2026-09-20T09:14:51Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/86075 2023-07-11 col_2142_5131 col_2142_14847 com_2142_5130 com_2142_683 com_2142_397

Lei F. Tian Jeon, Hong Young 2015-09-28T14:53:52Z 2015-09-28T14:53:52Z 10000-01-01 2008 2008 This study addressed the issues in the conventional chemical application such as chemical drift and application inaccuracy via developing a plant specific direct application field robot. The robot was designed to autonomously detect plants, to identify weeds and to control weeds in the field. The developed robot was equipped with a stereovision with processing algorithms to detect and identify individual weeds in the field image and the custom designed end effector with a robotic arm to carry out plant specific direct application. The developed vision system with the algorithms was dealt with unpredictable outdoor illuminations to sense plants in the field via a series of image processing. The developed algorithm processed field images with the processing error less than 3 % in terms of identifying individual plants, and the algorithm identified 92.5 % and 95.1 % of weeds in the image via trained artificial neural network. The direct application end effector with the arm executed the direct application via cutting weed stem and wiping chemical on the weed surface. The indoor experiment resulted that 90.9 % of the weed treated by the end effector had herbicide symptoms after 6 day from the application. The plant specific direct chemical application field robot was developed by utilizing the vision system and the end effector with the arm to a field robot platform. The potential of developed robot was examined by testing the robot in the field. While testing in the field, the robot autonomously controlled 63.6 % of weeds, and required 12.923 seconds to control a weed from detection to application inspection for reapplication via machine vision. Made available in DSpace on 2015-09-28T14:53:52Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3337809.pdf: 2007108 bytes, checksum: 9c5662a5f20c4c33b68fbddddcbfb09f (MD5) Previous issue date: 2008 Embargo set by: Seth Robbins for item 87356 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs U of I Only 128 p. Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2008. http://hdl.handle.net/2142/86075 (MiAaPQ)AAI3337809 eng Engineering, Robotics Plant Specific Direct Chemical Application Field Robot text Agricultural Engineering Agricultural Engineering University of Illinois at Urbana-Champaign Dissertation Ph.D.