title: Robotic kiwifruit harvesting using machine vision, convolutional neural networks, and robotic arms

authors: Williams, Henry A.M.

subjects: Science & Technology

abstract: As labour requirements in horticultural become more challenging, automated solutions are becoming an effective approach to maintain productivity and quality. This paper presents the design and performance evaluation of a novel multi-arm kiwifruit harvesting robot designed to operate autonomously in pergola style orchards. The harvester consists of four robotic arms that have been designed specifically for kiwifruit harvesting, each with a novel end-effector developed to enable safe harvesting of the kiwifruit. The vision system leverages recent advances in deep neural networks and stereo matching for reliably detecting and locating kiwifruit in real-world lighting conditions. Furthermore, a novel dynamic fruit scheduling system is presented that has been developed to coordinate the four arms throughout the harvesting process. The performance of the harvester has been measured through a comprehensive and realistic field-trial in a commercial orchard environment. The results show that the presented harvester is capable of successfully harvesting 51.0% of the total number of kiwifruit within the orchard with an average cycle time of 5.5s/fruit.

text: Robotic kiwifruit harvesting using machine vision, convolutional neural networks, and robotic arms As labour requirements in horticultural become more challenging, automated solutions are becoming an effective approach to maintain productivity and quality. This paper presents the design and performance evaluation of a novel multi-arm kiwifruit harvesting robot designed to operate autonomously in pergola style orchards. The harvester consists of four robotic arms that have been designed specifically for kiwifruit harvesting, each with a novel end-effector developed to enable safe harvesting of the kiwifruit. The vision system leverages recent advances in deep neural networks and stereo matching for reliably detecting and locating kiwifruit in real-world lighting conditions. Furthermore, a novel dynamic fruit scheduling system is presented that has been developed to coordinate the four arms throughout the harvesting process. The performance of the harvester has been measured through a comprehensive and realistic field-trial in a commercial orchard environment. The results show that the presented harvester is capable of successfully harvesting 51.0% of the total number of kiwifruit within the orchard with an average cycle time of 5.5s/fruit.

year: 2019

title: Anthropogenic relief features in tropical northern Australia: A physical and chemical analysis of the Weipa shell mounds

authors: Fanning, P

abstract: Large mounded deposits of shell are prominent archaeological features across much of the north Australian tropical coast. Many of the shell mounds are composed almost entirely of the bivalve Anadara granosa (Linnaeus 1758), a food source for Aboriginal people in the past. They are identified in the field by their distinct mounded topographic form and the unique vegetation community growing on them. A relatively long history of inquiry into the nature and significance of the shell mounds has focused primarily on analysing the shell component as clues to Australian Aboriginal coastal economies in the past. This paper presents results of new analyses on the non-shell sediments of mounds located near Weipa in far north Queensland, examining the physical and chemical signatures of deposi- tional and post-depositional processes with a view to obtaining insights into how the mounds formed and for what purposes, and how their morphology, structure and content may have changed since they ceased accumulating. We also consider how such changes might relate to past and present environmental conditions. The mounds we studied are primarily located on topographic high points, such as cliffs, hillslopes and beach ridges, though a proportion are located on estuarine floodplains at low elevations. Terrestrial Laser Scanning (TLS) of a sample of 51 shell mounds demonstrates substantial variation in mound size and shape, and suggests patterning in mound form re- lated to age as well as position on the landscape. However, radiocarbon chronologies demonstrate that the mounds do not conform to a model of linear formation of a shell deposit, suggesting mound histories are variable in both the nature of shell deposition as well as post-depositional processes. Soil physical and chemical analyses indicate that post-depositional diagenetic alteration has strongly influenced the present day composition and form of the shell mounds, in particular the accession of carbon and silica to the mounds by environmental burning aided by strong leaching under seasonal high rainfall conditions. As such, mound chemistry is more likely to reflect modern environmental conditions rather than provide an archive of the past.

text: Anthropogenic relief features in tropical northern Australia: A physical and chemical analysis of the Weipa shell mounds Large mounded deposits of shell are prominent archaeological features across much of the north Australian tropical coast. Many of the shell mounds are composed almost entirely of the bivalve Anadara granosa (Linnaeus 1758), a food source for Aboriginal people in the past. They are identified in the field by their distinct mounded topographic form and the unique vegetation community growing on them. A relatively long history of inquiry into the nature and significance of the shell mounds has focused primarily on analysing the shell component as clues to Australian Aboriginal coastal economies in the past. This paper presents results of new analyses on the non-shell sediments of mounds located near Weipa in far north Queensland, examining the physical and chemical signatures of deposi- tional and post-depositional processes with a view to obtaining insights into how the mounds formed and for what purposes, and how their morphology, structure and content may have changed since they ceased accumulating. We also consider how such changes might relate to past and present environmental conditions. The mounds we studied are primarily located on topographic high points, such as cliffs, hillslopes and beach ridges, though a proportion are located on estuarine floodplains at low elevations. Terrestrial Laser Scanning (TLS) of a sample of 51 shell mounds demonstrates substantial variation in mound size and shape, and suggests patterning in mound form re- lated to age as well as position on the landscape. However, radiocarbon chronologies demonstrate that the mounds do not conform to a model of linear formation of a shell deposit, suggesting mound histories are variable in both the nature of shell deposition as well as post-depositional processes. Soil physical and chemical analyses indicate that post-depositional diagenetic alteration has strongly influenced the present day composition and form of the shell mounds, in particular the accession of carbon and silica to the mounds by environmental burning aided by strong leaching under seasonal high rainfall conditions. As such, mound chemistry is more likely to reflect modern environmental conditions rather than provide an archive of the past.

year: 2017

title: Māori Goddesses in Literature Part 1: pre 1880 - 1900

authors: Yates-Smith, Aroha

subjects: Atua wāhine

abstract: Many contemporary Māori are familiar with atua wāhine, Māori goddesses, through accounts that have been passed on to them by word of mouth. Few, however, have had an opportunity to consult accounts of atua wāhine that date from the early period of Māori-Pākehā contact. Those who wish to do so may have considerable difficulty in sifting through all of the written materials for the information they seek. For this reason, this paper provides a review of the literature pertaining to atua wāhine from pre-1880 to 1900, together with a commentary on the sources to which reference is made. A review of literature on atua wāhine which appeared after 1900 will appear in the second volume of this journal.

text: Māori Goddesses in Literature Part 1: pre 1880 - 1900 Many contemporary Māori are familiar with atua wāhine, Māori goddesses, through accounts that have been passed on to them by word of mouth. Few, however, have had an opportunity to consult accounts of atua wāhine that date from the early period of Māori-Pākehā contact. Those who wish to do so may have considerable difficulty in sifting through all of the written materials for the information they seek. For this reason, this paper provides a review of the literature pertaining to atua wāhine from pre-1880 to 1900, together with a commentary on the sources to which reference is made. A review of literature on atua wāhine which appeared after 1900 will appear in the second volume of this journal.

year: 2000-10