Agricul ricultural tural Robotics botics in Chile ile - - PowerPoint PPT Presentation

Agricul ricultural tural Robotics botics in Chile ile

WEBINAR, July 10th, 2015

Challenges and Solutions in The Andes Mountains

Fernando Auat Cheein (UTFSM) Miguel Torres-Torriti (PUC)

3 PhD students 10 MsSc students 1 post doc

Chi hile le

• Earthquakes
• Volcanos
• Hydric emergency
• Lack of human labor force
• Farmable field on the slope of the mountains

Fernando Auat Cheein & Miguel Torres-Torriti

(www.worldatlas.com)

http://diarioelnortino.cl/ministerio-de-agricultura-nombra-a-nivel- nacional-seremis-de-la-cartera/ http://pmcfruticola.blogspot.com/2010/09/chile-principal-proveedor-de- china-en.html http://www.elobservatodo.cl/noticia/economia/escasez-hidrica- agricultores-necesitan-soluciones-innovadoras-y-definitivas http://www.totalhydro.cl/masfrutaconmenosagua/

http://www.agrarias.uach.cl/2013/04/02/estudio-revela-fechas-optimas-de-muestreo-para-analisis-foliar-en- arandanos-en-el-sur-de-chile/ http://www.viveroproductora.com.ar/2011/05/17/plantacion-superintensiva-de-olivos-la-nueva-tendencia/

Fernando Auat Cheein & Miguel Torres-Torriti

Chile is a small and long country with a large diversity of climates, from the driest desert in the world in north to mediterranean farm lands and forests in the south.

http://www.naturalhistoryonthenet.com/Facts_Figures/Country_Facts/chile.htm

Fernando Auat Cheein & Miguel Torres-Torriti

Arable land

http://www.google.com/publicdata/explore?ds=d5bncppjof8f9_&ctype=l&met_y=ag_ln d_frst_k2#!ctype=m&strail=false&bcs=d&nselm=s&met_s=ag_lnd_arbl_ha_pc&scale_s= lin&ind_s=false&ifdim=country&pit=900039600000&hl=en_US&dl=en_US&ind=false

Fernando Auat Cheein & Miguel Torres-Torriti

Agriculture in Chile

http://www.winesofchile.org/chilean-wine/viticultural-paradise/

Fernando Auat Cheein & Miguel Torres-Torriti

Agriculture in Chile

Fernando Auat Cheein & Miguel Torres-Torriti

Pears Avocados Chirimoyas Cherries Kiwis Oranges Grapes

(Thompson)

Apples Grapes

(Red Globe)

Plums Berries Peaches Nectarines Pears

Main fruit exports of Chile

http://www.cenem.cl/newsletter/abril2011/noticia16.htm

Avocado Peaches Cherries Blueberries Nectarines Apples

(Royal Gala)

Plums

10%

Table grapes

50%

Fresh Fruit Exports

Jan-Mar 2011 1.236 MMUS$FOB

Fernando Auat Cheein & Miguel Torres-Torriti

Ou Our Work

Fernando Auat Cheein & Miguel Torres-Torriti

Orchard Characterization

Addressed Issues and current Research

• F. Auat Cheein & J. Guivant (2014). SLAM-based

Incremental Convex Hull Processing Approach for Treetop Volume Estimation. Computers and Electronics in Agriculture. 10.1016/j.compag.2014.01.002

Treetop volume estimation

Fernando Auat Cheein & Miguel Torres-Torriti

Orchard Characterization

Addressed Issues and current Research

Thermal Characterization

Yandun, Torres-Torriti & Auat Cheein (2015). LiDAR and Thermal Images Fusion for Transpiration Estimation of Fruit Trees. Submitted. Fernando Auat Cheein & Miguel Torres-Torriti

Orchard Characterization

Addressed Issues and current Research

SLAM in GPS denied Environments

Auat Cheein et al. (2011) Optimized EIF-SLAM algorithm for Precision Agriculture Mapping based

• n Stems Detection. In Computers and Electronics

in Agriculture. 10.1016/j.compag.2014.01.002 Fernando Auat Cheein & Miguel Torres-Torriti

Orchard Characterization

Addressed Issues and current Research

Usability of Light Structured Sensors

Auat Cheein et al. (2015) Advances in Structured Light Sensors Applications in Precision Agriculture and Livestock Farming. Advances in Agronomy. In Press. Fernando Auat Cheein & Miguel Torres-Torriti

Service Units and Navigation in Agricultural Environments

Addressed Issues and current Research

Auat Cheein & Carelli (2013). Agricultural Robotics: Unmanned Robotic Service Units in Agricultural Tasks (IEEE). 10.1109/MIE.2013.2252957 Fernando Auat Cheein & Miguel Torres-Torriti

Service Units and Navigation in Agricultural Environments

Addressed Issues and current Research

Embedded controller Cost Functions Auat Cheein & Scaglia (2014). Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology. 10.1002/rob.21492 Fernando Auat Cheein & Miguel Torres-Torriti

Service Units and Navigation in Agricultural Environments

Addressed Issues and current Research

Controller tuning problems

Fernando Auat Cheein & Miguel Torres-Torriti

Service Units and Navigation in Agricultural Environments

Addressed Issues and current Research

Probabilistic techniques for controller self-tuning

Auat Cheein & Torres-Torriti. Computational Approaches for Improving Performance in Path Tracking Controllers in Mobile Robots. IROS 2015. Fernando Auat Cheein & Miguel Torres-Torriti

Service Units and Navigation in Agricultural Environments: constrains

Addressed Issues and current Research

Auat Cheein (2015). Intelligent Sampling Technique for Path Tracking

• Controllers. In Press. IEEE TCST

Fernando Auat Cheein & Miguel Torres-Torriti

Se Service vice Un Units ts: : co cons nstr traints aints

Addressed Issues and current Research

Slippage

Maneuverability in non-flat terrain

Interaction with field workers

Agriculture?

Fernando Auat Cheein & Miguel Torres-Torriti

Modeling, Simulation and Control of Skid Steer Mobile Manipualtors

https://youtu.be/ytWSJnSajU0

Fernando Auat Cheein & Miguel Torres-Torriti

Design of Skid Steer Mobile Robots

https://www.youtube.com/watch?v=EweQZVeKxec

Fernando Auat Cheein & Miguel Torres-Torriti

Modeling of Skid-Steer Compact Loader

Fernando Auat Cheein & Miguel Torres-Torriti

Modeling of Skid-Steer Compact Loader

Fernando Auat Cheein & Miguel Torres-Torriti

Path Planning for Agricultural Mobile Robots

1000 iterations 2000 iterations 5000 iterations RRT*+terrain traversability costs+high level cost function (crop cost/value)

Fernando Auat Cheein & Miguel Torres-Torriti

Cu Current ntly offe ffering ing: 4 4 Ph PhD D gran ants ts to work in in

• ur

ur group up

Fernando Auat Cheein & Miguel Torres-Torriti