- Robot is placed at the start of the test environment\u2019s first row.<\/li>
- Reactive navigation package is launched. It follows the path as shown in Fig 1. <\/li>
- Perception package is launched.<\/li>
- Bounding boxes for flowers for the first row are obtained as shown in Fig 2. <\/li>
- Robot stops at the bounding box location as shown in Fig 2.<\/li>
- Robot arm reaches the bounding box location as shown in Fig 2. <\/li>
- Robot arm reaches the POI location(given via aruco markers) as shown in Fig 3.<\/li>
- Robot performs the pollination test (as mentioned in test 11<\/a>) as shown in Fig 4.<\/li>
- Robot navigates to the next pollination point and repeats this for two more instances.<\/li>
- Robot reaches the end of the row, does row switching using aruco markers.<\/li>
- Robot navigates through one more row and then stops. <\/li><\/ul>\n\n\n\n
- To show harvesting, navigation and perception<\/strong><\/li><\/ol>\n\n\n\n
- Robot is placed at the start of the test environment\u2019s first row.<\/li>
- Reactive navigation package is launched. It follows the path as shown in Fig 1.<\/li>
- Perception package is launched.<\/li>
- Bounding boxes for fruits for the first row are obtained as shown in Fig 2. <\/li>
- Robot stops at the bounding box location as shown in Fig 2.<\/li>
- Robot arm reaches the bounding box location as shown in Fig 2. <\/li>
- Robot arm reaches the POI location(given via aruco markers) as shown in Fig 3.<\/li>
- Robot performs the harvesting test (as mentioned in test 1<\/a>0) as shown in Fig 5.<\/li>
- Robot navigates to the next harvesting point and repeats this for two more instances.<\/li>
- Robot reaches the end of the row, does row switching using aruco markers.<\/li>
- Robot navigates through one more row and then stops. <\/li><\/ul>\n\n\n\n
- To show harvester tool capability <\/strong><\/li><\/ol>\n\n\n\n
- Tomato bunch is placed near the robot end effector such that the stem is in between the gripper pads as shown in Fig 5.<\/li>
- Run harvesting program which will activate the gripper and cutter sequence as shown in Fig 5.<\/li><\/ul>\n\n\n\n
![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-content\/uploads\/sites\/60\/2022\/04\/nav.jpg\")
Fig 1. Navigation route<\/figcaption><\/figure>\n\n\n\n ![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-content\/uploads\/sites\/60\/2022\/04\/per.jpg\")
Fig 2. Bounding box recognized by the head camera, bot stops, and arm moves towards it<\/figcaption><\/figure>\n\n\n\n ![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-content\/uploads\/sites\/60\/2022\/04\/poi.jpg\")
Fig 3. POI recognized by the wrist camera (aruco for SVD) and arm moves towards it<\/figcaption><\/figure>\n\n\n\n ![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-content\/uploads\/sites\/60\/2022\/04\/pollinate.jpg\")
Fig 4. Pollination action<\/figcaption><\/figure>\n\n\n\n ![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-content\/uploads\/sites\/60\/2022\/04\/harvest.jpg\")
Fig 5. Harvesting action<\/figcaption><\/figure>\n\n\n\n Validation <\/strong><\/p>\n\n\n\n
- The robot must track the rows within \u00b115 cm accuracy (M.P.1) while not colliding with plants and pots (M.P.2).<\/li>
- The robot must successfully change rows when at the end of one row (D.P.1).<\/li>
- The robot detects tomatoes\/flower clusters with a success rate of 60%. (M.P.3, M.P.5).<\/li>
- Clusters of flowers \/ tomatoes located to within 10cm (Euclidean) (D.P.3, D.P.4).<\/li>
- The harvesting tool should cut the stem in two or less passes (D.P.6).<\/li>
- The payload capacity of the harvesting tool should be atleast 500g (M.N.1, M.N.2).<\/li>
- Flowers will be preserved 60% of the time (D.P.4).<\/li><\/ul>\n\n\n\n
Fig. 5 shows the performance evaluation following SVD and SVD Encore.<\/p>\n\n\n\n
![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-content\/uploads\/sites\/60\/2022\/05\/image-3-1024x472.png\")
Fig 5. Performance Evaluation<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":" The SVD demonstration will need all 5 members of the team to be present and will take place outside the cage. The […]<\/p>\n","protected":false},"author":281,"featured_media":0,"parent":169,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-174","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/174","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/users\/281"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/comments?post=174"}],"version-history":[{"count":10,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/174\/revisions"}],"predecessor-version":[{"id":633,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/174\/revisions\/633"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/pages\/169"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamg\/wp-json\/wp\/v2\/media?parent=174"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}