For the modules of the advanced system more detailed information will become available later in the project and after the evaluation of the results of the basic system. Different test scenarios for both laboratory and greenhouse conditions are defined to be able to obtain quantitative data of the performance of individual modules and also of the integrated system. These measures include next to others the overall harvest success rate, fruit damage rate and cycle time. For the integrated system performance indicators were selected based on measures known from the predecessor project Crops. Modules to be tested can be categorized in hardware (trolley, manipulator, end-effector, cameras, illumination, depth sensor) and software (GUI, state machine, motion planning, fruit detection, ripeness determination, obstacle detection). Further on performance indicators are specified for all hard- and software modules. The laboratory setup is created to be more controlled and has less variance than a real greenhouse. This includes imitation sweet-pepper plant parts and an indoor rail system. The laboratory environment and conditions are created to mimic the end-user greenhouse. Testing environments and conditions for laboratory test as well as for greenhouse experiments are defined and described. Deliverable 7.1 reports the lay-out and the objectives of the experimental setups for individual module testing and integrated system testing of the sweet-pepper harvesting robot.
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