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Results and discussion 60 Figure 5.2 Algorithm of the plant centre position detection
Results and discussion After the measurement is completed the software generates a report-file, containing general information such as: date and time, sampling distance, distance between plants, additional information about the measurement, distance from the soil surface, and settings for both sensors. The data set is a two dimensional array in which every row contains the value sampled with the position sensors, the values sampled with the RGB and laser sensor, time stamp, and centre position of the last detected plant. The time stamp is used for calculation of the carrier’s average forward speed in every sampling loop. 5.1.1 Evaluation of the algorithm for detection of the plant centre position For detection of the plant centre position according to the algorithm described in chapter 5.1, VI-s were written. The calculation mechanism of the pattern’s centre position, as one of the key functions built-in the algorithm for detection of the plant centre position, needs to be described. After the array building was completed the data acquired from the RGB and laser sensor are extracted and transformed to a 1-dimensional row vector. The search_1D_array function searches for the first element which has a TRUE value, and returns its index. In one loop starting from the obtained index a nested subroutine checks the array until the number of FALSE values does not reach the maximal error inside plant area or the last element of the array is reached. In case the length of counted TRUE values and allowed FALSE values remain smaller than the imputed minimum plant size feature, the checking subroutine starts again from the next detected TRUE value. When the plant size corresponds to the expectation, it is bigger than the minimum plant size feature, another nested subroutine calculates the arithmetic mean of the last and first index subtract. The VI returns the linear position and time stamp corresponding to the calculated arithmetic mean element. Sometimes, a plant is smaller than the minimum plant size feature or it is missing because of suboptimal conditions. When that happens the VI returns the expected centre position of the plant which is a simple sum of the previous centre position and average distance between the plants. Statistically, this position will be the most probable, and the displacement of the following plant will be low enough to stay inside the searching area. The block diagram of the VI is illustrated on the Figure 5.3. 61
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Institut für Landtechnik der Rhein
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Development of a novel mechatronic
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Kurzfassung Entwicklung eines neuar
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Acknowledgements Acknowledgements M
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Table of contents Table of contents
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Glossary of abbreviations and symbo
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Symbol Unit Description Mmmax Nm Ma
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Symbol Unit Description Glossary of
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ωold ωout rad s -2 Latest rotatio
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Introduction The most frequently us
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Introduction application that had p
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Introduction be to go from a system
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Introduction limited and environmen
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Page 30 and 31: Introduction techniques. It is know
Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
Page 36 and 37: Introduction 18 Figure 1.3 Inter-ro
Page 38 and 39: State of the art 20 Figure 2.1 a) F
Page 40 and 41: State of the art cylinder rotates a
Page 42 and 43: State of the art 1998). This device
Page 44 and 45: State of the art 26 2.2 Detection o
Page 46 and 47: State of the art The fluorescence s
Page 48 and 49: Definition of the problem and resea
Page 51 and 52: 4 Materials and methods 4.1 Detecti
Page 53 and 54: Materials and methods Figure 4.1 a)
Page 55 and 56: Materials and methods Figure 4.3 a)
Page 57 and 58: 4.1.2 Data acquisition 4.1.2.1 Hard
Page 59 and 60: 4.1.4 Test objects Materials and me
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Page 67 and 68: Materials and methods (PFM). As the
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Page 71 and 72: Materials and methods The drive con
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Page 76 and 77: Results and discussion 58 Figure 5.
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Page 84 and 85: Results and discussion Plant positi
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Page 106 and 107: Results and discussion Conventional
Page 108 and 109: Results and discussion Since the fi
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Page 126 and 127: Results and discussion distance fro
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Results and discussion Distribution
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Results and discussion cuts are ran
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Results and discussion Forward spee
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Results and discussion x [mm] Distr
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Results and discussion The experime
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6 Summary Summary Neither a mechani
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Summary The third part of the work
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7 Conclusions Conclusions The prese
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8 References References Agrios, G.
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References in California's Sacramen
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References Johnson, W C and Mullini
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References Schans, D. v. d. et al.
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List of figures List of figures Fig
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List of figures Figure 5.24 Scheme
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Plant position 9 Appendix Table 9.1
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Plant position Table 9.3 Detection
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Personal data Education About the a
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