulated within alginate and chitosan matrices using an ionotropic pre-gelation technique. The hydrogels demonstrated a nanoporous network, characterized by crosslinking, hydrogen bonding, and ionic interactions. The inclusion of nanoporous DE-PDA not only fortifies the stability of GA but also improves the release profile, achieving 86.3% cumulative release by the 15th day demonstrating a substantially higher swelling rate of 1,667±36.1%. In contrast, the hydrogel system lacks DE-PDA sustained GA release for a mere 5 h with a swelling rate of 629±43.3%. Theoretical insights suggest that GA release was governed by Fickian diffusion and the polymer relaxation mechanism. Benefiting from intensive polymer interactions and the excellent biodegradability of the hydrogels, the germination rate assay using tomato seeds highlights the superior biological activity of the hydrogel, showcasing its potential for practical application in agriculture. Importantly, studies reveal that GA-encapsulated hydrogels outperform free GA in enhancing key physiological growth parameters including shoot length, stem thickness, leaf number, and shoot weight in tomato seedlings and plants, making a significant advancement in sustainable agriculture. © 2024, The Authors. All rights reserved.

关键词： Hydrogels

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UAV-Based Trilateration system for Localization and Tracking of Radio-Tagged Flying Insects: Development and Field Evaluation

UAV-Based Trilateration System for Localization and Tracking...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jeonghyeon Pak Bosung Kim Chanyoung Ju Sung Hyun You Hyoung Il Son Department of Convergence Biosystems Engineering Chonnam National University Gwangju Republic of Korea Interdisciplinary Program in IT-Bio Convergence System Chonnam National University Gwangju Republic of Korea Research Center for Biological Cybernetics Chonnam National University Yongbong-ro 77 Gwangju Republic of Korea Automotive Materials & Components R&D Group Korea Institute of Industrial Technology Gwangju Republic of Korea Department of Electronic Engineering Chosun University Gwangju Republic of Korea

As the interest in ecosystem protection increases, many researchers are focusing on tracking flying insects to preserve biodiversity. Invasive alien species (IAS) such as Vespa velutina nigrithorax require extensive consideration in this regard owing to size and weight limitations. In this paper, we propose and experimentally validate an unmanned aerial vehicle (UAV)-based trilateration system for localization and tracking of flying insects. The proposed tracking algorithm is based on the use of multiple omnidirectional antennas, and it improves the tracking accuracy and shortens the tracking time compared to those of the existing unidirectional antennas. In addition, we reduce the measurement error and noise by applying a finite impulse response (FIR) filter to the received signal strength (RSS) emitted from the radio-telemetry transmitter. A field experiment involving the proposed trilateration system was conducted in an apiary. This experiment was divided into three sub-experiments as follows: 1) behavior experiment, 2) ground truth experiment, and 3) localization and tracking experiment. The proposed system contributes to the research on UAV-based tracking systems that respond to the speed of spreading of invasive V. velutina.

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