2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON), 2017
A human-like mobile robotic system for humus production, from earthworms (Eisenia foetida), in ur... more A human-like mobile robotic system for humus production, from earthworms (Eisenia foetida), in urban areas, was developed, built up and tested. The system could be separated in two modules for a better understanding, Software and Hardware. The Software implements a fuzzy control algorithm aimed to keep the best environment conditions inside the humus production zone, an in this way maximize the humus production and to accelerate the process. It also, handles decisions related to charge and discharge of organic matters, based on organic matter analysis performed before the process to avoid earthworms poisoning. The hardware can be divided in four modules: Organic material reception and classification, Milling and quality control, Humus production, Humus discharge. The preliminary results shows that the prototype has the capability to accelerate the rate of humus production, avoid toxic products, guarantee long term production, because the organic matter quality control, providing in this way the feasibility to be implemented in urban areas as well.
An image analysis algorithm for the classification of cherries in real time by processing their d... more An image analysis algorithm for the classification of cherries in real time by processing their digitalized colour images was developed, and tested. A set of five digitalized images of colour pattern, corresponding to five colour classes defined for commercial cherries, was characterized. The algorithm performs the segmentation of the cheery image by rejecting the pixels of the background and keeping the image features corresponding to the coloured area of the fruit. A histogram analysis was carried out for the RGB and HSV colour spaces, where the Red and Hue components showed differences between each of the specified colour patterns of the exporting reference system. This information led to the development of a hybrid Bayesian classification algorithm based on the components R and H. Its accuracy was tested with a set of cherry samples within the colour range of interest. The algorithm was implemented by means of a real time C++ code in Microsoft Visual Studio environment. When tes...
ABSTRACT The control of harvesters on the Internet allows to diagnose remotely and within minutes... more ABSTRACT The control of harvesters on the Internet allows to diagnose remotely and within minutes failures, breakdowns or maintenance notification
Image segmentation is a process by which an image is partitioned into regions with similar featur... more Image segmentation is a process by which an image is partitioned into regions with similar features. Many approaches have been proposed for color images segmentation, but Fuzzy C-Means has been widely used, because it has a good performance in a wide class of images. However, it is not adequate for noisy images and it takes longer runtimes, as compared to
The concept of quality of life is used as a measure of the welfare of a society, highlighting the... more The concept of quality of life is used as a measure of the welfare of a society, highlighting the relationship between the environment and health, mainly associated with pollution. Hence the importance of monitoring and communicating its results, in a timely manner, to the community. But often the last part of the process fail, there is a lack of communication between data, information and community. Using open hardware and open source tools, and based on the Internet of things concept, a low-cost citizen monitoring network, that cost less than US $ 150 was implemented. This network measures Carbon Monoxide (CO), Temperature, Relative Humidity, Particulate Matter 2.5, Noise and UV radiation, with a reading frequency of every 40 s and a hibernation period of 15 min. The environmental monitoring network gather information from the environment, through sensors, and then store it in a MySQL database, to finally be deployed in a web site hosted on a local web server Apache, implemented e...
Inteligencia artificial revista iberoamericana de inteligencia artificial
The Hough transform (HT) is a widely used method for line detection and recognition, due to its r... more The Hough transform (HT) is a widely used method for line detection and recognition, due to its robustness. But its performance is strongly dependent on the applied segmentation technique. On the other hand, Fuzzy C-Means (FCM) has been widely used in image segmentation because it has a good performance in a large class of images. However, it is not good for noisy images, so that to overcome this weakness several modifications to FCM have been proposed, like Robust Fuzzy Possibilistic C-Means (RFPCM). In this paper, we propose to use the RFPCM algorithm for the segmentation of crops images in order to apply the HT to detect lines in row crops for navigation purposes. The proposed method gives better results compared with techniques based on visible spectral-index or Specific threshold-based approaches.
The basis to perform any agricultural task by robots is to planning and following paths or trajec... more The basis to perform any agricultural task by robots is to planning and following paths or trajectories inside the crops. This research aims to developed and implemented algorithms for following and planning (global and local) trajectories for agricultural robots. The global planning was performed using the A * algorithm applied over crop maps and the local planning was performed using A* applied over a 2D map obtained from 3D images of the obstacles present on the way. Trajectory following was done by implementing a numerical approximation of the trajectory by Euler's method. The parameters for the dynamics of the robot trajectory’s controller were obtained by genetic algorithms. The 3D map was generated from the Microsoft Kinect sensor, and its data processed by Matlab 2011b. Preliminary results show that these algorithms can be implemented in small robots designed to be used in crop rows. Thereby providing a robust methodology to tracking assigned paths with errors less than ...
Abstract: A system for managing and monitoring agricultural labors at farm level was developed an... more Abstract: A system for managing and monitoring agricultural labors at farm level was developed and tested in an agrochemical application. The system is constituted by an electronics box mounted on the tractor and software that acquire and analyze data from ...
2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON), 2017
A human-like mobile robotic system for humus production, from earthworms (Eisenia foetida), in ur... more A human-like mobile robotic system for humus production, from earthworms (Eisenia foetida), in urban areas, was developed, built up and tested. The system could be separated in two modules for a better understanding, Software and Hardware. The Software implements a fuzzy control algorithm aimed to keep the best environment conditions inside the humus production zone, an in this way maximize the humus production and to accelerate the process. It also, handles decisions related to charge and discharge of organic matters, based on organic matter analysis performed before the process to avoid earthworms poisoning. The hardware can be divided in four modules: Organic material reception and classification, Milling and quality control, Humus production, Humus discharge. The preliminary results shows that the prototype has the capability to accelerate the rate of humus production, avoid toxic products, guarantee long term production, because the organic matter quality control, providing in this way the feasibility to be implemented in urban areas as well.
An image analysis algorithm for the classification of cherries in real time by processing their d... more An image analysis algorithm for the classification of cherries in real time by processing their digitalized colour images was developed, and tested. A set of five digitalized images of colour pattern, corresponding to five colour classes defined for commercial cherries, was characterized. The algorithm performs the segmentation of the cheery image by rejecting the pixels of the background and keeping the image features corresponding to the coloured area of the fruit. A histogram analysis was carried out for the RGB and HSV colour spaces, where the Red and Hue components showed differences between each of the specified colour patterns of the exporting reference system. This information led to the development of a hybrid Bayesian classification algorithm based on the components R and H. Its accuracy was tested with a set of cherry samples within the colour range of interest. The algorithm was implemented by means of a real time C++ code in Microsoft Visual Studio environment. When tes...
ABSTRACT The control of harvesters on the Internet allows to diagnose remotely and within minutes... more ABSTRACT The control of harvesters on the Internet allows to diagnose remotely and within minutes failures, breakdowns or maintenance notification
Image segmentation is a process by which an image is partitioned into regions with similar featur... more Image segmentation is a process by which an image is partitioned into regions with similar features. Many approaches have been proposed for color images segmentation, but Fuzzy C-Means has been widely used, because it has a good performance in a wide class of images. However, it is not adequate for noisy images and it takes longer runtimes, as compared to
The concept of quality of life is used as a measure of the welfare of a society, highlighting the... more The concept of quality of life is used as a measure of the welfare of a society, highlighting the relationship between the environment and health, mainly associated with pollution. Hence the importance of monitoring and communicating its results, in a timely manner, to the community. But often the last part of the process fail, there is a lack of communication between data, information and community. Using open hardware and open source tools, and based on the Internet of things concept, a low-cost citizen monitoring network, that cost less than US $ 150 was implemented. This network measures Carbon Monoxide (CO), Temperature, Relative Humidity, Particulate Matter 2.5, Noise and UV radiation, with a reading frequency of every 40 s and a hibernation period of 15 min. The environmental monitoring network gather information from the environment, through sensors, and then store it in a MySQL database, to finally be deployed in a web site hosted on a local web server Apache, implemented e...
Inteligencia artificial revista iberoamericana de inteligencia artificial
The Hough transform (HT) is a widely used method for line detection and recognition, due to its r... more The Hough transform (HT) is a widely used method for line detection and recognition, due to its robustness. But its performance is strongly dependent on the applied segmentation technique. On the other hand, Fuzzy C-Means (FCM) has been widely used in image segmentation because it has a good performance in a large class of images. However, it is not good for noisy images, so that to overcome this weakness several modifications to FCM have been proposed, like Robust Fuzzy Possibilistic C-Means (RFPCM). In this paper, we propose to use the RFPCM algorithm for the segmentation of crops images in order to apply the HT to detect lines in row crops for navigation purposes. The proposed method gives better results compared with techniques based on visible spectral-index or Specific threshold-based approaches.
The basis to perform any agricultural task by robots is to planning and following paths or trajec... more The basis to perform any agricultural task by robots is to planning and following paths or trajectories inside the crops. This research aims to developed and implemented algorithms for following and planning (global and local) trajectories for agricultural robots. The global planning was performed using the A * algorithm applied over crop maps and the local planning was performed using A* applied over a 2D map obtained from 3D images of the obstacles present on the way. Trajectory following was done by implementing a numerical approximation of the trajectory by Euler's method. The parameters for the dynamics of the robot trajectory’s controller were obtained by genetic algorithms. The 3D map was generated from the Microsoft Kinect sensor, and its data processed by Matlab 2011b. Preliminary results show that these algorithms can be implemented in small robots designed to be used in crop rows. Thereby providing a robust methodology to tracking assigned paths with errors less than ...
Abstract: A system for managing and monitoring agricultural labors at farm level was developed an... more Abstract: A system for managing and monitoring agricultural labors at farm level was developed and tested in an agrochemical application. The system is constituted by an electronics box mounted on the tractor and software that acquire and analyze data from ...
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