title: Work distribution of multiple Cartesian robot arms for kiwifruit harvesting

authors: Barnett, Josh

subjects: Science & Technology

abstract: Employing multiple robot arms for kiwifruit harvesting can raise the efficiency since the task completion time is shortened. However, task partitioning and reachability are two major concerns. It is found that the task completion time is minimized if task partitions for robot arms are uniform. However, the partition uniformity is influenced by the fruit indivisibility and fruit cluster growing style. It is also constrained by the fruit distribution across the canopy and the robot arm positions which affect the fruit reachability. This article investigates how to partition the tasks of kiwifruit harvesting so that the harvesting can be completed by multiple robot arms in the minimum time with an assumption that the fruits can be harvested by any robot arm. A parameter termed work distribution is introduced to measure how the task partitioning is different from the optimum. A research platform with two robot arms is implemented to show how to approximate the assumption. Ten field experiments of kiwifruit harvesting had been run by the research platform in two kiwifruit orchards in New Zealand with satisfactory outcomes.

text: Work distribution of multiple Cartesian robot arms for kiwifruit harvesting Employing multiple robot arms for kiwifruit harvesting can raise the efficiency since the task completion time is shortened. However, task partitioning and reachability are two major concerns. It is found that the task completion time is minimized if task partitions for robot arms are uniform. However, the partition uniformity is influenced by the fruit indivisibility and fruit cluster growing style. It is also constrained by the fruit distribution across the canopy and the robot arm positions which affect the fruit reachability. This article investigates how to partition the tasks of kiwifruit harvesting so that the harvesting can be completed by multiple robot arms in the minimum time with an assumption that the fruits can be harvested by any robot arm. A parameter termed work distribution is introduced to measure how the task partitioning is different from the optimum. A research platform with two robot arms is implemented to show how to approximate the assumption. Ten field experiments of kiwifruit harvesting had been run by the research platform in two kiwifruit orchards in New Zealand with satisfactory outcomes.

year: 2020-02-01

title: Integrating ethics into primary science programmes

authors: Ryan, Barbara Elizabeth

subjects: ethics

abstract: Ethics is a valuable way to approach science in primary school because grappling with ethical issues engages students. Focusing on ethics encourages students to extend their understanding of scientific concepts as it is essential to have a sound grasp of the science in order to meaningfully evaluate different positions. For teachers looking to enhance their practice in this area, the ethics-in-science planning tool presented in this article might be a useful resource to consider. The tool supports teachers to think through and develop a detailed lesson sequence for teaching ethics in science.

text: Integrating ethics into primary science programmes Ethics is a valuable way to approach science in primary school because grappling with ethical issues engages students. Focusing on ethics encourages students to extend their understanding of scientific concepts as it is essential to have a sound grasp of the science in order to meaningfully evaluate different positions. For teachers looking to enhance their practice in this area, the ethics-in-science planning tool presented in this article might be a useful resource to consider. The tool supports teachers to think through and develop a detailed lesson sequence for teaching ethics in science.

year: 2012

title: Māori and indigenous views on R and R: Resistance and Resilience

authors: Penehira, Mera

subjects: resilience

abstract: This article explores the development of Mäori and Indigenous frameworks of resilience, considering the impact of engaging with largely State- led notions of resilience on Mäori development. We highlight the closely linked notion of resistance, asserting the necessity of a fi rm political analysis from Indigenous researchers engaged in this discourse. One of the Indigenous criticisms of resilience theories is that by defi nition they assume an acceptance of responsibility for our position as disadvantaged individuals. That is, by examining and developing theories and models of resilience we buy into the idea that this is the way it is and we need simply to get better at bouncing back and being resilient. Resistance, however, represents an approach of collective fi ght- back, exposing the inequitable distribution of power, and actively opposing negative social, political and economic infl uences. This article represents a Mäori Indigenous political response to the resilience discourse.

text: Māori and indigenous views on R and R: Resistance and Resilience This article explores the development of Mäori and Indigenous frameworks of resilience, considering the impact of engaging with largely State- led notions of resilience on Mäori development. We highlight the closely linked notion of resistance, asserting the necessity of a fi rm political analysis from Indigenous researchers engaged in this discourse. One of the Indigenous criticisms of resilience theories is that by defi nition they assume an acceptance of responsibility for our position as disadvantaged individuals. That is, by examining and developing theories and models of resilience we buy into the idea that this is the way it is and we need simply to get better at bouncing back and being resilient. Resistance, however, represents an approach of collective fi ght- back, exposing the inequitable distribution of power, and actively opposing negative social, political and economic infl uences. This article represents a Mäori Indigenous political response to the resilience discourse.

year: 2014