Search Results (95)

Robotic timber joinery demands integrated, adaptive methods to compensate for the inherent dimensional variability of wood. We introduce a seamless robotic workflow to enhance the measurement accuracy of the Workpiece Coordinate System (WCS). The approach leverages a Zivid 3D camera mounted in an eye-in-hand configuration on a KUKA industrial robot. The proposed algorithm applies a geometric method that strategically crops the point cloud and fits planes to the workpiece surfaces to define a reference frame, calculate the corresponding transformation between coordinate systems, and measure the cross-section of the workpiece. This enables reliable toolpath generation by dynamically updating WCS and effectively accommodating real-world geometric deviations in timber components. The workflow includes camera-to-robot calibration, point cloud acquisition, robust detection of workpiece features, and precise alignment of the WCS. Experimental validation confirms that the proposed method is efficient and improves milling accuracy. By dynamically identifying the workpiece geometry, the system successfully addresses challenges posed by irregular timber shapes, resulting in higher accuracy for timber joints. This method contributes to advanced manufacturing strategies in robotic timber construction and supports the processing of diverse workpiece geometries, with potential applications in civil engineering for building construction through the precise fabrication of structural timber components. Full article

Precise monitoring of vegetative growth is essential for assessing crop responses to environmental changes. Conventional methods of geometric characterization of plants such as RGB imaging, multispectral sensing, and manual measurements often lack precision or scalability for growth monitoring of rice. LiDAR offers high-resolution, non-destructive 3D canopy characterization, yet applications in rice cultivation across different growth stages remain underexplored, while LiDAR has shown success in other crops such as vineyards. This study addresses that gap by using LiDAR for geometric characterization of rice plants at early, middle, and late growth stages. The objective of this study was to characterize rice plant geometry such as plant height, canopy volume, row distance, and plant spacing using the proximal LiDAR sensing technique at three different growth stages. A commercial LiDAR sensor (model: VPL−16, Velodyne Lidar, San Jose, CA, USA) mounted on a wheeled aluminum frame for data collection, preprocessing, visualization, and geometric feature characterization using a commercial software solution, Python (version 3.11.5), and a custom algorithm. Manual measurements compared with the LiDAR 3D point cloud data measurements, demonstrating high precision in estimating plant geometric characteristics. LiDAR-estimated plant height, canopy volume, row distance, and spacing were 0.5 ± 0.1 m, 0.7 ± 0.05 m³, 0.3 ± 0.00 m, and 0.2 ± 0.001 m at the early stage; 0.93 ± 0.13 m, 1.30 ± 0.12 m³, 0.32 ± 0.01 m, and 0.19 ± 0.01 m at the middle stage; and 0.99 ± 0.06 m, 1.25 ± 0.13 m³, 0.38 ± 0.03 m, and 0.10 ± 0.01 m at the late growth stage. These measurements closely matched manual observations across three stages. RMSE values ranged from 0.01 to 0.06 m and r² values ranged from 0.86 to 0.98 across parameters, confirming the high accuracy and reliability of proximal LiDAR sensing under field conditions. Although precision was achieved across growth stages, complex canopy structures under field conditions posed segmentation challenges. Further advances in point cloud filtering and classification are required to reliably capture such variability. Full article

This work proposes an end-to-end solution for leaf segmentation, disease detection, and damage quantification, specifically focusing on citrus crops. The primary motivation behind this research is to enable the early detection of phytosanitary problems, which directly impact the productivity and profitability of Spanish and Portuguese agricultural developments, while ensuring environmentally safe management practices. It integrates an onboard computing module for Unmanned Aerial Vehicles (UAVs) using a Raspberry Pi 4 with Global Positioning System (GPS) and camera modules, allowing the real-time geolocation of images in citrus croplands. To address the lack of public data, a comprehensive database was created and manually labelled at the pixel level to provide accurate training data for a deep learning approach. To reduce annotation effort, we developed a custom automation algorithm for pixel-wise labelling in complex natural backgrounds. A SegNet architecture with a Visual Geometry Group 16 (VGG16) backbone was trained for the semantic, pixel-wise segmentation of citrus foliage. The model was successfully integrated as a modular component within a broader system architecture and was tested with UAV-acquired images, demonstrating accurate disease detection and quantification, even under varied conditions. The developed system provides a robust tool for the efficient monitoring of citrus crops in precision agriculture. Full article

In the field of agriculture, various types of pesticides are used to control crop pests. These chemical agents are applied using nozzles with different geometries. Regardless of their configuration and operational liquid parameters, the applied liquid jet encounters issues with wind drift and penetration efficiency. Therefore, it is necessary to optimize the spraying process. In this study, 3D numerical calculations were performed using computational fluid dynamics (CFD). A two-phase flow model based on the volume of fluid (VOF) method was used to simulate the mixing of water and air. The k-ω SST turbulence model was adopted to capture vortex phenomena. A hollow cone nozzle geometry, commonly used in orchards, was selected. Simulations allowed the analysis of pressure, velocity, and turbulence kinetic energy (TKE) in selected cross-sections. Results show that the maximum velocity of the liquid jet at the nozzle outlet exceeded 23 m/s, with the highest TKE reaching 35 m²/s² in the vortex chamber. The computed spray cone angle was approximately 88°, while the experimental value was 80°, and the simulated mass flow rate differed by 16.7% from the measured reference. The critical flow region was identified between the vortex insert and the ceramic stem, where the highest gradients of pressure and velocity were observed. Full article

The provision of food in pre-Inca/Inca cultures (1000 BC–≈1532 AD) in environments near Lake Titikaka (approximately 4000 m above sea level) was possible through an agricultural technique called “Waru-Waru”, which consists of filling the space (volume) between rows of land containing plants that are cultivated (a series of earth platforms surrounded by water canals) with water, using water as thermal energy storage to store energy during the day and to regulate the temperature of the soil and crop atmosphere at night. The problem is that these cultures left no evidence in written documents that have been preserved to this day indicating the mathematical models, the physics involved, and the experimental part they performed for the research, development, and innovation of the “Waru-Waru” technique. From a review of the existing literature, there is (1) bibliography that is devoted to descriptive research (about the geometry, dimensions, and shapes of the crop fields (and more based on archaeological remains that have survived to the present day) and (2) studies presenting complex mathematical models with many physical parameters measured only with recently developed instrumentation. The research objectives of this paper are as follows: (1) develop a mathematical model that uses finite differences in fluid mechanics, thermodynamics, and heat transfer to explain the experimental and theory principles of this pre-Inca/Inca technique; (2) the proposed mathematical model must be in accordance with the mathematical calculation tools available in pre-Inca/Inca cultures (yupana and quipu), which are mainly based on arithmetic operations such as addition, subtraction, and multiplication; (3) develop a mathematical model in a sequence of steps aimed at determining the best geometric form for thermal energy storage and plant cultivation and that has a simple design (easy to transmit between farmers); (4) consider the assumptions necessary for the development of the mathematical model from the point of view of research on the geometry of earth platforms and water channels and their implantation in each cultivation area; (5) transmit knowledge of the construction and maintenance of “Waru-Waru” agricultural technology to farmers who have cultivated these fields since pre-Hispanic times. The main conclusion is that, in the mathematical model developed, algebraic mathematical expressions based on addition and multiplication are obtained to predict and explain the evolution of soil and water temperatures in a specific crop field using crop field characterization parameters for which their values are experimentally determined in the crop area where a “Waru-Waru” is to be built. Therefore, the storage of thermal energy in water allows crops to survive nights with low temperatures, and indirectly, it allows the interpretation that the Inca culture possessed knowledge of mathematics (addition, subtraction, multiplication, finite differences, approximation methods, and the like), physics (fluids, thermodynamics, and heat transfer), and experimentation, with priority given to agricultural techniques (and in general, as observed in all archaeological evidence) that are in-depth, exact, practical, lasting, and easy to transmit. Understanding this sustainable energy storage technique can be useful in the current circumstances of global warming and climate change within the same growing areas and/or in similar climatic and environmental scenarios. This technique can help in reducing the use of fossil or traditional fuels and infrastructure (greenhouses) that generate heat, expanding the agricultural frontier. Full article

The harvesting of green Sichuan pepper remains heavily reliant on manual field operations, but automation can enhance the efficiency, quality, and sustainability of the process. However, challenges such as intertwined branches, dense foliage, and overlapping pepper clusters hinder intelligent harvesting by causing inaccuracies in target recognition and localization. This study compared the performance of multiple You Only Look Once (YOLO) algorithms for recognition and proposed a cluster segmentation method based on K-means++ and a cutting-point localization strategy using geometry-based iterative optimization. A dataset containing 14,504 training images under diverse lighting and occlusion scenarios was constructed. Comparative experiments on YOLOv5s, YOLOv8s, and YOLOv11s models revealed that YOLOv11s achieved a recall of 0.91 in leaf-occluded environments, marking a 21.3% improvement over YOLOv5s, with a detection speed of 28 Frames Per Second(FPS). A K-means++-based cluster separation algorithm (K = 1~10, optimized via the elbow method) was developed and was combined with OpenCV to iteratively solve the minimum circumscribed triangle vertices. The longest median extension line of the triangle was dynamically determined to be the cutting point. The experimental results demonstrated an average cutting-point deviation of 20 mm and a valid cutting-point ratio of 69.23%. This research provides a robust visual solution for intelligent green Sichuan pepper harvesting equipment, offering both theoretical and engineering significance for advancing the automated harvesting of Sichuan pepper (Zanthoxylum schinifolium) as a specialty economic crop. Full article

Brain tumors significantly impact global health and pose serious challenges for accurate diagnosis due to their diverse nature and complex characteristics. Effective diagnosis and classification are essential for selecting the best treatment strategies and forecasting patient outcomes. Currently, histopathological examination of biopsy samples is the standard method for brain tumor identification and classification. However, this method is invasive, time-consuming, and prone to human error. To address these limitations, a fully automated approach is proposed for brain tumor classification. Recent advancements in deep learning, particularly convolutional neural networks (CNNs), have shown promise in improving the accuracy and efficiency of tumor detection from magnetic resonance imaging (MRI) scans. In response, a model was developed that integrates machine learning (ML) and deep learning (DL) techniques. The process began by splitting the data into training, testing, and validation sets. Images were then resized and cropped to enhance model quality and efficiency. Relevant texture features were extracted using a modified Visual Geometry Group (VGG) architecture. These features were fed into various supervised ML models, including support vector machine (SVM), k-nearest neighbors (KNN), logistic regression (LR), stochastic gradient descent (SGD), random forest (RF), and AdaBoost, with GridSearchCV used for hyperparameter tuning. The model’s performance was evaluated using key metrics such as accuracy, precision, recall, F1-score, and specificity. Experimental results demonstrate that the proposed approach offers a robust and automated solution for brain tumor classification, achieving the highest accuracy of 94.02% with VGG19 and 96.30% with VGG16. This model can significantly assist healthcare professionals in early tumor detection and in improving diagnostic accuracy. Full article

Achieving precise seed distribution is essential for optimizing crop yields and agricultural productivity. This study examines the impact of divider head geometry on seed distribution accuracy in pneumatic air seeder systems using rapeseed, wheat, and rice. Three custom-designed divider heads—funnel distributor (A1), closed-funnel distributor (A2), and cone-shaped distributor (A3)—were developed for an eight-furrow opener seeding system, each featuring eight outlets per opener. Bench tests at air pressures of 3, 3.5, 4, 4.5, 5, and 5.5 kPa and speeds of 4 and 5 km/h revealed significant variations in seed distribution accuracy among the designs. The A2 distributor demonstrated the lowest coefficient of variation (CV) across all seed types: 4.3%, 2.6%, and 6.95% for A1, A2, and A3 in wheat, respectively; 4.5%, 3.4%, and 6.2% in rice, respectively; and 0.3%, 0.1%, and 1.0% in rapeseed, respectively. Seed types also significantly influenced feed rate uniformity, with average CVs of 2.91% for rapeseed, 3.85% for rice, and 4.90% for wheat. CFD-DEM simulations validated the superior performance of the A2 distributor by analyzing flow fields and velocity distributions, showing reductions in CVs by 19.09–54.55% compared to A1 and A3. Thus, the A2 distributor was identified as the optimal design, significantly improving seeding uniformity across all seed types. In conclusion, this study provides critical insights for redesigning seed drill distribution heads to minimize turbulence in the seed–air mixture transport, enhancing seeding uniformity and increasing crop yields and agricultural productivity. Full article

Typically, developing new digital agriculture technologies requires substantial on-site resources and data. However, the crop’s growth cycle provides only limited time windows for experiments and equipment validation. This study presents a photorealistic digital twin of a commercial-scale strawberry farm, coupled with a simulated ground vehicle, to address these constraints by generating high-fidelity synthetic RGB and LiDAR data. These data enable the rapid development and evaluation of a deep learning-based machine vision pipeline for fruit detection and sizing without continuously relying on real-field access. Traditional simulators often lack visual realism, leading many studies to mix real images or adopt domain adaptation methods to address the reality gap. In contrast, this work relies solely on photorealistic simulation outputs for training, eliminating the need for real images or specialized adaptation approaches. After training exclusively on images captured in the virtual environment, the model was tested on a commercial-scale strawberry farm using a physical ground vehicle. Two separate trials with field images resulted in F1-scores of 0.92 and 0.81 for detection and a sizing error of 1.4 mm (R² = 0.92) when comparing image-derived diameters against caliper measurements. These findings indicate that a digital twin-driven sim2real transfer can offer substantial time and cost savings by refining crucial tasks such as stereo sensor calibration and machine learning model development before extensive real-field deployments. In addition, the study examined geometric accuracy and visual fidelity through systematic comparisons of LiDAR and RGB sensor outputs from the virtual and real farms. Results demonstrated close alignment in both topography and textural details, validating the digital twin’s ability to replicate intricate field characteristics, including raised bed geometry and strawberry plant distribution. The techniques developed and validated in this strawberry project have broad applicability across agricultural commodities, particularly for fruit and vegetable production systems. This study demonstrates that integrating digital twins with simulation tools can significantly reduce the need for resource-intensive field data collection while accelerating the development and refinement of agricultural robotics algorithms and hardware. Full article

India is a major producer of mandarin oranges. However, the average fruit yield remains below potential due in part to multiple nutrient deficiencies. Our objective was to elaborate compositional nutrient diagnosis (CND) log-ratio standards accounting for nutrient interactions and the dilution the leaf tissue. We hypothesized that equally or unequally weighted dual nutrient log ratios integrated into centered log ratios (clr) or weighted log ratios (wlr) influence the accuracy of the CND diagnosis. The database comprised 494 observations on ‘Nagpur’, ‘Khasi’, and ‘Kinnow’ cultivars surveyed in contrasting agroecosystems of India. Weights were provided by gain ratios that indicated the importance of the dual log ratio on crop performance. The cutoff yield was set at the upper high-yield quarter for each variety. Centered log ratios (clrs) and weighted log ratios (wlrs) returned accuracies of 0.7–0.8 depending on the machine learning classification model. The gain ratios were not contrasted enough to make a difference between clr and wlr. We derived clr and wlr nutrient standards following the Gradient Boosting model. In a case study, the clr and wlr returned similar diagnoses. The capacity of clr and wlr to generalize to unseen cases and correct nutrient imbalance should be further verified in fertilizer trials. The diagnosis could also be conducted at a local scale, thanks to the Euclidian geometry and additivity of clr and wlr variables. Full article

Rice blast is a highly damaging disease that greatly impacts both the quality and yield of rice. Timely identification and monitoring of this disease are essential for effective agricultural management and for ensuring optimal crop performance. The spectral vegetation index has been widely used in the identification of crop diseases. However, a limitation of these indices is that they cannot identify diseases at different scales. This study aimed to address these issues by developing the rice blast-specific hyperspectral Geometry Ratio Vegetation Index (GRVI_RB) for monitoring rice blast disease at the leaf and canopy scales. The sensitive bands for identifying rice blast disease were 688 nm, 756 nm, and 1466 nm using the successive projection algorithm. Based on these three sensitive bands and the spectral response mechanism of rice blast, the GRVI_RB was designed. GRVI_RB demonstrated high classification accuracy using SVM (support vector machine) and LDA (Linear Discriminant Analysis) models in leaf-scale and canopy-scale datasets from 2020 and 2021, surpassing the current vegetation indices of rice blast detection. It is demonstrated that the GRVI_RB has excellent robustness and universality for rice blast detection from leaf to canopy scales in different years. Additionally, the research suggests that the new hyperspectral vegetation index can serve as a valuable reference for studies conducted at both unmanned aerial vehicle and satellite scales. Full article

Plant stress detection involves the process of Identification, Classification, Quantification, and Prediction (ICQP) in crop stress. Numerous approaches exist for plant stress identification; however, a majority rely on expert personnel or invasive techniques. While expert employees demonstrate proficiency across various plants, this approach demands a substantial workforce to ensure the quality of crops. Conversely, invasive techniques entail leaf dismemberment. To overcome these challenges, an alternative is to employ image processing to interpret areas where plant geometry is observable, eliminating the dependency on skilled labor or the need for crop dismemberment. However, this alternative introduces the challenge of accurately interpreting ambiguous image features. Motivated by the latter, we propose a methodology for plant stress detection using 3D reconstruction and deep learning from a single RGB image. For that, our methodology has three steps. First, the plant recognition step provides the segmentation, location, and delimitation of the crop. Second, we propose a leaf detection analysis to classify and locate the boundaries between the different leaves. Finally, we use a Deep Neural Network (DNN) and the 3D reconstruction for plant stress detection. Experimental results are encouraging, showing that our approach has high performance under real-world scenarios. Also, the proposed methodology has 22.86% higher precision, 24.05% higher recall, and 23.45% higher F1-score than the 2D classification method. Full article

Agrivoltaics (APVs) represent a growing technology in Europe that enables the co-location of energy and food production in the same field. Photosynthesis requires photosynthetic active radiation, which is reduced by the shadows cast on crops by APV panels. The design of the module rows, material, and field orientation significantly influences the radiation distribution on the ground. In this context, we introduce an innovative approach for the effective simulation of the shading effects of various APV designs. We performed an extensive sensitivity analysis of the photovoltaic (PV) geometry influence on the ground-incident radiation and crop growth of selected cultivars. Simulations (2013–2021) for three representative arable crops in eastern Austria (winter wheat, spring barley, and maize) and seven different APV designs that only limited to the shading effect showed that maize and spring barley experienced the greatest annual above-ground biomass and grain yield reduction (up to 25%), with significant differences between the APV design and the weather conditions. While spring barley had similar decreases within the years, maize was characterized by high variability. Winter wheat had only up to a 10% reduction due to shading and a reduced photosynthetic performance. Cold/humid/cloudy weather during the growing season had more negative yield effects under APVs than dry/hot periods, particularly for summer crops such as maize. The lowest grain yield decline was achieved for all three crops in the APV design in which the modules were oriented to the east at a height of 5 m and mounted on trackers with an inclination of +/−50°. This scenario also resulted in the highest land equivalent ratios (LERs), with values above 1.06. The correct use of a tracker on APV fields is crucial for optimizing agricultural yields and electricity production. Full article

Bostrycoidin is one of the pigments produced by the Fusarium genus of fungi. On the one hand, it has significant pharmacological importance, while on the other hand, it serves as a presence marker of Fusarium infection in useful grain crops, fruits, and soils. In this regard, the structural and optical properties of the bostrycoidin molecule were studied in the framework of density functional theory (DFT). The most stable geometry as well as higher-energy conformers and tautomers were investigated. The lowest-energy tautomer was found to be about 3 kcal/mol higher in energy than the most stable structure, resulting in relatively low population of this state. The obtained conformational rotamers associated with the rotation of the OMe group possess similar energy. The vibrational spectrum was modeled for the most stable conformer, and the most active peaks in the IR absorbance spectrum were assigned. Moreover, the electronic absorption spectrum was simulated within the time-dependent DFT approach. The obtained theoretical spectrum is in good agreement with the experimental data and the theoretically calculated longest-wavelength transition (HOMO–LUMO) was about 498 nm. Full article

Shelterbelts provide essential protection against wind erosion and soil degradation, as well as protection for fruit-bearing plants and crops from strong winds. Enhancing their sheltering capabilities requires optimizing their pattern and orientation, as well as defining their height and desired canopy shape, according to the desired performance. In this work, Large Eddy Simulation is employed to investigate the flow field and windbreak effectiveness of single and double-arranged shelterbelts characterized by different geometry and resistance to the air passage for neutral atmospheric condition. In particular, the canopy of the shelterbelts is modeled as an isotropic porous medium immersed in atmospheric boundary layer flow using the Darcy–Forchheimer model. Results show that a shelterbelt with a rectangular-shaped cross-section and a large canopy height results in the most significant reduction in mean wind speed and TKE, thus providing a large wind-protection region. As the spacing distance of double-arranged shelterbelts increases, the protection zones formed by both shelterbelts are reduced. The systematic comparisons of flow patterns, drag force coefficients, and windbreak effectiveness indicators of a series of single and double-arranged shelterbelts are essential for optimizing the design and management of shelterbelts. Full article