## 3 Results and Discussion
### Evaluation of the Proposed Robotic System Setup and Its Movement's Accuracy and Repeatability  
Based on the information provided in Section 2.2.3 (also depicted in the flowchart shown in Figure 10), once each plant is successfully identified, a circumcircle is drawn around it to encompass the plant with the smallest possible area (minimum enclosing circle). This circle serves as a boundary for the entire plant, defining the extent of its leaves. Additionally, it is used to align the 2D projected image of the plant, which is obtained by cropping the RGB image. The position of the carriage, measured in steps, is then recorded in a file along with other relevant datalogging parameters. These recorded positions of all the plants detected beneath the aluminum beam act as photographic targets for further analysis. The objective of this experiment was to assess the potential inaccuracies and misalignments in the construction of the system, as well as its ability to consistently perform the same task (repeatability). Additionally, the experiment aimed to evaluate the error difference between the intended (set) target and the actual outcome (accuracy). In this context, the RoboPlantDet's system _repeatability_, refers to the quantitative assessment of its movement at specific points, ensuring consistency across multiple attempts. On the other hand, _accuracy_ pertains to the system's successful detection and localization of the same target (plant) during each iteration. A Mitutoyo 500-181-30 caliper (Mitutoyo Co., Kawasaki, Japan) with a measurement precision of 0.01 mm was utilized to conduct the manual measurements. Table 2 displays the calculated distances from the center of the target for each iteration of the experiments. \begin{table}
\begin{tabular}{c c c c c c c c c c c c c c} \hline \hline  & & \multicolumn{3}{c}{**Absolute**} & \multicolumn{6}{c}{**Calculated Distance from the Target’s Center (mm): Red Laser**} \\ \cline{3-13}
**Target** & **Steps** & \multicolumn{3}{c}{**Distance from “Home” in**} & \multicolumn{6}{c}{**Experiment’s Iteration**} & \multicolumn{6}{c}{**Mean**} & \multicolumn{1}{c}{**STD**} \\ \cline{3-13}  & & **X-Axis (mm)** & **1** & **2** & **3** & **4** & **5** & **6** & **7** & **8** & **9** & **10** & **Mean** & **STD** \\ \hline
**1** & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 &  
Based on Table 2 above, the mean (accuracy) for all iterations for the movement to target No. 6, located at 15,000 steps from the \"Home\" position, is 1.45 mm, while the standard deviation (repeatability) for the same point is 0.16 mm. Similarly, the mean (accuracy) for all iterations for the movement to target No. 7, located at 19,000 steps from the \"Home\" position, is 1.65 mm; the standard deviation (repeatability) for the same point is 0.24 mm. The results for these two specific positions but also at 43,000 and 46,000 steps (targets No. 13 and 14), where the mean was calculated to be 1.5 mm and 1.35 mm, respectively (standard deviations of 0 and 0.24 mm correspondingly), are the worst four observations regarding the system's position accuracy and repeatability for all the experiments conducted. All the other targets were approached with an accuracy estimated in the range 0 to 1.1 mm and with a standard deviation in the range 0 to 0.21 mm. We conclude that the overall system's positioning accuracy along the X-axis (the axis of linear motion) can be considered in the range 0 to 1.65 mm and its repeatability from 0 to 0.26 mm, respectively. The results presented in Table 2 are also visually depicted in Figure 14a. In Table 3, the measured deviations along the Y-axis through the entire experiment are presented. The recorded outcomes are also visually depicted in Figure 14b. Based on the aforementioned table and the relevant plot, the mean displacement for all iterations when moving towards targets Nos. 7 and 12, as well as the intermediate targets, is approximately 1 mm.