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The Comprehensive Automation for Specialty Crops (CASC) project consists of several technologies and applications of those technologies to specialty crops which range in nature from GIS positioning systems, autonomous vehicles and navigation, harvest assist systems, early detection systems for disease and infestation, and automatic caliper measurement and tree counting. CASC incorporates outreach and extension to assure communication among stakeholders by creation of Field Days where open and generative discussions may take place. Our project also includes interns and graduate students from around the globe to enrich their knowledge and expand their goals in agriculture and technology. Please visit our About page to learn more about our objectives.
In addition to developing technologies that will assist growers in the production of quality fruit at a reasonable cost, we invite the news community to join us on Press Days through which new technologies and methods are introduced to the agricultural and technical communities. The project is unique in that it is enhanced by extension projects which open communication among all stakeholders. Extension educators are also studying the socioeconomics barriers to the adoption of new technologies and finding pathways to overcome these barriers. Additionally, our project assists the grower by the development of an economically feasibility program, AgProfit, that considers both available technologies and future technologies. Our Project Manager, Marcel Bergerman, considers each area for innovation and the practicability of each applied technology to ensure commercialization. If you have a request for further information or material, please contact:
Gwen Hoheisel (509)786-5609 located in Washington or Katie Ellis (717) 334-6271 x331 located at Penn State.
| Technical Areas |
Photo Materials: Click on Thumbnails |
Autonomous Prime Mover(APM)
Pictured is the APM built on a TORO utility vehicle which is an example of a reconfigurable mobility in that it is self-driven and steered. You can see the front mounted lasers at wheel height. The APM uses a positioning unit developed at CMU's Robotic Institute under the direction of Dr. Sanjiv Singh. The laptop at the driver height runs multiple algorithms to interpret data collected from the front mounted lasers. This allows the unit to maneuver safely down orchard rows and navigate a radius to re-enter rows. It has successfully navigated over 100 km and is being developed to have towing capabilities to attach mower, weed sprayer or be integrated into harvest assist platforms and other equipment.
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Pictured above is the APM on TORO utility vehicle. Note the two lasers mounted on either side of front. |
Automated Caliper Measurement
Pictured is the prototype of a unit designed for applications in nurseries. Jim Owen, OSU, and Wenfan Shi, CMU, have tested the unit in East and West coast nurseries. The unit takes a measurement at two locations above the rootstock using light emitting lasers. In the most recent field test, the unit also counted nursery stock. Measurements taken by the unit have been within the 3mm nursery standard. |
Pictured above is a prototype of an Automated Caliper Measurement unit mounted to an arm bracket. The black areas are the lasers which take the measurements while the small black bar senses location. |
Harvest Assist Bin Filler
Pictured is a prototype bin loader and bin, at Penn State Extension Facilities in Biglerville, undergoing testing by passing unbruised apples through the process. Prior to the test, a ball shape device is passed through several times measuring pressure and these measurements are then compared to a calculated bruise threshold. If the criteria is met then testing on good fruit begins. Fruit will then rest and be examined for bruising on day one through three. Bill Messner of Carnegie Mellon leads this project. He has several graduate students conducting research such as Brian Lehman in the photo. |
Above graduate Brian Lehman test a bin filler prototype. |
Harvest Assist Platforms
Harvest assist technologies include automated platforms such as the N. Blosi. These motorized and hydraulic platforms such as the N.Blosi have the possibility for reconfigurable mobility technologies as that utilized by the APM. Platforms can take the place of ladders in the orchard and increase efficiency in harvest while reducing injuries to workers. The platforms can assist in pruning as well. Moreover, platforms can be automated and fitted with other devices such as a bin filler system to reduce damage caused to fruit from pick to load. |
Above is a N.Blosi platform assisting individuals harvesting apples. Note how they can safely move about the platform. |
Electronic Insect Trap
Larry Hull of Penn State, Vincent Jones of Washington State University, and Johnny Park of Purdue are designing a trap with sensors that can sense insect wing motion and speed. Their traps are outfitted with pheromones to attract moths as well as using a color that appears to attract the moths they're after. The trap will capture leaf roll, Oriental fruit moth, or codling moth. The fruit feeding moths most growers, globally, would like to eradicate from orchards are about a half inch in size and not very ominous looking; however, they manage to lay eggs on apples. The codling moth eggs hatch and then pupate into larvae that are attracted to a protein near to the seed. The larvae will burrow through the flesh to the center of the fruit (see IFM Detection) where they feed and turn a once perfect apple into brown mush. The codling moth (Cydia pomonella) is also known to lay eggs onto walnuts and pears; it is estimated that growers in Washington spend $60 per hectare for spray control and spray a minimum of 3 times per year. In regions where codling moth can have 3-5 generations/year, codling moth can become resistant to particular pesticides. Early detection will open avenues of early control such as the release of beneficial insects that feed on codling moth and the eggs before pupation or early precision spraying / fumigation. |
Above is an Electronic Insect Trap prototype outfitted with a lure, optical sensors and wireless antenna to transfer data. The design of the trap underwent several changes after various for color attractant and testing in a wind tunnel for optimal air movement to navigate moths into trap. |
Geographic Information System (GIS)
George Kantor, Ben Grocholsky, and Brad Hamner are working towards the development of a grower friendly interface that aggregates data from other projects like the laser guided system and NDVI. The GIS relies on localization vs. globalization of data. Open and accessible Global Positioning Systems currently are limited by satellite movement and can only cycle every 19 days; however, localized GIS positioning allows for data collection as scheduled by the end user. The GIS system can either be interfaced with another system or can analyze and download when user requested. Kantor, Grocholsky, and Hamner see their design and application of GIS as becoming an affordable option than GPS systems that rely on a wireless network. What this translates into is a orchard network that is affordable system to a greater number of growers. The information gathered includes air temperature, leaf wetness, soil humidity, etc., which allows growers to identify specific areas of needs for their growing operation on a daily, weekly, or monthly schedule offering more than current wireless orchard systems. |
Above is a partial view of data collected with GIS that can be displayed in a readable format. |
Automated Crop Load Assessment--Newton
Pictured is Vision Robotics' "Newton" which integrates stereo cameras with a custom image processing algorithm to accurately count and size tree fruit. The eight stereo cameras housed on the adjustable mast (silver in color) allow depth information to be calculated, which, in turn, permits Newton to view the world in 3D. Once an apple is identified, the stereo cameras enable the system to determine its location and size. This area is led by Tony Koselka, COO of Vision Robotics, and software engineers, Jillian Cannons, and Ryan Carlon.
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Above you can see Ryan Carlon as he views Newton's mast that houses several sets of stereo cameras and four flash units. |
Extension and Outreach
Tara Baugher and Katie Ellis of Penn State and Karen Lewis and Gwen-Alyn Hoheisel of WSU are working with growers to establish best practices for adapting automation. Adoption of new technologies is not an easy task since the size, horticulture, and management of nurseries and orchards varies greatly. The outreach team assists in connecting growers to researchers and engineers so that practical and feasible technologies are developed. The have conducted a multi-region socioeconomic survey to assess the needs of growers and the barriers to technology adoption. A large part of technology development is applied research and on-farm testing. The extension team performs works closely with researchers during these tests. To disseminate information to growers and the research community, the team participates in grower conferences, scholarly journals, and field days. |
Above, reporters join Sanjiv Singh and Brad Hamner as they demonstrate the APM's ability to self-navigate at a Press Day in Royal City, WA.
Below growers join researchers from Penn State, CMU, and WSU at a field day to see the N.Blosi platform.
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