Design, Integration, and Field Evaluation of a Robotic Blossom Thinning System for Tree Fruit Crops

The US apple industry relies heavily on semi-skilled manual labor force for essential field operations such as training, pruning, blossom and green fruit thinning, and harvesting. Blossom thinning is one of the crucial crop load management practices to achieve desired crop load, fruit quality, and return bloom. While several techniques such as chemical, and mechanical thinning are available for large-scale blossom thinning such approaches often yield unpredictable thinning results and may cause damage the canopy, spurs, and leaf tissue. Hence, growers still depend on laborious, labor intensive and expensive manual hand blossom thinning for desired thinning outcomes. This research presents a robotic solution for blossom thinning in apple orchards using a computer vision system with artificial intelligence, a six degrees of freedom robotic manipulator, and an electrically actuated miniature end-effector for robotic blossom thinning. The integrated robotic system was evaluated in a commercial apple orchard which showed promising results for targeted and selective blossom thinning. Two thinning approaches, center and boundary thinning, were investigated to evaluate the system ability to remove varying proportion of flowers from apple flower clusters. During boundary thinning the end effector was actuated around the cluster boundary while center thinning involved end-effector actuation only at the cluster centroid for a fixed duration of 2 seconds. The boundary thinning approach thinned 67.2% of flowers from the targeted clusters with a cycle time of 9.0 seconds per cluster, whereas center thinning approach thinned 59.4% of flowers with a cycle time of 7.2 seconds per cluster. When commercially adopted, the proposed system could help address problems faced by apple growers with current hand, chemical, and mechanical blossom thinning approaches

Development of in-field data acquisition systems and machine learning-based data processing and analysis approaches for turfgrass quality rating and peanut flower detection

Digital image processing and machine vision techniques provide scientists with an objective measure of crop quality that adds to the validity of study results without burdening the evaluation process. This dissertation aimed to develop in-field data acquisition systems and supervised machine learning-based data processing and analysis approaches for turfgrass quality classification and peanut flower detection. The new 3D Scanner App for Apple iPhone 12 Pro's camera with a LiDAR sensor provided high resolution of rendered turfgrass images. The battery life lasted for the entire time of data acquisition for an experimental field (49 m × 15 m size) that had 252 warm-season turfgrass plots. The utilized smartphone as an image acquisition tool at the same time achieved a similar outcome to the traditional image acquisition methods described in other studies. Experiments were carried out on turfgrass quality classification grouped into two classes (“Poor”, “Acceptable”) and four classes (“Very poor,” “Poor,” “Acceptable,” “High”) using supervised machine learning techniques. Gray-level Co-occurrence Matrix (GLCM) feature extractor with Random Forest classifier achieved the highest accuracy rate (81%) for the testing dataset for two classes. For four classes, Gabor filter was the best feature extractor and performed the best with Support Vector Machine (SVM) and XGBoost classifiers achieving 82% accuracy rates. The presented method will further assist researchers to develop a smartphone application for turfgrass quality rating. The study also applied deep learning-based features to feed machine learning classifiers. ResNet-101 deep feature extractor with SVM classifier achieved accuracy rate of 91% for two classes. ResNet-152 deep feature extractor with the SVM classifier achieved 86% accuracy rate for four classes. YOLOX-L and YOLOX-X models were compared with different data augmentation configurations to find the best YOLOX object detector for peanut flower detection. Peanut flowers were detected from images collected from a research field. YOLOX-X with weak data augmentation configurations achieved the highest mean average precision result at the Intersection over Union threshold of 50%. The presented method will further assist researchers in developing a counting method on flowers in images. The presented detection technique with required minor modifications can be implemented for other crops or flowers

Detecting Invasive Insects Using Uncewed Aerial Vehicles and Variational Autoencoders

In this thesis, we use machine learning techniques to address limitations in our ability to monitor pest insect migrations. Invasive insect populations, such as the brown marmorated stink bug (BMSB), cause significant economic and environmental damages. In order to mitigate these damages, tracking BMSB migration is vital, but it also poses a challenge. The current state-of-the-art solution to track insect migrations is called mark-release-recapture. In mark-release-recapture, a researcher marks insects with a fluorescent powder, releases them back into the wild, and searches for the insects using ultra-violet flashlights at suspected migration destination locations. However, this involves a significant amount of labor and has a low recapture rate. By automating the insect search step, the recapture rate can be improved, reducing the amount of labor required in the process and improving the quality of the data. We propose a solution to the BMSB migration tracking problem using an unmanned aerial vehicle (UAV) to collect video data of the area of interest. Our system uses an ultra violet (UV) lighting array and digital cameras mounted on the bottom of the UAV, as well as artificial intelligence algorithms such as convolutional neural networks (CNN), and multiple hypotheses tracking (MHT) techniques. Specifically, we propose a novel computer vision method for insect detection using a Convolutional Variational Auto Encoder (CVAE). Our experimental results show that our system can detect BMSB with high precision and recall, outperforming the current state-of-the-art. Additionally, we associate insect observations using MHT, improving detection results and accurately counting real-world insects

Proceedings of the 10th International Conference on Ecological Informatics: translating ecological data into knowledge and decisions in a rapidly changing world: ICEI 2018

The Conference Proceedings are an impressive display of the current scope of Ecological Informatics. Whilst Data Management, Analysis, Synthesis and Forecasting have been lasting popular themes over the past nine biannual ICEI conferences, ICEI 2018 addresses distinctively novel developments in Data Acquisition enabled by cutting edge in situ and remote sensing technology. The here presented ICEI 2018 abstracts captures well current trends and challenges of Ecological Informatics towards: • regional, continental and global sharing of ecological data, • thorough integration of complementing monitoring technologies including DNA-barcoding, • sophisticated pattern recognition by deep learning, • advanced exploration of valuable information in ‘big data’ by means of machine learning and process modelling, • decision-informing solutions for biodiversity conservation and sustainable ecosystem management in light of global changes

Proceedings of the 10th International Conference on Ecological Informatics: translating ecological data into knowledge and decisions in a rapidly changing world: ICEI 2018

The Conference Proceedings are an impressive display of the current scope of Ecological Informatics. Whilst Data Management, Analysis, Synthesis and Forecasting have been lasting popular themes over the past nine biannual ICEI conferences, ICEI 2018 addresses distinctively novel developments in Data Acquisition enabled by cutting edge in situ and remote sensing technology. The here presented ICEI 2018 abstracts captures well current trends and challenges of Ecological Informatics towards: • regional, continental and global sharing of ecological data, • thorough integration of complementing monitoring technologies including DNA-barcoding, • sophisticated pattern recognition by deep learning, • advanced exploration of valuable information in ‘big data’ by means of machine learning and process modelling, • decision-informing solutions for biodiversity conservation and sustainable ecosystem management in light of global changes