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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
1996 Volume 58 Issue Supplement Pages
401-402
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
403-404
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
405-406
Published: July 15, 1996
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R. Tsenkova, K. Itoh, J. Matsuda, J. Himoto
1996 Volume 58 Issue Supplement Pages
407-408
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
1996 Volume 58 Issue Supplement Pages
409-410
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
1996 Volume 58 Issue Supplement Pages
411-412
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
413-414
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
415-416
Published: July 15, 1996
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[in Japanese]
1996 Volume 58 Issue Supplement Pages
417-418
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
419-420
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
421-422
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
1996 Volume 58 Issue Supplement Pages
423-424
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
1996 Volume 58 Issue Supplement Pages
425-426
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
427-428
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
429-430
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
431-432
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
433-434
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[in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
435-436
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
437-438
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[in Japanese]
1996 Volume 58 Issue Supplement Pages
439-440
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
441-442
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...
1996 Volume 58 Issue Supplement Pages
443-444
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
445-446
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[in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
447-448
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[in Japanese], [in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
449-450
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
451-452
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[in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
453-454
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Noboru Noguchi, Kazunobu Ishii, Hideo Terao
1996 Volume 58 Issue Supplement Pages
455-458
Published: July 15, 1996
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To solve the problem of lack of labor and decrease of skilled workers for agriculture, we propose the method of creating work schedule for some agricultural mobile robots which perform their respective task simultaneously. In addition to this, a mobile robot which is able to be controlled by positions obtained from the image sensors and heading angles from a geomagnetic direction sensor (GDS) is developed. The positioning system for the mobile robot is based on the principle of triangulation. The subsystem is able to follow the movement of the robot and measure the angle to the robot by image analysis. The main system calculates the robot position using two angles from the subsystems, and sends it to the robot by a telecommunication system. Finally, assuming to make robots do the hay transportation on meadow, a control algorithm for the mobile robot system is developed, and a field test is conducted on a grass land to evaluate the developed robot system.
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Yosuke MATSUO, Osamu YUKUMOTO, Masato SUZUKI, Katsuya ABURATA, Makoto ...
1996 Volume 58 Issue Supplement Pages
459-462
Published: July 15, 1996
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With conventional remote control systems, it was difficult to get the conditions around the vehicle and its location for an operator at a distance from the vehicle. The operating feeling is widely different from the case on vehicle.
The paper describes the remote control system with useful functions to get the conditions around the vehicle by TV-cameras mounted on it, to get its location by DGPS system, and to simplify the operation of system by applications of automatic vehicle control.
Rotary tilling tests with the trial system for tractor operations were carried out, the results were satisfactory in respect of its usefulness.
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Navigation System XNAV-II
Osamu YUKUMOTO, Yosuke MATSUO, Masato SUZUKI, Katsuya ABURATA, Noboru ...
1996 Volume 58 Issue Supplement Pages
463-466
Published: July 15, 1996
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The research subject of “Tilling Robot” which aims at practical use, has been started in 1993. Tilling robot is one of the topics under research subjects of “the Project of Development Innovative Agricultural Machines”. New types of navigation systems are designed and studied for the tilling robot. The paper presents the navigation system XNAV-II with optical methods.
The XNAV-II is consist of the ground section, the vehicle section and the communication systems. The ground section is composed of the transit, the machine vision system and the computer system. The vehicle section is composed of the strobe flash light and the reflector. The TV camera and the laser range meter are equipped on the transit, and horizontal and vertical axes of the transit are driven by pulse motors through harmonic and worm reduction gears. The theory of the XNAV-II is based on the principle of traverse surveying. The modified prototype XNAV-II has been tested on a field, and its performances (mean sampling intervals: 0.52sec, mean positioning errors: ±5cm) were satisfactory in general.
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Single Truss Upside Down Tomato System and Constitution of Robot System
Naoshi Kondo, Mitsuji Monta, K. C. Ting, G. A. Giacomelli, P. P. Ling, ...
1996 Volume 58 Issue Supplement Pages
467-470
Published: July 15, 1996
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Generally speaking, tomato plant is usually grown until 5th or 6th truss of fruit at least in Japan. However, high density single truss tomato system have been reported recently due to several advantages as followings; 1. tomato plant including seedling, truss, fruit, leaf and stem can be standardized. 2. uniform quality and quantity are expected. 3. production scheduling is easy and demand of labor is predictable. 4. transportable bench is easy to be used and efficient greenhouse space utilization can be done. 5. mechanization is relatively easy.
In addition, tomato plant was grown upside down on the tomato production system in this study because of much less labor for plant training and easy mechanical operation. When a robot is introduced to this production system, no traveling device is required and the robot can work in the ideal environmental condition, since transportable bench is used. The robot, therefore, mailnly consist of manipulator, end-effector and visual sensor. The manipulator will be a cartesian coordinate type whose operational space is adaptable to the bench. To the end of manipulator, an end-effector which can suck a target fruit by suction pad and can grip and pick fruit off by fingers will be attached. As for visual sensor, a color TV camera can discriminate matured fruits from the others and can determine the fruit positions. While the robotic components are developing, appropriate variety of tomato plant is being investigated for robotic havesting.
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Development of Handling Robot System for Scion and Stock
Yoshifumi Nishiura, Haruhiko Murase, Nobuo Honami
1996 Volume 58 Issue Supplement Pages
471-474
Published: July 15, 1996
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This study intended to develop an automatic production system for grafted seedlings on the basis of “Plug-in Method”, which satisfies the conditions in the view of plant histological and physiological standpoints. By auto mechanization or robotization in the production of grafted seedlings which has ever been processed by handmade, we will try to find the principle of maximumizing the production potential of seedlings. We fabricated the full automatic type of the grafting robot system to perform “Plug-in Method”. In this paper we report the parts of robotization feeding materials for grafting seedlings. Especially we measured the physical properties which is useful for design of gripper in the handling system. In the transferring of a seedling, stem gripper receives the downward force by its own weight, and in the taper cutting process in order to make the plug-in grafting shape it receives the rotational direction force.
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Toru TORII, Tsuguo OKAMOTO, Takahiro KANUMA, Akira TAKAMIZAWA
1996 Volume 58 Issue Supplement Pages
475-478
Published: July 15, 1996
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Image analysis used for an autonomous agricultural vehicle was studied, in which the direction of TV camera toward the crop row was identified from the field images.
HSI transform were applied to the image binarization and a discriminant analysis method was used to select the threshold value for binarization. The TV camera direction to the furrow and crop row was identified from the field images. The boundary of furrow and crop row was detected by the horizontal scanning method. The boundary was approximated by two lines using a least squares method and the camera position was identified from the parameter of these two lines by perspective transformation. The results showed that the errrors of estimated angle were within 0.5 degree, and errors of estimated distance were within 2.6cm. These results are good agreement with the actual position, and the sensitive is sufficient for navigation of the autonomous agricultural vehicle.
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Shun-ichi Hata, Yasuyuki Hamada, Akihiko Nagashima, Naonori Tosaka, Mu ...
1996 Volume 58 Issue Supplement Pages
479-482
Published: July 15, 1996
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In Japan, ninety seven percent of sugar beets are in cultivation by transplanting. About 200 man-hour per hectare of labor is still required in this culture. To decrease more labor in sugar beets growing, the direct sowing culture will be recommended. In direct sowing culture, because of manual work, nearly 40 man-hour per hectare of labor is put into thinning work at present. To decrease the labor in direct sowing culture, automation of thinning work is essential.
In order to develop an automatic sugar beet thinner, the algorithm for serial image capturing, crop extraction and crop selection to be thinned was developed. The indoor model experiment was conducted to evaluate a feasibility of the algorithm. The experiment apparatus consists of video camera (SONY XC-009), PC (NEC PC9801Xa) with image capture board (I/O DATA GV98X) and one-board computer for driving mechanism. A few misjudge was occurred at processing of thinning selection. The mean location error of thinning signal, however, was about 6mm, and max. error was 35mm. As a result of discussion, it was concluded that the thinning algorithm would have a certain practicability.
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Heon Hwang, Y. K. Lee USDA, Y. R. Chen
1996 Volume 58 Issue Supplement Pages
483-487
Published: July 15, 1996
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A neuro-net based hybrid image processing system which automatically recognizes lean tissues from the beef cut surface image and generates the lean tissue contour has been developed Because of the inhomogeneous distribution and fuzzy pattern of fat and lean tissues on the beef cut, conventional image segmentation and contour generation algorithms suffer from the heavy computing, algorithm complexness and even the poor robustness. The proposed system utilizes an artificial neural network to enhance the robustness of processing. The system is composed of three procedures such as pre-network, network based lean tissue segmentation and post-network procedure. At the pre-network stage, gray level images of beef cuts were segemented and resized appropriate to the network inputs. At the network stage, the normalized gray value of each grid image was taken as the network input. Pre-trained network generated the grid image output of the isolated lean tissue. A sequence of post-network processing was followed to obtain the detailed contour of the lean tissue. Training scheme of the network and separating performance were presented and analyzed. The developed hybrid system showed the feasibility of the human like robust object segmentation and contour generation for the complex, fuzzy and irregular image.
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Comparison with Human Being's Eyesight
Naoshi Kondo, Yoshiaki Nishitsuji, Mitsuji Monta, Yasunori Shibano
1996 Volume 58 Issue Supplement Pages
489-492
Published: July 15, 1996
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Several methods to detect fruit position for robotic harvesting have been proposed. They are classified into active range finder and passive range finder, however both methods are based on principle of triangulation. In this study, a robotic system for harvesting small fruits in truss using passive range finder was investigated. The main tasks of this study was to design an efficient and effective machine vision based guidance system when an harvesting end-effector which could blow fruit into a fruit transporting tube was used. The challenge of cherry tomato fruit detection was to determine all fruit positions precisely, because of the corresponding problem of matching multiple objects in the two images of a stereo image set. In fact, the 3-D position of fruit cluster was determined using a binocular stereo vision technique. The robot harvested one fruit at a time and the position of the next target fruit was updated based on a newly acquired image and the latest manipulator position. The experimental results showed that this visual feedback control based harvesting method was effective. In addition, it was observed that the movements of fruits due to the harvest action or air movement could be compensated for to assure successful harvest and that the algorithm of this method was very similar with that of human being's eyesight.
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Yoshio Ikeda, Yohei Ishii
1996 Volume 58 Issue Supplement Pages
493-496
Published: July 15, 1996
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Animals communicate their thoughts by their vocalization as a human does by speech. Animal vocalization contains much important information, such as individual characteristics and physical conditions.
We propose livestock management with vocalization. In this research, cattle were identified with their vocalization. In generally, when the cattle are satisfied with their breeding condition, they do not cry. They cry under the limited situation such as hunger, estrus, sickness of calf, weaning. The vocalization of the cattle under the hungry condition was analyzed. Vocalizations recorded on a DAT-recorder were converted into digital time signal by an oscilloscope. The vocalization signals were modeled with AR-model by MEM (Maximum Entropy Method). Discriminant analysis was performed with Mahalanobis' generalized distance using the estimated AR-parameters. Over all rate of correct discrimination was 71.4%.
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Applying Bayes classifier and back-propagation neural classifier
Tsuguo Okamoto, Torn Torii, Yutaka Kaizu, Shintaro Nakaya
1996 Volume 58 Issue Supplement Pages
497-500
Published: July 15, 1996
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To robotize seedling production, a machine vision system was developed to inspect orchid seedlings and classify into quality and size categories. The boundary of a seedling image was captured with a monochromatic camera and approximated using a polar coordinate. The image features were extracted as Fourier series. A neural network or Bayes decision making were used to develop classifiers for quality and size similar to those used by human inspectors.
Quality coincident-classification rates for poor quality (B) were 92% with the neural network classifier and 89% with the Bayes classifier. Size coincident-classification rates for small size (S), medium size (M) and large size (L) were 82%, 68% and 90% with the neural network classifier and 69%, 73% and 84% with the Bayes classifier respectively.
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Shape Judgment of Green Pepper by Neural Network
Masateru Nagata, Qi-xin Cao, Osamu Kinoshita
1996 Volume 58 Issue Supplement Pages
501-504
Published: July 15, 1996
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The purpose of this study aimed to develop an automatic sorting system for vegetable fruits. It is well known that vegetable fruits, such as strawberries or green peppers, are with very irregular shapes. The sorting operation for this kind of vegetable fruits still remained at manual level. For this reason, the image processing and neural network were applied to judge the shape of vegetable fruits in this study in order to develop a automatic sorting system.
In this report, specially the feature extraction of green peppers in vegetable fruits was presented. The three methods on the feature extraction was proposed from a binarization picture of green peppers. These feature extraction were applied by the technologies of image processing and neural network in this test.
The experiment result showed that these feature extraction by using the neural network software was able to judge green peppers with higher accuracy comparing with manual operation. The coincident rate of a shape judgment on green peppers was 93 to 95% by the method II and III of the feature extraction. It needs the target of the coincident rate will be over 95%. The new method will be reported at the next chance because a new method is developing for attaining the target.
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Kenji Hatou, Yasushi Hashimoto
1996 Volume 58 Issue Supplement Pages
505-508
Published: July 15, 1996
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A three-dimensional laser measurement system for crop was constructed for obtaining plant data for virtual plant factory. Also an algorithm for compressing range image with preservation of the shape characteristics was constructed.
The measurement system was composed of two units. One was a laser distance meter for measuring position of the sample along z axis, which had the resolving power of ±0.1μm. The other was an x-y axis robot for measuring the x- and y-position with an accuracy of ±10μm. The algorithm for determining the characteristic points of polygons was developed for compressing the size of the data of range image. The algorithm included a parameter, which was calculated based on the length of fruits in order to cope with different shapes.
Using compression algorithms, the size of three-dimensional measurement data was compressed to 1/1000 of the original. The shape of the polyhedron is comparable to the shape of fruits. The author suggested that this high accurate and useful measurement system is suitable for visual sensor of agricultural robot based on virtual reality.
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Isao Tanaka
1996 Volume 58 Issue Supplement Pages
509-512
Published: July 15, 1996
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In Japan diffusion of the present plant factory system is slow, because the high cost of production in vegetables, and the wholesale prices being about 2 times than the ordinary cultivation. In a plant factory system which is 1500m
2, we made set-points of cost for equipment, cost for fluctuations and production output based on average wholesale price for vegetables in all Japanese markets. After we culculated the cost using these set-points, the plant factory system was built and tested. Therefore, we could obtain an economic prospect of the plant factory.
We have a perspective to apply a moving cultivation bed using a sprayer, making a total production system using a robots. It was indispensable to increase production by reducing the span of production, increasing planting density for effective practical use of planting area, increasing plant weight and yield, decreasing cost of cooling system, as well as personnel expenses, in order to decrease the production cost. The characteristics, equipment and business at the plant factory tested in Sanbu is commented below.
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Katsumi Ishikawa, Rokurou Tamura, Kimiko Tanabe, Junichi Miyawaki
1996 Volume 58 Issue Supplement Pages
513-516
Published: July 15, 1996
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Recently, techniques of controlling the environments of growth and development in nutriculture in green houses and so forth have been much expected. For this purpose, the assurance of good-quality raw water and environmental protection are important problems to be solved.
This study was conducted, directing a major attention to the fact that some of ceramics produced from silicate minerals as raw material have electric functions such as electric insulation, dielectric, and piezoelectric properties. Stable granular ceramics having electric charges at the surface were produced, by using the natural raw materials of silicate minerals having excellent mouldabilities and sintering properties. It was attempted to produce water having functions, by using effectively the electrochemical energy of the ceramics with an efficient water treatment device in which the ceramics were fluidized in water, differently from conventional systems. As the experimental results, the conductivity of the water treated with the ceramics was not changed, but the oxidation-reduction potential and also the pH and the dissolved oxygen concentration were changed. Then, improvements in water quality and proper oxidation-reduction potentials of water, which will contribute to the ecosystemic agriculture, were obtained.
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Michio Tanaka, Kensho Okamoto
1996 Volume 58 Issue Supplement Pages
517-520
Published: July 15, 1996
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The use of light emitting diodes (LEDs) as a radiation source for plants has attracted considerable interest and attention in recent years because of its vast potential for commercial application. The LEDs have features which are far better than the commonly used radiation sources; fluorescent and incandescent. The most attractive features of LEDs are small mass, volume, solid state construction, and long life. Several plant species have also been reported to grow successfully under LEDs. To date, however, there is no information of superbright red and blue LEDs as a light source for the growth of plantlets cultured in vitro. Therefore, the effects of superbright blue and red LEDs on the growth of
Cymbidium plantlets cultured in vitro have been studied. Leaf growth, chlorophyll content and shoot and root weight were affected by different LED irradiations. Red light promoted leaf growth but decreased chlorophyll content. This was reversed by blue light. The growth of
Cymbidium plantlets in terms of increase in total shoot and root weight was comparable under red plus blue LEDs and the fluorescent systems. The novel culture vessel, the “UniPACK”, with individual radiation source using superbright blue and red light emitting diodes was also developed by one of the authors (KO). The plantlets cultured in the “UniPACK” were normal and comparable to those cultured under the fluorescent systems. The significance of our findings in relation to the development of a suitable lighting system for plant tissue culture is discussed.
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Diagnosis of recovery of roots from transplanting damage
Toru Torii, Takashi Mukai, Tuguo Okamoto
1996 Volume 58 Issue Supplement Pages
521-524
Published: July 15, 1996
Released on J-STAGE: April 30, 2010
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In recent years, the need for the greenery, such as flowers and green plants, in the office or home has been increasing. The need for hydroculture has also been increasing because of the aesthetic and sanitary aspects. When a plant is transplanted from soil culture to hydroculture, the roots are damaged. If the plant is sent as a product before recovering from the damage, the plant may not survive. The plants should be cured under a protected environment until the plant has recovered from the transplanting damage. From the viewpoint of cost, the curing time should be as short as possible. The main goal of this study was to develop a method to diagnose when the root sufficiently recovered from the transplanting damage. The light intensity was varied and resulting plant responses, such as changes in diameter and vapor transpiration, were measured. Cross-correlation function were calculated, and showed the significant differences between the plants during the recovery.
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Sei-ichi OSHITA, Yasuhisa SEO, Kazuharu KOREEDA, Kenji NAKAMURA
1996 Volume 58 Issue Supplement Pages
525-528
Published: July 15, 1996
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When xenon gas dissolves into water, a hydrophobic hydration occurs and the structured water will be formed. The structured water means a large number of hydrogen-bonded water molecules which is a factor determining the viscosity of water. As the viscosity of water governs a biochemical reaction rate, the metabolism of cut flowers is expected to be suppressed when the intracellular water becomes structured. Two groups of cut carnations were placed in airtight containers of 2.124L. The one, which was control, was filled with air of 25kPa and nitrogten of 76kPa and the other was filled with air of 25kPa and xenon of 76kPa. Carnations were kept in each gas condition for 2 weeks at 293K, then both containers were ventilated to be filled with air and were kept for 1 week at 293K. Before storage, CO
2 concentration in containers of both groups of carnations under air condition were measured and normal respiration rates were calculated. They were 339mgCO
2/kg/h for carnations to be treated by xenon and 432mgCO
2/kg/h for those of the control. Respiration rates decreased and after 16 days, they were estimated as 63mgCO
2/kg/h for carnations treated by xenon and 206mgCO
2/kg/h for carnations of the control. This showed that the respiration rate of carnations treated by xenon was evidently suppressed. From visual inspection, carnations of the control deteriorated in 14 days, whereas carnations treated by xenon didn't deteriarate for 20 days.
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[in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
529-530
Published: July 15, 1996
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[in Japanese], [in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
531-532
Published: July 15, 1996
Released on J-STAGE: April 30, 2010
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[in Japanese]
1996 Volume 58 Issue Supplement Pages
533-534
Published: July 15, 1996
Released on J-STAGE: April 30, 2010
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[in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
535-536
Published: July 15, 1996
Released on J-STAGE: April 30, 2010
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[in Japanese], [in Japanese]
1996 Volume 58 Issue Supplement Pages
537-538
Published: July 15, 1996
Released on J-STAGE: April 30, 2010
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