Yael Edan

Yael Edan
Ben-Gurion University of the Negev | bgu · Department of Industrial Engineering and Management

PhD

About

231
Publications
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Publications

Publications (231)
Article
This paper focuses on how the autonomy level of an assistive robot that offers support for older adults in a daily task and its feedback affect the interaction. Identifying the level of automation (LOA) that prioritizes older adults’ preferences while avoiding passiveness and sedentariness is challenging. The feedback mode should match the cognitiv...
Preprint
Full-text available
This study demonstrates how anticipated and actual interactions shape the QE of SARs among older adults. The study consisted of two parts: an online survey to explore the anticipated interaction through video viewing of a SAR and an acceptance study where older adults interacted with the robot. Both parts of this study were completed with the assis...
Preprint
Full-text available
Physical activity is important for health and wellbeing, but only few fulfill the World Health Organization's criteria for physical activity. The development of a robotic exercise trainer can assist in increasing training accessibility and motivation. The acceptance and trust of users are crucial for the successful implementation of such an assisti...
Chapter
Feed remains a major cost in livestock farming. Accurate measurement of feed intake by individual animals offers the possibility of significant savings and more efficient production. The use of advanced low-cost cameras and innovative computer vision algorithms is changing feed-intake monitoring system design. With the help of these technologies, i...
Article
Full-text available
Agricultural industry is facing a serious threat from plant diseases that cause production and economic losses. Early information on disease development can improve disease control using suitable management strategies. This study sought to detect downy mildew (Peronospora) on grapevine (Vitis vinifera) leaves at early stages of development using th...
Article
This paper describes a sheep biometric identification system based on facial images. A machine vision system and deep learning model were developed and applied for animal identification. The system included two 8-MegaPixels cameras installed in a controlled water trough adapted to work with NVIDIA Jetson Nano-embedded system-on-module (SoM). Data f...
Article
Full-text available
This paper addresses the formulation of an individual fruit harvest decision as a nonlinear programming problem to maximize profit, while considering selective harvesting based on fruit maturity. A model for the operational level decision was developed and includes four features: time window constraints, resource limitations, yield perishability, a...
Article
Biometric identification provides an important tool for precision livestock farming. This study investigates the effect of weight gain and sheep maturation on recognition performance. Sheep facial identification was implemented using two convolutional neural network (CNN) called Faster R-CNN, and ResNet50V2, equipped with the state-of-art Additive...
Article
Data on individual feed intake of dairy cows, an important variable for farm management, are currently unavailable in commercial dairies. A real-time machine vision system including models that are able to adapt to multiple types of feed was developed to predict individual feed intake of dairy cows. Using a Red-Green-Blue-Depth (RGBD) camera, image...
Article
Full-text available
p>This paper presents a rule-based methodology for dynamic viewpoint selection for maturity classification of red and yellow sweet peppers. The method makes an online decision to capture an additional next-best viewpoint based on an economic analysis that considers potential misclassification and robot operational costs. The next-best viewpoint is...
Article
This study examines the effect of a COVID-19 Officer Robot (COR) on passersby compliance and the effects of its minor design manipulations on human–robot interaction. A robotic application was developed to ensure participants entering a public building comply with COVID restrictions of a green pass and wearing a face mask. The participants’ attitud...
Preprint
This study examines the effect of a COVID-19 Officer Robot (COR) on passersby compliance and the effects of its minor design manipulations on human-robot interaction. A robotic application was developed to ensure participants entering a public building comply with COVID restrictions of a green pass and wearing a face mask. The participants' attitud...
Chapter
Different feedback modalities while using a mobile robot in a telecare task were compared. An experimental setup in which caregivers teleoperated a robot to perform several tasks remotely, outside the immediate environment of a patient, while they simultaneously managed other secondary tasks was designed. The robot provided feedback related to stat...
Preprint
We studied politeness in human-robot interaction based on Lakoff’s politeness theory. In a series of eight studies, we manipulated three different levels of politeness of non-humanoid robots and evaluated their effects. A table-setting task was developed for two different types of robots (a robotic manipulator and a mobile robot). The studies inclu...
Article
Full-text available
It is important to encourage older adults to remain active when interacting with assistive robots. This study proposes a schematic model for integrating levels of automation (LOAs) and transparency (LoTs) in assistive robots to match the preferences and expectations of older adults. Metrics to evaluate LOA and LoT design combinations are defined. W...
Article
Full-text available
This study explored how levels of automation (LOA) influence human robot collaboration when operating at different levels of workload. Two LOA modes were designed, implemented, and evaluated in an experimental collaborative assembly task setup for four levels of workload composed of a secondary task and task complexity. A user study conducted invol...
Article
Full-text available
Physical exercise has many physical, psychological and social health benefits leading to improved life quality. This paper presents a robotic system developed as a personal coach for older adults aiming to motivate older adults to participate in physical activities. The robot instructs the participants, demonstrates the exercises and provides real-...
Preprint
Full-text available
Caregivers in eldercare can benefit from telepresence robots that allow them to perform a variety of tasks remotely. In order for such robots to be operated effectively and efficiently by non-technical users, it is important to examine if and how the robotic system's level of automation (LOA) impacts their performance. The objective of this work wa...
Conference Paper
Frequent monitoring of the irrigation system is an important task for efficient farm management. However, since it is costly and labor-intensive it is not implemented on a regular basis. Irrigation malfunctions are usually associated with improper maintenance or operation of the irrigation system and appear as leaks and clogs in irrigation lines. T...
Article
Full-text available
Physical and cognitive training can maintain and improve older adults' independence and quality of life. Given the demographic growth of the older adult population and the shortage of caregivers, there is a need for personal trainers for physical and cognitive activities. This study suggests that social robots can satisfy this demand and presents t...
Article
Full-text available
Technology domestication in old age may promote autonomy and support aging in place, but most previous research did not follow the process of domestication over time and in real life conditions. To gain deeper understanding of technology domestication in later life, we simultaneously explored uses, outcomes and constraints in real life conditions i...
Preprint
Full-text available
This study provides user-studies aimed at exploring factors influencing the interaction between older adults and a robotic table setting assistant. The in-fluence of the level of automation (LOA) and level of transparency (LOT) on the quality of the interaction was considered. Results revealed that the interaction effect of LOA and LOT significantl...
Preprint
Full-text available
Feedback design is an important aspect of person-following robots for older adults. This paper presents a user-centred design approach to ensure the design is focused on the needs and preferences of the users. A sequence of user studies with a total of 35 older adults (aged 62 years and older) was conducted to explore their preferences regarding fe...
Preprint
Full-text available
Aiming to explore the impact of politeness on Human robot interaction, this study tested varying levels of politeness in a human robot collaborative table setting task. Polite behaviour was designed based on the politeness rules of Lakoff. A graphical user interface was developed for the interaction with the robot offering three levels of politenes...
Preprint
Full-text available
The interaction of Older adults with robots requires effective feedback to keep them aware of the state of the interaction for optimum interaction quality. This study examines the effect of different feedback modalities in a table setting robot assistant for elder care. Two different feedback modalities (visual and auditory) and their combination w...
Article
Mobile robotic telepresence (MRP) systems feature a video conferencing interface on a mobile robot, enabling pilot users to remotely control the robot while communicating with a local user. For older adults in an assisted living facility, the operators are mostly caregivers or remote family members. This small-sample usability testing aimed to eval...
Article
Generation of yield maps enables making agronomic decisions related to resource management and marketing, leading to improved production and breeding processes. Estimating melon yield production before harvest at single-melon resolution is a labor-intensive task, requiring a detailed account of accumulated yield and general yield distribution, as w...
Preprint
Full-text available
Detecting objects in agricultural environments is a fundamental capability needed for automating agricultural tasks. This paper presents the adaption stages of a state-of-the-art deep learning object detection algorithm for a tomato flower detection system in a greenhouse environment. Algorithmic changes and hyper-parameters adjustments in order to...
Article
Full-text available
The effect of camera viewpoint and fruit orientation on the performance of a sweet pepper maturity level classification algorithm was evaluated. Image datasets of sweet peppers harvested from a commercial greenhouse were collected using two different methods, resulting in 789 RGB—Red Green Blue (images acquired in a photocell) and 417 RGB-D—Red Gre...
Article
This paper presents maturity classification algorithms developed for small datasets and methods to deal with the highly variable and continuously changing agricultural environment. The algorithms were applied to the maturity classification of red and yellow sweet peppers, with data acquired from two different datasets, including 296 images. The mat...
Article
A methodology for planning the sequence of tasks for a harvesting robot is presented. The fruit targets are situated at unknown locations and must be detected by the robot through a sequence of sensing tasks. Once the targets are detected, the robot must execute a harvest action at each target location. The traveling salesman paradigm (TSP) is used...
Article
This study entailed the design and implementation of a computer vision system for cow individual feed intake measurement, based on deep Convolutional Neural Networks (CNNs) models, and a low-cost RGB-D (Red, Green, Blue, Depth) camera. Individual feed intake of dairy cows is an important variable currently unavailable in commercial dairies. An RGB-...
Article
Full-text available
Feedback design is an important aspect in person-following robots for older adults. This paper presents a user-centered design approach to ensure the design is focused on users’ needs and preferences. A sequence of user studies with a total of 35 older adults (aged 62 years and older) was conducted to explore their preferences regarding feedback pa...
Article
Current harvesting robots have limited performance, due to the unstructured and dynamic nature of both the target crops and their environment. Efforts to date focus on improving sensing and robotic systems. This paper presents a parallel approach, to ‘design’ the crop and its environment to best fit the robot, similar to robotic integration in indu...
Article
Full-text available
Current practice for vine yield estimation is based on RGB cameras and has limited performance. In this paper we present a method for outdoor vine yield estimation using a consumer grade RGB-D camera mounted on a mobile robotic platform. An algorithm for automatic grape cluster size estimation using depth information is evaluated both in controlled...
Article
Full-text available
This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB‐D camera, high‐end computer with graphics processing unit, programmable logic controllers, other el...
Chapter
This chapter presents the analysis methods and the performance measures applied in this book. The described methods are evaluated by the use of extended examples in Chaps. 6 and 8. The evaluations include task attendance analyses that are conducted for both a single-layer and a dual-layer system to examine the effect and the performance of the desc...
Chapter
This chapter describes three examples of multi-agent systems: a multi-sensory security system for supply networks, a multi-agent approach to solve the travelling salesman problem and multiple police officers allocated to crime incidents in law enforcement problem. These examples are evaluated by task allocation algorithms to demonstrate the methods...
Chapter
This chapter describes and analyzes the ‘Availability module’ of the task allocation system (Fig. 9.1). This chapter presents the reliability design and availability analysis of the system to further optimize system performance in case of sensor failure and to ensure fault tolerant allocation system performance. Availability optimization of the sen...
Chapter
This chapter describes an example of a multi-sensory security system for supply networks with disturbances. This example is evaluated by the use of a dual-layer system to illustrate the methods described in Chap. 7.
Chapter
This chapter describes and analyzes analytically the performance of HDBA in ‘Layer 1’ and the performances of TAPs in ‘Layer 2’ of the task allocation system (Fig. 10.1). An analysis of a simplified system consisting of two sensors and two tasks is presented. This analysis was conducted to reveal the basic operating mechanism of HDBA and to analyze...
Chapter
This chapter defines the multi–sensor task allocation in a single-layer system. The allocation problem is described and algorithms for multi-agent and multi-sensor task allocation are presented. Figure 5.1 illustrates the Layer 1 architecture of the system.
Chapter
Multi-agent allocation has become a popular area of research and has advanced significantly in recent years in many applications such as multi-robot task allocation, path planning, control of unmanned aerial vehicles, communication networks, conflict and error prevention, and formation of mobile robots [1, 12, 51, 55, 61]. Multi-agent task allocati...
Chapter
The task allocation of a distributed heterogeneous multi-sensor system in dynamic and decentralized environments that have multiple tasks, with unknown a priori priorities that arrive at unknown locations at unknown times is a major challenge.
Chapter
This chapter presents an analysis of algorithms and protocols for sensor allocation in a dual-layer system. The dual-layer system framework is described, task administration protocols are presented, and the system with TAPs and HDBA that is able to handle the scenarios of deception, overloading, and tampering is defined in the current chapter. Figu...
Chapter
There are plentiful applications of multi-sensor task allocation in practice. The previous chapters of this book specified, formulated, described and illustrated the impacts of optimal multi-sensor task allocation on the quality and performance of supply networks and law enforcement systems. Emerging applications and technologies of the future will...
Book
Today’s real-world problems and applications in sensory systems and target detection require efficient, comprehensive and fault-tolerant multi-sensor allocation. This book presents the theory and applications of novel methods developed for such sophisticated systems. It discusses the advances in multi-agent systems and AI along with collaborative c...
Chapter
This study provides user-studies aimed at exploring factors influencing the interaction between older adults and a robotic table setting assistant. The influence of level of automation (LOA) and level of transparency (LOT) on the quality of the interaction was considered. Results revealed that the interaction effect of LOA and LOT significantly inf...
Conference Paper
Full-text available
RGB-D cameras play an increasingly important role in localization and autonomous navigation of mobile robots. Reasonably priced commercial RGB-D cameras have recently been developed for operation in greenhouse and outdoor conditions. They can be employed for different agricultural and horticultural operations such as harvesting, weeding, pruning an...
Conference Paper
Full-text available
Individual feed intake of dairy cows is an important, currently unavailable, variable in commercial dairies. Earlier systems developed were either costly or unreliable enough for commercial farms. This research developed a low-cost individual feed intake system using RGB-D cameras and deep learning algorithm. Depth and colour images are produced fr...
Article
Full-text available
Robotic harvesters that use visual servoing must choose the best direction from which to approach the fruit to minimize occlusion and avoid obstacles that might interfere with the detection along the approach. This work proposes different approach strategies, compares them in terms of cycle times, and presents a failure analysis methodology of the...
Article
Full-text available
This paper presents an automatic parameter tuning procedure specially developed for a dynamic adaptive thresholding algorithm for fruit detection. One of the major algorithm strengths is its high detection performances using a small set of training images. The algorithm enables robust detection in highly-variable lighting conditions. The image is d...
Conference Paper
To improve the design of a person-following robot, this preliminary study evaluates the influence of user tasks on human preferences of the robot's following angle and human perceptions of the robot's behavior. 32 participants were followed by a robot at three different following angles twice, once with an auditory task and once with a visual task,...
Article
Full-text available
Current harvesting robots are limited by low detection rates due to the unstructured and dynamic nature of both the objects and the environment. State-of-the-art algorithms include color- and texture-based detection, which are highly sensitive to the illumination conditions. Deep learning algorithms promise robustness at the cost of significant com...
Article
Statistical models for fruit detectability were developed to provide insights into preferable variable configurations for better robotic harvesting performance. The methodology includes several steps: definition of controllable and measurable variables, data acquisition protocol design, data processing, definition of performance measures and stati...
Article
Full-text available
With the aging of the population worldwide, humanoid robots are being used with an older population, e.g., stroke patients and people with dementia. There is a growing body of knowledge on how people interact with robots, but limited information on the difference between young and old adults in their preferences when interacting with humanoid robot...
Data
Fig. S1: Image detection flow chart. Left – Offline flow chart. Right – Online flow chart. Fig. S2: User interface for offline selection of thresholds.
Thesis
Full-text available
This thesis focuses on the problem of recognizing objects in agricultural environments through computer vision. This problem has been studied for many decades. However, few commercialized agricultural applications use computer vision. A major hindrance to commercialization is the relatively low levels of accuracy caused by the unstructured, highly...
Article
Full-text available
Multi-sensor systems can play an important role in monitoring tasks and detecting targets. However, real-time allocation of heterogeneous sensors to dynamic targets/tasks that are unknown a priori in their locations and priorities is a challenge. This paper presents a Modified Distributed Bees Algorithm (MDBA) that is developed to allocate stationa...
Conference Paper
Full-text available
An autonomous sweet pepper harvesting robot must perform several tasks to successfully harvest a fruit. Due to the highly unstructured environment in which the robot operates and the presence of occlusions, the current challenges are to improve the detection rate and lower the risk of losing sight of the fruit while approaching the fruit for harves...
Article
Spraying pesticides is a key element of agriculture worldwide, since 30% to 35% of crop losses can be prevented when harmful insects and diseases are eliminated by applying pesticides. Site-specific spraying can help reduce pesticide application; however, target detection is limited due to the complex agricultural environment. This paper presents a...
Article
Full-text available
This article presents the design aspects and development processes to transform a general purpose mobile robotic platform into a semi-autonomous agricultural robot sprayer focusing on user interfaces for teleoperation. The hardware and the software modules that must be installed onto the system are described, with particular emphasis on human–robot...
Article
Teleoperation of an agricultural robotic system requires effective and efficient human-robot interaction. This paper investigates the usability of different interaction modes for agricultural robot teleoperation. Specifically, we examined the overall influence of two types of output devices (PC screen, head mounted display), two types of peripheral...
Article
This paper presents a device for accurate pesticide spraying capable of dealing with amorphous shapes and variable-sized targets. The device includes a single spray nozzle with an automatically adjustable spraying angle, color camera, and distance sensors, all mounted on a pan tilt unit. The site-specific spraying device aims to spray specific targ...
Article
Full-text available
This research proposes a multi-sensor task allocation framework for security of supply networks aimed to maximise the number of correctly detected and reported security events (defined as tasks). The framework includes a double layer system consisting of a process layer and a monitoring layer. The process layer allocates sensors to tasks using an a...