浙江大學(xué)生物系統(tǒng)工程-生物生產(chǎn)機(jī)器人-復(fù)習(xí)整理

1、Definition of a bio-production robotBio-production robot is a machine system, with or without a manipulator, is able to work in some area people cannot reach and bear or operate some task more efficiency than human. It has its own control algorithm and sensing system to manage a human intelligence.W

2、hy necessary?1. Some task are not suitable to human but require human intelligence to perform.2. The availability of farming labor is decreasing quickly in recent years.3. Labor shortage result in the increasing of workforce cost, making a increasing of this robot demanding.4. The demanding of produ

3、ct quality and quantity has become an important factor in bio-production and economic.Main physical properties of biological objectsBasic physical properties are shape, size, mass, density, surface texture;Dynamic properties are cutting resistance, frictional resistance, elasticity and viscostiry;Op

4、tical properties are reflectance and transmittance;Sonic properties are vibration property and wave propagation;Electrical properties are electrical resistance, capacitance and static electrical property.Features of bio-production robot1. Needs to be flexible and versatile in handling objects.2. Has

5、 the intelligence to recognize the surrounding of the objects.3. Able to work in a changeable, unstructured environments.4. Safety assurance is available when working with human in tandem.5. Easy to operate by human and cost effective in its monetary investment.Difference between bio-production robo

6、t and industrial robot.Industrial robot is good at handling objects with regular and static properties, but bio-production robot is often required to manipulate object of various properties.This image shows that designing a bio-production robot need to consider fields of social science, biotechnolog

7、y horticulture and engineering.Engineering Social science Biotechnology horticulture Then I need to illustrate each part of this images and would better to give out the connection and influence of that field.Components of bio-production robot (robotic hand should be developed based on as follows)1.

8、Manipulator: to carry out the task for the machine2. End-effector: to play a similar role of human hand at the end of manipulator3. Sensors: to detect the environments conditions or objects properties4. Traveling device: set up an bigger operation space of the manipulator5. Control device: to contro

9、l the robot components6. Actuator: to simulate or provide power for the robot.Advantages of digital machine vision system.Human vision system:1. Recognize and synthesize an image scene2. Extremely intelligent in image recognition and interpretation of scenes and objects even in a terrible environmen

10、t or with incomplete information with the help of incredible intelligence of brain.3. Limitation: only can recognize in visible region(400-700nm) and not able to make the feature quantification. Digital machine vision systems:1. Receive light in a wider region, even out of visible region.2. Provide

11、quantified information of objects feature.3. Suitable for repetitive tasks in an stable condition.Key components of it:1. Electronic camera, to convert image with the same function of human eyes.2. Image acquisition board: act as the analog and digital interfaces.3. Computer: act as human brains.4.

12、Lighting system: supply light.5. Software: analyze the information already collected.Spectral reflectance of one bio-production:You need to illustrate the image with following aspects:1. You would better to consider both x axis and y axis to analyze the difference2. If you are asked to separate two

13、objects, you would better to find out the biggest difference in their spectrums and describe you decision.Encorder:Position-sensitive device (PSD)The reflect light from an object is focus by a lens and become a small image on the sensitive surface of the PSD. Then we can confirm the images position

14、confirmed by the electricity difference of two anodes. And after analyze and calculate the ratio of two current intensities, we can know the distance of the object.Common types of photoelectric sensorsCommon photoelectric sensor consisted by two elements, a light beam transmitter with a LED and a re

15、ceiver composed of a photodiode or a phototransistor.In Through beam type, transmitter and receiver are set separately and facing each other. This system allows the detection of any object break the optical path, suitable for long-range, up to 30m.In reflex type, object break the optical path too, b

16、ut the transmitter and receiver are set together with a same direction. The light beam will reflected by a reflector set in distance. It is suitable for medium-range region from 0.1 to 10m.In diffuse type, receiver detect the light diffused by the surface of object. The object should close the detec

17、tor. And the detect distance ranges from 5cm to 2m and only for some object capable in reflect such as glasses.typeDetected objectDetection rangeThrough-beam typeOpaque and reflective objects030mReflex typeObject that Breaks the reflected beam0.110mDiffuse typeObject that reflects the light beam and

18、 is close to a sensor unit5cm2mEight step to analyze a system1 Define a system and its objective.2 Identify the descriptors of the system.3 Establish the relationships among the descriptors.4 Designate system performance indicators.5 Develop a model to represent the system.6 Verify and validate the

19、model7 Perform simulation with the model8 Draw conclusions about the system1. 自由度和工作空間的計(jì)算（和平時(shí)作業(yè)類似）First we need to calculate the operational space from top view and side view, then multiply them finally we got the operational space. Also the normalized volume index Vn can be computed by Vn=V/(4L3/3)

20、2. 模糊控制的相關(guān)計(jì)算（與kondo教授資料上第58頁題目類似）3. 從5種機(jī)械手中取3種舉例說明（見kondo資料上4-5頁）4. 表示顏色的幾種方法（見kondo資料13-15頁）Munsell Renotation: This model define a color by hue, intensity and saturation. Hue has 10 colors, intensity has 10 degrees and saturation has 14 degrees.Chromaticity: In this model, we need first calculate

21、X, Y and Z by their own functions regard colors significance respectfully of red, green and blue. Then, plus X, Y and Z and calculate the ratios of X, Y and Z. After that, we got parameter x, y and z. x + y + z =1. And drawing points on the coordinate system of x axis and y axis. L*a*b*: This model

22、define a color by L* axis, a* axis and b* axis. Three axis parameters are calculated by X, Y and Z mentioned before.HSI (Hue, Saturation, Intensity): HIS define a color by the point in an cylindrical model, which composed by H, S and I. H is the polar angle from top view. S is the modulus from top v

23、iew. I is the vertical scale.5. 偏振光相關(guān)題目（稻田反射陽光和人站的位置的那道題，見kondo資料22頁左上）6. 根據(jù)所給圖表簡(jiǎn)述不同物質(zhì)的光學(xué)性質(zhì)（見kondo資料24頁中間的圖）7. 用鏡頭捕獲對(duì)象位置的計(jì)算（與作業(yè)類似，見kondo資料26頁、43頁）Manipulator:DOF: degree of freedomCartesian coordinate type: prismatic joints for position determination.Cylindrical coordinate type: 2 prismatic joints a

24、nd 1 rotational joint for position determination.Polar coordinate type: 1 prismatic joint and 2 rotational joints.Articulated type: 3 rotational joints for position determination.Mechanism of manipulator is defined by DOFType of jointLink lengthOffset lengthJoint: 1. prismatic joint2. rotational joi

25、nt The DOF of arm is 7. Shoulder is 3, elbow is 1-2, and wrist is 2-3.Evaluation indices:1. Operational space2. Measure of manipulability3. Posture diversityViscoelastic property:1. Elasticity limit 彈性極限2. Yield point應(yīng)力屈服點(diǎn)，恢復(fù)不了了3. Rupture point 破掉了Fundamentals of light:1. Quantity of light2. Luminou

26、s intensity3. Brightness4. Intensity of illuminationLamps:1. Halogen2. Incandescent3. Fluorescent: lower color rendering, 250nm UV light causes fluorescence reaction4. LED5. HIDColor temperature:Different color temperature will have different wavelength distribution, which divided into 3 regions. Th

27、ey are B, G and R.Why is the sunset color red?According to Rayleighs Scattering theory, light will go through a longer path at dusk then at middle of day. Color is diffused in this process and energy is decreased. Red colors photon has lower level of energy and it has a longer wavelength which make

28、it easy to diffraction. So, the sunset color is red.Why leaves green?Because the chlorophyll contained in leaf cell reflected the color at greens wavelength region.Advantage of optical fiber:Easy replacement of fiber and adapting object shape.垂直：Vertical 偏振鏡：Polarizer偏振角: Angle of polarization棱鏡：pri

29、sm單色玻璃：single color glassCCDMOSFluorescence：Fluorescence is the emission of light by a substance that has absorbed light or other electromagnetic radiation.Actuators:Electric actuator: DC motor, AC motor, Stepping motor, Servo motor, SolenoidHydraulic actuator: Hydraulic cylinder, hydraulic motorPne

30、umatic actuator: air cylinder, air motorSMA(shape memory alloy) actuatorSensor classification:Internal sensors: joint angle position, velocity, armconfugurationExternal sensors: sense object color, position, distance, existenceLimit switchThe principle of strain gauge 壓扁和拉長原理Touch sensor:Flexible ro

31、d lever typePush-ON typePush-OFF typePressure sensor: electrodes attached in up and down surfaces. And conductive rubber between them.Ultrasonic sensor 兩個(gè)接收器測(cè)角度就知道距離L了，用在 cutting height control上Laser sensor 一個(gè)projector 兩個(gè)mirror，下面那個(gè)可以轉(zhuǎn)磁場(chǎng)：Magnetic field電流：currentTerahertz: 太赫茲1012HZSpectrum detection

32、:Reflection typeTransmittance typeSemi-transmissive1.Why is the bioproduction robot necessary? Answer：(1) Although many agricultural operations have been mechanized, there are still many treacherous, laborious，and monotonous tasks that are not suited for human beings，but require certain human l

33、ike intelligence to perform；(2) The availability of the farming workforce is decreasing at an alarming rate in many countriesCompared With many other industries, agriculture is less attractive for the younger generation，as indicated by recent trendsThis means that the supply of human resources

34、for farming will continue to decrease in the foreseeable futureThe development of bioproduction robots，especially the kind with expert knowledge，can serve to preserve some farming expertise；(3) The problem of labor shortage frequently results in rising labor costs，if the production is to contin

35、ue；(4) The market demand for product quality has become an important factor in bioproductionQuality evaluation of products has relied mainly on human judgment.2.How to analysis the colors feature of a fruit? Answer：(1) Open a fruit image.(2)Split the fruit image into R, G and B component (or Ch

36、romaticity) images.(3) Chose one of the R, G and B component images, and make the fruit area as ROI.(4) Calculate the R and G component histogram of the ROIs, and get the R component mean value and the G component mean value of the fruit.(5) Use x=R/(R+G+B) and y=G/(R+G+B) the get the x-y coordinate

37、 value (x, y).(6) Plot (x,y) on the x-y coordinate graph.3.How to locate the defect area on the image of a tomato? Answer：1) Open the tomato image.2) Split the tomato image into R, G and B component images.3) Chose one of the R, G and B component images, using Sobel operator to get an edge image.4)

38、Binarize one of the R, G and B component images to a binary image.5) To make the edge image and binary image using an operator, and then get the defect area of the tomato.4.What color expression methods is used in a machine vision system? Give 3 methods at least. Answer：1) Munsell Renotation.2)

39、 RGB chromaticity.3) XYZ color coordinate system.4) L*a*b*.5) HSI (Hue, Saturation, and Intensity).5.What shape expression methods is used in a machine vision system ? Give 3 methods at least. Answer：1) Complexity.2) Ferets diameter ratio.3) Circularity factor.4) Occupancy.5) moment.6) deformation f

40、rom gravity center.6.What is the advantage of the wide-span vehicles？Answer：1).Harmful influence on plants caused by soil compaction can be reduced because track units pass on a fixed path 2).An implement mounted on a frame beam can perform its task regardless of the ground condition 3).Several oper

41、ations can be accomplished by a change in implements 4).The wide working width enhances working efficiency and results7.Why is the sunset color red and the sky blue in day time? Answer：The Earths atmosphere contains both air molecules and tiny suspended particles (tinier than a wavelength of light),

42、 both of which scatter light (send it off in different directions). This scattering effect affects light of shorter wavelengths more than longer wavelengths. Longer wavelength light transmits from the sun to the earth, while the shorter wavelength light scatters. we see the bule color of the shorter

43、 wavelength light scattered in the sky.8.How can we judge an orange is good? Answer： 1) color: reddish color is better2)  shape: flatten 3) size: mid is best4) texture: smooth surface is better 9.Please calculate the DOF (degrees of freedom) of our arms. Answer：A human arm have 7 DOFs. The

44、 shoulder has 3 DOFs, the elbow has 1-2 DOFs, and the wrist has 2-3 DOFs (wrist roll is sometimes included as one of the degrees of the elbow).10.Describe what you learned on reflectance of plant parts in several sentences. Answer： 1). The figure shows thy typical spectral reflectance of p

45、arts of plants in the near-ultraviolet, visible, and near- infrared regions. The plants need the photosynthetic active radiation (400-700nm wave band, mostly red and blue light) portion of light for photosynthesis, so the leaves reflect green-colored light. This is reason that the leaves are green.2

46、). The flowers' reflectance between 500nm and 700nm is high, so the flower is yellow. Similarly, the fruit 1 is purple and green, the fruit 2 is red. We can ensure the color of parts of plants based on their reflectance.3). In the near-infrared region, there are many absorption bands due to wate

47、r at 970, 1170, 1450 and 1950nm, and all parts of the plant have higher reflectance here than in the visible region. The absorption bands at 970 and 1170nm are not due to flower petals and leaves but to fruits and stems. These wavelengths can be used for discriminating them from the other parts of t

48、he plant in the near-infrared region.11.How could you get the distance D from the lens to each fruit in the direction of the lens axis by two images at different viewpoints using binocular stereo-vision system?  Answer： By the triangular measurement principle, we can get it.12.Please descr

49、ibe the measuring method for distance of position-sensitive device (PSD).  Answer：The position-sensitive device (PSD) is used to measure distances. A light beam from the light projector is reflected at the surface of the object. The reflected light is focused by a lens on the sensitive zone of

50、the PSD as a small image. The PSD has two anodes, A and B; the ratio of these anode currents changes according to the position of the image. The distance to the object is calculated with these two currents by triangulation. 13.How many types of lamps are there？ Answer：Halogen, Incandescent, Flu

51、orescent, LED, HID.14.Why are leaves green?  Answer：The leaves absorb the red and blue color, reflect the green color, so we will see the leaves are green.15.How many types of actuators are there?  Answer：1)Electric actuator: DC Motor, AC motor, Stepping motor, Servo motor, Solenoid, etc.2

52、) Hydraulic actuator: Hydraulic cylinder, hydraulic motor3) Pneumatic actuator: Air cylinder, Air motor4) SMA actuator16.What are the required components for the bioproduction robot? And describe their functions. Answer：The required components for the bioproduction robot are manipulators, end-effector, vision sensors, traveling device, c