Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper

A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of...

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Autores: Blanes Campos, Carlos|||0000-0003-1977-7429, Ortiz Sánchez, María Coral|||0000-0002-2744-6964, Mellado, Martin|||0000-0002-3429-5316, Beltrán Beltrán, Pablo|||0000-0003-2172-094X
Formato: artículo
Fecha de publicación:2015
País:España
Recursos:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/60240
Acesso em linha:https://riunet.upv.es/handle/10251/60240
Access Level:acceso abierto
Palavra-chave:Tactile sensing
Grasp contact
Pick &amp
Place operations
Postharvest handling
Non destructive measurements
Quality assessment
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA AGROFORESTAL
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spelling Assessment of eggplant firmness with accelerometers on a pneumatic robot gripperBlanes Campos, Carlos|||0000-0003-1977-7429Ortiz Sánchez, María Coral|||0000-0002-2744-6964Mellado, Martin|||0000-0002-3429-5316Beltrán Beltrán, Pablo|||0000-0003-2172-094XTactile sensingGrasp contactPick &ampPlace operationsPostharvest handlingNon destructive measurementsQuality assessmentINGENIERIA DE SISTEMAS Y AUTOMATICAINGENIERIA AGROFORESTALA pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of its internal granular material changes from soft to hard. The other fingers adapt to the shape of the eggplant with the use of extra degrees of freedom. Specific software acquires and processes the information obtained with the inertial sensors and generates 16 independent variables extracted from the signals. A total of 234 eggplants were selected and tested on the same day with the robot gripper, during the pick-and-place operation, and with a destructive firmness tester. The non-destructive parameters extracted from the gripper finger accelerometers were used to build and validate a partial least square model, with a calibration regression coefficient of r = 0.87 and a high prediction performance (r = 0.90). Furthermore, from the results of the paper, it has been seen that the procedure can be simplified by using only two non-destructive impacts and one uniaxial accelerometer to assess eggplant firmness. The non-destructive assessment of firmness while grasping agricultural products in pick-and-place operations could be implemented in many prehensile pneumatic robot grippers. This technique could mean an important advance in the hygienic postharvest handling of fruits and vegetables.This research is supported by MANI-DACSA project (Ref. RTA2012-00062-C04-02), partially funded by the Spanish Government (Ministerio de Economia y Competitividad).ElsevierDepartamento de Ingeniería de Sistemas y AutomáticaDepartamento de Ingeniería Rural y AgroalimentariaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería Agronómica y del Medio NaturalGrupo de Mecanización y Tecnología AgrariaMinisterio de Economía y CompetitividadRepositorio Institucional de la Universitat Politècnica de València Riunet20152015-04-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/60240reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Economía y Competitividad http://dx.doi.org/10.13039/501100003329 RTA2012-00062-C04-02 Nuevas técnicas de manipulación usando sensorización integrada para la estimación de propiedades y determinación automática de la calidad y sanidad de la producción agroalimentaria en líneas de inspección y manipulación (MANI-DACSA)open accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/602402026-06-13T07:49:27Z
dc.title.none.fl_str_mv Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
title Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
spellingShingle Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
Blanes Campos, Carlos|||0000-0003-1977-7429
Tactile sensing
Grasp contact
Pick &amp
Place operations
Postharvest handling
Non destructive measurements
Quality assessment
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA AGROFORESTAL
title_short Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
title_full Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
title_fullStr Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
title_full_unstemmed Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
title_sort Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper
dc.creator.none.fl_str_mv Blanes Campos, Carlos|||0000-0003-1977-7429
Ortiz Sánchez, María Coral|||0000-0002-2744-6964
Mellado, Martin|||0000-0002-3429-5316
Beltrán Beltrán, Pablo|||0000-0003-2172-094X
author Blanes Campos, Carlos|||0000-0003-1977-7429
author_facet Blanes Campos, Carlos|||0000-0003-1977-7429
Ortiz Sánchez, María Coral|||0000-0002-2744-6964
Mellado, Martin|||0000-0002-3429-5316
Beltrán Beltrán, Pablo|||0000-0003-2172-094X
author_role author
author2 Ortiz Sánchez, María Coral|||0000-0002-2744-6964
Mellado, Martin|||0000-0002-3429-5316
Beltrán Beltrán, Pablo|||0000-0003-2172-094X
author2_role author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Departamento de Ingeniería Rural y Agroalimentaria
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Agronómica y del Medio Natural
Grupo de Mecanización y Tecnología Agraria
Ministerio de Economía y Competitividad
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Tactile sensing
Grasp contact
Pick &amp
Place operations
Postharvest handling
Non destructive measurements
Quality assessment
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA AGROFORESTAL
topic Tactile sensing
Grasp contact
Pick &amp
Place operations
Postharvest handling
Non destructive measurements
Quality assessment
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA AGROFORESTAL
description A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of its internal granular material changes from soft to hard. The other fingers adapt to the shape of the eggplant with the use of extra degrees of freedom. Specific software acquires and processes the information obtained with the inertial sensors and generates 16 independent variables extracted from the signals. A total of 234 eggplants were selected and tested on the same day with the robot gripper, during the pick-and-place operation, and with a destructive firmness tester. The non-destructive parameters extracted from the gripper finger accelerometers were used to build and validate a partial least square model, with a calibration regression coefficient of r = 0.87 and a high prediction performance (r = 0.90). Furthermore, from the results of the paper, it has been seen that the procedure can be simplified by using only two non-destructive impacts and one uniaxial accelerometer to assess eggplant firmness. The non-destructive assessment of firmness while grasping agricultural products in pick-and-place operations could be implemented in many prehensile pneumatic robot grippers. This technique could mean an important advance in the hygienic postharvest handling of fruits and vegetables.
publishDate 2015
dc.date.none.fl_str_mv 2015
2015-04-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/60240
url https://riunet.upv.es/handle/10251/60240
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Economía y Competitividad http://dx.doi.org/10.13039/501100003329 RTA2012-00062-C04-02 Nuevas técnicas de manipulación usando sensorización integrada para la estimación de propiedades y determinación automática de la calidad y sanidad de la producción agroalimentaria en líneas de inspección y manipulación (MANI-DACSA)
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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