title: Integration of stereo vision system calibration and kinematic calibration for an autonomous kiwifruit harvesting system

authors: Au, Chi Kit

subjects: harvesting

abstract: Stereo vision system and manipulator are two major components of an autonomous fruit harvesting system. In order to raise the fruit-harvesting rate, stereo vision system calibration and kinematic calibration are two significant processes to improve the positional accuracy of the system. This article reviews the mathematics of these two calibration processes and presents an integrated approach for acquiring calibration data and calibrating both components of an autonomous kiwifruit harvesting system. The calibrated harvesting system yields good positional accuracy in the laboratory tests, especially in harvesting individual kiwifruit. However, the performance is not in line with the outcomes in the orchard field tests due to the cluster growing style of kiwifruit. In the orchard test, the calibrations reduce the fruit drop rate but it does not impressively raise the fruit harvesting rate. Most of the fruit in the clusters remain in the canopy due to the invisibility of the stereo vision system. After analyzing the existing stereo vision system, a future visual sensing system research direction for an autonomous fruit harvesting system is justified.

text: Integration of stereo vision system calibration and kinematic calibration for an autonomous kiwifruit harvesting system Stereo vision system and manipulator are two major components of an autonomous fruit harvesting system. In order to raise the fruit-harvesting rate, stereo vision system calibration and kinematic calibration are two significant processes to improve the positional accuracy of the system. This article reviews the mathematics of these two calibration processes and presents an integrated approach for acquiring calibration data and calibrating both components of an autonomous kiwifruit harvesting system. The calibrated harvesting system yields good positional accuracy in the laboratory tests, especially in harvesting individual kiwifruit. However, the performance is not in line with the outcomes in the orchard field tests due to the cluster growing style of kiwifruit. In the orchard test, the calibrations reduce the fruit drop rate but it does not impressively raise the fruit harvesting rate. Most of the fruit in the clusters remain in the canopy due to the invisibility of the stereo vision system. After analyzing the existing stereo vision system, a future visual sensing system research direction for an autonomous fruit harvesting system is justified.

year: 2022

title: Truth as a cultural value

authors: Wyatt, Jeremy

abstract: In this commentary, I offer an extended evaluation of the strategy for thinking about truth’s nature that Sher proposes.  This strategy—which I call the ‘value-first strategy’—has it that we should first observe that truth is an intrinsic human value and then develop an account of truth’s nature on the basis of this observation.  I begin by arguing that truth is best described as a cultural, rather than a human, value.  I then argue that because truth is a cultural value, the value-first strategy compels us to seriously consider some novel ideas about truth’s nature that are respectively grounded in discussions about truth pluralism and some remarks by Alfred Tarski.

text: Truth as a cultural value In this commentary, I offer an extended evaluation of the strategy for thinking about truth’s nature that Sher proposes.  This strategy—which I call the ‘value-first strategy’—has it that we should first observe that truth is an intrinsic human value and then develop an account of truth’s nature on the basis of this observation.  I begin by arguing that truth is best described as a cultural, rather than a human, value.  I then argue that because truth is a cultural value, the value-first strategy compels us to seriously consider some novel ideas about truth’s nature that are respectively grounded in discussions about truth pluralism and some remarks by Alfred Tarski.

year: 2024

title: The cost of aquatic weed control in the Rotorua Te Arawa Lakes

authors: Champion, Paul

abstract: We will present information on the costs of aquatic weed control in the Rotorua, Te Arawa Lakes and thank all of the people who have willingly given us their estimated costs. Hopefully, this provides guidance on what current activities cost and what future scenarios might be feasible.

text: The cost of aquatic weed control in the Rotorua Te Arawa Lakes We will present information on the costs of aquatic weed control in the Rotorua, Te Arawa Lakes and thank all of the people who have willingly given us their estimated costs. Hopefully, this provides guidance on what current activities cost and what future scenarios might be feasible.

year: 2017