Vertical Farming Automation�Progress Review 10

Team G

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Aditya Gaddipati | Bruce Kwangkyun Kim | Pallavi Madhukar |Vaidehi Patil | Steven Brills

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November 2 2022

Progress Review 10 Goals

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Integrate Tool with Manipulation

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Initial testing of base/arm elevation/rotation + tool cutting

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Add localization corrections using environment aruco markers

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Integrate TensorRT engine

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Train with additional data to reduce false positive

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Perception

Current Status

• YoloV5 perception stack performance: �15~20 FPS inference speed, Accuracy is high
• Perspective error debugging complete
• Initial stem localization implemented
• Additional training on-going to reduce false positives
• TensorRT Hello Robot Integration is on-going

Future Work

• Integrate stem localization on Hello Robot
• Integrate 3d bounding box script on Hello Robot
• Complete training
• Integrate TensorRT on Hello Robot

Challenges

• Allocating much time and resources for integration
• TensorRT integration is challenging than our initial expectation
• Training takes time and cannot guarantee the result
• Coordinate registration with depth-limit

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Navigation

Current Status

• Navigation system is up and running. �A localization node that uses the aruco markers in the environment to correct the robots position w.r.t. the map frame is implemented to properly locate detected tomatoes in the environment.

Challenges

• Low battery performance leads to unexpected behavior and might cause incorrect diagnosis of deviant behaviors
• Low-level driver failures on the stretch robot requiring complete restart of entire system

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Known Map Location of Aruco Marker

Manipulation and customized tool

Current Status

• Lift, arm and base rotation tested in integrated runs
• Tool integration with manipulation subsystem done - tested with aruco markers (base rotation, lift, arm and tool movement)

Future Work

• Integrated runs with other subsystems
• Working on refining any bugs that may come up during integration, for example
• Rotation error (seen in tests, fixed this error)
• Lift error (Not seen in tests so far)
• Arm error (Not seen in tests so far)
• Tool error - return error (Seen in individual testing, fixing it)
• Loss of torque while gripping or cutting (Not seen in tests so far)
• Synchronous movement (Seen in tests, fixed, need to test more)

Challenges

• Debug Tool error
• Low-level driver failures on the stretch robot requiring complete restart of entire system

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Customized Tool

Current Status

• Tool tested without other subsystems i.e. just cutting and gripping

Future Work

• Final print and assembly
• Integration with manipulation
• Working on refining any bugs that may come up during integration, for example
• Loss of torque while gripping or cutting (Not seen in tests so far)
• Synchronous movement (Seen in tests, fixed, need to test more)

Challenges

• 3D print failing
• Synchronous movement, loss of torque, actual working
• Low-level driver failures on the stretch robot requiring complete restart of entire system

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Thank You

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