The fully autonomous harvesting of oyster mushrooms in the greenhouse requires development a reliable and robust robot. In this paper, we propose an oyster-mushroom-harvesting robot, which can realize operations entire greenhouse. two crucial components robot are perception module end-effector. Intel RealSense D435i is adopted to collect RGB images point cloud real time; improved SSD algorithm proposed detect mushrooms, finally, existing soft gripper manipulated grasp mushrooms. Field...

Abstract For automating the harvesting of bunches tomatoes in a greenhouse, end-effector needs to reach exact cutting point and adaptively adjust pose peduncles. In this paper, method is proposed for peduncle localization estimation. Images captured real time at fixed long-distance are detected using YOLOv4-Tiny detector with precision 92.7% detection speed 0.0091 s per frame, then YOLACT + Network mAP 73.1 0.109 frame used segment close-up distance. The segmented mask fitted curve least...

Abstract Somatic embryogenesis (SE) is a major regeneration approach for in vitro cultured tissues of plants, including citrus. However, SE capability difficult to maintain, and recalcitrance has become obstacle plant biotechnology. We previously reported that miR156-SPL modules regulate citrus callus. the downstream regulatory pathway module remains unclear. In this study, we found transcription factors CsAGL15 CsFUS3 bind CsMIR156A promoter activate its expression. Suppression csi-miR156a...

Over the past decade, there have been increasing attempts to integrate robotic harvesting technology into agricultural scenarios reduce growing labour costs and increase crop yields. In this paper, we demonstrate a prototype robot for picking watermelons in greenhouses. For harvesting, design dedicated end-effector grasping fruits shearing pedicels, which mainly consists of flexible gripper cutting device. The improved YOLOv5s–CBAM is employed locate watermelon with 89.8% accuracy on test...

Abstract With the aging population and increasing labor costs, traditional manual harvesting methods have become less economically efficient. Consequently, research into fully automated using selective robots for cherry tomatoes has a hot topic. However, most of current is focused on individual large tomatoes, there development complete systems in clusters. The purpose this study to develop robot system capable picking tomato clusters by cutting their fruit‐bearing pedicels evaluate...

Energy harvesting technique has been identified as an innovative and environment-friendly way for powering micro sensors electronic devices. In this paper, a hybrid generator based on triboelectric electromagnetic mechanisms (TMHG), which provides two electrical power outputs at the same time, was proposed. The output performance in time frequency domains are investigated different initial gap distances excitation accelerations. At acceleration of 1 g distance 5 mm, maximum parts can be...

Mushroom picking robot could significantly decrease the labor cost during production process. As well as humans, robots need to know what mushroom is, where it and finally harvest it. This paper proposes an accurate real-time capable object detection localization approach for use on oyster robot. Detection information of a neural network is combined with depth from RGB-D camera, which mounted platform. The SSD algorithm used convolutional network. In order find detected in 3D environment,...

The ripening information of tomato fruit in greenhouse environment is closely related to production operation. Currently, mainly carried out by manual inspection. In this paper, we present a new real-time method detection and its maturity measurement natural greenhouse. More than 25,000 fruits were tested 1005 images Yolov4 the identification accuracy was 95%. After construction single data set, color proportion analysis RGB features analyzed. Combined with normalization noise reduction...

Comprehensive studies on the sheet and contact resistances of vertically aligned carbon nanotube (CNT) forests with as-grown bottom contacts to metal layer have been conducted. Using microfabrication four distinct methods: (1) transfer length method (TLM), (2) chain method, (3) Kelvin (4) point probe we designed multiple testing devices characterize CNT-forest-based devices. Experimental results show that based stripe-shaped CNT 100 µm in height width a resistance approximately . The...

In the greenhouse environment, in order to solve problem that there be deviations straight path of spraying robot, and navigation information needs quickly obtained at turn, a algorithm combining red line QR code is designed. After processing acquired image, correction performed based on deviation yaw angle. Thereby achieving precise lines.However, has problems such as low turning efficiency poor corrective effect during cornering. Therefore, method was designed accomplish requirement prompt...

Aiming at the problems of variable illumination, different fruit postures and interference main stem in natural greenhouse environment, this paper presents a new identification localization method for picking point truss tomato based on combination Mask R-CNN depth threshold segmentation. 679 clusters were detected greenhouse. The results showed that overall segmentation detection success rate ripe tomatoes reached 80.5%. On basis successfully obtaining optimal area, excluded background...

Nano-positioning technology has been widely used in many fields, such as microelectronics, optical engineering, and micro manufacturing. This paper presents a one-dimensional (1D) nano-positioning system, adopting piezoelectric ceramic (PZT) actuator multi-objective topological optimal structure. The combination of stage feedback capacitive comb sensor achieved. In order to obtain better performance, wedge-shaped structure is apply the precise pre-tension for ceramics. Through finite element...

Wind energy is a kind of inexhaustible renewable clean energy. harvesting becomes potential technique to solve the power supply problem wireless sensor nodes in field environment. This paper demonstrates hybrid flapping-leaf microgenerator (FLMG) that convert wind flow electric Both piezoelectric and triboelectric parts will generate from flow. The output performance can be improved by optimizing size flapping leaf connecting position between cantilever leaf. At speed 4.5 m/s, maximum...

We report a thermal sensor composed of two multiwalled carbon nano-tubes (MWCNTs) inside field-emission-scanning electron microscope. The was assembled using nanorobotic manipulation system, which used to construct probe tip in order detect the local environment single cell. An atomic force microscopy (AFM) cantilever as substrate; Si 3 N 4 and both sides were covered with gold layer. MWCNTs individually on AFM by employing manipulation. Another subsequently an end effector manipulate touch...