{"id":"https://openalex.org/W4378191624","doi":"https://doi.org/10.1109/icarsc58346.2023.10129554","title":"Design and Control Architecture of a Triple 3 DoF SCARA Manipulator for Tomato Harvesting","display_name":"Design and Control Architecture of a Triple 3 DoF SCARA Manipulator for Tomato Harvesting","publication_year":2023,"publication_date":"2023-04-26","ids":{"openalex":"https://openalex.org/W4378191624","doi":"https://doi.org/10.1109/icarsc58346.2023.10129554"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc58346.2023.10129554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc58346.2023.10129554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041361157","display_name":"V\u00edtor Tinoco","orcid":"https://orcid.org/0000-0001-5307-0318"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"V\u00edtor Tinoco","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023258418","display_name":"Manuel F. Silva","orcid":"https://orcid.org/0000-0002-0593-2865"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I83863532","display_name":"Polytechnic Institute of Porto","ror":"https://ror.org/04988re48","country_code":"PT","type":"education","lineage":["https://openalex.org/I83863532"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Manuel F. Silva","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal","ISEP/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"ISEP/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I83863532"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050279632","display_name":"Filipe Neves dos Santos","orcid":"https://orcid.org/0000-0002-8486-6113"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Filipe N. Santos","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090386967","display_name":"Sandro Augusto Magalh\u00e3es","orcid":"https://orcid.org/0000-0002-3095-197X"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Sandro Magalh\u00e3es","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal","FEUP - Faculty of Engineering, University of Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060198162","display_name":"Raul Morais","orcid":"https://orcid.org/0000-0003-2440-9153"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Raul Morais","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4655,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85657105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"87","last_page":"92"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9142000079154968,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.6551998853683472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5919204354286194},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.5391457676887512},{"id":"https://openalex.org/keywords/scrolling","display_name":"Scrolling","score":0.5168610215187073},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48693859577178955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47289884090423584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4228639602661133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4078821539878845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35939621925354004},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3534957766532898},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33922433853149414},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2168920636177063}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.6551998853683472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5919204354286194},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.5391457676887512},{"id":"https://openalex.org/C59046462","wikidata":"https://www.wikidata.org/wiki/Q181319","display_name":"Scrolling","level":2,"score":0.5168610215187073},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48693859577178955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47289884090423584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4228639602661133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4078821539878845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35939621925354004},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3534957766532898},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33922433853149414},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2168920636177063},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc58346.2023.10129554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc58346.2023.10129554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2039680168","https://openalex.org/W2064245748","https://openalex.org/W2562021215","https://openalex.org/W2596508590","https://openalex.org/W2891838831","https://openalex.org/W2958651963","https://openalex.org/W3029715171","https://openalex.org/W3096445141","https://openalex.org/W3128907628","https://openalex.org/W3136130522","https://openalex.org/W3161203359","https://openalex.org/W4214485715","https://openalex.org/W4236881204","https://openalex.org/W4250439049","https://openalex.org/W6735137209"],"related_works":["https://openalex.org/W2966255935","https://openalex.org/W2001523430","https://openalex.org/W152605265","https://openalex.org/W30362721","https://openalex.org/W2010227105","https://openalex.org/W2590748657","https://openalex.org/W3095489175","https://openalex.org/W4302011980","https://openalex.org/W2573045761","https://openalex.org/W2016614363"],"abstract_inverted_index":{"The":[0,64],"increasing":[1],"world":[2],"population,":[3],"growing":[4],"need":[5],"for":[6,61,92,107,114,206],"agricultural":[7,44],"products,":[8],"and":[9,33,82,86,110,134],"labour":[10],"shortages":[11],"have":[12],"driven":[13],"the":[14,47,102,130,155,158,161,173,177,182,192,207],"growth":[15],"of":[16,28,49,127,138,160,176],"robotics":[17],"in":[18,194],"agriculture.":[19],"Tasks":[20],"such":[21],"as":[22],"fruit":[23,93],"harvesting":[24],"require":[25],"extensive":[26],"hours":[27],"work":[29],"during":[30],"harvest":[31],"periods":[32],"can":[34],"be":[35],"physically":[36],"exhausting.":[37],"Autonomous":[38],"robots":[39],"bring":[40],"more":[41],"efficiency":[42],"to":[43,71,100,140,186,191],"tasks":[45],"with":[46,75,104,129,172],"possibility":[48],"working":[50],"continuously.":[51],"This":[52],"paper":[53],"proposes":[54],"a":[55,67,84,87,111,149,168,180],"stackable":[56],"3":[57,197],"DoF":[58],"SCARA":[59],"manipulator":[60,65,183],"tomato":[62,150,162],"harvesting.":[63],"uses":[66,83],"custom":[68],"electronic":[69],"circuit":[70],"control":[72,101],"DC":[73],"motors":[74],"an":[76,122,141,200],"endless":[77],"gear":[78],"at":[79],"each":[80],"joint":[81],"camera":[85,170],"Tensor":[88],"Processing":[89],"Unit":[90],"(TPU)":[91],"detection.":[94],"Cascaded":[95],"PID":[96],"controllers":[97],"are":[98,119],"used":[99],"joints":[103],"magnetic":[105],"encoders":[106],"rotational":[108],"feedback,":[109],"time-of-flight":[112],"sensor":[113],"prismatic":[115,174],"movement":[116,175],"feedback.":[117],"Tomatoes":[118],"detected":[120],"using":[121,163],"algorithm":[123],"that":[124,144],"finds":[125],"regions":[126,137],"interest":[128,139],"red":[131],"colour":[132],"present":[133],"sends":[135],"these":[136],"image":[142],"classifier":[143],"evaluates":[145],"whether":[146],"or":[147],"not":[148],"is":[151],"present.":[152],"With":[153],"this,":[154],"system":[156],"calculates":[157],"position":[159,187,205],"stereo":[164],"vision":[165],"obtained":[166],"from":[167],"monocular":[169],"combined":[171],"manipulator.":[178],"As":[179],"result,":[181],"was":[184],"able":[185],"itself":[188],"very":[189],"close":[190],"target":[193],"less":[195],"than":[196],"seconds,":[198],"where":[199],"end-effector":[201],"could":[202],"adjust":[203],"its":[204],"picking.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}