The following table shows the tests performed to test the cornstalk width detection.<\/p>\n\n\n\n Perception The following table shows the tests performed to test the cornstalk width detection. Test Performed Metric Conclusion Depth Movement \u00b1 0.45 mm Good for distances\u00a0 > 10 cm Horizontal Movement \u00b1 3.65 mm Minor difference due to image distortion […]<\/p>\n","protected":false},"author":359,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-403","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/pages\/403","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/users\/359"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/comments?post=403"}],"version-history":[{"count":4,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/pages\/403\/revisions"}],"predecessor-version":[{"id":407,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/pages\/403\/revisions\/407"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamd\/wp-json\/wp\/v2\/media?parent=403"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}Test Performed<\/th> Metric<\/th> Conclusion<\/th><\/tr><\/thead> Depth Movement<\/td> \u00b1 0.45 mm<\/td> Good for distances\u00a0 > 10 cm<\/td><\/tr> Horizontal Movement<\/td> \u00b1 3.65 mm<\/td> Minor difference due to image distortion<\/td><\/tr> Yaw Angle<\/td> \u00b1 1.20 mm<\/td> Performed as expected<\/td><\/tr> Roll Angle<\/td> N\/A<\/td> Stalk not detected at higher angles<\/td><\/tr> Width<\/td> \u00b1 1 mm<\/td> Performed as expected<\/td><\/tr> Ovular Measurement<\/td> N\/A<\/td> Performed as expected<\/td><\/tr> Occlusion<\/td> N\/A<\/td> Occluded regions detected with lower conf.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n Manipulation<\/h2>\n\n\n\n
Test Performed<\/th> # Tests<\/th> Grasp Region<\/th> Success<\/th> Conclusion<\/th><\/tr><\/thead> Approach and Sweep Cornstalks<\/td> 20<\/td> y > 0.6
x > 0.2
x <= 0.2<\/td>100%<\/td> xArm performed as expected<\/td><\/tr> Approach and Sweep Cornstalks<\/td> 10<\/td> y < 0.6
x > 0.2
x <= 0.2<\/td>80%<\/td> xArm workspace is very limited with corn rows closer to base. Singularities faced in planning.<\/td><\/tr> Hook Cornstalks<\/td> 20<\/td> y > 0.6
x > 0.2
x <= 0.2<\/td>90%<\/td> xArm performed as expected<\/td><\/tr> Hook Cornstalks<\/td> 10<\/td> y < 0.6:
x > 0.2
x <= 0.2
<\/td>90%<\/td> xArm workspace is very limited with corn rows closer to base. Singularities faced in planning.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n End Effector<\/h2>\n\n\n\n
Tests Performed<\/th> # Tests<\/th> Success<\/th> Conclusion<\/th><\/tr><\/thead> Repeatability<\/td> 8<\/td> 100%<\/td> Gripper is reliable<\/td><\/tr> Varying DIA<\/td> 8<\/td> 100%<\/td> Gripper can handle 17-45 mm DIA cornstalks effectively<\/td><\/tr> Varying Orientation<\/td> 7<\/td> 100%<\/td> Sensor insertion is not highly dependent on stalk orientation<\/td><\/tr> Varying X-Offset<\/td> 3<\/td> 0%<\/td> Need simple visual servoing<\/td><\/tr> Varying Y-Offset<\/td> 4<\/td> 100%<\/td> Insertion quality not dependent on Y-offset<\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"