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ffe
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ti
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n
d
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o
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m
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T
h
e
ro
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se
s a
Ca
rtes
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a
n
d
a
rti
c
u
late
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c
o
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fig
u
ra
ti
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rf
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th
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ick
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n
g
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ti
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n
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e
e
n
d
,
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o
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e
ra
ted
w
h
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re
c
a
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ts
a
n
d
c
a
n
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rv
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e
d
a
ta
o
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th
e
h
a
r
v
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ste
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ro
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u
se
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o
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o
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si
o
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o
f
t
h
e
ro
b
o
t'
s a
c
c
u
ra
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y
.
K
ey
w
o
r
d
s
:
Af
f
o
r
d
a
b
ilit
y
Ag
r
icu
ltu
r
al
in
d
u
s
tr
y
Har
v
esti
n
g
r
o
b
o
t
Sm
all
-
m
ed
iu
m
s
ca
le
in
d
u
s
tr
y
Vis
io
n
s
y
s
tem
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Vik
r
am
R
aja
Dep
ar
tm
en
t o
f
R
o
b
o
tics
an
d
A
u
to
m
atio
n
E
n
g
in
ee
r
i
n
g
,
PS
G
C
o
lleg
e
o
f
T
ec
h
n
o
lo
g
y
168
Av
in
ash
i Rd
,
Peelam
e
d
u
,
C
o
im
b
ato
r
e,
T
am
il Na
d
u
6
4
1
0
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4
,
I
n
d
ia
E
m
ail:
v
ik
r
am
r
aja.
u
r
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
d
iv
er
s
e
clim
ate
an
d
s
o
il
o
f
I
n
d
ia
en
s
u
r
e
th
e
o
b
tain
ab
ilit
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o
f
all
d
if
f
er
en
t
ty
p
es
o
f
f
r
es
h
f
r
u
its
an
d
v
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etab
les.
I
n
d
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r
a
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k
s
in
th
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p
r
o
d
u
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o
f
f
r
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v
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ab
les s
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a
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Natio
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Ho
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ticu
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ata
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ase
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ed
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t
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ia
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v
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d
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lifl
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I
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f
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,
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n
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ia
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a
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k
s
f
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th
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1
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.
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p
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r
ted
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v
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wh
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th
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Millio
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s
wh
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les
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s
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B
an
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lad
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,
Om
an
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Qata
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Nep
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Ma
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s
ia,
UAE
,
Neth
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lan
d
,
th
e
UK,
an
d
Sri
L
an
k
a,
ar
e
th
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m
ajo
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ar
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s
wh
er
e
I
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d
ian
f
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e
ex
p
o
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ted
.
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h
e
p
r
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d
u
ctio
n
r
ate
o
f
h
o
r
ticu
ltu
r
e
is
in
cr
ea
s
in
g
at
an
e
x
p
o
n
en
tial
r
ate
.
T
h
e
in
p
u
t
co
s
t
an
d
lan
d
u
s
ed
a
r
e
less
i
n
h
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ticu
ltu
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,
an
d
th
is
f
ac
to
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is
o
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r
ea
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b
en
ef
it.
T
h
e
f
r
u
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v
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les
p
r
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ig
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n
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tr
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h
e
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o
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th
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T
h
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p
r
o
c
ess
in
v
o
lv
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in
h
o
r
ticu
ltu
r
e
,
s
u
ch
as h
ar
v
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u
n
s
k
illed
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ted
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d
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ep
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th
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
g
r
icu
ltu
r
a
l h
a
r
ve
s
tin
g
u
s
in
g
in
teg
r
a
ted
r
o
b
o
t sys
tem
(
V
ikra
m
R
a
ja
)
153
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
L
it
er
a
t
ure
re
v
iew
R
o
b
o
tics
in
ag
r
icu
ltu
r
e
was
f
ir
s
t
d
ev
elo
p
ed
in
th
e
1
9
2
0
s
.
T
h
e
f
ir
s
t
s
tep
to
war
d
s
ag
r
icu
ltu
r
al
r
o
b
o
tics
was
th
e
m
ec
h
an
ical
h
a
r
v
ester
s
.
T
h
ese
u
s
e
a
s
im
p
le
an
d
o
n
er
o
u
s
m
ec
h
a
n
is
m
to
g
at
h
er
th
e
h
ar
v
est.
T
h
e
f
ir
s
t
m
ec
h
an
ical
h
a
r
v
est
was
u
s
ed
t
o
g
ath
er
to
m
ato
es,
w
h
ich
wa
s
p
aten
ted
in
1
9
6
0
.
Fu
r
th
er
o
n
,
v
ar
io
u
s
h
a
r
v
esti
n
g
s
y
s
tem
s
ca
m
e
in
to
p
lay
th
at
h
as
r
ev
o
lu
tio
n
ized
th
is
wo
r
ld
.
I
n
ter
m
s
o
f
g
r
o
u
n
d
-
lev
el
h
ar
v
e
s
tin
g
,
th
e
SW
6
0
1
0
is
th
e
f
ir
s
t
au
to
n
o
m
o
u
s
r
o
b
o
t
wh
ich
is
av
ailab
le
th
at
ca
n
co
llect
s
tr
awb
er
r
ies.
T
h
e
o
th
er
s
y
s
tem
is
ca
lled
s
o
f
t
h
ar
v
esti
n
g
,
wh
e
r
e
d
elica
te
s
u
c
tio
n
cu
p
s
ar
e
u
s
ed
to
co
llect
th
e
f
r
u
its
s
u
ch
as
p
in
ea
p
p
les,
ap
p
les
[
2
]
,
[
3
]
.
T
h
ese
r
o
b
o
tic
ar
m
s
ca
n
also
b
e
co
m
b
in
ed
h
an
d
to
h
an
d
to
p
r
o
v
i
d
e
b
etter
ac
cu
r
ac
y
wh
ile
g
ath
e
r
in
g
.
Me
to
Mo
tio
n
'
s
r
o
b
o
tic
s
y
s
tem
is
d
escr
ib
ed
as
'
a
m
u
ltip
u
r
p
o
s
e
r
o
b
o
tic
in
ten
s
iv
e
s
y
s
tem
f
o
r
lab
o
r
-
in
ten
s
iv
e
task
s
in
g
r
ee
n
h
o
u
s
es
wh
ich
is
to
h
ar
v
est
to
m
ato
es
[
4
]
.
Vin
k
e
n
b
u
ilt
is
a
r
o
b
o
t
th
at
ca
n
s
ee
u
n
d
er
g
r
o
u
n
d
.
I
t
em
its
an
elec
tr
ic
s
ig
n
al
wh
ich
id
e
n
tifie
s
th
e
v
eg
etab
les
[
5
]
.
A
t
o
m
ato
h
ar
v
esti
n
g
s
y
s
tem
in
th
e
f
o
r
m
o
f
a
m
o
b
ile
r
o
b
o
t
is
ca
p
ab
le
o
f
h
ar
v
esti
n
g
with
m
an
u
al
n
a
v
ig
atio
n
[
6
]
.
Var
i
o
u
s
s
y
s
tem
s
ex
is
t
th
at
h
ar
v
est
s
tr
awb
er
r
ies
o
n
a
s
em
i
-
au
to
m
atio
n
b
asis
an
d
c
h
ili
p
ep
p
er
h
ar
v
esti
n
g
u
s
in
g
th
e
r
o
b
o
tic
ar
m
[
7
]
-
[
9
]
.
All
t
h
ese
s
y
s
tem
s
ar
e
s
o
m
e
of
th
e
id
ea
s
th
at
ar
e
p
r
esen
t in
th
e
m
ar
k
et.
T
h
e
s
o
lu
t
io
n
s
in
th
e
m
ar
k
et
a
r
e
ex
tr
av
ag
a
n
tly
ex
p
e
n
s
iv
e
an
d
ca
n
n
o
t
b
e
af
f
o
r
d
ed
b
y
s
m
al
l
-
m
ed
iu
m
s
ca
le
f
ar
m
er
s
.
T
h
e
la
b
o
r
ass
ig
n
ed
to
ta
k
e
ca
r
e
o
f
t
h
e
f
ar
m
m
u
s
t
b
e
s
k
illed
h
ig
h
ly
.
T
h
e
co
n
s
u
m
p
tio
n
o
f
elec
tr
icity
in
cr
ea
s
es
as
th
e
r
o
b
o
ts
r
u
n
t
h
r
o
u
g
h
elec
tr
icity
.
T
h
e
p
r
esen
t
h
ar
v
esti
n
g
r
o
b
o
t
r
eq
u
ir
es
m
an
u
al
co
n
tr
o
l,
b
u
t
th
at
is
n
o
t
a
v
iab
le
o
p
tio
n
as
th
e
task
is
to
au
to
m
ate
th
e
h
ar
v
esti
n
g
task
.
I
f
an
y
tech
n
ical
er
r
o
r
o
cc
u
r
s
,
th
e
en
tire
h
ar
v
esti
n
g
co
m
es
to
a
h
alt
u
n
til
th
e
s
y
s
tem
is
f
ix
ed
.
T
h
is
cr
ea
tes
a
d
elay
ed
h
ar
v
est.
A
co
m
p
letely
au
to
m
ated
f
ar
m
is
n
o
t a
p
r
ac
tical
p
o
s
s
ib
ilit
y
as o
f
n
o
w.
2
.
2
.
P
r
o
po
s
ed
s
o
lutio
n
T
h
e
cu
r
r
en
t
s
o
lu
tio
n
s
in
th
e
m
ar
k
et
eith
er
in
v
o
l
v
e
a
m
o
b
ile
h
ar
v
esti
n
g
s
y
s
tem
o
r
r
o
b
o
tic
ar
m
h
ar
v
esti
n
g
,
n
o
t
a
co
m
b
i
n
atio
n
o
f
b
o
th
.
No
m
o
d
el
h
as
b
ee
n
ex
ec
u
ted
with
th
e
co
n
ce
p
t
o
f
a
C
ar
tesi
an
an
d
an
ar
ticu
lated
r
o
b
o
t.
T
h
e
d
esig
n
d
ev
elo
p
e
d
aim
s
to
m
ak
e
th
is
s
y
s
tem
af
f
o
r
d
ab
le
at
all
lev
els
o
f
f
ar
m
in
g
,
an
d
th
is
ca
n
b
e
o
p
e
r
ated
at
g
r
ea
t
ea
s
e
[
1
0
]
.
No
m
an
u
al
in
ter
v
en
tio
n
is
n
ec
ess
ar
y
f
o
r
th
is
s
y
s
tem
as
th
is
h
ar
v
esti
n
g
r
o
b
o
t
s
ca
n
s
th
e
e
n
tire
a
r
ea
a
n
d
y
ield
s
th
e
o
u
tp
u
t.
T
h
e
ac
cu
r
ac
y
o
f
th
e
y
ield
is
o
f
t
h
e
s
tan
d
ar
d
lev
el.
T
h
e
p
r
o
d
u
cts
th
at
ca
n
b
e
h
ar
v
ested
b
y
th
is
r
o
b
o
t
d
esig
n
in
clu
d
es
ca
n
talo
u
p
e,
ca
r
r
o
t,
r
ad
is
h
,
s
af
f
r
o
n
,
p
in
ea
p
p
le,
ch
ili
p
ap
r
i
k
a
,
a
n
d
all
u
n
d
er
g
r
o
u
n
d
v
e
g
etab
le.
T
h
e
f
ir
s
t
s
tep
,
as
s
h
o
wn
in
Fig
u
r
e
1
,
in
v
o
l
v
es
th
e
u
s
er
s
tar
tin
g
th
e
p
r
o
ce
s
s
th
r
o
u
g
h
th
e
d
is
p
la
y
u
n
it.
As
s
o
o
n
as
th
e
co
m
m
a
n
d
is
g
iv
e
n
,
it
s
en
d
s
th
e
i
n
s
tr
u
ctio
n
to
th
e
cl
o
u
d
s
er
v
er
,
wh
ich
co
m
m
u
n
icate
s
to
th
e
r
o
b
o
t
s
tatio
n
to
b
e
g
in
th
e
p
r
o
ce
s
s
[
1
1
]
.
T
h
e
r
o
b
o
ts
th
e
n
,
f
r
o
m
th
e
d
o
c
k
e
d
s
tatio
n
,
tr
av
els
to
th
e
i
n
itial
p
o
in
t
in
th
e
f
ar
m
to
s
tar
t
t
h
e
h
ar
v
esti
n
g
.
On
ce
th
e
h
ar
v
esti
n
g
is
co
m
p
leted
,
t
h
e
co
llected
h
ar
v
est
is
th
en
d
eliv
er
ed
to
th
e
p
ac
k
in
g
s
tatio
n
b
y
th
e
r
o
b
o
t.
T
h
e
n
th
e
r
o
b
o
t
tr
a
v
els
to
th
e
ch
ar
g
i
n
g
p
o
in
t
n
ea
r
th
e
r
o
b
o
t
s
tatio
n
an
d
g
o
es
to
th
e
in
itial
p
o
s
itio
n
,
an
d
awa
its
f
u
r
th
er
in
s
tr
u
ctio
n
.
A
d
etailed
o
u
tlin
e
o
f
th
e
s
y
s
tem
is
s
h
o
wn
in
Fig
u
r
e
2
.
Fig
u
r
e
1
.
Pro
ce
s
s
o
f
th
e
s
y
s
tem
2.
3
.
Vis
io
n s
y
s
t
em
T
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e
v
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io
n
s
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s
tem
s
o
f
twar
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d
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(
y
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tech
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an
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ac
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ir
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e
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u
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.
YOL
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s
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Dar
k
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et
-
5
3
f
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tu
r
e
ex
tr
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to
r
wh
ich
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5
3
co
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v
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lu
tio
n
al
n
e
u
r
al
n
etwo
r
k
lay
er
s
a
n
d
s
k
ip
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4
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5
2
I
n
d
o
n
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J
E
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&
C
o
m
p
Sci
,
Vo
l.
25
,
No
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1
,
J
an
u
ar
y
20
22
:
1
52
-
1
58
154
co
n
n
ec
tio
n
s
in
s
p
ir
e
d
b
y
R
esNet
[
1
2
]
.
I
t a
ls
o
h
as a
f
ea
tu
r
e
p
y
r
am
id
n
etwo
r
k
th
at
allo
ws th
e
YOL
O
-
V3
to
lear
n
an
d
d
etec
t
o
b
jects
o
f
d
if
f
er
e
n
t
s
izes.
T
h
e
o
u
tp
u
t
o
f
th
e
f
ea
tu
r
e
p
y
r
am
id
n
etwo
r
k
is
k
n
o
wn
as
a
g
r
id
,
an
d
it
h
as
th
r
ee
s
ca
les
o
f
g
r
id
s
.
I
n
ea
ch
o
f
th
ese
g
r
id
s
,
th
r
ee
an
ch
o
r
b
o
x
es
with
th
e
s
am
e
ce
n
tr
o
id
o
f
d
if
f
e
r
en
t
s
izes
ar
e
p
l
a
c
e
d
o
n
t
h
e
m
.
T
h
es
e
a
n
c
h
o
r
b
o
x
e
s
p
r
e
d
i
c
t
t
h
e
cl
a
s
s
i
d
a
n
d
th
e
l
o
c
a
t
i
o
n
o
f
t
h
e
o
b
j
e
ct
.
T
h
u
s
,
t
h
e
b
o
u
n
d
i
n
g
b
o
x
e
s
a
r
e
a
p
p
l
i
e
d
t
o
t
h
e
i
m
a
g
e
[
1
3
]
.
T
h
e
Y
O
L
O
-
V
3
o
b
j
e
ct
d
e
t
e
c
ti
o
n
w
a
s
c
h
o
s
e
n
a
m
o
n
g
m
a
n
y
t
e
ch
n
i
q
u
e
s
f
r
o
m
F
i
g
u
r
e
3
,
w
h
i
c
h
i
s
p
l
o
t
t
e
d
b
e
t
w
ee
n
c
o
m
m
o
n
o
b
j
e
c
t
s
i
n
c
o
n
t
e
x
t
(
C
OC
O
)
a
v
e
r
a
g
e
p
r
e
c
i
s
i
o
n
a
n
d
i
n
f
e
r
e
n
c
e
t
i
m
e
.
I
t
i
s
c
le
a
r
t
h
a
t
t
h
e
Y
O
L
O
-
V
3
h
as
t
h
e
a
v
e
r
a
g
e
p
r
e
c
is
i
o
n
a
n
d
s
p
e
e
d
w
h
e
n
c
o
m
p
a
r
e
d
wi
t
h
o
t
h
e
r
m
e
t
h
o
d
s
[
1
4
]
.
T
h
e
m
ain
ad
v
an
tag
e
o
f
u
s
in
g
a
co
n
v
o
lu
tio
n
n
eu
r
al
n
etwo
r
k
is
th
at
it
ca
n
ev
en
d
etec
t
a
cr
o
p
i
f
it
is
co
v
er
ed
with
leav
es
[
1
5
]
,
[
1
6
]
.
T
h
e
YOL
O
-
V3
n
e
two
r
k
was
tr
ain
ed
u
s
in
g
Go
o
g
le
C
o
lab
[
1
7
]
,
as
it
h
as
a
p
o
wer
f
u
l
g
r
ap
h
ics
p
r
o
ce
s
s
in
g
u
n
it
a
n
d
m
o
r
e
co
m
p
u
te
u
n
if
ied
d
e
v
ice
ar
ch
itec
tu
r
e
(
C
UDA
)
co
r
es
to
r
ed
u
ce
th
e
o
v
er
all
tr
ai
n
in
g
tim
e
[
1
8
]
.
I
t
to
o
k
ar
o
u
n
d
5
to
6
h
o
u
r
s
f
o
r
2
,
0
0
0
iter
atio
n
s
u
s
in
g
1
,
0
0
0
im
a
g
es
o
f
th
e
r
eq
u
ir
ed
cr
o
p
,
wh
ich
is
to
b
e
d
etec
ted
1
9
]
,
[
2
0
]
.
T
h
e
iter
atio
n
s
wer
e
p
e
r
f
o
r
m
ed
f
o
r
ca
r
r
o
ts
an
d
ca
n
talo
u
p
e.
T
h
e
ca
m
er
a
is
5
-
m
e
g
ap
ix
el
an
d
is
eq
u
ip
p
ed
with
in
f
r
ar
ed
l
ig
h
ts
.
T
h
is
is
u
s
ef
u
l f
o
r
th
e
o
p
er
atio
n
o
f
t
h
e
r
o
b
o
t e
v
e
n
d
u
r
in
g
n
ig
h
t tim
e
wh
ic
h
lead
s
to
g
r
ea
ter
ef
f
icien
cy
in
t
h
e
o
u
tp
u
t.
T
h
e
g
r
a
p
h
p
lo
tted
b
etwe
en
lo
s
s
an
d
th
e
n
o
o
f
ite
r
atio
n
s
.
Af
ter
2
,
0
0
0
iter
atio
n
s,
th
e
lo
s
s
ca
m
e
d
o
wn
alm
o
s
t n
ea
r
to
ze
r
o
.
T
h
e
b
asic
p
r
in
cip
le
is
th
at
m
o
r
e
lo
s
s
lead
s
to
less
d
etec
tio
n
an
d
less
lo
s
s
lead
s
to
an
ac
cu
r
ate
d
etec
tio
n
.
Fig
u
r
e
2
.
Ou
tlin
e
o
f
th
e
s
y
s
tem
Fig
u
r
e
3
.
Per
f
o
r
m
an
c
e
co
m
p
ar
is
o
n
g
r
ap
h
2.
4
.
Ca
r
t
esia
n a
x
is
m
o
v
em
e
nt
Af
ter
lo
ca
tin
g
th
e
cr
o
p
,
t
h
e
o
p
en
s
o
u
r
ce
co
m
p
u
ter
v
is
io
n
lib
r
ar
y
(
Op
e
n
C
V
)
s
o
f
twar
e
s
en
d
s
th
e
C
ar
tesi
an
co
o
r
d
in
ates
to
th
e
u
n
iv
er
s
al
G
C
ode
s
en
d
er
s
o
f
twar
e
.
N
ow
,
t
h
is
s
o
f
twar
e
co
n
v
e
r
ts
th
ese
co
o
r
d
in
ates
in
to
G
C
o
d
es.
T
h
en
it
i
s
s
en
t
t
o
th
e
AT
m
eg
a
m
icr
o
co
n
tr
o
ller
th
r
o
u
g
h
s
er
ial
d
ata
tr
an
s
f
er
.
T
h
e
m
icr
o
co
n
tr
o
ller
ac
q
u
ir
es
th
ese
G
C
o
d
es
an
d
c
o
n
v
er
ts
th
em
to
p
u
ls
es
f
o
r
d
r
i
v
in
g
th
e
s
tep
p
er
m
o
to
r
an
d
to
move
th
e
C
ar
tesi
an
r
o
b
o
t
to
th
e
s
p
ec
if
ied
lo
ca
ti
o
n
.
Af
ter
th
is
p
r
o
ce
s
s
,
th
e
ar
ticu
lated
r
o
b
o
tic
ar
m
wh
ich
is
attac
h
ed
to
th
e
C
ar
tesi
an
r
o
b
o
t h
ar
v
est
s
th
e
cr
o
p
.
2.
5
.
Na
v
ig
a
t
io
n
T
h
e
lo
ca
liza
tio
n
o
f
th
e
r
o
b
o
t
is
d
o
n
e
th
r
o
u
g
h
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GP
S
)
an
d
n
av
ig
atio
n
th
r
o
u
g
h
way
p
o
in
ts
.
As
it
is
a
n
o
u
td
o
o
r
ap
p
licatio
n
,
lig
h
t
d
et
ec
tio
n
an
d
r
a
n
g
in
g
(
L
i
DAR
)
wo
n
'
t
b
e
s
u
itab
le
f
o
r
th
is
r
o
b
o
t
[
2
1
]
.
I
n
th
is
ca
s
e,
th
e
QGr
o
u
n
d
C
o
n
tr
o
l
s
o
f
twar
e
is
f
o
r
cr
ea
tin
g
way
p
o
in
ts
an
d
n
av
ig
atin
g
th
e
au
to
m
ated
g
u
id
e
d
v
eh
icle.
T
h
e
co
n
ce
p
t
o
f
p
r
ec
is
io
n
f
ar
m
in
g
is
u
s
ed
to
im
p
r
o
v
e
ac
cu
r
ac
y
[
2
2
]
,
[
2
3
]
.
First,
th
e
b
o
u
n
d
ar
ies
o
f
th
e
f
ar
m
ar
e
m
ar
k
ed
th
r
o
u
g
h
th
e
QGr
o
u
n
d
C
o
n
tr
o
l
s
o
f
twar
e
,
an
d
th
en
th
e
way
p
o
in
t
s
ar
e
g
en
er
ated
f
o
r
p
at
h
p
lan
n
i
n
g
,
as
s
h
o
wn
in
Fig
u
r
e
4
[
2
4
]
,
[
2
5
]
.
On
ce
th
e
p
ath
is
p
lan
n
e
d
,
th
e
en
tire
ar
ea
is
co
v
er
ed
b
y
th
e
r
o
b
o
t
t
o
o
b
tain
all
th
e
g
r
o
wn
h
ar
v
est.
T
h
e
s
o
f
twar
e
en
s
u
r
es
th
at
o
n
ly
f
u
l
ly
g
r
o
w
n
f
r
u
its
an
d
v
eg
etab
le
s
ar
e
h
ar
v
ested
.
2
.
6
.
M
o
du
les
T
h
e
d
esig
n
o
f
t
h
e
h
ar
v
esti
n
g
b
o
t
m
ai
n
ly
i
n
v
o
lv
es
f
o
u
r
m
o
d
u
les:
1
)
Au
t
o
m
ated
g
u
i
d
ed
v
e
h
icle
(
AGV)
,
2
)
C
ar
tesi
an
ax
is
,
3
)
Ar
ticu
lated
ax
is
,
an
d
4
)
Sen
s
o
r
s
an
d
n
av
ig
atio
n
.
T
h
e
co
m
p
u
ter
-
aid
ed
d
esig
n
o
f
th
e
h
ar
v
esti
n
g
r
o
b
o
t is sh
o
wn
in
Fig
u
r
e
5
.
T
h
e
AGV
co
n
s
is
ts
o
f
f
o
u
r
1
5
0
m
m
r
u
b
b
er
g
r
ip
p
ed
ca
s
to
r
wh
ee
ls
f
o
r
b
etter
f
r
ictio
n
an
d
t
r
ac
tio
n
to
th
e
g
r
o
u
n
d
.
T
h
e
AGV
l
in
ea
r
m
o
v
em
en
ts
ar
e
ac
t
u
ated
b
y
t
wo
3
0
0
m
m
wh
ee
ls
with
th
e
24
-
v
o
ltag
e
b
r
u
s
h
less
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
g
r
icu
ltu
r
a
l h
a
r
ve
s
tin
g
u
s
in
g
in
teg
r
a
ted
r
o
b
o
t sys
tem
(
V
ikra
m
R
a
ja
)
155
d
ir
ec
t
cu
r
r
en
t
h
u
b
m
o
to
r
,
an
d
th
e
s
h
af
t
o
f
t
h
e
wh
ee
ls
is
s
u
p
p
o
r
ted
th
r
o
u
g
h
b
all
b
ea
r
in
g
s
.
T
wo
l
ith
iu
m
-
io
n
b
atter
ies
,
wh
ich
h
av
e
a
2
4
-
v
o
l
tag
e
a
n
d
cu
r
r
e
n
t c
ap
ac
ity
o
f
1
0
Ah
,
ar
e
co
n
n
ec
ted
in
p
a
r
allel
s
o
th
at
th
ey
ca
n
b
e
u
s
ed
as
th
e
m
ain
p
o
wer
s
u
p
p
l
y
.
T
h
e
b
ase
f
r
am
e
is
cr
a
f
ted
t
h
r
o
u
g
h
wo
o
d
as
th
e
r
o
b
o
t
is
a
p
r
o
to
ty
p
e
an
d
th
e
wo
o
d
en
p
lan
k
s
ar
e
ea
s
ily
af
f
o
r
d
ab
le
[
2
6
]
.
Fig
u
r
e
4
.
Path
p
lan
n
in
g
T
h
e
C
ar
tesi
an
ax
is
co
n
s
i
s
ts
o
f
4
a
lu
m
in
iu
m
V
-
Slo
t
ch
an
n
e
ls
o
f
s
ize
4
0
m
m
len
g
th
,
2
0
m
m
wid
th
,
an
d
1
1
0
0
m
m
h
eig
h
t
ar
e
u
s
e
d
as
g
u
id
ewa
y
s
f
o
r
th
e
V
-
W
h
ee
ls
[
2
7
]
.
T
h
e
V
-
W
h
ee
ls
ar
e
attac
h
ed
to
th
e
3
D
p
r
in
ted
c
o
m
p
o
n
en
ts
,
w
h
ich
a
ct
as
an
e
n
d
s
u
p
p
o
r
t
ca
r
r
ier
f
o
r
th
e
V
-
Slo
t
ch
a
n
n
els.
T
h
e
C
ar
tesi
an
ax
is
also
in
clu
d
es
th
r
ee
le
ad
s
cr
ews
f
o
r
ea
ch
X,
Y,
a
n
d
Z
-
a
x
is
,
wh
ic
h
ac
t
as
lin
ea
r
ac
tu
ato
r
s
an
d
a
r
e
co
u
p
le
d
with
th
e
N
em
a
1
7
s
tep
p
er
m
o
to
r
u
s
in
g
a
f
lex
ib
le
co
u
p
ler
.
T
h
e
f
le
x
ib
le
co
u
p
le
g
iv
es
an
ad
v
an
t
ag
e
as
a
v
ib
r
atio
n
d
am
p
er
.
T
h
e
e
n
d
s
o
f
th
e
lead
s
cr
ews
ar
e
s
u
p
p
o
r
ted
th
r
o
u
g
h
8
m
m
b
o
r
e
d
i
am
eter
b
all
b
e
ar
in
g
s
.
Ho
wev
er
,
as
th
e
Z
-
a
x
is
ca
r
r
ier
u
s
es
lin
ea
r
r
o
d
s
,
n
e
g
lectin
g
th
e
n
ee
d
f
o
r
V
-
Slo
t
ch
an
n
els
s
o
th
at
lin
ea
r
b
ea
r
in
g
s
ar
e
u
s
ed
he
r
e
to
s
u
p
p
o
r
t
th
e
lin
ea
r
r
o
d
s
.
T
h
e
A
r
ticu
lated
r
o
b
o
t
is
a
3
D
p
r
in
ted
s
ix
s
er
v
o
m
o
to
r
s
co
n
tr
o
lled
r
o
b
o
tic
ar
m
th
at
u
s
es
Ad
af
r
u
it
s
er
v
o
m
o
to
r
d
r
iv
er
s
f
o
r
co
n
tr
o
llin
g
t
h
e
s
er
v
o
m
o
to
r
s
s
im
u
ltan
eo
u
s
ly
.
T
h
e
f
ilam
en
t
u
s
ed
in
3
D
p
r
i
n
t
i
n
g
i
s
p
o
l
y
l
a
c
ti
c
a
c
i
d
p
l
a
s
ti
c
(
P
L
A
)
[
2
8
]
.
T
h
e
r
o
b
o
t
i
c
a
r
m
i
s
d
es
i
g
n
e
d
t
h
r
o
u
g
h
S
o
l
i
d
w
o
r
k
s
3
D
m
o
d
e
l
i
n
g
s
o
f
t
w
a
r
e
,
a
n
d
I
n
v
e
r
s
e
k
i
n
e
m
a
ti
c
s
is
d
o
n
e
t
h
r
o
u
g
h
D
e
n
a
v
i
t
a
n
d
H
a
r
t
e
n
b
e
r
g
p
a
r
a
m
e
t
e
r
s
[
2
9
]
,
[
3
0
]
.
T
h
e
g
r
i
p
p
e
r
d
e
s
i
g
n
e
d
i
s
b
y
c
o
n
s
i
d
e
r
i
n
g
t
h
e
o
b
j
e
c
t
s
i
ze
a
n
d
b
y
t
e
s
t
i
n
g
i
n
v
ar
i
o
u
s
s
i
m
u
la
t
i
o
n
p
l
a
t
f
o
r
m
s
[
3
1
]
-
[
3
3
]
.
Mo
to
r
s
izin
g
is
th
e
cr
u
cial
p
ar
t
wh
ile
d
esig
n
in
g
th
e
r
o
b
o
tic
ar
m
as
it
d
eter
m
in
es
th
e
to
r
q
u
e
r
e
q
u
ir
em
e
n
ts
,
an
d
it
is
d
o
n
e
th
r
o
u
g
h
o
r
ien
tal
m
o
to
r
s
o
f
twar
e.
Ultr
aso
n
ic
s
en
s
o
r
s
o
f
3
n
u
m
b
er
s
ar
e
u
s
ed
h
er
e
t
o
a
v
o
id
an
y
o
b
s
tacle
s
wh
ile
t
h
e
au
to
m
ated
g
u
id
ed
v
e
h
icle
is
in
m
o
tio
n
.
A
s
ter
eo
s
co
p
ic
im
ag
e
s
en
s
o
r
i
s
u
s
ed
h
er
e
as
an
in
p
u
t
to
th
e
i
m
a
g
e
d
etec
tio
n
an
d
class
if
icatio
n
s
o
f
twar
e
an
d
also
t
o
f
in
d
th
e
d
e
p
th
o
f
th
e
im
ag
e
s
o
th
at
th
e
r
o
b
o
tic
ar
m
ca
n
r
ea
c
h
th
e
ex
ac
t
h
eig
h
t
o
f
th
e
cr
o
p
an
d
ac
q
u
ir
e
it.
Fo
r
o
u
td
o
o
r
ap
p
li
ca
tio
n
s
,
as
th
e
r
o
b
o
t
is
n
o
t b
o
u
n
d
ed
b
y
an
y
walls,
th
e
GPS
way
p
o
in
t
n
av
ig
atio
n
is
u
s
ed
.
T
h
e
GPS
way
p
o
in
ts
n
av
ig
atio
n
s
r
eq
u
i
r
e
in
p
u
t
s
s
u
ch
as
latitu
d
e,
lo
n
g
itu
d
e,
an
d
th
e
d
ir
ec
tio
n
o
f
th
e
r
o
b
o
t
s
o
th
at
th
e
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
an
d
co
m
p
ass
m
o
d
u
les
ar
e
u
s
e
d
h
er
e
to
lo
ca
lize
th
e
r
o
b
o
t.
A
ll
th
ese
m
o
d
u
les
ar
e
co
m
b
in
ed
in
o
r
d
er
to
g
i
v
e
th
e
en
d
r
esu
lt
o
f
th
e
f
in
al
h
ar
v
esti
n
g
r
o
b
o
t,
as sh
o
w
n
in
Fig
u
r
e
6
,
wh
ic
h
is
th
e
wo
r
k
i
n
g
m
o
d
el
o
f
th
e
co
n
ce
p
t.
Fig
u
r
e
5
.
Har
v
esti
n
g
r
o
b
o
t
Fig
u
r
e
6
.
Fin
al
h
a
r
v
esti
n
g
r
o
b
o
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
25
,
No
.
1
,
J
an
u
ar
y
20
22
:
1
52
-
1
58
156
3.
RE
SU
L
T
S
A
ND
D
IS
CU
SS
I
O
N
T
h
e
h
ar
v
esti
n
g
r
o
b
o
t
was
test
ed
in
ca
r
r
o
t
an
d
ca
n
talo
u
p
e
f
a
r
m
in
g
f
ield
s
an
d
g
av
e
u
s
th
e
f
o
llo
win
g
o
u
tp
u
ts
,
as sh
o
wn
in
T
ab
le
1
.
T
h
e
v
is
io
n
s
y
s
tem
was p
er
f
o
r
m
ed
u
s
in
g
th
e
YOL
OV3
alg
o
r
ith
m
. T
h
e
r
o
b
o
t w
as
ab
l
e
to
d
etec
t 2
3
2
o
u
t
o
f
3
0
0
c
ar
r
o
ts
w
ith
an
av
er
ag
e
ac
cu
r
ac
y
o
f
9
3
%
in
4
s
ec
o
n
d
s
.
Simila
r
ly
,
2
4
5
o
u
t
o
f
3
0
0
ca
n
talo
u
p
es
wer
e
d
etec
ted
,
l
ea
d
in
g
to
an
av
e
r
ag
e
ac
cu
r
a
cy
o
f
9
5
%
in
2
s
ec
o
n
d
s
.
I
t
was
also
ab
le
t
o
d
if
f
er
en
tiate
b
etwe
en
th
e
f
u
lly
g
r
o
w
n
cr
o
p
s
an
d
th
e
g
r
o
win
g
o
n
es
b
y
f
ee
d
in
g
th
e
n
eu
r
al
n
e
two
r
k
d
ataset
wit
h
m
o
r
e
im
ag
es
.
T
ab
le
1
.
T
h
e
o
u
t
p
u
t o
f
ac
cu
r
ac
y
an
d
t
h
e
tim
e
is
tak
en
f
o
r
ea
c
h
cr
o
p
N
o
.
Ty
p
e
o
f
c
r
o
p
N
o
.
o
f
c
r
o
p
s
d
e
t
e
c
t
e
d
A
v
e
r
a
g
e
a
c
c
u
r
a
c
y
(
%)
Ti
me
t
a
k
e
n
t
o
c
o
m
p
l
e
t
e
t
h
e
d
e
t
e
c
t
i
o
n
(
sec
o
n
d
s)
1
C
a
r
r
o
t
2
3
2
o
u
t
o
f
3
0
0
93
4
2
C
a
n
t
a
l
o
u
p
e
2
4
5
o
u
t
o
f
3
0
0
95
2
As
th
e
YOL
OV3
alg
o
r
ith
m
a
ls
o
en
ab
les
u
s
to
d
etec
t
m
u
lt
ip
le
class
es
,
it
ca
n
b
e
u
s
ed
in
m
u
ltip
le
f
ield
s
wh
ich
co
n
tain
d
if
f
er
e
n
t
cr
o
p
s
.
T
h
e
p
r
o
p
o
s
ed
r
o
b
o
ti
c
m
an
ip
u
lato
r
was
ab
le
to
ac
q
u
ir
e
th
e
cr
o
p
in
ap
p
r
o
x
im
ately
1
8
s
ec
o
n
d
s
.
I
t
is
to
o
h
ig
h
wh
en
c
o
m
p
ar
e
d
to
th
e
tim
e
tak
en
b
y
a
m
an
u
al
p
r
o
ce
s
s
,
b
u
t
s
till
,
as
h
u
m
an
s
g
r
o
w
tire
s
o
m
e
,
t
h
is
r
esu
lt
ca
n
b
e
ac
ce
p
tab
le
d
u
e
to
th
e
d
e
v
iatio
n
s
in
th
e
r
o
b
o
t
n
av
ig
atio
n
p
ath
s
ca
u
s
ed
b
y
th
e
f
a
r
m
in
g
f
ield
'
s
o
b
s
tacle
s
s
u
ch
as
d
ir
t
an
d
s
to
n
es.
T
h
e
way
p
o
i
n
t
n
av
ig
atio
n
b
y
u
s
in
g
a
g
lo
b
al
p
o
s
itio
n
s
y
s
tem
g
av
e
an
ac
cu
r
ac
y
o
f
a
r
o
u
n
d
8
7
%.
4.
CO
NCLU
SI
O
N
An
in
teg
r
ate
d
r
o
b
o
t
s
y
s
tem
w
as
d
esig
n
ed
,
an
d
th
e
s
y
s
tem
was
test
ed
ag
ain
s
t
s
ev
er
al
p
r
o
d
u
cts
u
s
in
g
s
o
f
twar
e
in
o
r
d
er
to
ch
ec
k
its
v
alid
ity
.
A
p
r
o
to
t
y
p
e
o
f
th
e
d
esig
n
ed
s
y
s
tem
was
im
p
lem
e
n
ted
an
d
v
er
if
ied
in
th
e
f
o
r
m
o
f
h
ar
d
war
e.
I
n
th
is
d
ev
elo
p
m
e
n
t,
au
to
m
at
ic
cr
o
p
h
ar
v
esti
n
g
was
p
er
f
o
r
m
ed
th
r
o
u
g
h
th
e
m
eth
o
d
o
f
p
o
s
itio
n
d
etec
tio
n
an
d
h
ar
v
est
in
g
u
s
in
g
a
r
o
b
o
tic
m
a
n
ip
u
lat
o
r
with
a
h
a
r
v
esti
n
g
h
an
d
th
a
t
d
o
es
n
o
t
d
am
ag
e
th
e
cr
o
p
.
T
h
e
ac
c
u
r
ac
y
o
f
th
e
d
etec
tio
n
o
f
cr
o
p
s
s
u
ch
as
ca
r
r
o
ts
an
d
ca
n
talo
u
p
e
was
f
o
u
n
d
,
an
d
th
e
tim
e
tak
en
f
o
r
t
h
e
d
etec
tio
n
o
f
cr
o
p
s
was
v
er
if
ied
.
T
h
is
r
o
b
o
t
m
ay
n
o
t
r
ep
lace
a
h
u
m
an
b
u
t
ca
n
wo
r
k
co
llab
o
r
ativ
ely
as
its
p
er
f
o
r
m
an
ce
d
o
esn
'
t
ex
ce
e
d
th
e
lev
els
o
f
a
h
u
m
an
.
T
h
is
co
llab
o
r
ativ
e
r
o
b
o
t
ca
n
b
e
u
s
e
d
in
s
m
all
-
m
ed
iu
m
s
ca
le
f
ar
m
s
,
wh
ich
d
o
n
o
t
i
n
v
o
lv
e
c
o
m
p
lete
au
to
m
atio
n
,
y
et
th
e
p
r
o
d
u
ctio
n
r
ate
in
cr
e
ases
.
I
n
th
e
d
is
tan
t
f
u
tu
r
e
,
as
u
n
s
k
illed
lab
o
r
g
ets
er
ad
icate
d
,
t
h
is
h
ar
v
esti
n
g
b
o
t
will
p
lay
a
c
r
u
cial
r
o
le
in
f
ix
in
g
th
at
p
r
o
b
lem
.
T
h
e
cu
r
r
en
t
a
g
r
icu
ltu
r
al
in
d
u
s
tr
y
is
g
o
i
n
g
t
h
r
o
u
g
h
h
ar
d
s
h
ip
,
an
d
th
is
p
r
o
d
u
ct
is
s
et
to
m
a
k
e
a
b
r
ea
k
th
r
o
u
g
h
wh
en
it r
ea
ch
es th
e
m
a
r
k
et
as
it is
af
f
o
r
d
ab
le
a
n
d
s
im
p
le
to
u
s
e
,
wh
ich
th
e
f
ar
m
e
r
s
ex
p
ec
t.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
e
au
th
o
r
wo
u
ld
lik
e
t
o
th
a
n
k
th
e
De
p
ar
tm
en
t
o
f
R
o
b
o
tics
an
d
A
u
to
m
atio
n
o
f
PS
G
C
o
lleg
e
o
f
T
ec
h
n
o
lo
g
y
f
o
r
s
u
p
p
o
r
tin
g
th
i
s
p
r
o
ject.
RE
F
E
R
E
NC
E
S
[1
]
A
.
V
.
V
.
K
o
u
n
d
i
n
y
a
a
n
d
P
.
P
.
K
u
m
a
r
,
“
I
n
d
i
a
n
v
e
g
e
t
a
b
l
e
s
e
e
d
s
i
n
d
u
st
r
y
:
s
t
a
t
u
s
a
n
d
c
h
a
l
l
e
n
g
e
s,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
p
l
a
n
t
,
a
n
i
m
a
l
a
n
d
e
n
v
i
r
o
n
m
e
n
t
a
l
sc
i
e
n
c
e
s
,
v
o
l
.
4
,
n
o
.
4
,
p
p
.
6
2
-
6
9
,
2
0
1
4
.
[2
]
N
.
P
.
T.
A
n
h
,
S
.
H
o
a
n
g
,
D
.
V
a
n
Ta
i
,
a
n
d
B
.
L.
C
.
Q
u
o
c
,
"
D
e
v
e
l
o
p
i
n
g
R
o
b
o
t
i
c
S
y
st
e
m
f
o
r
H
a
r
v
e
st
i
n
g
P
i
n
e
a
p
p
l
e
s,"
2
0
2
0
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
Ad
v
a
n
c
e
d
Me
c
h
a
t
r
o
n
i
c
S
y
s
t
e
m
s
(
I
C
AM
e
c
h
S
)
,
p
p
.
39
-
4
4
,
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
A
M
e
c
h
S
4
9
9
8
2
.
2
0
2
0
.
9
3
1
0
0
7
9
.
[3
]
W.
Ji
a
,
Y.
Zh
a
n
g
,
J.
L
i
a
n
,
Y.
Zh
e
n
g
,
D
.
Z
h
a
o
,
a
n
d
C.
Li
,
“
A
p
p
l
e
h
a
r
v
e
s
t
i
n
g
r
o
b
o
t
u
n
d
e
r
i
n
f
o
r
ma
t
i
o
n
t
e
c
h
n
o
l
o
g
y
:
A
r
e
v
i
e
w
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
A
d
v
a
n
c
e
d
Ro
b
o
t
i
c
S
y
s
t
e
m
s,
v
o
l
.
1
7
,
n
o
.
3
,
2
0
2
0
,
d
o
i
:
1
0
.
1
1
7
7
/
1
7
2
9
8
8
1
4
2
0
9
2
5
3
1
0
.
[4
]
R
.
R
.
S
h
a
ms
h
i
r
i
,
C
.
W
e
l
t
z
i
e
n
,
I
.
A
.
H
a
mee
d
,
a
n
d
I
.
J
.
Yu
le
,
“
R
e
sea
r
c
h
a
n
d
d
e
v
e
l
o
p
me
n
t
i
n
a
g
r
i
c
u
l
t
u
r
a
l
r
o
b
o
t
i
c
s
:
A
p
e
r
s
p
e
c
t
i
v
e
o
f
d
i
g
i
t
a
l
f
a
r
m
i
n
g
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
A
g
r
i
c
u
l
t
u
r
a
l
a
n
d
B
i
o
l
o
g
i
c
a
l
E
n
g
i
n
e
e
r
i
n
g
,
v
o
l
.
1
1
,
n
o
.
4
,
p
p
.
1
-
1
1
,
2
0
1
8
,
d
o
i
:
1
0
.
2
5
1
6
5
/
j
.
i
j
a
b
e
.
2
0
1
8
1
1
0
4
.
4
2
7
8
.
[5
]
G
.
K
o
o
t
s
t
r
a
,
X
.
W
a
n
g
,
P
.
M
.
B
l
o
k
,
J
.
H
e
mm
i
n
g
,
a
n
d
E
.
V.
H
e
n
t
e
n
,
“
S
e
l
e
c
t
i
v
e
H
a
r
v
e
s
t
i
n
g
R
o
b
o
t
i
c
s:
C
u
r
r
e
n
t
R
e
s
e
a
r
c
h
,
Tr
e
n
d
s,
a
n
d
F
u
t
u
r
e
D
i
r
e
c
t
i
o
n
s
,”
C
u
rr
Ro
b
o
t
Re
p
,
v
o
l
.
2
,
p
p
.
95
-
1
0
4
,
2
0
2
1
,
d
o
i
:
1
0
.
1
0
0
7
/
s4
3
1
5
4
-
020
-
0
0
0
3
4
-
1.
[6
]
A.
S
e
m
b
i
r
i
n
g
,
A
.
B
u
d
i
ma
n
,
a
n
d
Y
.
D
.
L
e
st
a
r
i
,
“
D
e
si
g
n
a
n
d
C
o
n
t
r
o
l
o
f
A
g
r
i
c
u
l
t
u
r
a
l
R
o
b
o
t
f
o
r
T
o
ma
t
o
P
l
a
n
t
s
Tr
e
a
t
m
e
n
t
a
n
d
H
a
r
v
e
s
t
i
n
g
,
”
J
o
u
r
n
a
l
o
f
P
h
y
s
i
c
s:
C
o
n
f
e
re
n
c
e
S
e
ri
e
s,
v
o
l
.
9
3
0
,
0
1
2
0
1
9
,
2
0
1
7
,
d
o
i
:
1
0
.
1
0
8
8
/
1
7
4
2
-
6
5
9
6
/
9
3
0
/
1
/
0
1
2
0
1
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158
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se
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ro
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sig
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m
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o
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re
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a
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h
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h
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s
d
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p
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lf
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lan
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g
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t,
a
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il
d
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to
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ti
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n
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is
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rre
n
tl
y
wo
rk
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n
g
o
n
th
e
p
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jec
t
ti
tl
e
d
“
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e
stu
re
Ba
s
e
d
Ro
b
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Arm
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n
tr
o
l”.
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c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
jaig
o
wt
h
a
m
.
g
o
w1
2
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g
m
a
il
.
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o
m
.
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h
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m
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th
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m
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fin
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l
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rsu
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h
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n
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ro
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ra
m
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t
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c
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ll
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g
e
o
f
tec
h
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o
l
o
g
y
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n
th
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f
ield
o
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ro
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o
ti
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s
a
n
d
a
u
to
m
a
ti
o
n
.
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re
a
o
f
re
se
a
rc
h
fo
c
u
se
s
o
n
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n
sy
ste
m
s,
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m
a
c
h
in
e
s,
In
tern
e
t
o
f
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h
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n
g
s
b
a
se
d
h
o
m
e
a
u
to
m
a
ti
o
n
,
M
a
c
h
in
e
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rn
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n
g
,
Em
b
e
d
d
e
d
s
y
ste
m
s
a
n
d
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o
b
il
e
R
o
b
o
ts.
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h
a
s
d
o
n
e
v
a
ri
o
u
s
p
ro
jec
ts
wh
ich
i
n
c
lu
d
e
s
‘G
re
e
n
b
u
il
d
in
g
Au
to
m
a
ti
o
n
’
wh
ich
is
b
a
se
d
o
n
I
n
tern
e
t
o
f
t
h
in
g
s
t
h
a
t
w
o
u
l
d
p
o
siti
v
e
ly
imp
a
c
t
th
e
f
u
t
u
re
,
‘Ob
j
e
c
t
trac
k
in
g
a
n
d
fo
ll
o
win
g
r
o
b
o
t’
th
a
t
u
se
s
Co
m
p
u
ter
v
isi
o
n
a
n
d
h
e
is
c
u
rre
n
tl
y
wo
r
k
i
n
g
o
n
“
G
e
stu
re
Ba
se
d
Ro
b
o
t
Arm
Co
n
tr
o
l”.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
sh
riram
tg
3
4
@
g
m
a
il
.
c
o
m
.
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