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Auflistung nach Autor:in "Shokrian Zeini, Mostafa"

1 - 3 von 3
  • Konferenzbeitrag
    An approach to the automation of blueberry harvesting using soft robotics
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Navas, Eduardo; Dworak, Volker; Weltzien, Cornelia; Fernández, Roemi; Shokrian Zeini, Mostafa; Käthner, Jana; Shamshiri, Redmond
    Soft grippers are used to produce a significant advance in the manipulation of delicate objects. A field of application that is presented in this paper is the automation of the selective harvesting of high-value crops. This study addresses a first approach to the design of a soft gripper and its adaptation to a robotic system for blueberry harvesting. The experimental results are carried out to demonstrate the feasibility and effectiveness of the proposed prototype.
  • Konferenzbeitrag
    Overview of control systems for robotic harvesting of sweet peppers and apples
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Shokrian Zeini, Mostafa; Shamshiri, Redmond R.; Dworak, Volker; Käthner, Jana; Höfner, Nora; Navas, Eduardo; Weltzien, Cornelia
    Automated harvesting systems are becoming a crucial part of digital agriculture. Substituting time-consuming and laborious manual harvesting with a continuously automated operation would result in reduced human efforts, which contribute to higher field efficiency. This could be achieved by means of robotic harvesting which comprises robot manipulators, gripping and grasping mechanisms, software implementations. However, the inadequate design of control strategies could cause the agricultural production loss. This paper reviews some of the latest achievements in control systems of agricultural robotics and more specifically in robotic harvesting. The employed robot arms, their degrees of freedom (DOF), and the crops are also considered in this review study. While the control algorithms are being developed with high robustness and fast-response properties, our conclusion is that the performance of controllers could be drastically affected by different parameters such as the number of DOF, estimation accuracy of the robot pose during visual servoing and failure of robot’s inverse kinematics solver.
  • Konferenzbeitrag
    Review of agricultural field robots and their applicability in potato cultivation
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Käthner, Jana; Koch, Karuna; Höfner, Nora; Dworak, Volker; Shokrian Zeini, Mostafa; Shamshiri; Redmond; Figurski, Woj; Weltzien, Cornelia
    This paper lists the potential, challenges and requirements of autonomous field robots for potato production. It presents an overview of existing autonomous field robots in arable farming, evaluates their suitability for potato production based on literature findings and gives an outlook on possible future solutions. The analysis was confined to the European market. In summary, 17 commercially available field robots, 4 robots in the test phase and 14 prototypes in the development phase were identified. The minimum requirements identified for field robots to enable their application in a potato field are primarily geometric due to the specific ridge structure and the habitus of potato plants. As a result, the field robot must have a track width of 0.75 m or a multiple of this dimension. In addition, a ground clearance between 0.35 m and 0.8 m must be ensured. The evaluation showed that two of the identified market-ready robot systems fulfilled the identified minimum requirements.