Robotics for Bio-production Systems Contents
CONTENTS OF
"ROBOTICS FOR BIO-PRODUCTION SYSTEMS"
Chapter 1. INTRODUCTION (Kondo and Ting)
Why is this monograph written?
What is the definition of a bio-production robot?
Necessity of the bio-production robot
Uniqueness of bio-production robots
.....Development of bio-production robots
.....Robot's intelligence and mind
Overview of the monograph
References
Chapter 2. ROBOTICS FOR MANIPULATING BIOLOGICAL OBJECTS (Kondo and Ting)
Work objects of bio-production robots
Characteristics of biological objects
Features of bio-production robotics
Expectations for bio-production robots
.....Labor saving and substitution
.....Extension of human capability
.....New production system with the robot
Multi-purpose robot for bio-production
Bio-production robots - an integration of engineering, biology and social science
References
Chapter 3. FUNDAMENTALS AND BASIC COMPONENTS OF ROBOTS (Kondo)
Fundamentals of robots
.....Servo-mechanism
Basic components of robots
.....Manipulator
..........Mechanism of manipulator.
..........Control of manipulator
..... Robot without manipulator
.....End-effector
..........Mechanism of end-effector
..........Sensor for end-effector
.....Sensor
..........Sensor for bio-production robot
..........Classification of sensor
..........Sensor fusion
..........Future robotic sensor
Traveling device
.....Control device
..........CPU
..........Memory
..........Peripheral devices
..........Bus
.....Classification of actuator
..........Electric actuator
..........Hydraulic actuator
..........Pneumatic actuator
References
Chapter 4. DESIGN AND CONTROL OF MANIPULATORS (Kondo)
Mechanism of manipulator
.....Cartesian coordinate manipulator
.....Cylindrical coordinate manipulator
.....Polar coordinate manipulator
.....Articulated manipulator
Redundant manipulator
Evaluation of mechanism
.....Operational space
.....Measure of manipulatability
.....Redundant space and posture diversity
.....Space for obstacle avoidance
.....Accuracy of manipulator end
Manipulator for bio-production
.....Plant training system
.....Fruit vegetables grown on vertical plane
.....Fruit tree grown on sphere
.....Fruit tree grown on trellis plane
.....Vegetables grown on ground
.....Other objects
Control of manipulator
.....Two DOF polar manipulator
.....Two DOF articulated manipulator
.....Geometrical solution of joint displacement for a five DOF articulate manipulator
.....Solution of joint angular velocities for 3 DOF articulate manipulator
.....Control of redundant manipulator
References
Chapter 5. MACHINE VISION (Shirai, Kondo, Fujiura)
Image acquisition
.....Image sensors
.....TV cameras
.....The image grabber and its processing device
.....Luminaire
Discrimination
.....Method of RGB signals
.....Method of most suitable wavelength band based on spectral reflectance
Recognition
.....Features from the binary image
..........Fractal dimension
..........Thinning processing
..........Chain coding
.....Features from the gray level image
..........Co-occurrence matrix
.....Recognition algorithm for biological object
Depth measurement and 3-D vision
.....Depth measurement
..........Time of Flight
..........Active Triangulation
..........Stereo vision
..........Stereo vision with distinct features
.....Area-Based Stereo Vision
..........Real Time Area-Based Stereo Vision
..........Feature-Based Stereo Vision
..........A Multistage Stereo Using Matching Reliability
.....Sensor Fusion
..........Sensor fusion categories
..........Sensor Fusion for a Mobile Robot
.....Application to bio-production
..........Measurement of fruit location by binocular stereo vision
..........3-D vision sensor that emits red and infrared beams
..........A 3-D vision sensor that emits only infrared beams
..........Visual feedback control
..........Depth measurement using differential object size
References
Chapter 6. SENSORS FOR BIO-PRODUCTION ROBOTS (Monta, Kondo, Fujiura)
External sensors for perception other than vision
.....Range sensors
..........Ultrasonic sensor
..........Position sensitive device (PSD)
.....Proximity sensors
..........Photo sensing type
..........Pneumatic type
.....Tactile sensors
..........Touch sensor
..........Pressure sensor
..........Slip sensor
.....Ripeness sensor for fruit
..........Photo sensor
..........Sonic sensor
..........Gas sensor
.....Sensors for robot guidance
..........Fixed path
..........Semi-fixed path
..........Free path
Internal sensors for mechanism control
.....Fixed position and fixed angle detection
..........Micro switch
..........Photo-electric sensor
.....Position and angle measurement
..........Potentiometer
..........Encoder
.....Velocity and angular velocity measurement
..........Tachometer generator
..........Moving magnet velocity sensor
.....Acceleration measurement
..........Piezoelectric acceleration sensor
..........Strain gage acceleration sensor
.....Inclination measurement
..........Photoelectric inclination sensor
..........Electrolytic liquid type inclination sensor
.....Azimuth measurement
..........Gyroscope
..........Geomagnetic sensor
References
Chapter 7. TRAVELING DEVICES WITHIN BIO-PRODUCTION ENVIRONMENTS (Monta)
Wheel type
.....Characteristics and mechanisms
.....Application for bio-production environments
Rail type
.....Characteristics and mechanisms
.....Application for bio-production environments
Crawler type
.....Characteristics and mechanisms
.....Application for bio-production environments
Gantry system
.....Characteristics and mechanisms
.....Types and structure of gantries
..........Wide span vehicle
..........Rail type gantry
Legged robot
.....Characteristics and mechanisms
.....Application for bio-production environments
References
Chapter 8. ROBOT INTELLIGENCE (Murase, Shirai, Ting)
Knowledge Based Decision Support
..... Heuristic reasoning
..........Knowledge representation
..........Building a knowledge base
..........Inference engine
..........Reasoning under uncertainty
..........Evaluation of expert systems
..... In relation to bio-production robots
Fuzzy control for dealing with uncertainty
..... Basic fuzzy theory
..... Methods of fuzzy inference
..... Expert system with fuzzy production rules
Artificial neural network applications for robotics systems
..... Artificial neural networks
..... Neural network architectures
..........Perceptron
..........Hopfield network
..........Back-error propagation
..... Kalman filter learning
..... Robot arm control
References
Chapter 9. ROBOTS IN BIO-PRODUCTION WITHIN CONTROLLED ENVIRONMENTS (Kondo, Fujiura, Ting, Okamoto, Monta)
Micro-propagation robot
..... Automation in tissue culture
..... The process of biotechnology
..... Plant tissue culture proliferation robot
..... Orchid protocorm transplanting robot
..... Culture seedling proliferation / transplanting robot
Grafting Robot
Cutting sticking robot
..... Phytological characteristics
..... Robotic cutting sticking system
..... Cutting providing system
..... Visual sensor
..... Leaf removing device and planting device
..........Leaf removing device
..........Planting device
Transplanting robot
..... Work object
..... Equipment
..........Plug container
..........Conveyer belts
..........Robot
..........End-effector
..........Sensing devices
..........Host computer
..... Operations
..... Performance indicators
..........Workability and productivity
..........Plug quality preservation and quantity conservation
..........Reliability, complexity and safety
..........Cost-effectiveness
..... Example cases
Harvesting robot in greenhouse
..... Tomato harvesting robot
..........Phytological characteristics
..........Manipulator
..........End-effector
..........Sensor
..........Traveling device
..... Cherry tomato harvesting robot
..........Phytological characteristics
..........A polar coordinate robot
..........Cherry tomato harvesting robot as a multi-operation robot
..... Strawberry harvesting robot
..........Phytological characteristics
..........Manipulator
..........End-effector
..... Cucumber harvesting robot
..........Phytological characteristics
..........Manipulator
..........End-effector
..........Visual sensor
..... Mushroom harvesting robot
..........Physical properties
..........Manipulator
..........End-effector
..........Visual sensor
Vegetable production robot in plant factory
Milking robot
Wool harvesting robot
References
Chapter 10. ROBOTS IN BIO-PRODUCTION IN OPEN FIELDS (Kondo, Fujiura, Monta, Sevila)
Harvesting robot
..... Grape harvesting robot in Japan
..........Phytological characteristics
..........Manipulator
..........End-effector
..........Visual sensor
..........Traveling device
..... Orange harvesting robot in Japan
..........Summer orange harvesting robot
..........Mandarin orange harvesting robot
..... Orange harvesting robot in USA
..... Apple harvesting robot in Korea
..... Harvesting robots for apple, orange and grape in Europe
..........Fruit detection in complex environment
..........Modeling of biological objects
..........Interactive operations between sensors and actuators
..........Design of manipulators for bio-production
..........Traveling device
..........Multi-sensing mountings on robots
..........Artificial intelligence implementations
..........Plant adaptation to robots
..... Watermelon harvesting robot
..........Manipulator
..........End-effector
..........Visual sensor
..........Traveling device
..... Melon harvesting robot
..... Other harvesting robot
..........Selective harvesting robot for cabbage
..........Autonomous hay harvester
Robotic tractor
..... Geomagnetic heading sensor
..... Photo-electric sensor system
..... Machine vision system
..... Steering control method
..........Path planning
..........Steering controller
Plant protection robot
..... Spraying robot
..... Fertilizing robot
..... Weeding robot
..........Weeding between plants
..........Weed detection in lawn field
Multipurpose robot for grape production
..... Berry thinning end-effector
..... Bagging end-effector
..... Spraying end-effector
Multipurpose robot for vegetable production
..... Leafy vegetable transplanting
..... Weed control
..... Harvesting of leafy vegetables
References
Chapter 11. ROBOTS IN THE FOOD INDUSTRY (Ting)
Introduction
Soft Fruit Packing
Egg Candling
Prawn Handling
Meat Processing
..... Break up of Pork Carcasses
..... Deboning of Beef Forequarters
..... Handling of Poultry Products
Filled Pie Production
Food Packaging
Secondary Packaging and Palletizing
MRE Pouch Inspection
Institutional Food Service
Environmental Chamber Moisture Absorbency Testing
References
Chapter 12. SYSTEMS ANALYSIS, INTEGRATION, AND ECONOMIC FEASIBILITY (Ting)
Systems Analysis
..... Fundamentals
..........Define the system and its objective
..........Identify descriptors of the system
..........Establish the relationships among the descriptors
..........Designate system performance indicators
..........Develop a model to represent the system
..........Verify and validate the model
..........Perform simulation using the model
..........Draw conclusions about the system
..... Application Example
..........Workcell layout and advancement pattern
..........Linear speed of robot wrist
..........Probabilistic Factors
Engineering Economics
..... Fundamentals
..... Application Example
..... Feasibility Analysis
..... Parametric Analysis
Systems Integration
..... MRE pouch inspection workcell
..... Robotic workcell for quality sorting of somatic embryos
Tomato and cherry tomato harvesting robot
Cucumber harvesting robot
Strawberry harvesting robots
Multi-operation robot for grapevine
Safety system for agricultural robot
Chrysanthemum cutting sticking robot
Weed Detection in lawn field
Plant diagnosis system
Quality Evaluation for agricultural products
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