@inproceedings{4d5be2a688a44e5b86a4a7be8adde453,
title = "Quad-Partitioning-Based Robotic Arm Guidance Based on Image Data Processing with Single Inexpensive Camera For Precisely Picking Bean Defects in Coffee Industry",
abstract = "In this paper, we propose a bean defect picking system with the quad-partitioning-based robotic arm guidance method, aimed at automatically and precisely picking bean defects in coffee industry. We assume the adopted inexpensive devices, including a robotic arm, a camera, and an IoT (Internet of Things) device, have only basic functions. For successfully picking the small size of beans as possible, stably moving the arm head to the target bean is the key technique in this topic. To achieve this goal under hardware limits, we design an iterative robotic arm guidance method to move the arm head close to the target with quad-partitioning relationships in the camera{\textquoteright}s visual space by using image data processing techniques. The error distance after k iterations of the proposed method is approximately estimated as (Formula presented), where (Formula presented) and (Formula presented) are the width and the length of the field of view. We conduct a case study to validate the proposed method. Testing results show that the proposed system successfully picks bean defects with our proposed robotic arm guidance method.",
author = "Kuo, {Chen Ju} and Wang, {Ding Chau} and Lee, {Pin Xin} and Chen, {Tzu Ting} and Horng, {Gwo Jiun} and Hsu, {Tz Heng} and Tsai, {Zhi Jing} and Pai, {Mao Yuan} and Guo, {Gen Ming} and Lin, {Yu Chuan} and Hung, {Min Hsiung} and Chen, {Chao Chun}",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 11th Asian Conference on Intelligent Information and Database Systems, ACIIDS 2019 ; Conference date: 08-04-2019 Through 11-04-2019",
year = "2019",
doi = "10.1007/978-3-030-14802-7_13",
language = "English",
isbn = "9783030148010",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "152--164",
editor = "Tzung-Pei Hong and Nguyen, {Ngoc Thanh} and Nguyen, {Ngoc Thanh} and Bogdan Trawi{\'n}ski and Gaol, {Ford Lumban}",
booktitle = "Intelligent Information and Database Systems - 11th Asian Conference, ACIIDS 2019, Proceedings",
address = "Germany",
}