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: Reproductive competition in the context of a superorganism

authors: Carta, Epernay

abstract: Population density is a fundamental ecological factor that shapes the intensity of competition within a species. Increased density often intensifies competition for resources and mates, driving the evolution of diverse adaptive responses in behaviour, morphology and physiology. A key area where density-mediated competition manifests is in sperm competition. This occurs when sperm from multiple males compete to fertilise the ova of a female. Species facing intense competition exhibit a range of adaptations, including adjustments in sperm production, ejaculate characteristics, and mating strategies. Elevated population density is a major factor that can exacerbate sperm competition, further amplifying these evolutionary pressures. Within this context, this thesis investigates the effects of apiary density on reproductive strategies and drone physiology in the honey bee (Apis mellifera), a highly social insect that exhibits a complex interplay between individual and colony- level responses. Apiary density, characterised by the number of colonies within a defined area, was manipulated across three treatments: low (8 colonies), medium (60-68 colonies), and high (120 colonies). Drone brood production and comb allocation (both drone and worker) were measured monthly to assess colony-level investment in reproduction versus worker production. Total sperm count and the proportion of viable sperm were assessed in drones collected from each density treatment to evaluate sperm competition dynamics. Heat Shock Protein 70 (HSP70) levels, a biomarker of cellular stress, were quantified in drones from each treatment using an enzyme-linked immunosorbent assay. Colonies in high-density apiaries exhibited significantly increased drone brood production and higher total sperm counts compared to those in low-density apiaries. However, worker comb production was significantly reduced in high-density apiaries, suggesting a trade-off between resource allocation towards reproduction and colony maintenance. Sperm viability varied across densities and seasons, with low-density treatments having a higher proportion of viable sperm in early summer and medium-density treatments showing higher viability in late summer. This suggests that while high-density may favour increased sperm quantity, lower densities might facilitate greater investment in sperm quality. Apiary density significantly predicted HSP70 concentration in drones, with drones from high-density apiaries displaying significantly elevated levels, indicating increased physiological stress. These findings suggest that colonies in high-density environments experience intensified sperm competition, responding by increasing drone and sperm production. However, the observed variation in sperm viability and reduced worker comb production implies that this augmented reproductive investment may compromise overall colony function. The elevated HSP70 levels further corroborate that drones in high-density apiaries are subjected to greater physiological stress. Crucially, this study provides a unique perspective by demonstrating that apiary density, a factor often controlled in beekeeping, acts as a significant driver of reproductive strategies and physiological stress at both the colony and individual drone level within a superorganism. This highlights the profound impact of a managed environmental parameter on the evolutionary dynamics of a highly social species, offering critical insights for sustainable apicultural practices.

text: Reproductive competition in the context of a superorganism Population density is a fundamental ecological factor that shapes the intensity of competition within a species. Increased density often intensifies competition for resources and mates, driving the evolution of diverse adaptive responses in behaviour, morphology and physiology. A key area where density-mediated competition manifests is in sperm competition. This occurs when sperm from multiple males compete to fertilise the ova of a female. Species facing intense competition exhibit a range of adaptations, including adjustments in sperm production, ejaculate characteristics, and mating strategies. Elevated population density is a major factor that can exacerbate sperm competition, further amplifying these evolutionary pressures. Within this context, this thesis investigates the effects of apiary density on reproductive strategies and drone physiology in the honey bee (Apis mellifera), a highly social insect that exhibits a complex interplay between individual and colony- level responses. Apiary density, characterised by the number of colonies within a defined area, was manipulated across three treatments: low (8 colonies), medium (60-68 colonies), and high (120 colonies). Drone brood production and comb allocation (both drone and worker) were measured monthly to assess colony-level investment in reproduction versus worker production. Total sperm count and the proportion of viable sperm were assessed in drones collected from each density treatment to evaluate sperm competition dynamics. Heat Shock Protein 70 (HSP70) levels, a biomarker of cellular stress, were quantified in drones from each treatment using an enzyme-linked immunosorbent assay. Colonies in high-density apiaries exhibited significantly increased drone brood production and higher total sperm counts compared to those in low-density apiaries. However, worker comb production was significantly reduced in high-density apiaries, suggesting a trade-off between resource allocation towards reproduction and colony maintenance. Sperm viability varied across densities and seasons, with low-density treatments having a higher proportion of viable sperm in early summer and medium-density treatments showing higher viability in late summer. This suggests that while high-density may favour increased sperm quantity, lower densities might facilitate greater investment in sperm quality. Apiary density significantly predicted HSP70 concentration in drones, with drones from high-density apiaries displaying significantly elevated levels, indicating increased physiological stress. These findings suggest that colonies in high-density environments experience intensified sperm competition, responding by increasing drone and sperm production. However, the observed variation in sperm viability and reduced worker comb production implies that this augmented reproductive investment may compromise overall colony function. The elevated HSP70 levels further corroborate that drones in high-density apiaries are subjected to greater physiological stress. Crucially, this study provides a unique perspective by demonstrating that apiary density, a factor often controlled in beekeeping, acts as a significant driver of reproductive strategies and physiological stress at both the colony and individual drone level within a superorganism. This highlights the profound impact of a managed environmental parameter on the evolutionary dynamics of a highly social species, offering critical insights for sustainable apicultural practices.

year: 2025

title: Akoranga whakarei: Learning about inclusion from four kura rumaki

authors: Berryman, Mere

subjects: Special education

abstract: In 2004 the New Zealand Ministry of Education proposed two research projects to understand how learning, social and cultural outcomes were being promoted for tamariki and rangatahi Māori with special educational needs in both kura auraki (English-medium schools) and kura rumaki (Māori-medium schools). 1hey also wanted to understand how this played out for other whānau members. At the time, a description of the services being promoted for Māori with special education needs acknowledged the philosophy that "tamariki and rangatahi with special needs and their whānau learn effectively through the provision of culturally competent services, which will ensure mana and tikanga are upheld" (Ministry of Education, 2003, p. 56). 
This chapter will briefly describe how this research was undertaken in kura rumaki and then discuss the findings that emerged. Perhaps not surprisingly, it will show that the staff from the kura who participated in this study, as with all of their students and whānau, had a very holistic and inclusive view of educating all tamariki and rangatahi, especially those with identified special education needs. The conclusion will consider some of the implications of these findings for others and propose that these research outcomes maintain relevance in 2014, a decade later.

text: Akoranga whakarei: Learning about inclusion from four kura rumaki In 2004 the New Zealand Ministry of Education proposed two research projects to understand how learning, social and cultural outcomes were being promoted for tamariki and rangatahi Māori with special educational needs in both kura auraki (English-medium schools) and kura rumaki (Māori-medium schools). 1hey also wanted to understand how this played out for other whānau members. At the time, a description of the services being promoted for Māori with special education needs acknowledged the philosophy that "tamariki and rangatahi with special needs and their whānau learn effectively through the provision of culturally competent services, which will ensure mana and tikanga are upheld" (Ministry of Education, 2003, p. 56). 
This chapter will briefly describe how this research was undertaken in kura rumaki and then discuss the findings that emerged. Perhaps not surprisingly, it will show that the staff from the kura who participated in this study, as with all of their students and whānau, had a very holistic and inclusive view of educating all tamariki and rangatahi, especially those with identified special education needs. The conclusion will consider some of the implications of these findings for others and propose that these research outcomes maintain relevance in 2014, a decade later.

year: 2015