Gizmo Project

Technion - Faculty of Electrical Engineering

Project’s Description

Contact us:

Amit Iosefsohn

E-mail: amitiosefsohn@gmail.com

 

Yuval Vered

E-mail: vered.yuval@gmail.com

 
Text Box: Project’s Materials Text Box: First Part Presentation Second Part Presentation First Part Movie Second Part Movie Project’s Book Project’s Poster Source Code Hardware Drivers and Manuals Text Box: Project’s Goal The user selects an untrimmed plant, and places it in the system’s pot. “Gizmo” system creates a 3D model of the plant, and offers the user a variety of models for trimming the plant (such as sphere, heart etc.). The user selects a model, and “Gizmo” trims the plant accordingly. Hardware Architecture System is comprised of: PrimeSense (Kinect) - for acquiring depth images. Robotic arm - Mitsubishi RV-E3J with Secateurs payload for plan trimming. Servo unit - PTU-46-17 for the plant’s pot mounting rotation. PC - for H.W. controller. Implemented in Matlab. Software Architecture Calibration - calibrating robotic arm and Kinect. 3D model generator - Generate plant 3D model using Visual Hull algorithm. Optimal Reference Selector - Finds optimal model parameters using Gradient Descent. Cut Modules - Generate cutting orders for the robotic arm by creating triangles from the reference model using Marching Cubes algorithm.