浙江大学生物系统工程-生物生产机器人-复习整理

Definition of a bio-production robotBio-production robot is a machine system, with or without a manipulator, is able to work in some area people cannot reach and bear or operate some task more efficiency than human. It has its own control algorithm and sensing system to manage a human intelligence.Why necessary?1. Some task are not suitable to human but require human intelligenceto perform.2. The availability of farming labor is decreasing quickly in recent years.3. Labor shortage result in the increasing of workforce cost, making aincreasing of this robot demanding.4. The demanding of product quality and quantity has become animportant factor in bio-production and economic.Main physical properties of biological objectsBasic physical properties are shape, size, mass, density, surface texture; Dynamic properties are cutting resistance, frictional resistance, elasticity and viscostiry;Optical properties are reflectance and transmittance;Sonic properties are vibration property and wave propagation;Electrical properties are electrical resistance, capacitance and static electrical property.Features of bio-production robot1. Needs to be flexible and versatile in handling objects.2. Has the intelligence to recognize the surrounding of the objects.3. Able to work in a changeable, unstructured environments.4. Safety assurance is available when working with human in tandem.5. Easy to operate by human and cost effective in its monetaryinvestment.Difference between bio-production robot and industrial robot.Industrial robot is good at handling objects with regular and static properties, but bio-production robot is often required to manipulate object of various properties.This image shows that designing a bio-production robot need to consider fields of social science, biotechnology horticulture and engineering. Engineering …Social science …Biotechnology horticulture …Then I need to illustrate each part of this images and would better to give out the connection and influence of that field.Components of bio-production robot (robotic hand should be developed based on as follows)1. Manipulator: to carry out the task for the machine2. End-effector: to play a similar role of human hand at the end ofmanipulator3. Sensors: to detect the environments conditions or objects’properties4. Traveling device: set up an bigger operation space of themanipulator5. Control device: to control the robot components6. Actuator: to simulate or provide power for the robot.Advantages of digital machine vision system.Human vision system:1. Recognize and synthesize an image scene2. Extremely intelligent in image recognition and interpretation ofscenes and objects even in a terrible environment or withincomplete information with the help of incredible intelligence ofbrain.3. Limitation: only can recognize in visible region(400-700nm) and notable to make the feature quantification.Digital machine vision systems:1. Receive light in a wider region, even out of visible region.2. Provide quantified information of object’s feature.3. Suitable for repetitive tasks in an stable condition.Key components of it:1. Electronic camera, to convert image with the same function ofhuman eyes.2. Image acquisition board: act as the analog and digital interfaces.3. Computer: act as human brains.4. Lighting system: supply light.5. Software: analyze the information already collected.Spectral reflectance of one bio-production:You need to illustrate the image with following aspects:1. You would better to consider both x axis and y axis to analyze thedifference2. If you are asked to separate two objects, you would better to findout the biggest difference in their spectrums and describe youdecision.Encorder:Position-sensitive device (PSD)The reflect light from an object is focus by a lens and become a small imageon the sensitive surface of the PSD. Then we can confirm the images’position confirmed by the electricity difference of two anodes. And after analyze and calculate the ratio of two current intensities, we can know the distance of the object.Common types of photoelectric sensorsCommon photoelectric sensor consisted by two elements, a light beam transmitter with a LED and a receiver composed of a photodiode or a phototransistor.In Through beam type, transmitter and receiver are set separately and facing each other. This system allows the detection of any object break the optical path, suitable for long-range, up to 30m.In reflex type, object break the optical path too, but the transmitter and receiver are set together with a same direction. The light beam will reflected by a reflector set in distance. It is suitable for medium-range region from 0.1 to 10m.In diffuse type, receiver detect the light diffused by the surface of object. The object should close the detector. And the detect distance ranges from 5cm to 2m and only for some object capable in reflect such as glasses.type Detected object Detection rangeThrough-Opaque and0~30mbeam type reflective objectsReflex type Object that Breaksthe reflected beam0.1~10mDiffuse type Object that reflectsthe light beam and isclose to a sensor unit5cm~2mEight step to analyze a system[1] Define a system and its objective.[2] Identify the descriptors of the system.[3] Establish the relationships among the descriptors.[4] Designate system performance indicators.[5] Develop a model to represent the system.[6] Verify and validate the model[7] Perform simulation with the model[8] Draw conclusions about the system1. 自由度和工作空间的计算（和平时作业类似）First we need to calculate the operational space from top view and side view, then multiply them finally we got the operational space. Also the normalized volume index V n can be computed by V n=V/(4πL3/3)2. 模糊控制的相关计算（与kondo教授资料上第58页题目类似）3. 从5种机械手中取3种举例说明（见kondo资料上4-5页）4. 表示颜色的几种方法（见kondo资料13-15页）Munsell Renotation:This model define a color by hue, intensity and saturation. Hue has10 colors, intensity has 10 degrees and saturation has 14 degrees.Chromaticity:In this model, we need first calculate X, Y and Z by their own functions regard colors’ significance respectfully of red, green and blue.Then, plus X, Y and Z and calculate the ratios of X, Y and Z. After that, wegot parameter x, y and z. x + y + z =1. And drawing points on the coordinate system of x axis and y axis.L*a*b*:This model define a color by L* axis, a* axis and b* axis. Three axis parameters are calculated by X, Y and Z mentioned before.HSI (Hue, Saturation, Intensity):HIS define a color by the point in an cylindrical model, which composed by H, S and I. H is the polar angle from top view. S is the modulus from top view. I is the vertical scale.5. 偏振光相关题目（稻田反射阳光和人站的位置的那道题，见kondo资料22页左上）6. 根据所给图表简述不同物质的光学性质（见kondo资料24页中间的图）7. 用镜头捕获对象位置的计算（与作业类似，见kondo资料26页、43页）Manipulator:DOF: degree of freedomCartesian coordinate type: prismatic joints for position determination. Cylindrical coordinate type: 2 prismatic joints and 1 rotational joint for position determination.Polar coordinate type: 1 prismatic joint and 2 rotational joints.Articulated type: 3 rotational joints for position determination. Mechanism of manipulator is defined byDOFType of jointLink lengthOffset lengthJoint:1. prismatic joint2. rotational jointThe DOF of arm is 7. Shoulder is 3, elbow is 1-2, and wrist is 2-3. Evaluation indices:1. Operational space2. Measure of manipulability3. Posture diversityViscoelastic property:1. Elasticity limit 弹性极限2. Yield point 应力屈服点，恢复不了了3. Rupture point 破掉了Fundamentals of light:1. Quantity of light2. Luminous intensity3. Brightness4. Intensity of illuminationLamps:1. Halogen2. Incandescent3. Fluorescent: lower color rendering, 250nm UV light causesfluorescence reaction4. LED5. HIDColor temperature:Different color temperature will have different wavelength distribution, which divided into 3 regions. They are B, G and R.Why is the sunset color red?According to Rayleigh’s Scattering theory, light will go through a longer path at dusk then at middle of day. Color is diffused in this process and energy is decreased. Red color’s photon has lower level of energy and it has a longer wavelength which make it easy to diffraction. So, the sunset color is red.Why leaves green?Because the chlorophyll contained in leaf cell reflected the color at green’s wavelength region.Advantage of optical fiber:Easy replacement of fiber and adapting object shape.垂直：Vertical偏振镜：Polarizer偏振角: Angle of polarization棱镜：prism单色玻璃：single color glassCCDMOSFluorescence：Fluorescence is the emission of light by a substance that has absorbed light or other electromagnetic radiation.Actuators:Electric actuator: DC motor, AC motor, Stepping motor, Servo motor, SolenoidHydraulic actuator: Hydraulic cylinder, hydraulic motorPneumatic actuator: air cylinder, air motorSMA(shape memory alloy) actuatorSensor classification:Internal sensors: joint angle position, velocity, armconfugurationExternal sensors: sense object color, position, distance, existenceLimit switchThe principle of strain gauge 压扁和拉长原理Touch sensor:Flexible rod lever typePush-ON typePush-OFF typePressure sensor: electrodes attached in up and down surfaces. And conductive rubber between them.Ultrasonic sensor 两个接收器测角度就知道距离L了，用在cutting height control上Laser sensor 一个projector 两个mirror，下面那个可以转磁场：Magnetic field电流：currentTerahertz: 太赫兹1012HZSpectrum detection:Reflection typeTransmittance typeSemi-transmissive1.Why is the bioproduction robot necessary?Answer：(1) Although many agricultural operations have been mechanized, there are stillmany treacherous, laborious，and monotonous tasks that are not suited for humanbeings，but require certain human like intelligence to perform；(2) The availability of the farming workforce is decreasing at an alarming rate inmany countries．Compared With many other industries, agriculture is lessattractive for the younger generation，as indicated by recent trends．This meansthat the supply of human resources for farming will continue to decrease in theforeseeable future．The development of bioproduction robots，especially the kindwith expert knowledge，can serve to preserve some farming expertise；(3) The problem of labor shortage frequently results in rising labor costs，if the production is to continue；(4) The market demand for product quality has become an important factor in bioproduction．Quality evaluation of products has relied mainly on human judgment.2.How to analysis the colors feature of a fruit?Answer：(1) Open a fruit image.(2)Split the fruit image into R, G and B component (or Chromaticity) images.(3) Chose one of the R, G and B component images, and make the fruit area as ROI.(4) Calculate the R and G component histogram of the ROIs, and get the R component mean value and the G component mean value of the fruit.(5) Use x=R/(R+G+B) and y=G/(R+G+B) the get the x-y coordinate value (x, y).(6) Plot (x,y) on the x-y coordinate graph.3.How to locate the defect area on the image of atomato?Answer：1) Open the tomato image.2) Split the tomato image into R, G and B component images.3) Chose one of the R, G and B component images, using Sobel operator to get an edge image.4) Binarize one of the R, G and B component images to a binary image.5) To make the edge image and binary image using an operator, and then get the defect area of the tomato.4.What color expression methods is used in amachine vision system? Give 3 methods at least. Answer：1) Munsell Renotation.2) RGB chromaticity.3) XYZ color coordinate system.4) L*a*b*.5) HSI (Hue, Saturation, and Intensity).5.What shape expression methods is used in amachine vision system ? Give 3 methods at least. Answer：1) Complexity.2) Feret’s diameter ratio.3) Circularity factor.4) Occupancy.5) moment.6) deformation from gravity center.6.What is the advantage of the wide-span vehicles？Answer：1).Harmful influence on plants caused by soil compaction can be reduced because track units pass on a fixed path．2).An implement mounted on a frame beam can perform its task regardless of the ground condition．3).Several operations can be accomplished by a change in implements4).The wide working width enhances working efficiency and results．7.Why is the sunset color red and the sky blue in daytime?Answer：The Earth’s atmosphere contains both air molecules and tiny suspended particles (tinier than a wavelength of light), both of which scatter light (send it off in different directions). This scattering effect affects light of shorter wavelengths more than longer wavelengths. Longer wavelength light transmits from the sun to the earth, while the shorter wavelength light scatters. we see the bule color of the shorter wavelength light scattered in the sky.8.How can we judge an orange is good?Answer：1) color: reddish color is better2) shape: flatten3) size: mid is best4) texture: smooth surface is better9.Please calculate the DOF (degrees of freedom) ofour arms.Answer：A human arm have 7 DOF’s. The shoulder has 3 DOF’s, the elbow has 1-2 DOF’s, and the wrist has 2-3 DOF’s (wrist roll is sometimes included as one of the degrees of the elbow).10.Describe what you learned on reflectance of plantparts in several sentences.Answer：1). The figure shows thy typical spectral reflectance ofparts of plants in the near-ultraviolet, visible, andnear- infrared regions. The plants need the photosynthetic active radiation (400-700nm wave band, mostly red and blue light) portion of light for photosynthesis, so the leaves reflect green-colored light. This is reason that the leaves are green.2). The flowers' reflectance between 500nm and700nm is high, so the flower is yellow. Similarly, the fruit 1 is purple and green, the fruit 2 is red. We can ensure the color of parts of plants based on their reflectance.3). In the near-infrared region, there are many absorption bands due to water at 970, 1170, 1450 and 1950nm, and all parts of the plant have higher reflectance here than in the visible region. The absorption bands at 970 and 1170nm are not due to flower petals and leaves but to fruits and stems. These wavelengths can be used for discriminating them from the other parts of the plant in the near-infrared region.11.How could you get the distance D from the lens to eachfruit in the direction of the lens axis by two images atdifferent viewpoints using binocular stereo-vision system? Answer：By the triangular measurement principle, we can get it.12.Please describe the measuring method fordistance of position-sensitive device (PSD).Answer：The position-sensitive device (PSD) is used to measure distances. A light beam from the light projector is reflected at the surface of the object. The reflected light is focused by a lens on the sensitive zone of the PSD as a small image. The PSD has two anodes, A and B; the ratio of these anode currents changes according to the position of the image. The distance to the object is calculated with these two currents by triangulation.13.How many types of lamps are there？Answer：Halogen, Incandescent, Fluorescent, LED, HID.14.Why are leaves green?Answer：The leaves absorb the red and blue color, reflect the green color, so we will see the leaves are green.15.How many types of actuators are there?Answer：1)Electric actuator: DC Motor, AC motor, Stepping motor, Servo motor, Solenoid, etc.2) Hydraulic actuator: Hydraulic cylinder, hydraulic motor3) Pneumatic actuator: Air cylinder, Air motor4) SMA actuator16.What are the required components for thebioproduction robot? And describe their functions.Answer：The required components for the bioproduction robot are manipulators, end-effector, vision sensors, traveling device, control device, and actuator. Their functions are:①. Manipulators: to carry out the special task of the machine.②. End-effector: to play a role similar to that of a human hand at the end of the manipulator.③. Sensors: includes internal sensors and external sensors, to know the environmental conditions around robots④. Traveling device: to make the operation space of the manipulator larger.⑤. Control device: to control the robotic components⑥. Actuator: to provide power for the robot.17.what is color temperature？Answer：Color and temperature don't seem to have a direct relationship with each other, but light sources are often defined in terms of their color temperature. In addition, the measurement of color temperature is in Kelvin degrees.For example, the color of the light emitted by a flash is rated at 5500 degrees; it is designed to imitate noon daylight. If the flash produces light that is 6000 degrees Kelvin, it has a slight bluish tinge. If it is rated at 4800 degrees, it is slightly warmer, or more yellowish, than white light.Digital technology uses these same traditional concepts but with a new twist. You can simply adjust your white point to change the color balance. For example, if you lower the white point to, say, 3200, you are telling the camera that you want yellowish light to be shown as white noon-type daylight. This means that daylight and flash (5500K) will be bluish, and overcast conditions and shade (about 7500K) will be exceptionally blue.18.How to find out a rotten or injury fruit that could notbe seen directly by human eyes?Answer：Using a UV light, the rotten or injury part of fruit will emit fluorescence.。