Development of a vision-based automatic vaccine injection system for flatfish |
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| Institution: | 1. Fisheries System Engineering Division, National Fisheries Research & Development Institute, Busan 619-705, Republic of Korea;2. Pathology Division, National Fisheries Research & Development Institute, Busan 619-705, Republic of Korea;3. Department of Electrical Engineering, Pusan National University, Jangjeon, Geumjeong, Busan 609-735, Republic of Korea;1. Ultralytics LLC, Arlington, VA 22203, USA;2. Iowa State University, Department of Physics and Astronomy, 12 Physics Hall, Ames, IA 50011, USA;3. Research Directorate, National Geospatial-Intelligence Agency, 7500 GEOINT Dr., Springfield, VA 22150, USA;4. Department of Geography and Geoinformation Science, George Mason University, Fairfax, VA 22030, USA;5. Incom, Inc., 294 Southbridge Road, Charlton, MA 01507, USA;1. Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, British Columbia, Canada;2. Department of Urological Sciences, University of British Columbia, Vancouver, British Columbia, Canada;3. University of Melbourne, Melbourne, Australia;1. Key Laboratory of Tropical Medicinal Plant Chemistry of Ministry of Education, Hainan Normal University, Haikou 571158, PR China;2. Key Laboratory of Southern Medicinal Plants Resources of Haikou City, Hainan Normal University, Haikou 571158, PR China;3. Key Laboratory of Animal Models and Human Diseases Mechanisms of Chinese Academy of Sciences & Yunnan Province, Kunming Institute of Zoology, Chinese Academy of Sciences, Kunming 650223, PR China;1. State Key Laboratory of Medicinal Chemical Biology, College of Pharmacy, and Tianjin Key Laboratory of Molecular Drug Research, Nankai University, Tianjin 300071, People’s Republic of China;2. College of Chemistry and Environmental Sciences, Laboratory of Xinjiang Native Medicinal and Edible Plant Resources Chemistry, Kashgar University, Kashgar 844000, People’s Republic of China;3. School of Medicine, Nankai University, Tianjin 300071, People’s Republic of China;4. Department of Biosystems and Biotechnology, College of Life Sciences and Biotechnology, Korea University, Seoul 02841, Republic of Korea;5. Department of Medical Biochemistry, School of Pharmaceutical Sciences, University of Shizuoka, Shizuoka, Japan |
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| Abstract: | Traditionally, flatfish vaccination has been performed manually a laborious and time-consuming, procedure with low accuracy. The handling requirement also makes it prone to contamination. With a view to eliminating these drawbacks, we designed an automatic vaccine system in which the injection is delivered by a Cartesian coordinate robot (also called a linear robot) guided by a vision system. The automatic vaccine injection system is driven by an injection site location algorithm that uses a template-matching technique. The proposed algorithm was designed to derive the time and possible angles of injection by comparing a search area with a template. The algorithm is able to vaccinate various sizes of flatfish, even when they are loaded at different angles. We validated the performance of the proposed algorithm by analyzing the injection error according to randomly generated loading angles. The proposed algorithm allowed an injection rate of 2000 per hour on average. Vaccination of flatfish with a body length of up to 500 mm was possible, even when the orientation of the fish was random. The injection errors in various sizes of flatfish were very small, ranging from 0 to 0.6 mm. |
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