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Design and performance of a robotic arm for farm use

International Journal of Agricultural and Biological Engineering 2019年第1期12卷 146-158页

作者： Ali Roshanianfard noboru Noguchi Tatsuki Kamata Department of Biosystems Engineering Faculty of Agriculture and Natural ResourcesUniversity of Mohaghegh ArdabiliArdabilIran Laboratory of Vehicle Robotics Research Faculty of AgricultureHokkaido UniversitySapporo 060-8589Japan

Smart technology which is the backbone of high-efficiency production opens a new horizon in sustainable ***,harvesting the heavy-weight crops is considered an arduous job,specifically in Japan which has faced a serious labor shortage in agricultural *** this study,a development procedure and evaluation of a 4-degrees-of-freedom articulated robotic arm is presented,and it provides an appropriate infrastructure to develop a smart harvesting robotic system for heavy-weight crops such as pumpkin,watermelon,melon,and *** robotic arm designed as an actuating unit of a robot tractor for the agricultural outdoor *** this regard,different degree of freedom was evaluated under consideration of economic and technical indexes to find an optimized *** controlling algorithm of the system was developed by consideration of kinematic and dynamic aspects of the real-world condition.A special harvesting methodology was developed based on optimum harvesting conditions.A controlling unit was developed by using PLC *** performance,accuracy,payload per weight,and repeatability of the system were *** payload per weight,overall average accuracy,and overall average repeatability of the robot were 0.21,1.85 mm,and±0.51 mm,*** results indicated that the developed system had a front access,harvesting length,and workspace volume of 2.024 m,1.36 m,and 8.27 m^(3),*** of the significant advantages of the proposed robotic arm is its capability to use in different industries with minimum modifications.

关键词： agricultural robot robotic arm harvesting modeling simulation design

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Simulation and test of an agricultural unmanned airboat maneuverability model

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International Journal of Agricultural and Biological Engineering 2017年第1期10卷 88-96页

作者： Yufei Liu noboru Noguchi Roshanian Fard Ali Graduate School of Agriculture Hokkaido UniversityKita-9Kita-kuSapporoHokkaido 060-8589Japan Research Faculty of Agriculture Hokkaido UniversityKita-9Kita-kuSapporoHokkaido 060-8589Japan

The objective of this research was to determine the Nomoto model maneuverability indices of an agricultural unmanned airboat which was developed to perform autonomous weeding and paddy growth monitoring in a paddy field.A global positioning system compass and an inertial measurement unit were attached on the airboat body to record the position,heading and angular *** zig-zag experiments were adopted to obtain the maneuverability *** Matlab-based maneuvering simulations were conducted and compared with field experimental data of circular motion test and sinusoidal running test,*** results showed that the trace error was at sub-meter level,which expounds the validity of the obtained maneuvering *** proposed Nomoto model maneuverability indices can be used to improve the airboat precise automatic control in paddy field.

关键词： Nomoto model unmanned airboat maneuvering simulation GPS compass IMU

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Detuning Tolerance of 50 GHz-Spaced 40 Gbit/s-Based DWDM System

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光学学报 2003年第S1期23卷 552-553页

作者： Keiji Tanaka noboru Edagawa KDDI R&D Laboratories Inc. 2-1-15 Ohara Kamifukuoka-shi Saitama 356-8502 JapanKDDI R&D Laboratories Inc. 2-1-15 Ohara Kamifukuoka-shi Saitama 356-8502 Japan

Impact of detuning between signal wavelength and MUX/DEMUX filter passband in WDM systems was numerically studied for 50 GHz-spaced 42.7 Gbit/s RZ and CS-RZ signals. RZ signal was found more robust against signal wave... 详细信息

关键词： DWDM as Detuning Tolerance of 50 GHz-Spaced 40 Gbit/s-Based DWDM System of GHz

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Retroperitoneal disorders associated with Ig G4-related autoimmune pancreatitis

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World Journal of Gastroenterology 2014年第44期20卷 16550-16558页

作者： noboru Hara Makoto Kawaguchi Keisuke Takeda Yoh Zen Division of Urology Department of Regenerative and Transplant Medicine Graduate School of Medical and Dental Sciences Niigata University Division of Molecular Oncology Department of Signal Transduction Research Graduate School of Medical and Dental Sciences Niigata University Division of Diagnostic Pathology Niigata Rousai Hospital Institute of Liver Studies King’s College Hospital

Ig G4-related autoimmune pancreatitis is frequently accompanied by relevant lesions in the genitourinary tract and retroperitoneal organs, which cause various clinical problems, ranging from non-specific back pain or bladder outlet obstruction to renal failure. The diagnosis of Ig G4-related retroperitoneal fibrosis requires a multidisciplinary approach, including serological tests, histological examination, imaging analysis, and susceptibility to steroid therapy. Radiological examinations are helpful to diagnose this condition, but surgical resection is occasionally unavoidable to exclude malignancy, particularly for patients with isolated retroperitoneal involvement. Steroid therapy is the treatment of choice for this condition, the same as for other manifestationsof Ig G4-related *** patients with severe ureteral obstruction,additional ureteral stenting needs to be considered prior to steroid therapy to preserve the renal *** papers have suggested that Ig G4-related disease can affect male reproductive organs including the prostate and *** G4-related prostatitis usually causes lower urinary tract symptoms,such as dysuria and *** sometimes state that corticosteroids given for Ig G4-related disease at other sites relieve their lower urinary tract symptoms,which leads us to suspect prostatic involvement in this *** of the limited number of publications available,further studies are warranted to better characterize Ig G4-related disease in male reproductive organs.

关键词： IgG4 Autoimmune pancreatitis Retroperitoneum Genitourinary tract Management

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Multi-temporal monitoring of wheat growth by using images from satellite and unmanned aerial vehicle

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International Journal of Agricultural and Biological Engineering 2017年第5期10卷 1-13页

作者： Du Mengmeng Noguchi noboru Itoh Atsushi Shibuya Yukinori Graduate School of Agriculture Hokkaido UniversitySapporo 065-8589HokkaidoJapan Research Faculty of Agriculture Hokkaido UniversitySapporo 065-8589HokkaidoJapan Hokkaido Agricultural Research Center Memuro 082-0081HokkaidoJapan

Recently near-ground remote sensing using unmanned aerial vehicles(UAV)witnessed wide applications in obtaining field *** this research,four Rapideye satellite images and eight RGB images acquired from UAV were used from early June to the end of July,2015 covering two experimental winter wheat fields,in order to monitor wheat canopy growth status and analyze the correlation among satellite images based normalized difference vegetation index(NDVI)with UAV’s RGB images based visible-band difference vegetation index(VDVI)and ground variables of the sampled grain protein ***,through image interpretation of UAV’s multi-temporal RGB images with fine spatial resolution,the wheat canopy color changes could be intuitively and clearly ***,by monitoring the changes of satellite images based NDVI as well as VDVI values and UAV’s RGB images based VDVI values,the conclusions were made that these three vegetation indices demonstrated the same and synchronized trend of increasing at the early stage of wheat growth season,reaching up to peak values at the same timing,and starting to decrease since *** results of the correlation analysis between NDVI of satellite images and sampled grain protein contents show that NDVI has good predicative capability for mapping grain protein content before ripening growth stage around June7,2015,while the reliability of using satellite image based NDVI to predict grain protein contents becomes worse as ripening stage *** regression analysis between UAV’s RGB image based VDVI and satellite image based VDVI as well as NDVI showed good coefficients of *** is concluded that it is feasible and practical to temporally complement satellite remote sensing by using UAV’s RGB images based vegetation indices to monitor wheat growth status and to map within-field spatial variations of grain protein contents for small scale farmlands.

关键词： satellite remote sensing,UAV remote sensing,wheat growth monitoring,wheat lodging wheat protein content,multi-temporal images,NDVI

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Development of phenotyping system using low altitude UAV imagery and deep learning

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International Journal of Agricultural and Biological Engineering 2021年第1期14卷 207-215页

作者： Suxing Lyu noboru Noguchi Ricardo Ospina Yuji Kishima Graduate School of Frontier Sciences The University of TokyoKashiwa 277-8561Japan Graduate School of Agriculture Hokkaido UniversitySapporo 060-8589Japan Research Faculty of Agriculture Hokkaido UniversitySapporo 060-8589Japan

In this study,a lightweight phenotyping system that combined the advantages of both deep learning-based panicle detection and the photogrammetry based on light consumer-level UAVs was proposed.A two-year experiment was conducted to perform data collection and accuracy validation.A deep learning model,named Mask Region-based Convolutional Neural Network(Mask R-CNN),was trained to detect panicles in complex scenes of paddy fields.A total of 13857 images were fed into Mask R-CNN,with 80%used for training and 20%used for ***,precision,recall,Average Precision(AP),and F1-score of the Mask R-CNN,were 82.46%,80.60%,79.46%,and 79.66%,respectively.A complete workflow was proposed to preprocess flight trajectories and remove repeated detection and ***,the evident changed in rice growth during the heading stage was visualized with geographic distributions,and the total number of panicles was predicted before *** average error of the predicted amounts of panicles was 33.98%.Experimental results showed the feasibility of using the developed system as the high-throughput phenotyping approach.

关键词： panicle detection vision-based phenotyping deep learning unmanned aerial vehicle(UAV)

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Development and evaluation of a low-cost precision seeding control system for a corn drill

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International Journal of Agricultural and Biological Engineering 2018年第5期11卷 95-99页

作者： Xiang Yin noboru Noguchi Tengxiang Yang Chengqian Jin School of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China Research Faculty of Agriculture Hokkaido UniversityKita 9 Nishi 9Kita-kuSapporo 060-8589Japan Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Precision seeding requires that the corn drill drop seeds into the soil by a specific in-row spacing while its travelling speed fluctuates due to unevenness of the field *** paper presents a low-cost precision seeding control system for a conventional corn drill with mechanical metering devices of finger-pickup type.A median filtering method was implemented in the control system to process measurements from a rotary encoder in order to acquire stable values of the corn drill travelling *** metering unit was driven by an electric motor controlled by the metering ECU according to the actual travelling speed and the desired in-row spacing in real-time.A user interface was programmed to communicate with ECUs for configuring parameters and displaying operating information during *** newly-developed precision seeding control system was first calibrated in terms of speed measurement and control for two *** were conducted on a seeding test platform in the laboratory for evaluating its accuracy in dropping seeds by giving different in-row spacing under different travelling speeds of the conveyor sticky *** showed that the average spacing error was less than 2 cm and the maximum RMS error was 0.78 cm for all spacing values including 25 cm,30 cm and 35 cm under the travelling speed of 1.0-8.0 km/*** indicated that the low-cost precision seeding control system worked in a both accurate and stable way.

关键词： precision seeding corn drill control system travelling speed in-row spacing

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Reproductive characteristics of transgenic (TG) chickens caping an exogenous gene

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Asian Journal of Andrology 1999年第3期1卷 139-144页

作者： Furmio Ebara noboru Fujihara Animal Resource Science Section Division of Bioresoure and Bioenvironmental Sciences Graduate School of Kyushu University Fukuoka 812-8581 JapanAnimal Resource Science Section Division of Bioresoure and Bioenvironmental Sciences Graduate School of Kyushu University Fukuoka 812-8581 Japan

An exogenous gene (lacZ/MiwZ) introduced into the germinal crescent region (GCR) of avian embryos was con-firmed to be successfully transferred to the gonads via the primordial germ cells (PGCs). Following hatching, the chickswere raised until the stage of sexual maturation. The incorporation of MiwZ DNA was detected in male and female trans-genic chickens, respectively. The normal male and female transgenic birds were subjected to artificial insemination ac-cording to routine methods. Fertilized eggs obtained from female transgenic chickens were incubated for 72 h and the em-bryos removed from the yolk were examined by X-gal staining to detect the introduction of MiwZ in the offspring. As aresult, the expression of MiwZ was detected in the offspring. Furthermore, the presence of MiwZ in the extracts fromembryos was also detected by polymerase chain reaction (PCR) analysis. In male transgenic chickens, the presence of in-jected MiwZ in the extracts from sperm was also confirmed. The exogenous gene introduced into the GCR migrated suc-cessfully to the gonad resulting in its incorporation into the offspring and spermatozoa of transgenic chickens. (Asian JAndrol 1999 Sep ; 1: 139 - 144)

关键词： exogenous genes chicken MiwZ germinal crescent primordial germ cells spermatozoa transgenic animals

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Development of autonomous navigation system for rice transplanter

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International Journal of Agricultural and Biological Engineering 2018年第6期11卷 89-94页

作者： Xiang Yin Juan Du noboru Noguchi Tengxiang Yang Chengqian Jin School of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China Research Faculty of Agriculture Hokkaido UniversityKita 9 Nishi 9Kita-kuSapporo 060-8589Japan Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Rice transplanting requires the operator to manipulate the rice transplanter in straight *** markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous path,which are extremely boring in terms of large-scale *** objective of this research was to develop an autonomous navigation system that automatically guided a rice transplanter working along predetermined paths in the *** rice transplanter used in this research was commercially available and originally *** automatic manipulating system was developed instead of manual functions including steering,stop,going forward and reverse.A sensor fusion algorithm was adopted to integrate measurements of the Real-Time Kinematic Global Navigation Satellite System(RTK-GNSS)and Inertial Measurement Unit(IMU),and calculate the absolute moving direction under the UTM coordinate system.A headland turning control method was proposed to ensure a robust turning process considering that the rice transplanter featured a small turning radius and a relatively large slip rate at extreme steering *** were designed and conducted to verify the performance of the newly developed autonomous navigation *** showed that both lateral and heading errors were less than 8 cm and 3 degrees,respectively,in terms of following straight *** headland turns were robustly executed according to the required pattern.

关键词： autonomous navigation rice transplanter sensor fusion headland turning

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Development of uncut crop edge detection system based on laser rangefinder for combine harvesters

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International Journal of Agricultural and Biological Engineering 2016年第2期9卷 21-28页

作者： Zhao Teng noboru Noguchi Yang Liangliang Kazunobu Ishii Chen Jun College of Mechanical and Electronic Engineering Northwest A&F UniversityYangling 712100China Vehicle Robotics Laboratory Graduate School of AgricultureHokkaido UniversitySapporoJapan

The objective of this research was to develop an uncut crop edge detection system for a combine harvester.A laser rangefinder(LF)was selected as a primary sensor,combined with a pan-tilt unit(PTU)and an inertial measurement unit(IMU).Three-dimensional field information can be obtained when the PTU rotates the laser rangefinder in the vertical plane.A field profile was modeled by analyzing range ***’s method was used to detect the crop edge position on each scanning profile,and the least squares method was applied to fit the uncut crop *** performance of the system was first evaluated under laboratory ***,validation experiments were conducted under both static and dynamic conditions in a wheat field during harvesting *** verify the error of the detection system,the real position of the edge was measured by GPS for accuracy *** results showed an average lateral error of±12 cm,with a Root-Mean-Square Error(RMSE)of 3.01 cm for the static test,and an average lateral error of±25 cm,with an RMSE of 10.15 cm for the dynamic *** proposed laser rangefinder-based uncut crop edge detection system exhibited a satisfactory performance for edge detection under different conditions in the field,and can provide reliable information for further study.

关键词： laser rangefinder technology crop edge detection combine harvester navigation field profile modeling

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