title: Identification and manipulation of lily bulbs for an automated lily bulb planting system

authors: Venter, Gerhard Meyer

subjects: Agriculture Automation

abstract: Automation in agriculture is growing year by year. The goal of automating processes is to provide inexpensive and more effective solutions for everyday problems present in the industry. Automation in agriculture adds value to the product and in turn, to the farmer's infrastructure. This automation also aims to provide higher skill labour for workers that the automation processes substitute.  Using machine vision as a means of automating processes is very common in factory environments and is being adapted for the external agriculture environments (i.e. automated detection for produce harvesting).

Machine vision and manipulation techniques for a lily bulb plantation were presented. The techniques were investigated to determine the feasibility of using an autonomous, machine vision based approach to manipulate and plant lily bulbs from a provided source, to pre-augered holes produced by a pre-defined autonomous platform.

The machine vision approach involved taking a top down image of the bulbs and identifying the head positions and what orientation they were facing relative to their root structures. This was achieved using various standard machine vision techniques like segmenting using global thresholding and identification of heads using the Hough circular transform. The investigated manipulation method involved applying the above mentioned vision system to a standard ABB IRB-120 universal manipulator with a three bellow suction gripper to pick up the detected bulbs and manipulate the bulbs in the orientation perceived by the vision system.

It was found that the machine vision algorithm provided a 75 per cent success rate when providing an optimal region of interest within the bulbs head. The success rate is a considerably successful result as the detection algorithm not only needed to detect the location of the bulbs, but the centroid of its head and also determine the approximate orientation relative to each samples individual root structure. The manipulation results showed that the engagement of the suction gripper was a significant component of failure during testing. The observed success rate was at 41 per cent. This high failure rate means that further improvements should be made before a successful end effector and manipulation pair would be achieved. Improving suction rate or developing a specialized gripper for the specific amorphous bulbs would have to be investigated further before there is confirmation of a satisfactory solution for the Automated Lily Planter. Further work could be done to improve the algorithm and fine-tune the output provided. Improvements could be made to optimise the detection algorithm like improved lighting and better contrast between the bulbs colour gradient and that of the platform's background. Further development on the manipulators approach should also be conducted for validation.

text: Identification and manipulation of lily bulbs for an automated lily bulb planting system Automation in agriculture is growing year by year. The goal of automating processes is to provide inexpensive and more effective solutions for everyday problems present in the industry. Automation in agriculture adds value to the product and in turn, to the farmer's infrastructure. This automation also aims to provide higher skill labour for workers that the automation processes substitute.  Using machine vision as a means of automating processes is very common in factory environments and is being adapted for the external agriculture environments (i.e. automated detection for produce harvesting).

Machine vision and manipulation techniques for a lily bulb plantation were presented. The techniques were investigated to determine the feasibility of using an autonomous, machine vision based approach to manipulate and plant lily bulbs from a provided source, to pre-augered holes produced by a pre-defined autonomous platform.

The machine vision approach involved taking a top down image of the bulbs and identifying the head positions and what orientation they were facing relative to their root structures. This was achieved using various standard machine vision techniques like segmenting using global thresholding and identification of heads using the Hough circular transform. The investigated manipulation method involved applying the above mentioned vision system to a standard ABB IRB-120 universal manipulator with a three bellow suction gripper to pick up the detected bulbs and manipulate the bulbs in the orientation perceived by the vision system.

It was found that the machine vision algorithm provided a 75 per cent success rate when providing an optimal region of interest within the bulbs head. The success rate is a considerably successful result as the detection algorithm not only needed to detect the location of the bulbs, but the centroid of its head and also determine the approximate orientation relative to each samples individual root structure. The manipulation results showed that the engagement of the suction gripper was a significant component of failure during testing. The observed success rate was at 41 per cent. This high failure rate means that further improvements should be made before a successful end effector and manipulation pair would be achieved. Improving suction rate or developing a specialized gripper for the specific amorphous bulbs would have to be investigated further before there is confirmation of a satisfactory solution for the Automated Lily Planter. Further work could be done to improve the algorithm and fine-tune the output provided. Improvements could be made to optimise the detection algorithm like improved lighting and better contrast between the bulbs colour gradient and that of the platform's background. Further development on the manipulators approach should also be conducted for validation.

year: 2019

title: The Attempted Grobalization of Parkour by the Fédération Internationale de Gymnastique

authors: Puddle, Damien

abstract: On December 3rd, 2018, the 82nd Congress of the Fédération Internationale de Gymnastique (FIG), voted to include parkour as the FIG’s 8th gymnastic discipline. Unlike, trampoline and acrobatic gymnastics, which became gymnastic disciplines following the agreed dissolution of their respective federations, parkour’s inclusion followed two years of unilateral and ultra vires development of competitive showcases. Despite athlete participation in FIG-organized parkour competitions, the global parkour community has been largely opposed to parkour under FIG, especially its attempts to include parkour in the Olympic programme. This situation catalyzed the federating of the international federation Parkour Earth. However, all attempts by the global parkour community to halt the FIG’s appropriation of parkour have proved unsuccessful to date. Digital ethnographic work conducted during the controversy and the authors’ experiences as key protagonists in the formation and administration of Parkour Earth highlights the politics, influences, and power struggles between the different stakeholders. With help from Ritzer’s theory of grobalization it is clear that the FIG is attempting to grobalize parkour to grow its power and profits, and the IOC is enabling, and to some extent complicit in this process. This has implications for the parkour community and other long-standing gymnastic disciplines.

text: The Attempted Grobalization of Parkour by the Fédération Internationale de Gymnastique On December 3rd, 2018, the 82nd Congress of the Fédération Internationale de Gymnastique (FIG), voted to include parkour as the FIG’s 8th gymnastic discipline. Unlike, trampoline and acrobatic gymnastics, which became gymnastic disciplines following the agreed dissolution of their respective federations, parkour’s inclusion followed two years of unilateral and ultra vires development of competitive showcases. Despite athlete participation in FIG-organized parkour competitions, the global parkour community has been largely opposed to parkour under FIG, especially its attempts to include parkour in the Olympic programme. This situation catalyzed the federating of the international federation Parkour Earth. However, all attempts by the global parkour community to halt the FIG’s appropriation of parkour have proved unsuccessful to date. Digital ethnographic work conducted during the controversy and the authors’ experiences as key protagonists in the formation and administration of Parkour Earth highlights the politics, influences, and power struggles between the different stakeholders. With help from Ritzer’s theory of grobalization it is clear that the FIG is attempting to grobalize parkour to grow its power and profits, and the IOC is enabling, and to some extent complicit in this process. This has implications for the parkour community and other long-standing gymnastic disciplines.

year: 2023-01-01

title: Brown bodies, white coats: Postcolonialism, Māori women, and science

authors: McKinley, Elizabeth

abstract: This project investigates the historical construction of 'Māori woman' and the constitution of the subjectivities of Maori women scientists today. The central question that is raised by the thesis is 'Do discourses of 'race' and gender found in Enlightenment science at the time of Aotearoa New Zealand's colonization continue to affect the contemporary subjectivity of Māori women scientists, and if so, how?' I have used literary historical techniques and feminist narrative interviews to collect the research data. Deconstruction, and its technique of 'double reading', has been applied through out the thesis to both the literary historical texts (imperial archives) and the transcripts of the interviews. I have argued that a poststructuralist view of the 'splitting the subject' to enable multiple positions must be read alongside the postcolonial view of a contemporary 'colonized subject' of an already 'split' subjectivity. 
This thesis is divided into two sections. Section A investigates Māori women as the objects of science. I argue that in Aotearoa New Zealand journeys of discovery and colonization were also scientific journeys that brought 'Māori woman' under the intellectual control of the emerging 'scientific' academy. At the same time, drawing on the 'imperial archives', I show that stereotypical signifiers are incorporated within scientific discourses and shape the fictions that these texts represent. In Section B I draw on open-ended interviews with 16 Māori women scientists who were asked to discuss their identity in relation to their schooling and workplaces. I explore the conditions by which the subject 'Māori women scientist' emerges and how the Maori women experience these conditions in relation to how they see themselves. I conclude by arguing that the identity of 'Māori woman scientist' appears to be 'impossible fiction' due to the fragmented nature of the sign - 'Māori, 'woman' and 'scientist' - that can be 'traced' to the historical construction of the signs.

text: Brown bodies, white coats: Postcolonialism, Māori women, and science This project investigates the historical construction of 'Māori woman' and the constitution of the subjectivities of Maori women scientists today. The central question that is raised by the thesis is 'Do discourses of 'race' and gender found in Enlightenment science at the time of Aotearoa New Zealand's colonization continue to affect the contemporary subjectivity of Māori women scientists, and if so, how?' I have used literary historical techniques and feminist narrative interviews to collect the research data. Deconstruction, and its technique of 'double reading', has been applied through out the thesis to both the literary historical texts (imperial archives) and the transcripts of the interviews. I have argued that a poststructuralist view of the 'splitting the subject' to enable multiple positions must be read alongside the postcolonial view of a contemporary 'colonized subject' of an already 'split' subjectivity. 
This thesis is divided into two sections. Section A investigates Māori women as the objects of science. I argue that in Aotearoa New Zealand journeys of discovery and colonization were also scientific journeys that brought 'Māori woman' under the intellectual control of the emerging 'scientific' academy. At the same time, drawing on the 'imperial archives', I show that stereotypical signifiers are incorporated within scientific discourses and shape the fictions that these texts represent. In Section B I draw on open-ended interviews with 16 Māori women scientists who were asked to discuss their identity in relation to their schooling and workplaces. I explore the conditions by which the subject 'Māori women scientist' emerges and how the Maori women experience these conditions in relation to how they see themselves. I conclude by arguing that the identity of 'Māori woman scientist' appears to be 'impossible fiction' due to the fragmented nature of the sign - 'Māori, 'woman' and 'scientist' - that can be 'traced' to the historical construction of the signs.

year: 2003