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| 1 | Kinematics and trajectory planning of a cucumber harvesting robot manipulator显示文摘In order to reduce cucumber harvesting cost and improve economic benefits,a cucumber harvesting robot was developed.The cucumber harvesting robot consists of a vehicle,a 4-DOF articulated manipulator,an end-effector,an upper monitor,a vision system and four DC servo drive systems.The Kinematics of the cucumber harvesting robot manipulator was constructed using D-H coordinate frame model.And the inverse kinematics which provides a foundation for trajectory planning has been solved with inverse transform technique.The cycloidal motion,which has properties of continuity and zero velocity and acceleration at the ports of the bounded interval,was adopted as a feasible approach to plan trajectory in joint space of the cucumber harvesting robot manipulator.Moreover,hardware and software based on CAN-bus communication between the upper monitor and the joint controllers have been designed.Experimental results show that the upper monitor communicates with the four joint controllers efficiently by CAN-bus,and the integrated errors of four joint angles do not exceed four degrees.Probable factors resulting in the errors were analyzed and the corresponding solutions for improving precision are proposed. | Zhang Libin Wang Yan Yang Qinghua Bao Guanjun Gao Feng Xun Yi | 2009 | International Journal of Agricultural and Biological Engineering2009，2，1： | 7 |
| 2 | Recognition and localization system of the robot for harvesting Hangzhou White Chrysanthemums显示文摘To realize the robotic harvesting of Hangzhou White Chrysanthemums,the quick recognition and 3D vision localization system for target Chrysanthemums was investigated in this study.The system was comprised of three main stages.Firstly,an end-effector and a simple freedom manipulator with three degrees were designed to meet the quality requirements of harvesting Hangzhou White Chrysanthemums.Secondly,a segmentation based on HSV color space was performed.A fast Fuzzy C-means(FCM)algorithm based on S component was proposed to extract the target image from irrelevant background.Thirdly,binocular stereo vision was used to acquire the target spatial information.According to the shape of Hangzhou White Chrysanthemums,the centroids of stamens were selected as feature points to match in the right and left images.The experimental results showed that the proposed method was able to recognize Hangzhou White Chrysanthemums with the accuracy of 85%.When the distance between target and baseline was 150-450 mm,the errors between the calculated and measured distance were less than 14 mm,which could meet the requirements of the localization accuracy of the harvesting robot. | Qinghua Yang Chun Chang Guanjun Bao Jun Fan Yi Xun | 2018 | International Journal of Agricultural and Biological Engineering2018，11，1： | 5 |
| 3 | Overview of research on agricultural robots in China显示文摘As the representation of new concept agricultural machinery,agricultural robots possess great advantages of improving agricultural productivity,enhancing production environment and solving the problem of labor shortage.Therefore,the strategy for application of agricultural robots and precision agriculture to improve the intelligence and information level of agriculture is the inevitable trend for China’s agriculture in the twentieth century.Based on the developmental status of agricultural robots in China,the agricultural robots are categorized and the performances,structures and characteristics of various agricultural robots such as vegetable grafting robots,transplanting robots,spraying robots,mowing robots,harvesting robots,grading and detecting robots are amply introduced.It can be seen that vegetable grafting robots,spraying robots,harvesting robots,grading and detecting robots have already been put into production while others are still at experimental stage.At present,there are several problems such as low popularization,great limitations,high cost and low intelligence,which greatly restrict the development of agricultural robots in China.Thus,open agricultural robot system with good expansibility,generality and flexibility should be developed and adopted to decrease its cost and shorten developing cycle.The mechanical structure of robots should also be designed as simply as possible.Finally,multi-robot system would become another important development direction of agricultural robots in the future. | Zhang Libin Yang Qinghua Bao Guanjun Wang Yan Qi Liyong Gao Feng Xu Fang | 2008 | International Journal of Agricultural and Biological Engineering2008，1，1： | 4 |
| 4 | Segmentation algorithm for Hangzhou white chrysanthemums based on least squares support vector machine显示文摘In order to realize the visual positioning for Hangzhou white chrysanthemums harvesting robot in natural environment,a color image segmentation method for Hangzhou white chrysanthemum based on least squares support vector machine(LS-SVM)was proposed.Firstly,bilateral filter was used to filter the RGB channels image respectively to eliminate noise.Then the pixel-level color feature and texture feature of the image,which was used as input of LS-SVM model(classifier)and SVM model(classifier),were extracted via RGB value of image and gray level co-occurrence matrix.Finally,the color image was segmented with the trained LS-SVM model(classifier)and SVM model(classifier)separately.The experimental results showed that the trained LS-SVM model and SVM model could effectively segment the images of the Hangzhou white chrysanthemums from complicated background taken under three illumination conditions such as front-lighting,back-lighting and overshadow,with the accuracy of above 90%.When segmenting an image,the SVM algorithm required 1.3 s,while the LS-SVM algorithm proposed in this paper just needed 0.7 s,which was better than the SVM algorithm obviously.The picking experiment was carried out and the results showed that the implementation of the proposed segmentation algorithm on the picking robot could achieve 81%picking success rate. | Qinghua Yang Shaoliang Luo Chun Chang Yi Xun Guanjun Bao | 2019 | International Journal of Agricultural and Biological Engineering2019，12，4： | 3 |
| 5 | Ammonia leaching mechanism and kinetics of LiCoO_(2) material from spent lithium-ion batteries显示文摘In this paper,the ammonia leaching process and high-energy ball milling method were adapted to recover spent LiCoO_(2) material.The ammonia reduction leaching mechanism of LiCoO_(2) material in the ammonia-sodium sulfite-ammonium chloride system was elucidated.Compared with untreated LiCoO_(2) material,the leaching equilibrium time of LiCoO_(2) after ball-milled for 5 h was reduced from 48 h to 4 h,and the leaching efficiency of lithium and cobalt was improved from 69.86%and 70.80%to 89.86%and98.22%,respectively.Importantly,the apparent activation energy and leaching kinetic equation of the reaction was calculated by the shrinking core reaction model,indicating that the reaction was controlled by the chemical reaction. | Dongmin Li Bao Zhang Xing Ou Jiafeng Zhang Kui Meng Guanjun Ji Pengfei Li Jianhui Xu | 2021 | Chinese Chemical Letters2021，32，7： | 2 |
| 6 | Tracking and recognition algorithm for a robot harvesting oscillating apples显示文摘Apple fruits on trees tend to swing because of wind or other natural causes,therefore reducing the accuracy of apple picking by robots.To increase the accuracy and to speed up the apple tracking and identifying process,tracking and recognition method combined with an affine transformation was proposed.The method can be divided into three steps.First,the initial image was segmented by Otsu’s thresholding method based on the two times Red minus Green minus Blue(2R-G-B)color feature;after improving the binary image,the apples were recognized with a local parameter adaptive Hough circle transformation method,thus improving the accuracy of recognition and avoiding the long,time-consuming process and excessive fitted circles in traditional Hough circle transformation.The process and results were verified experimentally.Second,the Shi-Tomasi corners detected and extracted from the first frame image were tracked,and the corners with large positive and negative optical flow errors were removed.The affine transformation matrix between the two frames was calculated based on the Random Sampling Consistency algorithm(RANSAC)to correct the scale of the template image and predict the apple positions.Third,the best positions of the target apples within 1.2 times of the prediction area were searched with a de-mean normalized cross-correlation template matching algorithm.The test results showed that the running time of each frame was 25 ms and 130 ms and the tracking error was more than 8%and 20%in the absence of template correction and apple position prediction,respectively.In comparison,the running time of our algorithm was 25 ms,and the tracking error was less than 4%.Therefore,test results indicate that speed and efficiency can be greatly improved by using our method,and this strategy can also provide a reference for tracking and recognizing other oscillatory fruits. | Qinghua Yang Chen Chen Jiayu Dai Yi Xun Guanjun Bao | 2020 | International Journal of Agricultural and Biological Engineering2020，13，5： | 2 |
| 7 | Fruit harvesting continuum manipulator inspired by elephant trunk显示文摘By combining the investigation of the biomechanics and behavior of elephant trunk in the performance of a wide range of dexterous manipulations,a novel approach in the design and kinematics modeling of a fruit harvesting continuum manipulator was proposed.By comparing the structure of two different species of elephant trunk,a new continuum structure which matched the key features of elephant trunk was designed.Based on analysis of the underlying elephant trunk’s grasping mode,a novel kinematics model was proposed.Contrast to traditional robot kinematics which focused on end effector’s position and posture,the proposed continuum manipulator kinematics focus on the center of manipulator’s position and posture,which is more effective when trunk robot realizing grasp and establishes the foundation for its application.Finally,three typical grasping experiments were implemented.The experiment results showed that the manipulator could conduct wrap/pinch manipulations effectively for both small objects and bigger ones. | Shao Tiefeng Zhang Libin Du Mingyu Bao Guanjun Yang Qinghua | 2015 | International Journal of Agricultural and Biological Engineering2015，8，1： | 2 |
| 8 | The mechanical properties of co-continuous Si 3 N 4 /Al composites manufactured by squeeze casting显示文摘 | Yuan Lu Jianfeng Yang Weizhong Lu Rongzhen Liu Guanjun Qiao Chonggao Bao | 2010 | Materials Science & Engineering A2010，，23： | 2 |
| 9 | Superpixel-based segmentation algorithm for mature citrus显示文摘With the decrease of agricultural labors and the increase in production costs,harvesting robots have become a research hotspot in recent years.To guide harvesting robots to pick mature citrus more precisely under variable illumination conditions,an image segmentation algorithm based on superpixel was proposed.Efficient simple linear iterative clustering(SLIC)algorithm which takes similarity of adjacent pixels into account was adopted to segment the images captured under variable illumination conditions into superpixels.The color and texture features of these superpixels were extracted and fused into feature vectors as descriptors to train backpropagation neural networks(BPNN)classifier in the next step.The adjacency information of superpixels was considered by calculating the global-local binary pattern(LBP)in R component images when extracting texture features.To accelerate the classification process,the mean of Cr-Cb image was utilized to find superpixels of interest which were regarded as candidates of citrus superpixels.These candidates were then classified by a pre-trained BPNN model with superpixel-level accuracy of 98.77%and pixel-level accuracy of 94.96%,while the average time to segment one image was 0.4778 s.Therefore,the results indicated that a superpixel-based segmentation algorithm toward citrus images had decent light robustness as well as high accuracy that could guide harvesting robot to pick mature citrus efficiently. | Qinghua Yang Yiqin Chen Yi Xun Guanjun Bao | 2020 | International Journal of Agricultural and Biological Engineering2020，13，4： | 1 |
| 10 | Convex decomposition of concave clouds for the ultra-short-term power prediction of distributed photovoltaic system显示文摘Concave clouds will cause miscalculation by the power prediction model based on cloud features for distributed photovoltaic( PV) plant. The algorithm for decomposing concave cloud into convex images is proposed. Adopting minimum polygonal approximation( MPP) to demonstrate the contour of concave cloud,cloud features are described and the subdivision lines of convex decomposition for the concave clouds are determined by the centroid point scattering model and centroid angle function,which realizes the convex decomposition of concave cloud. The result of MATLAB simulation indicates that the proposed algorithm can accurately detect cloud contour corners and recognize the concave points. The proposed decomposition algorithm has advantages of less time complexity and decomposition part numbers compared to traditional algorithms. So the established model can make the convex decomposition of complex concave clouds completely and quickly,which is available for the existing prediction algorithm for the ultra-short-term power output of distributed PV system based on the cloud features. | 蔡世波 Tong Jianjun Bao Guanjun Pan Guobing Zhang Libin Xu Fang | 2016 | High Technology Letters2016，22，3： | 1 |
| 11 | Full compli- ant continuum robotic finger and its kinematic model 显示文摘 | Bao Guanjun Ma Xiaolong Luo Xinyuan | 2014 | I- ranian Journal of Science and Technology Transaction B-En- gineering2014，38，2： | 1 |
| 12 | Detection of egg stains based on local texture feature clustering显示文摘The quality of egg is mainly influenced by the dirt adhering to its shell.Even with good farm-management practices and careful handling,a small percentage of dirty eggs will be produced.The purpose of this research was to detect the egg stains by using image processing technique.Compared to the color values,the local texture was found to be much more adept at accurately segmenting of the complex and miscellaneous dirt stains on the egg shell.Firstly,the global threshold of the image was obtained by two-peak method.The irrelevant background was removed by using the global threshold and the interested region was acquired.The local texture information extracted from the interested region was taken as the input of fuzzy C-means clustering for segmentation of the dirt stains.According to the principle of projection,the area of dirt stains on the curved egg surface was accurately calculated.The validation experimental results showed that the proposed method for classifying eggs in terms of stain has the specificity of 91.4%for white eggs and 89.5%for brown eggs. | Qinghua Yang Mimi Jia Yi Xun Guanjun Bao | 2018 | International Journal of Agricultural and Biological Engineering2018，11，1： | 1 |
| 13 | Cucumber image segmentation algorithm based on rough set theory显示文摘 | Yang Qinghua Qi Liyong Bao Guanjun at el | 2007 | New Zealand Journal of Agricultural Research2007，50，98： | 1 |
| 14 | Pneumatic bio-soft robot module:Structure,elongation and experiment显示文摘Soft robotics,often taking inspirations from biomimetics,is an exciting novel research field and has great capability to work with creatures.A new type of bio-soft robot inspired by elephant trunk and octopus was proposed,which has a promising application in robotic agricultural harvesting.The two modularized structures,basal segment and caudal segment,were elaborated in detail.They both have three side chambers and one central chamber,which are reinforced by springs for better stretch performance in axial direction without radial expansion.All the chambers can act as drivers when inflated with compressed air.More importantly,the central chamber was designed for regulating the stiffness of the robot module as needed in application.The primary static model for axial elongation was established for the fundamental analysis of the bio-soft robot module’s features,such as iso-force,isobaric and isometric characteristics.Simulation and experimental results showed that the motion of the proposed bio-soft module has approximate linearity in iso-force and isobaric conditions,and strict linearity in isometric condition. | Bao Guanjun Yao Pengfei Xu Zonggui Li Kun Wang Zhiheng Zhang Libin Yang Qinghua | 2017 | International Journal of Agricultural and Biological Engineering2017，10，2： | 1 |
| 15 | Basic Characteristics of a New Flexible Pneumatic Bending Joint显示文摘Several typical flexible pneumatic actuators(FPA) and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional designs, and these models still have limitations in predicting behavior of FPAs. A new flexible pneumatic bending joint(FPBJ) with special anisotropic rigidity structure is proposed. The FPBJ is developed as an improvement with regard to existing types of FPA, and its principal characteristic is derived from the special anisotropic rigidity structure. With this structure, the load capacity in the direction perpendicular to bending plane is strengthened. The structure of the new FPBJ is explained and a mathematical model is derived based on Euler-Bernoulli beam model and Hook's law. To obtain optimum design and usage, some key structure parameters and input-output characteristics are simulated. The simulation results reveal that the relationship between the structure parameters and FPBJ's bending angle is nonlinear. At last, according to the simulation results, the FPBJ is manufactured with optional parameters and tested. The experimental results show that the joint's statics characteristics are reflected by the mathematical model accurately when the FPBJ is deflated. The maximum relative error between simulation and experimental results is less than 6%. However, the model still has limitations. When the joint is inflated, the maximum relative error reaches 20%. This paper proposes a new flexible pneumatic bending joint which has sufficient load capacity and compliance, and the mathematical model provides theoretical guidance for the FPBJ's structure design. | SHAO Tiefeng ZHANG Libin BAO Guanjun LUO Xinyuan YANG Qinghua | 2014 | Chinese Journal of Mechanical Engineering2014，27，6： | 1 |
| 16 | Turning a hot spot into a cold spot:polarization-controlled Fano-shaped local-field responses probed by a quantum dot显示文摘Optical nanoantennas can convert propagating light to local fields.The local-field responses can be engineered to exhibit nontrivial features in spatial,spectral and temporal domains,where local-field interferences play a key role.Here,we design nearly fully controllable local-field interferences in the nanogap of a nanoantenna,and experimentally demonstrate that in the nanogap,the spectral dispersion of the local-field response can exhibit tuneable Fano lineshapes with nearly vanishing Fano dips.A single quantum dot is precisely positioned in the nanogap to probe the spectral dispersions of the local-field responses.By controlling the excitation polarization,the asymmetry parameter q of the probed Fano lineshapes can be tuned from negative to positive values,and correspondingly,the Fano dips can be tuned across a broad spectral range.Notably,at the Fano dips,the local-field intensity is strongly suppressed by up to ~50-fold,implying that the hot spot in the nanogap can be turned into a cold spot.The results may inspire diverse designs of local-field responses with novel spatial distributions,spectral dispersions and temporal dynamics,and expand the available toolbox for nanoscopy,spectroscopy,nano-optical quantum control and nanolithography. | Juan Xia Jianwei Tang Fanglin Bao Yongcheng Sun Maodong Fang Guanjun Cao Julian Evans Sailing He | 2020 | Light(Science & Applications)2020，9，1： | 1 |
| 17 | Pneumatic webbed soft gripper for unstructured grasping显示文摘Grasping unstructured and fragile objects such as food and fruits is a great challenge for robots.Being naturally different from the traditional rigid robot,soft robotics provide highly promising choices with their intrinsic flexibility and compliance to objects.Inspired by duck foot and octopus tentacle,a pneumatic webbed soft gripper was proposed,which is consisted of four multi-chambered fingers and four webs.Due to its silicone body and soft web structure,the developed soft gripper can naturally adapt,grasp and hold delicate and unstructured objects.Compressed air inflated into the three chambers of the finger actuates the silicone body and performs inflection and extension.The silicone web follows the motion of four fingers,forming a semi-closed grasping configuration.The fingers were fabricated with silicone rubber and constraint spring by casting process.The web was cast around the fingers.The inflecting motion was modeled via the pneumatic principle and geometrical analysis.The dynamic properties of the finger were tested by step and sinusoidal signals.And the grasping performances for different objects,such as egg,strawberry,candy,and knife,were also demonstrated by experiments.The proposed soft gripper performed stably in response to a 0.4 Hz reference sinusoidal signal.The bionic structure greatly improves the stability and reliability of grasping,particularly for unstructured and fragile objects.Moreover,the webs ensure the grasping for multiple objects in one snatch,especially suitable for agricultural products and food processing. | Shibo Cai Chun’e Tang Lufeng Pan Guanjun Bao Wenyu Bai Qinghua Yang | 2021 | International Journal of Agricultural and Biological Engineering2021，14，4： | 0 |
| 18 | Nondestructive identification of softness via bioinspired multisensory electronic skins integrated on a robotic hand显示文摘Tactile sensing is essentially required for dexterous manipulation in robotic applications.Mimicking human perception of softness identification in a non-invasive fashion,thus achieving satisfactory interaction with fragile objects remains a grand challenge.Here,a scatheless measuring methodology based on the multisensory electronic skins to quantify the elastic coefficient of soft materials is reported.This recognition approach lies in the preliminary classification of softness by piezoelectric signals with a modified machine learning algorithm,contributing to an appropriate contact force assignment for subsequent quantitative measurements via strain sensing feedback.The integration of multifunctional sensing system allows the manipulator to hold capabilities of selfsensing and adaptive grasping motility in response to objects with the various softness(i.e.,kPa-MPa).As a proof-of-concept demonstration,the biomimetic manipulator cooperates with the robotic arm to realize the intelligent sorting of oranges varying in freshness,paving the way for the development of microsurgery robots,human-machine interfacing,and advanced prosthetics. | Ye Qiu Shenshen Sun Xueer Wang Kuanqiang Shi Zhiqiang Wang Xiaolong Ma Wenan Zhang Guanjun Bao Ye Tian Zheng Zhang Hao Ding Hao Chai Aiping Liu Huaping Wu | 2022 | npj Flexible Electronics2022，6，1： | 0 |
| 19 | Continuous adaptive gaits manipulation for three-fingered robotic hands via bioinspired fingertip contact events显示文摘The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation involves a series of basic movements executed by a high-level controller.However,it remains unclear how these primitives evolve into sophisticated finger gaits during manipulation.Here,we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the object.Successful manipulation relies on contact events that act as triggers for real-time online replanning of multifinger manipulation.We identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round cup.Our experimental results verify the effectiveness of the proposed method.Despite the constant breaking and reengaging of contact between the fingers and the object during manipulation,the robotic hand can reliably manipulate the object without failure.Even when the object is subjected to interfering forces,the proposed method demonstrates robustness in managing interference.This work has great potential for application to the dexterous operation of anthropomorphic multifingered hands. | Xiaolong Ma Jianhua Zhang Binrui Wang Jincheng Huang Guanjun Bao | 2024 | Biomimetic Intelligence & Robotics2024，4，1： | 0 |
| 20 | Ultralong Stretchable Soft Actuator(US2A):Design,Modeling and Application显示文摘Actuator plays a significant role in soft robotics.This paper proposed an ultralong stretchable soft actuator(US2A)with a variable and sizeable maximum elongation.The US2A is composed of a silicone rubber tube and a bellows woven sleeve.The maximal extension can be conveniently regulated by just adjusting the wrinkles’initial angle of the bellows woven sleeve.The kinematics of US2A could be obtained by geometrically analyzing the structure of the bellows woven sleeve when the silicone rubber tube is inflated.Based on the principle of virtual work,the actuating models have been established:the pressure-elongation model and the pressure-force model.These models reflect the influence of the silicone tube’s shell thickness and material properties on the pneumatic muscle’s performance,which facilitates the optimal design of US2A for various working conditions.The experimental results showed that the maximum elongation of the US2A prototype is 257%,and the effective elongation could be variably regulated in the range of 0 and 257%.The proposed models were also verified by pressure-elongation and pressure-force experiments,with an average error of 5%and 2.5%,respectively.Finally,based on the US2A,we designed a pneumatic rehabilitation glove,soft arm robot,and rigid-soft coupling continuous robot,which further verified the feasibility of US2A as a soft driving component. | Wenbiao Wang Yunfei Zhu Shibo Cai Guanjun Bao | 2023 | Chinese Journal of Mechanical Engineering2023，36，1： | 0 |
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