current technologies on agricultural bio-sensing...
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KYOTO UNIVERSITY京都大学
Current Technologies on Agricultural Bio-Sensing
Engineering and the Implementation of Advanced
Technology for Agricultural Production
Naoshi KondoLaboratory of Bio-Sensing Engineering
Graduate School of Agriculture
Kyoto University, Japan
Kyoto City
Beautiful Kyoto: Capital City for 1000 years
Golden Pavillion
Silver PavillionBuddhist monk
Maiko
(794-1868)
17 World cultural heritagesPopulation: 1,470,000
Tokyo
KYOTO UNIVERSITY京都大学
Bio-instrumentation
Spectroscopy
Machine vision
分子
細胞
器官・組織
個体・農産物
施設
Sound-, photo-, and image-based sensing technologies contribute affluent and healthy life. (Food production and informatization, medi-care, and drug discovery)
Laboratory of Bio-Sensing Engineering
Beef cattle
Fish
Egg and ChickAutomation of
agri-facility
Cell
Preventive
medi-care
Bio-sensor
E-mail: kondonao@kais.kyoto-u.ac.jp
Informatization
of food
Post-harvest
technologies and non-
destructive inspectionFunctional substances and
allergen inspection
Molecule
Cell
Organ
Individual
system
Facility
KYOTO UNIVERSITY京都大学
Mechanization and Automation in Agriculture
Fruit & vegetable harvesting robot
Autonomous combine harvester
Fruit grading robot
Leek pre-processing robot
Robotic sprayer
Real-time Soil Sensor
Autonomous tractor
Blue letter: Under development
Black letter: Commercialized
Field management
Residue
processInformationShipping
Seedling production
Plant management
Harvesting
Pre-Processing
Grading
Cutting sticking robot
Grafting robot
Transplanting robot
Automonous transplanter
Measurement Box
Power source, PC,
Spectroscopy,
PLC, amp board
Antenna of DGPS
Chisel
(sensor
probe
housing) ※ Date: 2004. 11. 21 Depth: 150mm, Speed: About 30cm/ sec
Cooperation with SHIBUYA MACHINERY CO.,LTD., TUAT
Commercialized Real time soil sensor
Field management
KYOTO UNIVERSITY京都大学
Arrangement of Sensors in chisel
Illumination fiber
EC Electrode
Laser Displacement
sensor Color cameraCondensed
fiberGround surface
Soil flattener
Moisture
Content
NO3-NSOM
pH EC
Real-time soil sensor
N, EC, pH, moisture content, SOM,
soil temperature, compaction
Maps from Soil Sensor
By courtesy of
Prof. Shibusawa, TUAT
NAU
Autonomous vehicles
Robots keep
operation record
automatically.
By courtesy of
Prof. Noguchi, Hokkaido U.
Dr. Nagasaka
Iseki Co., Ltd
KYOTO UNIVERSITY京都大学
Plant cutting robot for weeding
Sound based positioning system by use of SS Sound
基地局
KYOTO UNIVERSITY京都大学
M-sequence : pseudorandom-sequence
higher autocorrelation property
cycle (N=2n-1)
Auto-correlation function when M-sequence is 1023
0
1023
0 500 1000 1023-1
Rpp(τ)
τ
0
0)()()(
T
ttpp dttptpR
Process gain is 1023
M-sequence cycle
Auto-correlation functionTime
Au
to-c
orr
elat
ion
val
ue
When M-sequence cycle is 1023
1-1-1111-111-1-1-11・・・
1-1-1111-111-1-1-11・・・
1- 1-1-
1023 sample
number
1023 sample
number1-1-1111-111-1-1-
11・・・
1023
1-1-1111-111-1-1-11・・・
-1
1-1-1111-111-1-1-11・・・
-1
Spectrum Spread Sound
SS Sound are made from M-sequence.
KYOTO UNIVERSITY京都大学
Autonomous Vehicle by Use of SSSound Position Detection
Speaker
Mirror for measurement by total station
Servomotor
Geomagnetic orientation sensor
PC for position detection
PC for vehicle control
Omnidirectional speaker
Seedling production Operation records
Crop variety
Plant ID,
Color and size of seedlings
Grafting robotCutting sticking robot
Transplanting robot
BRAIN
KYOTO UNIVERSITY京都大学
Crop management
Spraying robot Bagging robot
Combination of fertilizing robot
and
soil sensor
“information oriented” field
When, where
and what kinds of
chemicals,
fertilizer???
operation records:
irrigation,
chemical spray,
Fertilization
Information
from the robots
Fruit harvesting robots in greenhouse
Tomato (Okayama U)
Cherry Tomato (Osaka Pref. U)Cucumber (IMAG, Wageningen)
Lettuce (Shimane U)
KYOTO UNIVERSITY京都大学
提供:生研センタ,シブヤ精機
BRAIN and Shibuya
A new model of strawberry
harvesting robot on table top
culture
NAU
Citrus grading system
Citrus fruits
Tomato
Waxed apple (Tropical fruit)
Potato
Persimmon
Onion
Pepper
KYOTO UNIVERSITY京都大学
Image PC
Host PC
180°Turn over
Image PC
TV Camera Lighting Device
X-ray generator
Scintilator
Imaging PC
Judgement PC
Trigger sensor
Spectrometer
Halogen lamp
KYOTO UNIVERSITY京都大学
A Color TV camera-Double LED system
White LED
device
Camera
UV LED device
PC
White LED
device
White LED
device
UV LED device
UV LED device
KYOTO UNIVERSITY京都大学
Top view of the image acquisition system on an practical grading line (Shibuya Seiki)
KYOTO UNIVERSITY京都大学
Fluorescence substance holders
Citrus fruits, Cucumber fruit, and Apple fruit
Rice grain, Contaminant nuts
Moldy egg white and brown egg shell
Some agricultural chemicals
……Vascular Bundle
KYOTO UNIVERSITY京都大学
http://www.satake-japan.co.jp/pikasen/
Brown
Rice
Brown
Rice
White
Rice
White
Rice
Ordinary Rice
Good Rice Ejected Rice Ejected Rice
Ejected RiceEjected RiceGood Rice Good Rice
Good Rice
Sticky Rice
ColorCamera Grain Guide
Background
EjectorNozzle
Color/NIRCamera
Light (CCFL)
NIR LED
Bad grain Good grain
Grain Grader and Sorter
3.2 t/h
Removable
Foreign
Materials
NAU
Soil analysis center
Product information center
Agricultural
Cooperative Association
Soil sensor
Grading robot
Intelligent farming
Precision farming
Consumer Market
Product
informationField information
Farming guidance
DSS for farmers
Residue
Carbonization
BRAND BRANDVoice of consumer
Quantity and
marketing value
Analysis of soil and chemicals
GIS, DSS
Variable distribution channel
Marketing route
Biomass
Re-uses
Transport
Operation records
Sensing informationID tags
Fresh
Product
New flow of
product and information
Information oriented field Information added product
On Geographical data
Field information
Soil inspection device
Harvesting machineManagement machine
Fertilizing
Chemical spraying
Irrigation……
Management information Harvesting information
Precision Agriculture with grading facility
Appearance
Internal quality
Grading information
Grading machine
ROM-
Writer
Grading Facility
Accumulation to DB
All Data can be used for
precision agriculture
Information Center
KYOTO UNIVERSITY京都大学
EOLSS (Encyclopedia of Life Support System
(UNESCO, 2007))
Kondo’s books
Robotics for Bio-production Systems
(ASABE, 1998)
Coffee Break
KYOTO UNIVERSITY京都大学
Springer Handbook of
Automation (Springer Press,
2010)
Agricultural Robots: Mechanisms and
Practice
(Kyoto Univeristy Press, 2011)
Encyclopedia of Agricultural, Food, and
Biological Engineering
(Taylor &Francis, 2010)
KYOTO UNIVERSITY京都大学
Agricultural Automation:
Fundamentals and
Practices (CRC Press,
2013)
Robotics and
automation in the food
industry (Woodhead
Publishing, 2013)
Physical and Biological
Properties of Agricultural
Products
(Kyoto Univeristy Press,
2014)
KYOTO UNIVERSITY京都大学
Precision Livestock
to Produce higher Beef Marbling
Standard Meet of Japanese Black Cattle
KYOTO UNIVERSITY京都大学
Beef Meat Quality
BMS 3 BMS 7 BMS 11
0
20
40
60
80
100
120
10 12 14 16 18 20 22 24 26 28 30
月 齢
血中ビタミンA濃度(IU
/dl)
欠
乏
症
Age (month)
Vita
min
A (
IU/d
l)
De
ficie
ncy
Blood test Blood test
(Kobe beef: 9-12)
KYOTO UNIVERSITY京都大学
Measurement of beef cattle eyes
RFID gate
Machine
Vision
Machine
Vision
Water vessel Water vessel
Pupil color is influenced by
tapetum color
© Exploratorium | The museum of science, art and human perception
◆Vitamin A effects on retina.
High vitamin A level cattle Low vitamin A level cattle
The Hokkaido Animal Research Center
Vitamin A level becoming lower ・・・
Blue part of eyeground becomes reddish or yellowish.(Hyogo Prefectural Hokubu Agricultural Inst.,2009)
Tapetum color and pupil color
Papilledema
視神経乳頭浮腫
Bleached
tapetum
KYOTO UNIVERSITY京都大学
PC
Ambient condition sensor
Precision livestock
Optimum control for
higher yield and quality Information
Database
Local brand and
Traceability
Prediction of
Disease, quality, yield
Producers
Consumers
Milk inspection by spectroscopy
UV to THz regionDatabase
Information• Health• Environment• Feed• Products property
Calf production
Transportation
Retail store
Consumers
RFIDRFID
Non-lactating periodStage of lactating
Precision dairy farming
KYOTO UNIVERSITY京都大学
Milking site
Conventional Method in inspective station
Sample + Fluorescent stain
Problem; Impossible to conduct in the farm quickly
Blue laserDetector
◆Flowcytometry
Too late
Measurementin milking site
is required. ② Precision to detect subclinical Mastitis
① Nondestructive & quick measurement
Inspective station Uenokawa et al., 2009
KYOTO UNIVERSITY京都大学
Conventional Methods in Milking Site
① Breed method
② CMT(California Mastitis Test)
③ EC(Electronic Conductivity)
KYOTO UNIVERSITY京都大学
Application of optical technology
Halogenlamp
High transmittance against water Detector
Kawamura, Journal of Veterinary Medicine, 58(7): 577-581, 2005
Milk
Near infrared (NIR) spectroscopy
Possible to apply diffuse transmission
Which wavelength is the best?Short waves scattered due to micelles
Silje, O., et al. 2010
Scattering?
Absorption?
Fat globule
Particle parameter = πDλ-1
Scattering efficiency∝λ-4λD
←To longer wavelength
←Micelles & NIR
KYOTO UNIVERSITY京都大学
ATR Measurement
To solve that, Attenuated total reflection(ATR) method
ATR prism
Absorption
Evanescent waveSample
Schematic of ATR
Penetration depth∝Wavelength
Cell (10µm)Optimum wavelength?
Possible to control measurement area
Problem : Water absorbs long waves too much→ Transmission×
Water
Casein
Fat
etc..
MIR:Information of cell membrane ▲ THz wave: Whole cell information ✔
Frequency
nm
µm
KYOTO UNIVERSITY京都大学
Egg laying
Day 0 3 5 6 9 12 15 18 21 24 27
Incubating
Incubating period: 21 days Hatching
at a timePrecise temperature control
Same time
New Research
KYOTO UNIVERSITY京都大学
Measurement of
1. Egg shell temperature for monitoring
By thermo camera in the incubator
2. Heart beat for control hatching time
By photo interrupter
3. Spectral transmittance for chick’s health diagnosis
By spectroscopy
Individual egg management
KYOTO UNIVERSITY京都大学
Volume measurement by Helmholtz resonance
l [m]: Neck length
S [m2] : Area of neck
V [m3] : Volume of vessel
Vo [m3] : Volume of object
f [Hz] : Frequency
c [ m s] : Sound velocity
𝑽𝐨 = 𝟏 −𝒇𝟎𝒇
𝟐
𝑽
Object volume is measured from
resonant frequency: f0
V
lS
𝑉o
1. Uncertain shape object measurable
2. Nondestructive, fast, and precise
Advantages
KYOTO UNIVERSITY京都大学
Pump
Flow meter
Resonator Computer
Microphone
Flow rate: 12 [l/min]
18 fishes, 3 times measurement
16.0 [ml]
4.0 [ml]~
Volume measurement devices
KYOTO UNIVERSITY京都大学
Fish Volume (mL)
Res
on
ant
Freq
ue
ncy
(H
z)
無鰾魚
有鰾魚
Results and Curiosity
Flounder
BluegillFlounderBluegill
Variable
feeding
device
Fish cage at coast
Volume Measure by Helmholtz
Resonance and image
PC
Water temp.
Solved oxygen
Water velocity
(Environment factor)
Sensor for environment
Food quantity
Feeding timing
(Feeding factors)
Precision fishery system
Information center
(Fishery association)
Optimum control for
high quality and yield
Light, color
(stimulation factors)
Database
Variable feeding
Volume, number
Local brand
Traceability
Prediction of diseases
Guidance
Fisherman
Consumer
Nondestructive shellfish meat volume measurement
Shellfish Grading including internal meat volume evaluation
<
Shell: 51 g Shell: 132 gMeat: 10 gMeat: 20 g
<
Bio-sensing technologies to produce food and
conserve environment for affluent life
Intensive and sustainable agriculture should be conducted in
Asian countries to produce higher quality products solving
both local and global environmental problems with our own
case studies and cutting-edge technologies
Asian Advanced
Agricultural
technologies
Intensive
Minimum
environme
ntal load
High
productivityHigh
quality
Food Production
in Asian Countries
Solution of Global
Environmental Problems
Development of New
Technologies for Local
Region and Countries
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