کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5002426 | 1368453 | 2016 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Development of a Mobile Robotic Phenotyping System for Growth Chamber-based Studies of Genotype x Environment Interactions
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Development of a Mobile Robotic Phenotyping System for Growth Chamber-based Studies of Genotype x Environment Interactions Development of a Mobile Robotic Phenotyping System for Growth Chamber-based Studies of Genotype x Environment Interactions](/preview/png/5002426.png)
چکیده انگلیسی
To increase understanding of the interaction between phenotype and genotype x environment to improve crop performance, large amounts of phenotypic data are needed. Studying plants of a given strain under multiple environments can greatly help to reveal their interactions. To collect the labor-intensive data required to perform experiments in this area, a Mecanum-wheeled, magnetic-tape-following indoor rover has been developed to accurately and autonomously move between and inside growth chambers. Integration of the motor controllers, a robot arm, and a Microsoft Kinect (v2) 3D sensor was achieved in a customized C++ program. Detecting and segmenting plants in a multi-plant environment is a challenging task, which can be aided by integration of depth data into these algorithms. Image-processing functions were implemented to filter the depth image to minimize noise and remove undesired surfaces, reducing the memory requirement and allowing the plant to be reconstructed at a higher resolution in real-time. Three-dimensional meshes representing plants inside the chamber were reconstructed using the Kinect SDK's KinectFusion. After transforming user-selected points in camera coordinates to robot-arm coordinates, the robot arm is used in conjunction with the rover to probe desired leaves, simulating the future use of sensors such as a fluorimeter and Raman spectrometer. This paper reports the system architecture and some preliminary results of the system.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 16, 2016, Pages 248-253
Journal: IFAC-PapersOnLine - Volume 49, Issue 16, 2016, Pages 248-253
نویسندگان
D. Shah, L. Tang, Jingyao Gai, R. Putta-Venkata,