6,200 research outputs found

    ABC: Adaptive, Biomimetic, Configurable Robots for Smart Farms - From Cereal Phenotyping to Soft Fruit Harvesting

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    Currently, numerous factors, such as demographics, migration patterns, and economics, are leading to the critical labour shortage in low-skilled and physically demanding parts of agriculture. Thus, robotics can be developed for the agricultural sector to address these shortages. This study aims to develop an adaptive, biomimetic, and configurable modular robotics architecture that can be applied to multiple tasks (e.g., phenotyping, cutting, and picking), various crop varieties (e.g., wheat, strawberry, and tomato) and growing conditions. These robotic solutions cover the entire perception–action–decision-making loop targeting the phenotyping of cereals and harvesting fruits in a natural environment. The primary contributions of this thesis are as follows. a) A high-throughput method for imaging field-grown wheat in three dimensions, along with an accompanying unsupervised measuring method for obtaining individual wheat spike data are presented. The unsupervised method analyses the 3D point cloud of each trial plot, containing hundreds of wheat spikes, and calculates the average size of the wheat spike and total spike volume per plot. Experimental results reveal that the proposed algorithm can effectively identify spikes from wheat crops and individual spikes. b) Unlike cereal, soft fruit is typically harvested by manual selection and picking. To enable robotic harvesting, the initial perception system uses conditional generative adversarial networks to identify ripe fruits using synthetic data. To determine whether the strawberry is surrounded by obstacles, a cluster complexity-based perception system is further developed to classify the harvesting complexity of ripe strawberries. c) Once the harvest-ready fruit is localised using point cloud data generated by a stereo camera, the platform’s action system can coordinate the arm to reach/cut the stem using the passive motion paradigm framework, as inspired by studies on neural control of movement in the brain. Results from field trials for strawberry detection, reaching/cutting the stem of the fruit with a mean error of less than 3 mm, and extension to analysing complex canopy structures/bimanual coordination (searching/picking) are presented. Although this thesis focuses on strawberry harvesting, ongoing research is heading toward adapting the architecture to other crops. The agricultural food industry remains a labour-intensive sector with a low margin, and cost- and time-efficiency business model. The concepts presented herein can serve as a reference for future agricultural robots that are adaptive, biomimetic, and configurable

    Effective and proportionate implementation of the DMA

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    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

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    This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labour costs, and minimise food waste by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning and control. The paper also discusses the potential benefits of integrating AI and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic

    Examples of works to practice staccato technique in clarinet instrument

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    Klarnetin staccato tekniğini güçlendirme aşamaları eser çalışmalarıyla uygulanmıştır. Staccato geçişlerini hızlandıracak ritim ve nüans çalışmalarına yer verilmiştir. Çalışmanın en önemli amacı sadece staccato çalışması değil parmak-dilin eş zamanlı uyumunun hassasiyeti üzerinde de durulmasıdır. Staccato çalışmalarını daha verimli hale getirmek için eser çalışmasının içinde etüt çalışmasına da yer verilmiştir. Çalışmaların üzerinde titizlikle durulması staccato çalışmasının ilham verici etkisi ile müzikal kimliğe yeni bir boyut kazandırmıştır. Sekiz özgün eser çalışmasının her aşaması anlatılmıştır. Her aşamanın bir sonraki performans ve tekniği güçlendirmesi esas alınmıştır. Bu çalışmada staccato tekniğinin hangi alanlarda kullanıldığı, nasıl sonuçlar elde edildiği bilgisine yer verilmiştir. Notaların parmak ve dil uyumu ile nasıl şekilleneceği ve nasıl bir çalışma disiplini içinde gerçekleşeceği planlanmıştır. Kamış-nota-diyafram-parmak-dil-nüans ve disiplin kavramlarının staccato tekniğinde ayrılmaz bir bütün olduğu saptanmıştır. Araştırmada literatür taraması yapılarak staccato ile ilgili çalışmalar taranmıştır. Tarama sonucunda klarnet tekniğin de kullanılan staccato eser çalışmasının az olduğu tespit edilmiştir. Metot taramasında da etüt çalışmasının daha çok olduğu saptanmıştır. Böylelikle klarnetin staccato tekniğini hızlandırma ve güçlendirme çalışmaları sunulmuştur. Staccato etüt çalışmaları yapılırken, araya eser çalışmasının girmesi beyni rahatlattığı ve istekliliği daha arttırdığı gözlemlenmiştir. Staccato çalışmasını yaparken doğru bir kamış seçimi üzerinde de durulmuştur. Staccato tekniğini doğru çalışmak için doğru bir kamışın dil hızını arttırdığı saptanmıştır. Doğru bir kamış seçimi kamıştan rahat ses çıkmasına bağlıdır. Kamış, dil atma gücünü vermiyorsa daha doğru bir kamış seçiminin yapılması gerekliliği vurgulanmıştır. Staccato çalışmalarında baştan sona bir eseri yorumlamak zor olabilir. Bu açıdan çalışma, verilen müzikal nüanslara uymanın, dil atış performansını rahatlattığını ortaya koymuştur. Gelecek nesillere edinilen bilgi ve birikimlerin aktarılması ve geliştirici olması teşvik edilmiştir. Çıkacak eserlerin nasıl çözüleceği, staccato tekniğinin nasıl üstesinden gelinebileceği anlatılmıştır. Staccato tekniğinin daha kısa sürede çözüme kavuşturulması amaç edinilmiştir. Parmakların yerlerini öğrettiğimiz kadar belleğimize de çalışmaların kaydedilmesi önemlidir. Gösterilen azmin ve sabrın sonucu olarak ortaya çıkan yapıt başarıyı daha da yukarı seviyelere çıkaracaktır

    The Palaces of Comfort, Consolation and Distraction - The Pie and Mash shop as a performative space of a contested London working class memory

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    This thesis seeks to interrogate and clarify the history and culture of London’s traditional but fading and largely forgotten eel, pie and mash shops. In doing so the work examines their cultural conduit, the adjacent and evolving identity of the cockney whose contested memoryscapes have, I suggest, great contemporary political and cultural relevance in an age of populism and Brexit. The work excavates a tracing around the shops’ absences in historical literature. It situates their establishment within the dying breath of an older, popular street culture and the birth of a new London working class, centred around unofficial street markets and in a synchronous dance with the ideological accession of the bourgeoisie. The thesis employs the biological notion of a taxon to illustrate the shops’ evolution largely defined by the class-demotion of their clientele that mirrored the changing cartography of the city. By the late nineteenth century, this work argues, the eel and pie shops had become a pillar of a respectable London working class culture whose hyper-local solidarities revolved around micro-class divisions of work and negotiated bourgeois codes of propriety as part of a ‘culture of consolation’ that has remained largely impenetrable to outsiders. The study explores this concomitant cockney identity which became, partly through bourgeois theatrical ventriloquising, a figure of imperial incorporation. This eventually came to represent a particular type of ‘ordinariness’, subsequently reconfigured around the gains of a Welfare State and a national economy that continues to be periodically valorised according its usefulness to capital at times of political stress. Utilising sensory ethnography and memory studies the work explores the landscape and territoriality of the contemporary eel, pie and mash shop. It interrogates the rituals and complex, often competing and polyphonic memory inscriptions which memorialise a largely post-colonial nostalgic melancholia around the loss of fantasy of a British omnipotence. The thesis argues that the shops and their simulacra-like reincarnations amongst the cockney diaspora in the Essex new towns offer an insight into the changing notions of taste and class within the convivialities of a unique but broadly closed heritage of proletarian culture as a zone of resistance in the neoliberal city

    Biologically inspired robotic perception-action for soft fruit harvesting in vertical growing environments

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    Multiple interlinked factors like demographics, migration patterns, and economics are presently leading to the critical shortage of labour available for low-skilled, physically demanding tasks like soft fruit harvesting. This paper presents a biomimetic robotic solution covering the full ‘Perception-Action’ loop targeting harvesting of strawberries in a state-of-the-art vertical growing environment. The novelty emerges from both dealing with crop/environment variance as well as configuring the robot action system to deal with a range of runtime task constraints. Unlike the commonly used deep neural networks, the proposed perception system uses conditional Generative Adversarial Networks to identify the ripe fruit using synthetic data. The network can effectively train the synthetic data using the image-to-image translation concept, thereby avoiding the tedious work of collecting and labelling the real dataset. Once the harvest-ready fruit is localised using point cloud data generated by a stereo camera, our platform’s action system can coordinate the arm to reach/cut the stem using the Passive Motion Paradigm framework inspired by studies on neural control of movement in the brain. Results from field trials for strawberry detection, reaching/cutting the stem of the fruit, and extension to analysing complex canopy structures/bimanual coordination (searching/picking) are presented. While this article focuses on strawberry harvesting, ongoing research towards adaptation of the architecture to other crops such as tomatoes and sweet peppers is briefly described

    Science and corporeal religion: a feminist materialist reconsideration of gender/sex diversity in religiosity

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    This dissertation develops a feminist materialist interpretation of the role the neuroendocrine system plays in the development of gender/sex differences in religion. Data emerging from psychology, sociology, and cognitive science have continually indicated that women are more religious than men, in various senses of those contested terms, but the factors contributing to these findings are little understood and disciplinary perspectives are often unhelpfully siloed. Previous scholarship has tended to highlight socio-cultural factors while ignoring biological factors or to focus on biological factors while relying on problematic and unsubstantiated gender stereotypes. Addressing gender/sex difference is vital for understanding religion and how we study it. This dissertation interprets this difference by means of a multidisciplinary theoretical and methodological approach. This approach builds upon insights from the cognitive and evolutionary science of religion, affect theory and affective neuroscience, and social neuroendocrinology, and it is rooted in the foundational insights of feminist materialism, including that cultural and micro-sociological forces are inseparable from biological materiality. The dissertation shows how a better way of understanding gender/sex differences in religion emerges through focusing on the co-construction of biological materiality and cultural meanings. This includes deploying a gene-culture co-evolutionary explanation of ultrasociality and an understanding of the biology of performativity to argue that religious behavior and temperaments emerge from the enactment and hormonal underpinnings of six affective adaptive desires: the desires for (1) bonding and attachment, (2) communal mythos, (3) deliverance from suffering, (4) purpose, (5) understanding, and (6) reliable leadership. By hypothesizing the patterns of hormonal release and activation associated with ritualized affects—primarily considering oxytocin, testosterone, vasopressin, estrogen, dopamine, and serotonin—the dissertation theorizes four dimensions of religious temperament: (1) nurturant religiosity, (2) ecstatic religiosity, (3) protective/hierarchical religiosity, and (4) antagonistic religiosity. This dissertation conceptualizes hormones as chemical messengers that enable the diversity emerging from the imbrication of physical materiality and socio-cultural forces. In doing so, it demonstrates how hormonal aspects of gender/sex and culturally constructed aspects of gender/sex are always already intertwined in their influence on religiosity. This theoretical framework sheds light on both the diversity and the noticeable patterns observed in gender/sex differences in religious behaviors and affects. This problematizes the terms of the “women are more religious than men” while putting in place a more adequate framework for interpreting the variety of ways it appears in human lives

    Special Topics in Information Technology

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    This open access book presents thirteen outstanding doctoral dissertations in Information Technology from the Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy. Information Technology has always been highly interdisciplinary, as many aspects have to be considered in IT systems. The doctoral studies program in IT at Politecnico di Milano emphasizes this interdisciplinary nature, which is becoming more and more important in recent technological advances, in collaborative projects, and in the education of young researchers. Accordingly, the focus of advanced research is on pursuing a rigorous approach to specific research topics starting from a broad background in various areas of Information Technology, especially Computer Science and Engineering, Electronics, Systems and Control, and Telecommunications. Each year, more than 50 PhDs graduate from the program. This book gathers the outcomes of the thirteen best theses defended in 2020-21 and selected for the IT PhD Award. Each of the authors provides a chapter summarizing his/her findings, including an introduction, description of methods, main achievements and future work on the topic. Hence, the book provides a cutting-edge overview of the latest research trends in Information Technology at Politecnico di Milano, presented in an easy-to-read format that will also appeal to non-specialists
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