CASC Showcase 2010 05 20

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Comprehensive Automation for Specialty Crops Showcase: Reconfigurable Mobility (Interface) and Augmented Harvesting (Bin Filling)

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CASC Showcase 2010 05 20

  1. 1. Comprehensive Automationfor Specialty Crops<br />Showcase<br />May 20th, 2010<br />
  2. 2. Reconfigurable Mobility<br />Showcase<br />
  3. 3. Recent Work<br />Creating a useable interface<br />New methods for row detection<br />New methods for turning and row entry<br />
  4. 4. Autonomous Vehicle User Interface<br />Goal: Create an interface for the vehicle useable by growers and workers without engineer assistance<br />Approach: Follow structured, formal human-computer interaction design methodologies<br />Interview workers to understand farm operations and equipment<br />Define requirements that must be satisfied in the final interface product<br />Follow a top-down design approach from requirements to functionalities<br />Test with the workers on the APM<br />
  5. 5. Existing Interface<br />Here’s what the engineers use<br />
  6. 6. Existing Interface<br />It tells us a lot<br />Good for testing and debugging<br />Hard to use even for us<br />Impossible to use without lots of training<br />Scary for those without computer backgrounds<br />
  7. 7. Designing a New Interface<br />Start from the beginning<br />What does the vehicle have to do?<br />Who will be using it?<br />What is their current experience/expectation?<br />
  8. 8. Designers’ Initial Assessment<br />
  9. 9. Assessment (cont.)<br />
  10. 10. Initial Interviews<br />Designers interviewed owners and workers from four orchards<br />
  11. 11. Potential Users<br />Based on interviews, determined hierarchy of roles in an orchard<br />
  12. 12. Design Ideas<br />Focus on things solvable within one semester<br /> and with limited budget<br />
  13. 13. First Draft<br />Designs on paper presented to users<br />No prior instruction<br />Lead users through scenario of vehicle use<br />Find out what works <br />
  14. 14. Task Selection, Farm View<br />
  15. 15. Vehicle Control<br />
  16. 16. First Interface Prototype<br />
  17. 17. First Interface Prototype<br />
  18. 18. WiFi Communication with Interface<br />
  19. 19. User Tests: First Round<br />Interface run on laptop, controlling simulated vehicle<br />Workers completely unfamiliar with interface<br />Presented with similar scenarios as before<br />Told to use vehicle in a variety of tasks<br />
  20. 20. First Round Results<br />Computer-experienced users felt comfortable<br />Others were afraid to give an incorrect command<br />Autonomous vehicle is an expensive piece of equipment<br />Conclusion:<br />Users need some training, even if it is short<br />
  21. 21. Final User Tests<br />Interface stayed the same<br />Went to Hollabaugh Orchards, Biglerville<br />Four users operated APM<br />Owner/manager and three workers<br />Two workers understood some English,one understood very little<br />
  22. 22. Final User Tests<br />All were able to control APM<br />All understood speed, offset, and go/stop mode<br />Many mentioned potential applications for which they would like to use the APM<br />One common complaint<br />Need for speed control in stop/go mode<br />http://www.cs.cmu.edu/~casc/public/showcase_video1.wmv<br />
  23. 23. Final Design<br />
  24. 24. Help Screen<br />
  25. 25. Conclusions<br />This interface can make APMs easy to use by:<br />Reducing text on screen<br />Presenting vehicle’s location clearly<br />Abstracting orchard tasks to single button clicks<br />
  26. 26. Conclusions<br />In order to make performing tasks simpler for workers,additional setup is required by managers<br />
  27. 27. Recommended Future Work<br />
  28. 28. Recent Work<br />Creating a useable interface<br />New methods for row detection<br />New methods for turning and row entry<br />
  29. 29. Previous Row Detection<br />Susceptible to spurious data<br />Apply some filters to reduce the effect of bad detections<br />But we want to have no bad detections<br />
  30. 30. New Row Detection Work<br />Using particle filter to track row over time<br />Looks good so far<br />Needs more testing<br />
  31. 31. New Row Entry Work<br />Make wider turns<br />Points vehicle at row sooner<br />Easier to detect row <br />Smoother turns in tight spaces<br />Account for trailer when turning<br />Use high accuracy localization (Area 1.2 work) to improve vehicle control<br />
  32. 32. Back to the Orchards<br />May 24: N. Blosi platform testing in Biglerville, PA<br />June 7: APM testing in Biglerville<br />July 19: APM testing in Washington<br />
  33. 33. Acknowledgments<br />Reed Soergel<br />Joy Kline (Bear Mountain)<br />Bruce Hollabaugh<br />
  34. 34. Questions?<br />
  35. 35. Augmented Harvesting<br />Showcase<br />
  36. 36. Augmented Harvest<br />DBR Conveyor Concepts update<br />Statement of work and contract finalized<br />Work initiated<br />New bin filler head looks good<br />Laying out power unit with integrated exhaust silencing and intake filtering<br />Ordering parts for hoses and vacuum chambers<br />Bubble pack bin filler<br />Robin Pritz and Gwendolyn Barr completed first bruise testing<br />Method shows promise, but new prototype is required for field testing<br />
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  41. 41. http://www.cs.cmu.edu/~casc/public/showcase_video2.mpg<br />
  42. 42. Results<br />
  43. 43. Summary<br />Bubble pack bin filler shows promise<br />Bruising is not bad given distance apples are tossed<br />Upcoming improvements<br />More guiding by net<br />Better distribution of bubble pack layers<br />Lighter and better padded frame<br />Mechanism for raising and lowering frame<br />Work with DBR Conveyor Concepts is ramping up<br />
  44. 44. Thank you.<br />

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