Beruflich Dokumente
Kultur Dokumente
By Yasushi Hashimoto,
Haruhiko Murase, Tetsuo
Morimoto, and Toru Torii
T
his article describes some findings of
agricultural research studies being
conducted in Japan in three areas: 1)
artificial intelligence (AI) or computa-
tional intelligence applications in agri-
culture and the environment, 2)
intelligent environment control for plant production
systems, and 3) intelligent robots in agriculture.
First, the latest biosystem-derived algorithms are
discussed. A finite element inverse technique using
a photosynthetic algorithm (PA) is described, fol-
lowed by a comparison of neural network training by
a photosynthetic algorithm versus a genetic algo-
rithm (GA). Leaf cellular automata (LCA) are intro-
duced, and their application to optimization
problems is discussed.
Second, a decision system consisting of neural net-
DIGITAL STOCK 1996 and DIGITAL STOCK 1997
Hashimoto (yasushihashimoto@agr.ehime-u.ac.jp) and Morimoto are with the Department of Bio-mechanical Systems, Ehime University,
Tarumi, Matsuyama 790-8566, Japan. Murase is with Osaka Prefecture University, Sakai, Japan. Torii is with the University of Tokyo, Tokyo
113-8656, Japan.
0272-1708/01/$10.002001IEEE
October 2001 IEEE Control Systems Magazine 71
automation in agriculture has also been conducted in univer- rived algorithms (BDAs) are suggested. Photosynthesis is
sities. Due to limited funding, most of this research has cov- one of the most important biochemical phenomena and can
ered methodologies such as navigation, sensing, and the be viewed as a natural implementation of an optimization. It
application of control theory. At research institutes and man- is sometimes mentioned that a plant is not optimized by na-
ufacturers, which have greater financial resources, more ture to function as an energy conversion device due to its
practical systems have been tested. Researchers are now in- low energy conversion efficiency of about 3%. Comparisons
tegrating the new technologies for autonomous navigation in are made to man-made devices such as photovoltaic cells
the field. and photoelectrochemical cells, which transform the suns
It can be concluded that intelligent approaches are use- energy into an electrical current or chemical fuels with effi-
ful tools for mechanizing complex agricultural systems. ciencies as high as 25%. This is an unfair comparison, how-
ever, because plants are under heavy
functional constraints to maintain the diverse
Photosynthesis is one of the most set of biological activities necessary for their
survival and for the preservation of their spe-
important biochemical phenomena cies. A better comparison would require that
and can be viewed as a natural only those biochemical pathways in the plant
directly related to energy conversion be con-
implementation of optimization. sidered when calculating energy conversion ef-
ficiency.
GAs have been extensively used in the con-
Computational Intelligence in trols field. However, the GA does not have to be the ultimate
Agriculture and the Environment optimization technique. Two different biosystem-derived
Many problems in agricultural engineering involve optimiz- optimization algorithms using the mechanism of the
ing different types of biosystems, such as drainage and irri- photosynthetic pathway were developed by one of the au-
gation systems, crop scheduling, and the handling and thors. The BDAs referred to are the PA and the LCA. In the
blending of materials. Such biosystems typically depend on
following sections, the principles of the PA and LCA are in-
decision parameters that can be chosen by the system de-
troduced briefly. The developed biosystem-derived optimi-
signer or operator. An inappropriate choice of decision pa-
zation algorithms contribute to control applications by
rameters causes serious flaws in performance, as measured
providing additional search technique options.
by some objective or fitness function. Another problem of-
ten encountered in agricultural engineering involves testing
and fitting of quantitative models. Principle of the
Engineering or scientific research in any problem area Photosynthetic Algorithm
classically consists of an iterative process of building ex- In the diagram of the Benson-Calvin cycle [3] in Fig. 1(a), each
planatory or descriptive models, collecting data, testing the line represents the conversion of one molecule of each me-
models, modifying the models when discrepancies are tabolite. Fig. 1(a) also indicates that the product of the
found, and then repeating the process until the problem is Benson-Calvin cycle is DHAP (dihydroxyacetone-P). Some of
solved satisfactorily. The problems that deal with optimiz- the DHAP, which may be unstable and/or low quality, is re-
ing biosystems and fitting quantitative models eventually used or reprocessed in the cycle. The remaining portion of
require refinement or processing using adaptive search pro- the product DHAP, which may be stable and/or high quality,
cedures or optimization techniques. There are many search stays as starch. The refined high-quality DHAP can be consid-
techniques, including exhaustive techniques (random ered the knowledge string that is conceptually equivalent to
walk), calculus-based techniques (gradient methods), par- the final form of the chromosome (solution or estimate) in a
tial knowledge techniques (hill climbing), knowledge-based GA. The Benson-Calvin cycle includes many different
techniques (production rule systems, heuristic methods), recombinations of molecules that are again conceptually
stochastic techniques (simulated annealing), and biologi- equivalent to the crossover of chromosomes in the GA. In the
cally inspired algorithms (genetic and immune system algo- PA, the crossover is regulated more strictly by the
rithms). In realistic systems, the interactions between the photosynthetic rules than the crossover operator of the GA.
parameters are not generally amenable to analytical treat- Fig. 1(b) shows the part of the photorespiratory system that
ment, and researchers must resort to appropriate search contains the Benson-Calvin cycle. The biochemical balance
techniques. Recently, genetic and immune system algo- between the Benson-Calvin cycle and photorespiration can
rithms have received considerable attention due to their be viewed as a natural implementation of an optimization
ability to locate very good solutions in extremely large procedure that maximizes the efficiency of sugar production
search spaces with reasonable computational effort [1], [2]. under the continuously variable energy of the sun. The PA uti-
It is interesting to note that if one looks carefully at plant lizes this unique natural optimization process, which is anal-
systems or phytosystems, many different biosystem-de- ogous to the mutation operator in the GA.
The PA uses rules governing the conversion of carbon where C = CO2 fixation rate, Vmax = maximum CO2 fixation
molecules from one substance to another in the Benson-Cal- rate, A = affinity of CO2, and L = light intensity.
vin cycle and photorespiration reactions. Fig. 2 illustrates the The parameters involved in (1) are all determinable, but
variation of recombination of carbon molecules appearing in their values can be assigned within a realistic range and need
the PA. For example, RuBP (rubilose-biphosphate) consists not be empirical. When executing the PA, the light intensity
of three sets of a 5-carbon-molecule substance that react with should be generated randomly. Alternatively, the actual light
a 3-carbon-dioxide molecule to produce five sets of a 3-car- intensity varying with time through a measuring system may
bon-molecule substance (GAP). The product of photosynthe- be used. Variation of the light intensity as a stimulant is effec-
sis, DHAP, as shown in Fig. 1(b), provides the knowledge tive in reducing the occurrence of local minima traps in the
strings of the algorithm. Optimization is attained when the search procedure. The CO2 concentration in the leaf varies
quality of a product no longer improves. The quality of a depending on the CO2 fixation rate. The ratio of O2 concentra-
Ribose-5-P
Sedoheptulose-7-P +
GAP Glycerate Glycolate Glycolate Glycerate
DHAP
(Benson-Calvin Cycle)
Xylulose-5-P Fructose1, 6-P
Erythrose-4-P
GAP
CO2
(a) (b)
Figure 2. (a) Recombination of carbon molecules in the B-C cycle and (b) photorespiration.
Atmosphere
timation problem. Calculus-based estimation techniques
such as the least-squares and conjugate gradient are avail-
Light Oxygen/CO2 able for solving finite element inverse problems, and GAs or
(Stimulation) Concentration CO2 other BDAs may also be used. In this section, the perfor-
Reservior
mance of the PA in solving a finite element inverse problem
is discussed. A cantilever beam system (5 unit length 10
unit length) is provided as a numerical example (see Fig. 5).
RuBP This finite element model consists of four linear triangular
Benson- Photo- elements. The elastic properties (Youngs modulus and
Calvin Respiration
Cycle Poissons ratio) of each element are assumed to differ.
Nodes 1 and 2 are fixed; the remaining nodes can be dis-
GAP GAP
GAP placed freely. A unit vertical load is applied at node 4, and
the displacements of nodes 3, 4, and 5 in the horizontal and
Fitness Discard vertical directions due to the unit load are observed. The PA
Copy Poor
Good is expected to search for the optimum values of the eight un-
DHAP known elastic moduli, which are the Youngs modulus and
Next
Iteration
(Knowledge Poissons ratio of each finite element.
String) The parameters used for this test were as follows: the af-
finity of CO2 was set to 10,000; the maximum light intensity
Figure 3. The photosynthetic algorithm (PA).
varied from 10,000 to 50,000 lux (an increase in light inten-
sity implies an increasing likelihood for activating
tion to CO2 concentration is evaluated to determine the ratio photorespiration); the maximum CO2 fixation rate was 30
of the calculation frequency of the Benson-Calvin cycle to -2 -1
mgm s ; and the maximum number of cycles for the
that of the photorespiration cycle. Benson-Calvin cycle and photorespiration were 30 and 45,
respectively, per search iteration.
Application of PA to In the PA procedure, the finite element evaluation ap-
Finite Element Inverse Analysis pears in the fitness check process of the knowledge strings
The finite element method is a powerful numerical proce- (DHAP). Each of the eight elastic moduli is coded in a 16-bit
dure for solving mathematical problems in engineering and DHAP molecule. After converting them to decimal numbers,
physics. The finite element method was also employed to the nodal displacements at nodes 3, 4, and 5 are calculated
devise a spatial NN in a control application [4]. Fig. 4 illus- using the estimated elastic moduli and the given boundary
trates a possible application of the finite element NN in a conditions. The observed displacement data are compared
plant growth control system. The learning algorithm of the with the calculated output data to determine the fitness of
finite element NN is an inverse solution of a problem de- the estimates. When a set of estimates with better fitness
scribed by Poissons equation. This finite element inverse than the previous data is obtained, the best data set is
problem is simply an optimization problem or parameter es- stored in the DHAP reservoir for the next comparison. After
5
occurs when the O2 concentration exceeds a certain value.
4
Photorespiration consumes starch in the inside layer
3
(strictly speaking, photorespiration consumes glycolate)
and O2 on the surface layer. CO2 is emitted from the surface 2
layer. In a minimum searching problem, each row represents 1
a bit string of a solution. Therefore, if a cell space is 8 8, the 0
10
80
150
220
290
360
430
500
570
640
710
780
850
920
990
inside layer has eight solutions that are expressed in 8-bit bi-
nary code. If the best solution is generated, the row of the
Iteration Number
surface layer that generated this solution is copied to the
next surface layer. Figure 6. Convergence of estimates using the PA.
Figure 7. Two-layered cellular automata. (a) Surface layer; (b) Figure 8. A multipeak function used for the minimum search test.
inside layer.
Control System
Decision System
New
Set Point Search for Optimal Identification
Set Points
Plants
Neural Networks
Control Device Genetic Algorithms
Highly
Concen-
trated Water Sensor
Nutrient e
Set Feedback Environ-
Solution Plant
Point + Controller ment
Mixing Tank
Hydroponic System
(a) (b)
. . . . . . . . . . . . . . . .
(c) (d)
Figure 10. Schematic diagrams of (a) a deep hydroponic system; (b) a control system consisting of a feedback control system and a
decision system; (c) an NN used in the decision system; (d) a GA used in the decision system.
200 250
TLL/SD
150
200
100 Estimated
50 150
0 5 10 15 20 Observed
(a) 100
20 50
0 5 10 15 20
102(E m2)
Light Intensity
15 Time [Days]
10
Figure 12. A comparison of the estimated response and the
5 observed response of the TLL/SD ratio.
0
0 5 10 15 20
An elitist strategy was used for selection (i.e., the best in-
dividual in a generation was carried through to the next
Nutrient Concentration
generation).
1.5
(mS/cm)
TLL/SD
tration obtained from the decision system were a slightly 100
higher level (1.4 mS/cm) in the first step, a markedly lower
Optimized Control
level (0.3) in the second step, a slightly higher level (1.6) in 50
Conventional Control
the third step, and the maximum level (2.0) in the fourth 0
step. In hydroponics, as mentioned above, since the roots of 0 5 10 15 20 25
plants are always in a suitable environment for the uptake of
nutrient ions, vegetative growth during the seedling stage is
easy to promote. Active vegetative growth during the seed-
Stem Diameter (cm)
140
Total Leaf Length
120
100
(cm)
80
60
40
310
20
0
0 5 10 15 20 25
Fitness
Pc = 0.2, Pm = 0.02
Nutrient Concentration
300
2.5
Pc = 0.2, Pm = 0.2
2
(mS/cm)
Figure 13. Evolution curves of the search for an optimal value Figure 14. Performance with optimized and conventional
under different crossover and mutation rates. control.
the TLL/SD ratio are 10-15% higher with the optimal control the surrounding soil area, detection of boundary lines be-
than with the conventional control. This result was con- tween crop and soil areas, and position identification using a
firmed using a t-test at the 5% level of significance. With the three-dimensional perspective view transformation are re-
optimal control, the reason for this result is that stem growth quired. Discrimination of crop area was performed using color
was significantly suppressed by the low nutrient concentra- transformation of an HSI (hue, saturation, and intensity) trans-
tion at the second step, whereas the leaf growth did not vary form [24]. Fig. 15 shows the result of the HSI transfer of cloudy
significantly in either case. Thus, the effectiveness of this and sunny day images taken at 12:00 p.m. Discrimination be-
control system was also confirmed experimentally. tween the crop canopy and soil area was successful using the
HSI transfer without the influence of climate and shooting
Intelligent Robots in Agriculture time. A least-squares method was used for boundary detec-
In Japan, agricultural robotic research is widely performed tion between crop row and soil area, and a three-dimensional
in the areas of autonomous navigation, harvesting, and perspective view transformation was used for position identi-
nursery production. Table 4 shows the number of presenta- fication. The results showed that the offset error was within
tions on robotic research at the annual meetings of the Japa- 0.02 m and the attitude angle error was within 0.5, which were
nese Society of Agricultural Machinery (JSAM) over the past sufficient for guidance in the field. This algorithm was applied
ten years. Research in autonomous navigation is being con- to a vision-guided tractor [25]. Fig. 16 shows the resulting path
ducted in universities, in government institutes, and by agri- trajectory and that the offset error was within 0.02 m at a
cultural machinery manufacturers. speed of 0.25 m/s. Work is continuing on this project to in-
In universities, due to financial limitations, most of the re- crease the speed, and work on vision guidance in the paddy
search has focused on methodologies such as navigation, field is in progress.
sensing, and the application of control theory. At research At Hokkaido University, an NN vehicle controller was de-
institutes and manufacturers, which have more financial re- signed in which the motion of a mobile agricultural robot was
sources, more practical systems were developed. Research specified as a nonlinear system with high learning ability [26].
in harvesting robots is performed mainly in universities, At Kyoto University, an automatic follow-up vehicle, using
though the technical levels are still beneath that of the two small head-feeding combines, is under development [27].
MAGARI robot, which was developed at CEMAGREF A human operator in the front vehicle controls it, and the fol-
(France) in the late 1980s. low-up vehicle is automatically controlled by computer. At
Nursery robots are developed
mainly by government research in-
stitutes and manufacturers, and
some of them are reaching the mar-
ket. In particular, grafted nurseries,
such as cucumber, watermelon, to-
mato, and eggplant, are widely used
in greenhouses, and various types
(a) (b)
of grafting robots are being devel-
oped by agricultural manufacturers Figure 15. Results of HIS transformation. (a) Cloudy day (12:00); (b) sunny day (12:00).
and other types of industries.
1.2 0.6
Autonomous Navigation 0.8
0.4
Offset (m)
Target Line
Offset (m)
Harvesting Robots mance is still low and the human operator is superior in cost
Developments of harvesting robots were conducted in the and reliability. Therefore, even in Japan, continued interest
United States, Europe, and Japan in the 1980s. In Japan, re- will depend on new technological innovations.
search on a harvesting robot for tomato was initiated in
1984 at Kyoto University, mainly by Fujiura and Ura, who re-
Nursery Production Robots
ceived an award from the Japanese Society of Agricultural
Nursery production robots such as transplanting and graft-
Machinery in 1991 [35], [36].
ing robots are widely commercialized. In Japan, the grafted
Since 1990, Okayama University has been leading the re-
nursery, which has strong tolerance against injury by con-
search in harvesting robots, such as for tomato, cucumber, tinuous cropping, is mainly used in the greenhouse. The ra-
grape, and strawberry crops [37]-[40]. In these robots, spec- tio of each crop in the grafted nursery is 70% cucumber, 30%
tral reflectance was used for the discrimination of fruit from tomato, 50% eggplant, and 90% watermelon [42]. Although
leaf and stem. Fig. 18 shows the spectral reflectance of cucum- there is some variety in grafting methods, for the most part,
ber fruit and leaf. The reflectance of the fruit is higher than that the machines put together a scion and a rootstock using a
of leaf and stem in the near-infrared band; therefore, band-pass clip, pin, and special bond adhesive method. Proper treat-
filters of 550 and 850 nm were used with a monochrome cam- ment after grafting is a necessity, typically requiring a dark
era for the recognition of fruit. In this research, the cultivation chamber with high humidity; thus, an increase in the suc-
types were also improved to discriminate the fruit from other cess rate is required, to over 90%. Grafting machines oper-
parts. Fig. 19 shows a cucumber-harvesting robot; the stem of ate on the plants one by one or in one row at a time. The
the cucumber was set inclined so that the cucumbers were performance of the grafting machine is about 800-1,000
separated from leaves and stems. A redundant manipulator is plants/hour, which is ten times that of human operators. A
used for the harvesting to avoid obstacles such as stems or grafting robot is shown in Fig. 20.
leaves. Robots for harvesting leaf vegetables such as cabbage Plug-type seedlings are transplanted from a small tray, in
are also being developed [41]. which seedlings are planted at higher density, to a larger
Little research in harvesting robots is currently under tray, and some plants are transplanted into separate pots. A
way in Europe and the United States because robotic perfor- transplanting machine is used for this operation whose per-
formance is approximately 6,000 plants/hour [43]. Sensing of image processing is increasing, a robotic system combin-
of the stem is critical in this operation, and photo sensors or ing machine vision and RTKGPS appears to hold the most
capacitance sensors are mainly used. Several types of these promise for the future. The nursery production robot, trans-
machines are already on the market. planting robot, and grafting robot are already in the market-
Although research in tissue culture robots was per- place, and many new technologies and innovations are
formed in the early 1990s in the United States, Europe, and being developed in this area.
Japan, the market for this machine was too small, and most
of this research has been discontinued. Acknowledgment
The authors wish to express their appreciation to Prof. N.
Conclusions Sigrimis for the invitation to write this article.
In this article, we have discussed the application of intelli-
gent approaches to optimization problems in agriculture in
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