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Automation
Technology for Off-road Equipment
Hyatt
Regency
Chicago, Illinois
July 26-27, 2002
(Precedes ASAE-CIGR Annual International Meeting)
FRIDAY, JULY 26
| 8:00 am |
OPENING
Location: Columbus A-B |
| 8:15 am |
KEYNOTE
Mel Torrie, Autonomous Systems, Inc.
“Joint Architecture for Unmanned Ground
Systems (JAUGS) Applied to Autonomous Ag Systems” |
| 9:30 am |
BREAK |
| |
I. AUTONOMOUS SYSTEMS ARCHITECTURE
Moderator: Qin Zhang, University of Illinois
Location: Columbus A-B
|
| 10:00 am |
Introduction |
| 10:05 am
|
A Proposed System Architecture to Enable Behavioural
Control of an Autonomous Tractor Simon Blackmore, The Royal Veterinary and
Agricultural University (S Blackmore, S Fountas, H Have) |
| 10:45 am |
BREAK |
| 11:00 am |
Architecture for Human Supervised Autonomously
Controlled Off-Road Equipment Reuven Granot, Israel Institute of Technology (R
Granot) |
| 11:15 am |
A Specification of Behavioural Requirements for an
Autonomous Tractor Simon Blackmore, The Royal Veterinary and Agricultural
University (S Blackmore, H Have, S Fountas) |
| 11:45 am |
Software Architecture Design for Automation of Off-road
Equipment Jeff Will, Valparaiso University (JD Will, JF Reid, N Noguchi, Q
Zhang) |
| 12 Noon |
LUNCH (on your own) |
| |
CONCURRENT SESSIONS II, III II. INFORMATION SYSTEMS
Moderator: Noboru Noguchi, Hokkaido University
Location: Columbus G |
| 1:00 pm |
Introduction |
| 1:05 pm |
A Wireless LAN for Collaborative Off-Road Vehicle
Automation Linsong Guo, University of Illinois (L Guo, Q Zhang) |
| 1:25 pm |
Remote Service Systems for Agricultural Machinery Jens
Krallmann, Technical University of Braunschweig (J Krallmann, N Foelster) |
| 1:45 pm |
Online Monitoring System for Separation Processes on
Combine Harvesters Koen Maertens, Katholiek University of Leuven (K Maertens, H
Ramon, J De Baerdemaek) |
| 2:30 pm |
BREAK |
| |
III. PROGNOSTICS AND DIAGNOSTICS
Moderator: Bingcheng Ni, CNH Global
Location: Columbus H |
| 1:00 pm |
Introduction |
| 1:05 pm |
Intelligent Equipment Health Diagnosis and Prognosis
Using Wavelet David He, University of Illinois-Chicago (D He, X Wang, A
Babayan, Q Zhang) |
| 1:25 pm
|
Engine Real-Time Fault Diagnosis Using Neural Net Works
Yong He, Zhejiang University |
| 1:45 pm |
Study on Moveable Inspection Equipment of Working
Condition of Tractors Yidan Bao, Zhejiang University |
| 2:30 pm |
BREAK |
| |
CONCURRENT SESSIONS IV, V IV. SENSING CROP RESPONSE
Moderator: Monte Dickson, John Deere AMS
Location: Columbus G |
| 3:00 pm |
Introduction |
| 3:05 pm |
Evaluation of a Real-Ttime Sensing and Fertilization
System Yunseop Kim, John Deere Technology Center-Moline (Y Kim, JF Reid, S Han) |
| 3:25 pm |
Development of Mapping System of Crop Growth Toshihiro
Kaneko, Hokkaido University (T Kaneko, T Kataoka, H Okamoto, S Hata) |
| 3:45 pm |
The Development of Remote Sensing System Using Unmanned
Helicopter Ryo Sugiura, Hokkaido University (R Sugiura, N Noguchi, K Ishii, H
Terao) |
| 4:05 pm
|
Distinction Between Sugar Beet and Weeds for
Development of Automatic Thinner and Weeding Machine of Sugar Beet Masaki
Terawaki, Hokkaido University (M Terawaki, T Kataoka, H Okamoto, S Hata)
|
| |
V. MECHANICAL SYSTEMS TESTING AND EVALUATION
Moderator: William R Norris, John Deere Technology Center-Moline
Location: Columbus H |
| 3:00 pm
|
Introduction |
| 3:05 pm |
Modeling of a Pushed/Pulled Driven Wheel Alexander
Osetinsky, Israel Institute of Technology (A Osetinsky, I Shmulevish) |
| 3:25 pm |
Traction Performance Simulation of a Pushed/Pulled
Driven Wheel Alexander Osetinsky, Israel Institute of Technology (A Osetinsky,
I Shmulevich) |
| 3:45 pm |
Design and Evaluation of a Low-Power Portable Test Rig
for Vibration Tests on Mobile Agricultural Machinery Jan Anthonis, Katholiek
Univ of Leuven (J Anthonis, J De Baerdemaeker, H Ramon) |
| 4:05 pm |
Design of a Hydraulic Actuator Test Stand for
Non-Linear Analysis of Hydraulic Actuator Systems Jill Krutz, Caterpillar, Inc.
(JE Krutz, DE Thompson, GW Grutz, RJ Allemang) |
| 5:30 pm |
RECEPTION
|
SATURDAY, JULY 27
| |
CONCURRENT SESSIONS VI,VII VI. AUTONOMOUS APPLICATIONS - PART 1
Moderator: Noboru Noguchi, Hokkaido University
Location: Columbus G |
| 8:00 am |
Introduction |
| 8:05 am |
Development of Tilling Robot and Operation Software Yosuke Matsuo,
BRAIN-JAM (Y Matsuo, S Yamamoto, O Yukumoto) |
| 8:25 am |
Automated Rice Ttransplanter with GPS and FOG Yoshisada Nagasaka,
National Agriculture Research Center (Y Nagasaka, N Umeda, Y Kanetai) |
| 9:05 am |
Hexapod Walking Robot for Agricultural Field (I) - Mechanism of Leg
and Gait Control Makoto Dohi, Shimane University (M Dohi, T Fujiura, A Yano) |
| 9:30 am |
BREAK |
| |
VII.VEHICLE POSTURE SENSING
Moderator:Jeffrey D Will, Vaporaiso University
Location: Columbus H |
| 8:00 am |
Introduction |
| 8:05 am
|
Automatic Navigation of the Agricultural Vehicle by the Geomagnetic
Direction Sensor and Gyroscope Akira Mizushima, Hokkaido University |
| 8:25 am |
Vision-Based Speed and Yawing Angle Measurement System Kentaro
Nishiwaki, National Agricultural Research Center |
| 8:45 am |
Ultrasonic Steering Control Sensor Development Michihisa Iida,
Kyoto University |
| 9:05 am |
Relative Position Measurement System for Vehicles Using Diffuse
Light from LEDs Kenji Imou, University of Tokyo |
| 9:30 am
|
BREAK |
| |
CONCURRENT SESSIONS VIII, IX VIII. AUTONOMOUS APPLICATIONS - PART 2
Moderator: Simon Blackmore, The Royal Veterinary and Agricultural University
Location: Columbus G
|
| 10:00 am |
Introduction |
| 10:05 am |
Field Automation Using Robot Tractor Noboru Noguchi, Hokkaido
University (N Noguchi, M Kise, K Ishii, H Terao) |
| 10:35 am |
A New Concept for the Three-Point-Hitch as a Mechatronic System
Thorsten Lang, Technical University of Braunschweig (T Lang, H-H Harms) |
| 10:55 am |
Automatic Guidance of a Tractor in a Vineyard Oded Yekutieli,
Institute of Agricultural Engineering (O Yekutieli, F Garbati Pegna) |
| 11:15 am |
Autonomous Agricultural Vehicle Using Overhead Guide Rail Beom-Soo
Shin, Kangwon University (B-S Shin) |
| |
IX.VEHICLE SYSTEMS ENGINEERING
Moderator: Jill Krutz, Caterpillar
Location: Columbus H |
| 10:00 am |
Introduction |
| 10:05 am |
Repeated Bouncing and Impact Phenomenon of Farm Tractors from the
Nonlinear Dynamics Perspective Leroy Garciano, Iwate University |
| 10:25 am |
New Design for a 6 DOF Vibration Simulator with Improved
Reliability and Performance Ivo Hostens, Katholiek University of Leuven |
| 10:45 am |
A Real-Time Neural Network Based Adaptive Algorithm for Performing
On- Line Qualitative Control System Design William R Norris, John Deere
Technology Center-Moline |
| 11:05 am |
A Real-Time Human Operator Performance Model for Performing
Adaptive Control System Design William R Norris, John Deere Technology
Center-Moline |
| 11:45 am |
LUNCHEON |
| |
CONCURRENT SESSIONS X, XI X. MACHINE VISION SENSING
Moderator: James Yunseop Kim, John Deere Technology Center-Moline
Location: Columbus G |
| 1:30 pm |
Introduction |
| 1:35 pm |
Automatic Guidance System with Crop Row Sensor Hiroshi Okamoto,
Hokkaido University |
| 1:55 pm |
A Robust Procedure to Obtain a Guidance Directrix for Vision-Based
Vehicle Guidance Systems Shufeng Han, John Deere AMS |
| 2:15 pm |
Machine Vision Row Crop Detection Using Blob Analysis and the Hough
Transform Francisco Rovira-Mas, University of Illinois |
| 2:35 pm |
Acquisition of 3-D Iinformation by Binocular Stereo Vision for
Vehicle Navigation through an Orchard Teruo Takahashi, Hirosaki University |
| 3:00 pm |
BREAK |
| |
XI.VEHICLE CONTROL SYSTEMS
Moderator: Keith Lay, Caterpillar
Location: Columbus H |
| 1:30 pm |
Introduction |
| 1:35 pm |
Adaptive Control Method of an Autonomous Tractor for Traveling
Using a Model of Vehicle Movement Keiichi Inoue, Japan National Agriculture
Research Center |
| 1:55 pm
|
Control and Evaluation Methods for Multi-Mode Steering Mitchell
Miller, Iowa State University |
| 2:15 pm
|
The Development of the Autonomous Tractor with Steering Controller
Applied by Optimal Control Michio Kise, Hokkaido University |
| 2:35 pm |
Electro Hydraulic Steering in Off-Road Vehicles Johan Van der Kamp,
SKF - Product Development Center |
| 3:00 pm
|
BREAK |
| |
CONCURRENT SESSIONS XII, XIII XII. PATH PLANNING AND TRACKING
Moderator: Shufeng Han, John Deere AMS
Location: Columbus G |
| 3:30 pm |
Introduction |
| 3:35 pm |
Evaluating Path Tracker Performance for Outdoor Mobile Robots
Stephan Roth, Carnegie-Mellon University (SA Roth, Ph Batavia) |
| 3:55 pm |
Enhancement of Turning Accuracy by Path Planning for Robot Tractor
Michio Kise, Hokkaido University (M Kise, N Noguchi, K Ishii, H Terao) |
| 4:15 pm |
AGRO NAV® Plan - the Software for Planning and Evaluation of
Path and Work of Field Robots Hans Glasmacher, GEO TEC Electronics Gmb (H
Glasmacher) |
| 4:35 pm |
Autonomous Traveling of Off-Road Vehicles Along Rectangular Path on
Slope Terrain Md. Ali Ashraf, Iwate University (MA Ashraf, R Torisu, J Takeda) |
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XIII. SAFETY AND OBSTACLE DETECTION
Moderator:Mel Torrie, Autonomous Solutions
Location: Columbus H |
| 3:30 pm |
Introduction |
| 3:35 pm |
An Assessment of the Control and Safety Needs of a Completely
Autonomous Agricultural Tractor and Implement System in the Yard, to and from,
as well as, in the Field William Reid, Reid Consulting |
| 3:55 pm |
Development of Master-Slave Robot
System-Obstacle Avoidance Algorithm
Noboru Noguchi, Hokkaido University |
| 5:00 pm |
CLOSING CEREMONY
Location: Columbus A-B
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