浙江大學生物系統(tǒng)工程-生物生產(chǎn)機器人-書本提綱

1、IntroductionN. Kondo and K. C. Ting1.1 Why Was this Monograph Written?Because most books related with robots are focus on industrial robot which is , and with considering of the complexion of bio robots, it is hard to manipulate the environment and bio-products1.2 What Is the Definition of a Bioprod

2、uction Robot?1.3 Necessity of the Bioproduction Robot1.4 Uniqueness of Bioproduction Robots1.4.1 Development of Bioproduction Robots1.4.2 Robot's Intelligence and Mind1.5 Overview of the MonographReferencesRobotics for Manipulating Biological ObjectsN. Kondo and K. C. Ting2.1 Work Objects of Bio

3、production Robots2.2 Characteristics of Biological Objects2.3 Features of Bioproduction Robotics2.4 Expectations for Bioproduction Robots2.4. l Labor Saving and Substitution2.4.2 Extension of Human Capability2.4.3 New Production System with the Robot2.5 Multipurpose Robot for Bioproduction2.6 Biopro

4、duction Robots: An Integration of Engineering, Biology, and Social ScienceReferencesFundamentals and Basic Components of RobotsN. Kondo3.1 Fundamentals of Robots3.1.1 Servomechanisms3.2 Basic Components of Robots3.2.1 Manipulator 213.2.1.1 Mechanism of a Manipulator 213.2.1.2 Control of a Manipulato

5、r 223.2.1.3 Robot without a Manipulator 223.2.2 End-Effector 233.2.2.1 Mechanism of an End-Effector 233.2.2.2 Sensors for an End-Effector 233.2.3 Sensors 243.2.3.1 Sensors for a Bioproduction Robot 243.2.3.2 Classification of Sensors 243.2.3.3 Sensor Fusion 253.2.3.4 Future Robotic Sensors 253.2.4 T

6、raveling Devices 253.2.5 Control Devices 263.2.5. 1 CPU 273.2.5.2 Memory 273.2.5.3 Peripheral Devices 283.2.5.4 Buses 283.2.6 Classification of Actuators 293.2.6.1 Electric Actuator 293.2.6.2 Hydraulic Actuator 293.2.6.3 Pneumatic Actuator 29References 30Design and Control of ManipulatorsN. Kondo4.1

7、 Mechanism of a Manipulator 314.1.1 Cartesian Coordinate Manipulators 314.1.2 Cylindrical-Coordinate Manipulators 334.1.3 Polar-Coordinate Manipulators 334.1.4 Articulated Manipulators 354.2 Redundant Manipulators 354.3 Evaluation of Mechanism 374.3.1 Operational Space 374.3.2 Measure of Manipulabil

8、ity 384.3.3 Redundant Space and Posture Diversity 414.3.4 Space for Obstacle Avoidance 414.3.5 Accuracy of the Manipulator End 424.4 Manipulators for Bioproduction 434.4.1 Plant-training Systems 434.4.2 Fruit Vegetables Grown on a Vertical Plane 434.4.3 Fruit Tree Grown on a Sphere 534.4.4 Fruit Tre

9、e Grown on a Trellis Plane 544.4.5 Vegetables Grown on the Ground 554.4.6 Other Objects 554.5 Control of a Manipulator 564.5.1 2-DOF Polar Manipulator 564.5.2 2-DOF Articulated Manipulator 574.5.3 Geometric Solution of Joint Displacement for a 5-DOF Articulated Manipulator 594.5.4 Solution of Joint

10、Angular Velocities for a 3-DOF Articulated Manipulator 604.5.5 Control of a Redundant Manipulator 61References 63Machine VisionY. Shirai, N. Kondo and T. Fujiura5.1 Image Acquisition5.1.1 Image Sensors5.1.2 TV Cameras5.1.3 Image Grabber and its Processing Device5.1.4 Luminaire5.2 Discrimination5.2.1

11、 Method of Red-Green-Blue Signals5.2.2 Method of the Most Suitable Wavelength Band Based on Spectral Reflectance5.3 Recognition5.3.1 Features from the Binary Image5.3.1.1 Fractal Dimension5.3.1.2 Thinning Processing5.3.1.3 Chain Coding5.3.2 Features from the Gray-Level Image5.3.2.1 Co-Occurrence Mat

12、rix5.3.3 Recognition Algorithm for a Biological Object5.4 Depth Measurement and Three-Dimensional Vision5.4.1 Depth Measurement5.4.1.1 Time of Flight5.4.1.2 Active Triangulation5.4.1.3 Stereovision5.4.1.4 Stereo Vision with Distinct Features5.4.2 Area-Based Stereo Vision5.4.2.1 Real-Time Area-Based

13、Stereo Vision5.4.2.2 Feature-Based Stereo Vision5.4.2.3 Multistage Stereo with Matching Reliability5.4.3 Sensor Fusion5.4.3.1 Sensor-Fusion Categories5.4.3.2 Sensor Fusion for a Mobile Robot 925.4.3.3 Initial Range Data Processing 925.4.3.4 Knowledge Representation 935.4.3.5 Recognition by Sensor Fu

14、sion 935.4.4 Application to Bioproduction 955.4.4.1 Measurement of Fruit Location by Binocular Stereo Vision 955.4.4.2 Three-Dimensional Vision Sensor that Emits Red and Infrared Beams 965.4.4.3 Three-Dimensional Vision Sensor that Emits Only Infrared Beams 1015.4.4.4 Visual Feedback Control 1025.4.

15、4.5 Depth Measurement by use of Differential Object Size 104References 1046 Sensors for Bioproduction RobotsM. Manta, N. Kondo and T. Fujiura6.1 External Sensors for Perception other than Vision 1096.1.1 Range Sensors 1096.1.1.1 Ultrasonic Sensor 1096.1.1.2 Position-Sensitive Device 1126.1.2 Proximi

16、ty Sensors 1126.1.2.1 Photo sensing Type 1126.1.2.2 Pneumatic Type 1136.1.3 Tactile Sensors 1146.1.3.1 Touch Sensor 1146.1.3.2 Pressure Sensor 1156.1.3.3 Slip Sensor 1156.1.4 Ripeness Sensor for Fruit 1156.1.4.1 Photo Sensor 1156.1.4.2 Sonic Sensor 1166. 1.4.3 Gas Sensor 1166.1.5 Sensors for Robot G

17、uidance 1176.1.5.1 Fixed Path 1176.1.5.2 Semi fixed Path 1176. 1.5.3 Free Path 1186.2 Internal Sensors for Mechanism Control6.2.1 Fixed-Position and Fixed-Angle Detection 1186.2.1.1 Micros witch 1186.2.1.2 Photoelectric Sensor 1196.2.2 Position and Angle Measurement 1206.2.2.1 Potentiometer 1206.2.2

18、.2 Encoder 1226.2.3 Velocity and Angular Velocity Measurements6.2.3.1 Tachometer Generator6.2.3.2 Moving Magnet Velocity Sensor6.2.4 Acceleration Measurement6.2.4.1 Piezoelectric Acceleration Sensor6.2.4.2 Strain-Gauge Acceleration Sensor6.2.5 Inclination Measurement6.2.5.1 Photoelectric Inclination

19、 Sensor6.2.5.2 Electro Lytic-Liquid-Type Inclination Sensor6.2.6 Azimuth Measure1nent6.2.6.1 Gyroscope6.2.6.2 Geomagnetic SensorReferencesTraveling Devices within Bioproduction EnvironmentsM. Monta7.1 Wheel Type7.1.1 Characteristics and Mechanisms7.1.2 Applications for Bioproduction Environments7.2

20、Rail Type7.2.1 Characteristics and Mechanisms7.2.2 Applications for Bioproduction Environments7.3 Crawler Type7.3.1 Characteristics and Mechanisms7.3.2 Applications for Bioproduction Environments7.4 Gantry System7.4.1 Characteristics and Mechanisms7.4.2 Types and Structure of Gantries7.4.2.1 Wide-Sp

21、an Vehicle.7.4.2.2 Rail-Type Gantry7.5 Legged Robot7.5.1 Characteristics and Mechanisms7.5.2 Applications for Bioproduction EnvironmentsReferencesRobots IntelligenceH. Murase, Y. Shirai and K.C. Ting8.1 Knowledge-Based Decision Support8.1.1 Heuristic Reasoning8.1.1.1Knowledge Representation8.1.1.2 B

22、uilding a Knowledge Base8.1.1.3 Inference Engine8.1.1.4 Reasoning under Uncertainty 15 J8.1.1.5 Evaluation of Expert Systems 1518.1.2 In Relation to Bioproduction Robots 1528.2 Fuzzy Control for Dealing with Uncertainty 1528.2.1 Basic Fuzzy Theory 1538.2.2 Methods of Fuzzy Inference 1558.2.3 Expert

23、System with Fuzzy Production Rules 1568.3 Artificial Neural-Network Applications for Robotics Systems 1598.3.1 Artificial Neural Networks 1608.3.2 Neural-Network Architectures 1628.3.2.1 Perceptron 1628.3.2.2 Hopfield Network 1638.3.2.3 Back-Error Propagation 1648.3.3 Kalman Filter Leaming 1658.3.4

24、Robot Control 169ReferencesRobots in Bioproduction within Controlled EnvironmentsN. Kondo, T. Fujiura, K.C. Ting, T. Okamoto and M. Monta9 .1 Micropropagation Robot9.1.1 Automation in Tissue Cultures9 .1.2 Process of Biotechnology9 .1.3 Plant Tissue Culture Proliferation Robot9. 1 .4 Orchid Protocor

25、m Transplanting Robot9.1.5 Culture Seedling Proliferation-Transplanting Robot9 .2 Grafting Robot9.3 Cutting-Sticking Robot9.3. l Phytological Characteristics9.3.2 Robotic Cutting-Sticking System9.3.3 Cutting-Providing System9.3.4 Visual Sensor9.3.5 Leaf-Removing Device and Planting Device9.3.5.1 Lea

26、f-Removing Device9.3.5.2 Planting Device9.4 Transplanting Robot9.4. l Work Object9.4.2 Equipment9.4.2.1 Plug Container9 .4.2.2 Conveyer Belts9.4.2.3 Robot9.4.2.4 End-Effector9.4.2.5 Sensing Devices9.4.2.6 Host Computer9.4.3 Operations9.4.4 Performance Indicators9.4.4.1 Workability and Productivity9.

27、4.4.2 Plug Quality Preservation and Quantity Conservation9.4.4.3 Reliability, Complexity, and Safety9.4.4.4 Cost Effectiveness9.4.5 Example Cases9.5 Harvesting Robots in Greenhouses9.5.1 Tomato-Harvesting Robot9.5.1.1 Phytological Characteristics9.5.1.2 Manipulator9.5.1.3 End-Effector9.5.1.4 Sensor9

28、.5.1.5 Traveling Device9.5.2 Cherry-Tomato-Harvesting Robot9.5.2.1 Physiological Characteristics9.5.2.2 Polar-Coordinate Robot9.5.2.3 Cherry-Tomato-Harvesting Robot as a Multi-operation Robot9.5.3 Strawberry-Harvesting Robot9.5.3.1 Physiological Characteristics9.5.3.2 Manipulator9.5.3.3 End-Effector

29、9.5.4 Cucumber-Harvesting Robot9.5.4.1 Physiological Characteristics9.5.4.2 Manipulator9.5.4.3 End-Effector9.5.4.4 Visual Sensor9.5.5 Mushroom-Harvesting Robot9.5.5.1 Physical Properties9.5.5.2 Manipulator9.5.5.3 End-Effector9.5.5.4 Visual Sensor9.6 Vegetable-Production Robots in Plant Factories9.7

30、Milking Robot9.8 Wool-Harvesting RobotReferencesRobots in Bioproduction in Open FieldsN. Kondo, T Fujiura, M. Monta and F. Sevila10 .1 Harvesting Robots10.1.1 Grape-Harvesting Robot in JapanI 0.1.1.1 Phytological Characteristics10.1.1.2 Manipulator10.1.1.3 End-Effector 23210. 1.1.4 Visual Sensor 234

31、10.1 .1.5 Traveling Device 23410.1.2 Orange-Harvesting Robot in Japan 23510.1 .2.l Summer-Orange-Harvesting Robot 23510.1.2.2 Mandarin-Orange-Harvesting Robot 23610.1.3 Orange-Harvesting Robot in the U.S.A. 23710.1.4 Apple-Harvesting Robot in Korea 23810.1.5 Harvesting Robots for Apples, Oranges, an

32、d Grapes in Europe 24110.1 .5.1 Fruit Detection in Complex Environment 24110.1.5.2 Modeling of Biological Objects 24310.1 .5.3 Interactive Operations between Sensors and Actuators 24510.1.5.4 Design of Manipulators for Bioproduction 24610.1.5.5 Traveling device 24710.1.5.6 Multi-sensing Mountings on

33、 Robots 24910.1 .5.7 Artificial Intelligence Implementations 25110.1.5.8 Plant Adaptation to Robots 25110.1.6 Watermelon-Harvesting Robot 25110.1.6.1 Manipulator 25210.1.6.2 End-Effector 25210.1.6.3 Visual Sensor 25310.1.6.4 Traveling Device 25410.1.7 Melon-Harvesting Robot 25410.1.8 Other Harvestin

34、g Robots 25410.1.8.1 Selective Harvesting Robot for Cabbage 25410.1.8.2 Autonomous Hay Harvester 25710.2 Robotic Tractors 25710.2.1 Geomagnetic Heading Sensor 25710.2.2 Photoelectric Sensor System 258I 0.2.3 Machine-Vision System 25810.2.4 Steering Control Method 25910.2.4.1 Path Planning 25910.2.4.

35、2 Steering Controller 25910.3 Plant-Protection Robots 25910.3.1 Spraying Robot 25910.3.2 Fertilizing Robot 26010.3.3 Weeding Robot 26210.3.3.1 Weedi11g between Plants 26210.3.3.2 Weed Detection in a Lawn Field 26210.4 Multipurpose Robot for Grape Production 26310.4.1 Berry-Thinning End-Effector 2631

36、0.4.2 Bagging End-Effector 26410.4.3 Spraying End-Effector 26510.5 Multipurpose Robot for Vegetable Production10.5. I Leafy Vegetable Transplanting10.5.2 Weed Control10.5.3 Harvesting of Leafy VegetablesReferencesRobots in the Food IndustryK.C. Ting11.1 Introduction11.2 Soft-Fruit Packing11.3 Egg Ca

37、ndling11.4 Prawn Handling11.5 Meat Processing11 .5 .1 Breakup of Pork Carcasses11 .5.2 deboning of Beef Forequarters11 .5 .3 Handling of Poultry Products11.6 Filled-Pie Production11.7 Food Packaging11.8 Secondary Packaging and Palletizing11 .9 Meal-Ready-to-Eat Pouch Inspection11 .10 Institutional Food Service11.11 Environmental Chamber Moisture Absorbency TestingReferencesRobots in the Food IndustryK.C. Ting11. l Introduction11.2 Soft-Fruit Packing11.3 Egg Candling11.4 Prawn Handling11.5 Meat Processing11 .5 .1 Break