A Novel Multirobot System for Plant Phenotyping

Phenotypic studies require large datasets for accurate inference and prediction. Collecting plant data in a farm can be very labor intensive and costly. This paper presents the design, architecture (hardware and software) and deployment of a multi-robot system for row crop field data collection. The proposed system has been deployed in a soybean research farm at Iowa State University.

Download Full-text

A Novel Multirobot System for Distributed Phenotyping

10.20944/preprints201807.0614.v1 ◽

2018 ◽

Author(s):

Tianshuang Gao ◽

Homagni Saha ◽

Hamid Emadi ◽

Jiaoping Zhang ◽

Alec Lofquist ◽

...

Keyword(s):

Field Data ◽

Large Datasets ◽

State University ◽

Iowa State University ◽

Robot System ◽

Multirobot System ◽

Row Crop ◽

Crop Field ◽

Field Data Collection ◽

Plant Data

Phenotypic studies require large datasets for accurate inference and prediction. Collecting plant data in a farm can be very labor intensive and costly. This paper presents the design, architecture (hardware and software) and deployment of a distributed modular agricultural multi-robot system for row crop field data collection. The proposed system has been deployed in a soybean research farm at Iowa State University.

Download Full-text

Modeling of a Two Arm Flexible Robot in Gravity

17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics ◽

10.1115/detc1991-0159 ◽

1991 ◽

Author(s):

Chaeyoun Oh ◽

Martin J. Vanderploeg

Keyword(s):

Control Strategies ◽

Vertical Plane ◽

Continuous Model ◽

Mode Shapes ◽

State University ◽

Flexible Robot ◽

Iowa State University ◽

Robot System ◽

Gravitational Effects ◽

Control Electronics

Abstract This paper presents techniques used to model a two arm experimental robot developed at Iowa State University. Both arms are compliant and the robot operates in a vertical plane and is therefore influenced by gravity. The robot is being built to study different control strategies for robots containing compliant members. The system is built with extremely flexible members. This limits the required bandwidth of the control electronics, and mimics the flexible motions that are observed for stiffer faster robots. The objective of this paper is to develop a reduced order model of the robot system and to experimentally validate the model. Validation requires that the model include gravitational effects. Therefore, an assumed modes model is developed which facilitates modeling of gravitational effects. In order to select the order and mode shapes for the model, an analytical solution is derived for a linearized continuous model. This is compared to the assumed modes model to determine the number of mode shapes needed to model the system. The final model, which includes shortening effects, correlates very well with experimental results.

Download Full-text

Outreach Opportunities Using the Instructional SEM at Iowa State University

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100164520 ◽

1996 ◽

Vol 54 ◽

pp. 412-413

Author(s):

L. S. Chumbley ◽

M. Meyer ◽

K. Fredrickson ◽

F.C. Laabs

Keyword(s):

Materials Science ◽

State University ◽

Digital Cameras ◽

Audio Signals ◽

Iowa State University ◽

Cornell University ◽

Sem Image ◽

Local Schools ◽

Materials Science And Engineering ◽

Video And Audio

The development of a scanning electron microscope (SEM) suitable for instructional purposes has created a large number of outreach opportunities for the Materials Science and Engineering (MSE) Department at Iowa State University. Several collaborative efforts are presently underway with local schools and the Department of Curriculum and Instruction (C&I) at ISU to bring SEM technology into the classroom in a near live-time, interactive manner. The SEM laboratory is shown in Figure 1.Interactions between the laboratory and the classroom use inexpensive digital cameras and shareware called CU-SeeMe, Figure 2. Developed by Cornell University and available over the internet, CUSeeMe provides inexpensive video conferencing capabilities. The software allows video and audio signals from Quikcam™ cameras to be sent and received between computers. A reflector site has been established in the MSE department that allows eight different computers to be interconnected simultaneously. This arrangement allows us to demonstrate SEM principles in the classroom. An Apple Macintosh has been configured to allow the SEM image to be seen using CU-SeeMe.

Download Full-text

The Instructional SEM Laboratory at Iowa State University

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100164441 ◽

1996 ◽

Vol 54 ◽

pp. 396-397

Author(s):

L. S. Chumbley ◽

M. Meyer ◽

K. Fredrickson ◽

F.C. Laabs

Keyword(s):

Materials Science ◽

Computer Network ◽

Energy Dispersive Spectrometer ◽

Computer Control ◽

State University ◽

Iowa State University ◽

Internet Server ◽

Schematic Layout ◽

Hands On ◽

Improve Instruction

The Materials Science Department at Iowa State University has developed a laboratory designed to improve instruction in the use of the scanning electron microscope (SEM). The laboratory makes use of a computer network and a series of remote workstations in a classroom setting to provide students with increased hands-on access to the SEM. The laboratory has also been equipped such that distance learning via the internet can be achieved.A view of the laboratory is shown in Figure 1. The laboratory consists of a JEOL 6100 SEM, a Macintosh Quadra computer that acts as a server for the network and controls the energy dispersive spectrometer (EDS), four Macintosh computers that act as remote workstations, and a fifth Macintosh that acts as an internet server. A schematic layout of the classroom is shown in Figure 2. The workstations are connected directly to the SEM to allow joystick and computer control of the microscope. An ethernet connection between the Quadra and the workstations allows students seated there to operate the EDS. Control of the microscope and joystick is passed between the workstations by a switch-box assembly that resides at the microscope console. When the switch-box assembly is activated a direct serial line is established between the specified workstation and the microscope via the SEM’s RS-232.

Download Full-text