current technologies on agricultural bio-sensing...

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


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: [email protected]

Informatization

of food

Post-harvest

technologies and non-

destructive inspectionFunctional substances and

allergen inspection

Molecule

Cell

Organ

Individual

system

Facility


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


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


Plant cutting robot for weeding

Sound based positioning system by use of SS Sound

基地局


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.


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


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)


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


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

Slight injury, but possibility to be rotten

Fluorescence reaction

NAU


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


Top view of the image acquisition system on an practical grading line (Shibuya Seiki)


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


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


EOLSS (Encyclopedia of Life Support System

(UNESCO, 2007))

Kondo’s books

Robotics for Bio-production Systems

(ASABE, 1998)

Coffee Break


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)


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)


Precision Livestock

to Produce higher Beef Marbling

Standard Meet of Japanese Black Cattle


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)


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


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


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


Conventional Methods in Milking Site

① Breed method

② CMT(California Mastitis Test)

③ EC(Electronic Conductivity)

http://ja.wikipedia.org/wiki/%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB:Optical_microscope_nikon_alphaphot_+.jpg

http://ja.wikipedia.org/wiki/%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB:Optical_microscope_nikon_alphaphot_+.jpg


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


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


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


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


Heart beat measument

Heart beat is stopped at temperature 24 degrees

Precision Aquaculture

To measure swimming fish volume under the water


Resonator

Measure the peak frequency

Fish volume measurement


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


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


Fish Volume (mL)

Res

on

ant

Freq

ue

ncy

(H

z)

無鰾魚

有鰾魚

Results and Curiosity

Flounder

BluegillFlounderBluegill


Large

Small

Fish Sorting by size

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

current technologies on agricultural bio-sensing...

Documents