A Proposal of FPGA-Based Low Cost and Power Efficient Autonomous Fruit Harvester
| Autor: | Kumar Nilay, Yash Agarwal, Swarnabha Mandal, Rishabh Gupta, Sombit Dey, Poojan Shah, Sumeet Kumar, Annanya, Manthan Patel |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Deep learning 010401 analytical chemistry 02 engineering and technology Linear actuator Robot end effector 01 natural sciences Object detection 0104 chemical sciences law.invention 020901 industrial engineering & automation Odometry law Control system Artificial intelligence business Field-programmable gate array Computer hardware Efficient energy use |
| Zdroj: | 2020 6th International Conference on Control, Automation and Robotics (ICCAR). |
| DOI: | 10.1109/iccar49639.2020.9108079 |
| Popis: | In this paper, we present a power-efficient and low- cost prototype of a robotic harvester which employs multiple subsystems such as fruit detection, odometry, localization, profi- cient manipulation through computer vision, deep learning and a novel end-effector design. Fruit Plucking is performed using an end effector, and 3-degree of freedom (DOF) arm (made out of the integration of two linear actuators and a rotating platform) consolidated with a 4-wheeled differential drive mobile platform. Effective implementation of the visual processing is executed on the FPGA Fabric of the Xilinx PYNQ-Z2 Board, which accelerates Deep Neural Networks (DNNs) with improved Latency and Energy Efficiency as compared to a CPU or GPU based implementation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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