Monday, August 15

Monday Technical Program

10:20 AM Automated Measurement of Berry Size in Images
Omeed Mirbod*, Luke Yoder, Stephen Nuske
10:40 AM Break (10 min)

Morning Session 10:50 AM Semantic Mapping of Orchards

Cheng Peng*, Pravakar Roy, James Luby, Volkan Isler
Monday, August 15 9:40 AM 12:00 PM 11:10 AM Multi-camera Fruit Localization in Robotic Harvesting
Siddhartha Mehta*, Thomas Burks
SESSION 1.1 UNMANNED ARIAL SYSTEMS I
11:30 AM Measuring and Evaluating Anthocyanin in Lettuce Leaf Based
MODERATOR: Lav Khot LOCATION: Northwest 1/2 on Color Information
Xiao Yang, Jingjin Zhang, Doudou Guo, Xin Xiong, Liying Chang,
Time Title/ Author
Qingliang Niu, Danfeng Huang*
9:40 AM Stitching of Hyper-Spectral UAV Images Based on Feature
Bands Selection
Lang Xia, Zhang R.R.*, Jiang H.L., Zhao F., Chen L.P. Monday Technical Program
Afternoon Session
10:00 AM Multi-temporal Monitoring of Wheat Growth Through
Correlation Analysis of Satellite Images, Unmanned Aerial
Vehicle Images with Ground Variable
Mengmeng Du, Noboru Noguchi*
Monday, August 15 2:40 PM 5:50 PM
10:20 AM Vision-Based UAV Navigation in Orchards
Nikolaos Stefas*, Haluk Bayram, Volkan Isler SESSION 1.2 PART I: PEST AND DISEASE DETECTION

10:40 AM Break (10 min) MODERATOR: Won Suk Daniel Lee LOCATION: Northwest 1/2
10:50 AM Precision Forestry: Trees Counting in Urban Areas using Time Title/ Authors
Unmanned Aerial Vehicle
Omair Hassaan, Ahmad Kamal Nasir*, Muhammad Fakhir Khan 2:40 PM Automated Plant Viability System for Early Detection of Plant
Disease
11:10 AM Evaluation Of Ground, Proximal and Aerial Remote Sensing Milad Navaei*, Peter J. Hesketh, Alireza Mahdavifar, Gary
Technologies for Crop Stress Monitoring McMurray
Jianfeng Zhou, Khot Lav*, Haitham Bahlol, Rick A. Boydston, 3:00 PM Automated Detection of Mycosphaerella Melonis Infected
Phillip N. Miklas, Lyndon Porter Cucumber Fruits
11:30 AM Target Geolocation for Disease Detection Applications via an Danijela Vukadinovic, Gerrit Polder*, Gert-Jan Swinkels
Octorotor
Christian Arthur Garcia, Yunjun Xu* 3:20 PM Identification of Citrus Huanglongbing Disease at the Pre-
Symptomatic Stage Using Polarized Imaging Technique
Monday, August 15 9:40 AM 12:00 PM Alirzea Pourreza*, Won Suk Lee, Ed Etxeberria, Yao Zhang
3:40 PM Presymptomatic Disease Detection and Nanoparticle-
SESSION 2.1 VEHICLE DYNAMICS AND CONTROL Enhanced Electrical Capacitance Tomography
Daniel Sabo*, Gary McMurray, Glen Rains
MODERATOR: Timo Oksanen LOCATION: Cascade 9
4:00 PM Real-time Monitoring System of Agricultural Machinery
Time Title/ Authors
Operation Information Based on ARM11 and GNSS
9:40 AM Implement Guidance Model for ISO 11783 Standard Ming Xiang, Man Zhang*, Shuang Wei, Minzan Li
Timo Oksanen*, Juha Backman 4:20 PM Break (10 min)
10:00 AM Steering Control Strategies for a Four-Wheel-Independent- PART II: SENSOR NETWORK AND INTERNET
Steering Bin Managing Robot OF THINGS
Yunxiang Ye*, Long He, Qin Zhang
10:20 AM Electromechanical Steering of an Articulated Vehicle 4:30 PM Adapting an Industrial Automation Protocol for Remote
Ville Valtteri Matikainen*, Arto Visala, Teemu Lehmuspelto Monitoring of Mobile Agricultural Machinery: A Combine
Harvester With Iot
10:40 AM Break (10 min) Timo Oksanen*, Raimo Linkolehto, Ilkka Seilonen
10:50 AM A Dynamic Instability Detection and Prediction System for 4:50 PM Quality-aware Control of Perishable Goods in Synchromodal
High Clearance Tractor Transport Networks
Dong Sun, Du Chen, Shumao Wang, Xin Wang* Xiao Lin*, Rudy Negenborn, Gabriel Lodewijks

11:10 AM A Framework for Semi-Automated Generation of a Virtual 5:10 PM Development of a Crop Growth Detecting System
Combine Harvester Haojie Liu, Hong Sun, Bohui Mao, Minzan Li*, Man Zhang, Qin
Dan Hermann*, Nils A. Andersen, Ole Ravn Zhang

11:30 AM Stability Analysis for Orchard Wearable Robotic System 5:30 PM Rice Cultivation Support System Equipped with Water-level
Weizu Wang*, Tao Wu, Cameron Hohimer, Changki Mo, Qin Sensor System
Zhang Yuta Kawakami*, Takashi Furuta, Hideto Nakagawa, Taichi
Kitamura, Kiyokazu Kurosawa, Kazuma Kogami, Naoto Tajino,
Monday, August 15 9:40 AM 12 PM
Sode Mikiko Tanaka
SESSION 3.1 MACHINE VISION FOR AGRICULTURE Monday, August 15 2:40 PM 5:50 PM
MODERATOR: Stephen T. Nuske LOCATION: Cascade 10
SESSION 2.2 AGRICULTURAL ROBOTICS/ AUTOMATION I
Time Title/ Authors
MODERATOR: Steve Saunders LOCATION: Cascade 9
9:40 AM Machine Vision for a Selective Broccoli Harvesting Robot
Pieter M. Blok*, Ruud Barth, Wim Van den Berg Time Title/ Authors
2:40 PM Preliminary Design of a Robotic System for Catching and
10:00 AM Automated Assessment and Mapping of Grape Quality Storing Fresh Market Apples
Through Image-Based Color Analysis Joseph Davidson*, Cameron Hohimer, Changki Mo
Zania Pothen*, Stephen Nuske
 Monday, August 15
3:00 PM Development of a 5DOF Robotic Arm (RAVebots-1) Applied
to Heavy Products Harvesting
Ali Roshanianfard*, Noboru Noguchi
3:20 PM Dual-arm Robot Design and Testing for Harvesting Tomato in
Greenhouse
Yuanshen Zhao, Liang Gong, Cheng-liang Liu*, Yixiang Huang
3:40 PM Mechanism for Bundling and Tying of Red Raspberry
Primocanes
Aadit Shrestha, Manoj Karkee*, Qin Zhang
4:00 PM Design and Simulation of a Bagged Agricultural Material
Handling Robot
Han Li,Ruijuan Chi,Enrong Mao*
4:20 PM Break (10 min)
4:30 PM Autonomous Leaf Picking Using Deep Learning and Visual-
Servoing
Konrad Ahlin, Benjamin Joffe*, Ai-Ping Hu, Gary McMurray, Nader
Sadegh
4:50 PM Design of a Task-Based Modular Re-Configurable Agricultural
Robot
Mark Levin, Amir Degani*
5:10 PM Design of End-effector for Tomato Robotic Harvesting
Guohua Wang, Yabo Yu, Qingchun Feng*
5:30 PM Designing Robotic Apple Packing Technology to Enhance the
Functionality of Fruit Value Chains
Alistair J. Scarfe*, Steve J. Saunders**, Alistair D. Mowat***

Monday, August 15 2:40 PM 5:50 PM

SESSION 3.2 PRECISION AG/ DECISION SUPPORT SYSTEMS

MODERATOR: Viacheslav Adamchuk LOCATION: Cascade 10

Time Title/ Authors

2:40 PM Method of Measuring the Spectral Reflectance of Crop

Canopy Based on Three-Dimensional Structural Analysis
Guoxiang SUN, Yongqian DING*, Huan ZHANG, Zhenlin QU,
Weiping BI, Hua LI
3:00 PM Techno-Commercial Feasibility of Soil Moisture Scanner for
Efficient Irrigation Scheduling
Sakthivelu Kathirvel*, Devendra Jalihal, Arun Kumar G

3:20 PM A County-oriented Information System Of Agricultural

Economy for Spatial Analysis and Decision Support
Jie Zhang, Yeping Zhu*, Zhanguang Hai, Huili Yue, Zhan-Guang
Hai
3:40 PM Extraction of Reps from Leaves Reflectance Spectrum for
Estimation of Chlorophyll Content
Yongjun Ding*, Jingjing Zhang

4:00 PM A Leaf Monitoring System for Continuous Measurement of

Plant Water Status to Assist in Precision Irrigation in Grape
and Almond crops
Francisco Rojo*, Erin E Kizer, Shrinivasa K Upadhyaya, Selcuk
Ozmen, Channing Ko-Madden, Qingsong Zhang

4:20 PM Break (10 min)

4:30 PM Effects of Operating Parameters for Dynamic PWM Variable

Spray System on Droplet Distribution Uniformity
Huanyu Jiang*, Lijun Zhang, Weinan Shi

4:50 PM Evaluation of Microsoft Kinect Sensor for Plant Health

Monitoring
Ahmad Kamal Nasir*, Murtaza Taj, Muhammad Fakhir Khan

5:10 PM Evaluation of a Spray Scheduling System

Jasmine Cashbaugh*, Stuart Bradley

5:30 PM Spatial Map Generation from Low Cost Ground Vehicle

Mounted Monocular Camera
Stephen Cossell*, Mark Whitty, Julie Tang, Scarlett Liu
 Tuesday, August 16
Tuesday Technical Program
8:20 AM Detection of Honey Adulteration Using Hyperspectral
Imaging
Sahameh Shafiee, Gerrit Polder*, Saeid Minaei, Nasrolah

Morning Session
Moghadam-Charkari, Saskia van Ruth, Piotr Kus
8:40 AM Fluorescence Spectral Study in Grapes (Vitis Vinifera L.)
Benitaka Variety to Differentiate Solid Soluble Values
Rodolpho Tinini*, Caio Wetterich, Luis Gustavo Marcassa, Danilo
Tuesday, August 16 8:00 AM 10:10 AM Figueiredo, Barbara Teruel
9:00 AM Spectrum Analyzer Development for Oxidation Diagnosis of
SESSION 1.3 CROP PHENOTYPING
Potato Semi-Finished Products
MODERATOR: Sindhuja Sankaran LOCATION: Northwest 1/2 Meng Cheng, Hong Sun*, Xiaoshuai Pei, Minzan Li, Qin Zhang,
Man Zhang
Time Title/ Authors
8:00 AM Phenotype-based Robotic Screening Platform for Leafy Plant Tuesday, August 16 10:30 AM 12:10 PM
Breeding
SESSION 1.4 BIG DATA AND CLOUD COMPUTING
Dengyu Xiao, Liang Gong, Cheng-liang Liu*, Yixiang Huang
8:20 AM 3D Robotic System Development for High-throughput Crop MODERATOR: Minzan Li LOCATION: Northwest 1/2
Phenotyping Time Title/ Authors
Chongyuan Zhang, Honghong Gao, Jianfeng Zhou, Asaph 10:30 AM A Farm Management Information System Using Future
Cousins, Sindhuja Sankaran* Internet Technologies
8:40 AM Development of a Mobile Robotic Phenotyping System for Dimitris S. Paraforos*, Vangelis Vassiliadis, Dietrich Kortenbruck,
Growth Chamber-based Studies of Genotype x Environment Kostas Stamkopoulos, Vasileios Ziogas, Athanasios A.
Interactions Sapounas, Hans W. Griepentrog
Dylan Shah, Lie Tang* 10:50 AM Cloud-based Decision Support and Automation for Precision
9:00 AM Break (10 min) Agriculture in Orchards
Li Tan*
9:10 AM Measurement of Rice Tillers Based on Magnetic Resonance
Imaging 11:10 AM Plant Breeding Evaluation with Rank Entropy-Based
Huang Huang Zhifeng, Liang Gong, Cheng-liang Liu*, Yixiang Decision Tree
Huang, Dabing Zhang Xiangyu Zhao*, Zhongqiang Liu. Fang Dan, Kaiyi Wang
9:30 AM Smartphone-Based Visual Measurement and Portable
Instrumentation for Crop Seed Phenotyping Tuesday, August 16 10:30 AM 12:10 PM
Zhihong Ma, Yuhan Mao, Liang Gong, Cheng-liang Liu*
SESSION 2.4 AGRICULTURAL ROBOTICS/ AUTOMATION III
9:50 AM Field-based Robotic Phenotyping for Sorghum Biomass
Yield Component Traits Characterization Using Stereo MODERATOR: Lie Tang LOCATION: Cascade 9
Vision
Time Title/ Authors
Yin Bao, Lie Tang*
10:30 AM A Robust Adaptive Controller for a Seed Refilling System on
a Moving Platform
Tuesday, August 16 8:00 AM 10:10 AM Yang Li*, Kim-Doang Nguyen, Harry Dankowicz
SESSION 2.3 AGRICULTURAL ROBOTICS/ AUTOMATION II 10:50 AM Bruise Responses of Apple-to-Apple Impact
Han Fu*, Long He, Shaochun Ma, Manoj Karkee, Qin Zhang,
MODERATOR: Scott Korthuis LOCATION: Cascade 9 Shumao Wang
Time Title/ Authors 11:10 AM Air Suspension-Based Catching Mechanism for Mechanical
8:00 AM Electric Tractor Motor Drive Control Based on FPGA Harvesting of Apples
Yanni Chen, Bin Xie, Enrong Mao* Shaochun Ma, Manoj Karkee*, Han Fu, Daozong Sun, Qin Zhang

8:20 AM A Study of Fruit Reachability in Orchard Trees by Linear- 11:30 AM Feature-based visual tracking of agricultural implements
Only Motion Trevor Stanhope*, Viacheslav Adamchuk
Stavros Vougioukas*, Rajkishan Arikapudi, Joshua Munic 11:50 AM Towards an Artificial Vision-Robotic System for Tomato
8:40 AM Field Phenotyping Robot Design and Validation for the Crop Identification
Breeding Francesco Jose Garcia Luna*, America Morales
Jingwei Zhang, Liang Gong, Cheng-liang Liu*, Yixiang Huang,
Dabing Zhang, Zheng Yuan Tuesday, August 16 10:30 AM 12:10 PM
9:00 AM Break (10 min)
SESSION 3.4 GREEN HOUSE/ PROTECTED CULTIVATION
9:10 AM Adaptive Visual Servo Control of Robotic Harvesting
Systems MODERATOR: Arto Visala LOCATION: Cascade 10
Siddhartha Mehta*, Thomas Burks Time Title/ Authors
9:30 AM Effect of Fruit Location on Apple Detachment with 10:30 AM Fuzzy Modeling of Vapor Pressure Deficit to Monitoring
Mechanical Shaking Microclimate in Greenhouses
Long He*, Han Fu, Manoj Karkee, Qin Zhang Julio Cesar Ramos-Fernandez*, Marco Antonio Mrquez Vera,
Jean Franois Balmat, Frdric Lafont
9:50 AM Design and Evaluation of a Levelling System for a Weeding
10:50 AM Optimal Day-to-Night Greenhouse Heat Storage: Square-
Robot
Wave Weather
Lin Chen*, Supod Kaewkorn, Long He, Manoj Karkee, Qin Zhang
Ido Seginer*, G van Straten, Peter van Beveren
Tuesday, August 16 8:00 AM 10:10 AM 11:10 AM Application of Integrated Control Strategy and Bluetooth for
Irrigating Romaine Lettuce in Greenhouse
SESSION 3.3 POST-HARVEST AUTOMATION Gu-Zhah Hong, Ching-Lu Hsieh*
11:30 AM Determining the Dominant Environmental Parameters for
MODERATOR: Gerrit Polder LOCATION: Cascade 10
Greenhouse Tomato Seedling Growth Modeling Using
Time Title/ Authors Canonical Correlation Analysis
8:00 AM NARX Neural Network Modelling of Mushroom Dynamic Quan Qiu, Kai Shi*, Xiaojun Qiao, Kai Jiang
Vapor Sorption Kinetics 11:50 AM Complexity of Chlorophyll Fluorescence Dynamic Response
Dimitrios Argyropoulos*, Dimitris S. Paraforos, Rainer Alex, Hans as an Indicator of Excessive Light Intensity
W. Griepentrog, Joachim Mller Johan Lindqvist*, Daniel Bnkestad, Anna-Maria Carstensen,
Bjrn Lundin, Torsten Wik
 Tuesday, August 16
Tuesday Technical Program
Afternoon Session
Tuesday, August 16 01:15 PM 02:55 PM

SESSION 1.5 UNMANNED AERIAL SYSTEMS II

MODERATOR: Bruce MacDonald LOCATION: Northwest 1/2

Time Title/ Authors
01:15 PM Non-Productive Vine Canopy Estimation through Proximal
and Remote Sensing
Julie Tang*, Michael Woods, Stephen Cossell, Mark Whitty
01:35 PM Estimating Triticale Dry Matter Yield in Parcel Plot Trials
from Aerial and Ground Based Spectral Measurements
Patrick Ole Noack*
01:55 PM More Reliable Crop Water Stress Quantification using Small
Unmanned Aerial Systems (sUAS)
Tiebiao Zhao, Brandon Stark, YangQuan Chen*, Andrew Ray,
David Doll
02:15 PM Identification of Weeds in Sugarcane Fields Through Images
Taken by UAV and Random Forest Classifier
Inacio Yano*, Jose Alves, Wesley Esdras, Barbara Teruel
02:35 PM Potential of low altitude multispectral imaging for in-field
apple tree nursery inventory mapping
Juan Jos Quirs, Khot Lav*

Tuesday, August 16 01:15 PM 02:55 PM

SESSION 2.5 AGRICULTURAL ROBOTICS/ AUTOMATION IV

MODERATOR: Qin Zhang LOCATION: Cascade 9

Time Title/ Authors
01:15 PM Analysis and Simulation of a 6R Robot in Virtual Reality
Wenjuan Li, Zhenghe Song*, Zhongxiang Zhu, Enrong Mao
01:35 PM A New Recognition of Crop Row Based on its Structural
Parameter Model
Shuailing Zhao, Zhibin Zhang*
01:55 PM The Tip Point Feature of Pakchoi Recognition and Virtual
Plant Modelling Based on Image Processing
Liu Bo, Liang Gong*, Yuanshen Zhao, Cheng-liang Liu
02:15 PM A Turning Model of Agricultural Robot Based on Acceleration
Sen
Shuailing zhao, zhibin zhang*, deqin xiao
02:35 PM Study on Orchard Vehicle Motion Stability Control System
Xin Wang*, Shaohong Zhang, Weiwei Li, Shaohong Zhang,
Shumao Wang
Tuesday, August 16 01:15 PM 02:55 PM

SESSION 3.5 NAVIGATION AND GUIDANCE

MODERATOR: Stavros Vougioukas LOCATION: Cascade 10

Time Title/ Authors
01:15 PM Low-Cost Smart Tractor Control Options
Viacheslav Adamchuk, McGill University, Canada
01:35 PM Classifying Agricultural Terrain for Machinery Traversability
Enhancement
Francisco J. Yandun, Fernando Auat Cheein*, Francisco Yandun
Narvaez, Alexandre Escol, Eduard Gregorio, Joan R. Rosell-
Polo, Marcos D Zuniga
02:55 PM Inter-row Robot Navigation using 1D Ranging Sensors
Tyler Troyer*, Santosh Pitla, Ethan Nutter
02:15 PM Robust Model Predictive Control for Path Tracking of a
Tracked Vehicle with a Steerable Trailer in the Presence of
Slip
Xu Wang*, javad taghia, Jayantha Katupitiya
02:35 PM An Analysis of Automated Guided Vehicle Standards to
Inform the Development of Mobile Orchard Robots
Jamie Bell*, Bruce MacDonald, Ho Seok Ahn, Alistair Scarfe