Presented at ASABE annual meeting

2. Development of an Autonomous Sensing and Positioning System for Use With Fruit Production Equipment Reuben Dise and Matthew Aasted June 23, 2010

5. Labor is one of the biggest challenges the Specialty Crop Industry currently faces. % Variable Production Costs (TFPG, 2010)

6. Thinning is an area that could significantly reduce labor if mechanized and automated. Labor Intensive 31% of cling peach cultural costs Chemical Thinning Limited uses, especially in Stone Fruit and Organic Production Mechanization is being adopted by growers. (Schupp et al., 2008, Baugher et al., 2009)

7. Mechanized alternatives like the Darwin String Thinner have been shown to have a large impact on production costs. Hand Thinned Blossom Thinned with String Thinner Net Economic Impact CA = $1490/acre PA = $934/acre WA = $847/acre SC = $264/acre (Baugher et al., 2010)

8. Improving quality and efficiency of mechanized non-selective thinners is the next step. Improve Actuation Improve Control Add Sensing and Autonomy Increase speed

10. Darwin String Thinner Speed Controller Rotating Spindle 3 pt Mounting Chords Hydraulic Angle Adjustment Hydraulic Motor Flow Control Valve

11. Modifications

12. Setup Thinner Moved to Rear

13. Actuation Flow Divider Spindle Rotation Remains Unchanged Proportional Control Valves Position Sensors (Potentiometers) 35 degree Tilt (unchanged) 610 mm Lateral Offset Added

14. Controls E- Stop LED Indicator Lights Joystick for Tilt and Offset Autonomy Controls

15. Testing

16. New controls and actuation will meet or exceed the performance of the standard Darwin and testing will provide baseline data for autonomous control. Treatments: Manually Actuated Darwin (walk behind) Fixed angle Darwin, moved in and out of canopy by steering tractor Hand Thinned Control

17. Blossom Removal Blossom Removal in Saturn Peaches Blossom Removal in White Lady Peaches * Letters Represent Statistically Different Groups at alpha = 0.05

18. Fruit/Blossoms Per Cross Sectional Area Blossom and Fruit per Limb Cross Sectional Area in Saturn Peaches Blossom and Fruit per Limb Cross Sectional Area in White Lady Peaches * Letters Represent Statistically Different Groups at alpha = 0.05

19. Hand Thinning Times Followup Hand Thinning Times in Saturn Peaches Followup Hand Thinning Times in White Lady Peaches * Letters Represent Statistically Different Groups at alpha = 0.05

21. Sensing

22. Using speed and distance sensors an accurate map of the trees can be created and a device can be precisely positioned. Speed Sensor Distance and Mapping Calculations Distance Sensors Autonomous Positioning Tree Map

23. Sensing Setup GPS Ultrasonic Sensor Mast Position Feedback Sensors Computer and Microcontroller Laser Rangefinder

24. Ultrasonic Sensing Arduino Microcontroller $65 4 Sonar Range Finders Maxbotix LV-MaxSonar-WR1 $100 Low Cost GPS USGlobalSat EM-406A GPS Module $60

25. Best Fit Line z Sensor Distance Readings (dashed lines) x Orchard Row Sensor Mast y

26. Laser Sensing Trimble AG GPS 442 SICK LMS 120 Laser Rangefinder

27. 3D Map of Laser Data

30. Testing is currently being done to evaluate and refine autonomous positioning algorithms.

31. Future Work

32. Much more work is needed to fully develop an autonomous thinning device. Further Develop Autonomy Algorithms Compare: Manually Controlled (baseline) Ultrasonic Sensing Laser Sensing Next step is a selective thinner

34. Acknowledgments Advisor: Dr. Paul Heinemann, PSU ABE Committee Members: Dr. Jude Liu, PSU ABE Dr. Jim Schupp, PSU FREC Dr. Tara Baugher, PSU Adams Co. Ext. Dr. Ben Grocholsky, CMU Robotics Institute Co-researcher: Matt Aasted, CMU Robotics Institute

35. Acknowledgments Special Thanks To: Jim Schupp Edwin Winzeler Tom Kon Celine Kuntz Russell Rohrbaugh Amelia Jarvinen Terry Saluda Research Sponsored by: USDA SCRI Assistantship Support by: California Canning Peach Association

36. Questions?