Blanes Campos, C.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Beltrán Beltrán, P. (2015). Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper. Computers and Electronics in Agriculture. 113:44-50. https://doi.org/10.1016/j.compag.2015.01.013
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/60240
Title:
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Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
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Author:
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Blanes Campos, Carlos
Ortiz Sánchez, María Coral
Mellado Arteche, Martín
Beltrán Beltrán, Pablo
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UPV Unit:
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Universitat Politècnica de València. Departamento de Ingeniería Rural y Agroalimentaria - Departament d'Enginyeria Rural i Agroalimentària
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
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Issued date:
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Abstract:
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A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One ...[+]
A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of its internal granular material changes from soft to hard. The other fingers adapt to the shape of the eggplant with the use of extra degrees of freedom. Specific software acquires and processes the information obtained with the inertial sensors and generates 16 independent variables extracted from the signals. A total of 234 eggplants were selected and tested on the same day with the robot gripper, during the pick-and-place operation, and with a destructive firmness tester. The non-destructive parameters extracted from the gripper finger accelerometers were used to build and validate a partial least square model, with a calibration regression coefficient of r = 0.87 and a high prediction performance (r = 0.90). Furthermore, from the results of the paper, it has been seen that the procedure can be simplified by using only two non-destructive impacts and one uniaxial accelerometer to assess eggplant firmness. The non-destructive assessment of firmness while grasping agricultural products in pick-and-place operations could be implemented in many prehensile pneumatic robot grippers. This technique could mean an important advance in the hygienic postharvest handling of fruits and vegetables.
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Subjects:
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Tactile sensing
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Grasp contact
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Pick & Place operations
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Postharvest handling
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Non destructive measurements
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Quality assessment
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Copyrigths:
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Reserva de todos los derechos
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Source:
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Computers and Electronics in Agriculture. (issn:
0168-1699
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DOI:
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10.1016/j.compag.2015.01.013
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Publisher:
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Elsevier
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Publisher version:
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http://dx.doi.org/10.1016/j.compag.2015.01.013
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Project ID:
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info:eu-repo/grantAgreement/MINECO//RTA2012-00062-C04-02/ES/Nuevas técnicas de manipulación usando sensorización integrada para la estimación de propiedades y determinación automática de la calidad y sanidad de la producción agroalimentaria en líneas de inspección y manipulación (MANI-DACSA)/
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Thanks:
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This research is supported by MANI-DACSA project (Ref. RTA2012-00062-C04-02), partially funded by the Spanish Government (Ministerio de Economia y Competitividad).
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Type:
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Artículo
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