Use Case<\/h2>\n\n\n\n
It’s harvesting season, and our farmer Tom, who has a mid sized pepper farm is looking to make a bountiful harvest. <\/p>\n\n\n\n He deploys<\/em><\/strong> VADER, an autonomous pepper harvesting robot<\/strong> into the field, and selects<\/em><\/strong> the mode of operation. When set to autonomous mode, VADER<\/strong> reaches the appropriate position near the pepper plant using the farmer’s guidance to start harvesting. <\/p>\n\n\n\n It scans<\/em><\/strong> the plant and identifies<\/em><\/strong> reachable peppers and their peduncles, and selects <\/strong><\/em>one of them for harvesting. VADER moves<\/strong><\/em> it’s gripper arm near the pepper and it’s cutter arm near the peduncle. It aligns<\/em><\/strong> its gripper and cutter to match<\/em><\/strong> the pepper’s orientation and then performs precise extractions<\/em><\/strong>, and places <\/em><\/strong>it in the designated storage area. The entire process repeats until all the peppers are harvested.<\/p>\n\n\n\n In the case of failure, VADER prompts<\/em><\/strong> Tom to select the teleoperation mode, where he monitors a real-time video feed, and remotely guides<\/em><\/strong> VADER<\/strong> to pick<\/em><\/strong> peppers with accuracy.<\/p>\n\n\n\n <\/p>\n","protected":false},"excerpt":{"rendered":" Problem Statement The goal of this project is to implement a robotic system which autonomously harvest green peppers from outdoor farms. The robotic system will be mobile to navigate around the fields and be equipped with robotic arms to grasp […]<\/p>\n","protected":false},"author":408,"featured_media":0,"parent":45,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-119","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/119","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/users\/408"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/comments?post=119"}],"version-history":[{"count":6,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/119\/revisions"}],"predecessor-version":[{"id":135,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/119\/revisions\/135"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/pages\/45"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-json\/wp\/v2\/media?parent=119"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-content\/uploads\/sites\/87\/2024\/11\/A-farmer-standing-next-to-his-mid-sized-pepper-field-feeling-excited-to-harvest-fresh-bell-peppers-at-night-time.jpg\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-content\/uploads\/sites\/87\/2024\/11\/A-human-farmer-standing-behind-two-robotic-arms-gripping-and-cutting-bell-peppers-hanging-from-plant-branches-in-the-field.jpg\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teame\/wp-content\/uploads\/sites\/87\/2024\/11\/A-computer-vision-method-scanning-bell-peppers-in-a-field.jpg\")
<\/figure>\n\n\n\n