Abstract. With the decline of rural populations across the globe, much hope is vested in the use of robots in agriculture as a means to sustain food production. This is particularly relevant for high-value crops, such as strawberries, where harvesting is currently very labour-intensive. As part of a larger project to build a robot that is capable of harvesting strawberries, we have studied the identification of the picking point of strawberries -the point that a robot hand should grasp the strawberry -from images of strawberries. We present a novel approach to identify the picking point and evaluate this approach.
Recently, the control of a 'pendulum-driven cart' has attracted some considerable research interest. One of the reasons is that the mechanism studied is very similar to that of an 'actively-driven capsule robot' which is still under development and will have wide potential medical applications. In this paper, we study the pendulum-driven cart system from a control viewpoint, and use it as a benchmark to explore a new robust control approach which achieves better performance than those presented in a previous paper. The controller designed is also robust against uncertainties in plant parameters and very simple to implement. The extensive simulation studies and experimental results have demonstrated the proposed control approach.
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