As a prelude to using stereo vision accurately locate apples in an orchard, this paper presents based algorithm single image. On-tree situations of contrasting red and green as well the orchard with poor contrast have been considered. The study found out that redness both cases can be used differentiate from rest orchard. Texture edge detection has combined measures, area thresholding followed by circle fitting, determine location image plane. In case severely cluttered environments,...

Free-flying robotic spacecraft play a significant role in the space industry today. Unlike ground-based robots, manipulator motion robot can cause undesirable disturbances to platform, causing its attitude change, potentially disrupting communication and solar energy collection processes as result. Thus, coordinated control of both become essential for successful operations. Though past research has developed dynamic models manipulators, contribution reaction wheels angular momentum entire...

Four wheel steering and four drive (4WS4WD) vehicles are over-actuated systems with superior performance. Considering the control problem caused by system nonlinearity characteristics of 4WS4WD vehicle, this paper presents two methods to enable a vehicle accurately follow predefined path as well its reference trajectories including velocity acceleration profiles. The methodologies based on model predictive (MPC) particle swarm optimization (PSO), respectively. MPC method generates virtual...

The aim of this paper is to present a novel control method for four-wheel steer and drive (4WS4WD) vehicle. novelty in the integration sliding mode (SMC) particle swarm optimization (PSO) that proposed solve problem caused by nonlinear, highly coupled over-actuated characteristics validity evaluated two criterions, namely path following performance assessed vehicle's position errors with respect reference path, motion quality reflected smoothness velocities accelerations. In vehicle...

This paper uses (linearized) Kalman filters to estimate first-order geometric parameters (i.e., orientation of contact normals and location points) that occur in force-controlled compliant motions. The time variance these is also estimated. In addition, transitions between situations can be monitored. the manipulated object its environment general, i.e., multiple contacts at same time, both topology geometry each single are arbitrary. two major theoretical contributions 1) integration...

Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by dual-arm robot improve the efficiency of operation. Compared with single-arm robots, robots can carry out more complex missions, capturing target three-dimensional (3D) higher probability success. Considering possible model uncertainties and non-cooperative target, sliding mode controller (SMC) good robustness against...

Addresses the problem of human robot interaction with application to design assistive devices. We describe and development a prototype smart wheelchair that can be commanded by rider. Specifically, we focus on (a) vision-based interface; (b) suite sensors chair, (c) software architecture control algorithms used chair.

This paper presents the estimation of position ground plane for navigation on-road or off-road vehicles, in particular obstacle detection using stereo vision. Ground plays an important role vision based tasks. V-disparity image is widely used estimation. However, it heavily relies on distinct road features which may not exist. In here, we introduce a global correlation method to extract even without features.

Currently, there are significant challenges faced by the farming industry, not least of which a reduction in available labour workforce, and more 'corporate' style farming. Such factors demand an increase efficiency productivity. This paper looks forward to too distant future, where realisation autonomous will aid communities surviving as well competing global market. In this work, farm is seen complex system-of-systems, necessarily seamless integration requirements, bringing together areas...

This paper presents an approach for formulating dynamic cooperative maneuvers platoons of autonomous vehicles. Each member a platoon is represented by model and has set tactical operational controllers in the form hierarchical event-chains low-level longitudinal/latitudinal controllers. These models are incorporated simulation environments demonstrate ability to cooperatively maneuver around each other hazards. Multiple vehicles convoys drive autonomously down two-lane roadway simulated...

In the future, large satellites may be automatically assembled on-orbit in order to reduce weight and increase volume efficiency launchers. During this process, it important maintain satellite attitude. This paper presents a dynamic model, including reaction wheels twisting-algorithm-based sliding-mode controller, attitude during simple self-assembly process. Simulation results of controller are compared with from other controllers found literature.

In comparison to general autonomous robots, high precision guidance of farm vehicles becomes more complex and challenging as these are inevitably subjected significant slip caused by very rough unsteady terrain which is sometimes undulating. Therefore, it essential design controllers that have the capability react uncertain disturbances. This paper presents a robust model predictive controller for path tracking tracked vehicle towing steerable trailer in presence unknown but bounded Based on...

Tillage influences the physical and biological environment of soil. Rotation crops with a legume affects thesoil N status. A furrow irrigated site was investigated for long-term tillage crop rotation effects on leaching nitratefrom root zone accumulation in intermediate vadose (IVZ). The systems were diskplant(DP), ridge-till (RT) slot-plant (SP). These treatments have been maintained Hastings silt loam(Udic Argiustoll) Crete loam (Pachic soils since 1976. Continuous corn (CC) soybean...

The agricultural industry is undergoing significant cultural shifts at present and will continue to do so into the future. These have come about due emergence of more 'corporate' style farming, where declines in labour workforce increased emphasis on global competition, means a demand for efficiency productivity farming operations. Such turn lends itself called Precision Autonomous Farming (PAF). This paper presents ongoing work progress implementing Systems Engineering approach automation....