Abstract: |
This work elaborates on the application of data science methodologies for improvements and gain of new insights in three distinct robotic projects, each with a unique goal and environment: SmartRecycling-UP, an autonomous construction waste sorting system; SHIVAA, an autonomous strawberry harvesting robot; and AuTag BeoFisch, an Autonomous Underwater Vehicle (AUV) for habitat monitoring.
SmartRecycling-UP involves an autonomous robot designed for the sorting of construction and demolition waste. The system leverages reinforcement learning to train an artificial neural network that controls a hydraulic crane, complemented by advanced sensory systems for precise object and material identification. Planned methods to improve the classification accuracy for this project include applying various model interpretability techniques.
The RoLand project, SHIVAA, describes an autonomous strawberry harvesting robot designed for open-field operations. The system employs machine learning techniques, including a Multi-Layer Perceptron and Convolutional Neural Networks, for effective fruit classification using MSI data. To deepen our understanding of the model's decision-making process, we plan to conduct feature importance analysis and visualize CNN filters, revealing potential areas for improvement.
AuTag BeoFisch introduces a novel approach for underwater monitoring using Autonomous Underwater Vehicles (AUVs). This system employs self-supervised learning for object detection in challenging and often turbulent underwater environments. To gauge the effectiveness of this self-supervised learning approach, we propose employing visualization techniques for high-dimensional data and comparing the results with other pre-training methods using conventional classification metrics.
Across all projects, we will consider the unique challenges associated with each data source. Techniques like t-SNE and UMAP will be employed to reduce the dimensionality of the data, facilitating visualization and analysis. This will necessitate tailored data preprocessing methods, such as normalization, outlier detection, and handling of missing data. Deliberatively applying these methods to different project data from varied domains allows us to gain new, application-independent insights. Our goal is to evaluate whether novel approaches in one domain can inspire innovative strategies in another. This comprehensive evaluation aims to provide valuable insights into each project's performance, offering potential avenues for enhancement.
J. Zach, C. Busse, S. Funk, C. Möllmann, B. -C. Renner and T. Tiedemann, “Towards Non-invasive Fish Monitoring in Hard-to-Access Habitats Using Autonomous Underwater Vehicles and Machine Learning,” OCEANS 2021: San Diego – Porto, San Diego, CA, USA, 2021, pp. 1-8, doi: 10.23919/OCEANS44145.2021.9705867.
T. Tiedemann, F. Cordes, M. Keppner, and H. Peters, "Challenges of Autonomous In-Field Fruit Harvesting and Concept of a Robotic Solution," in Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2022), vol. 1, 2022, pp. 508-515. doi: 10.5220/0011321300003271.
T. Tiedemann, M. Keppner, T. Runge, T. Vögele, M. Wittmaier, and S. Wolff, "Concept of a Robotic System for Autonomous Coarse Waste Recycling," in Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2021, pp. 493-500. ISBN: 978-989-758-522-7. |