Page Comparison

Supplies

1. Batteries

   1. 1x Camera Battery

   2. 1x Flash Battery

   3. 4x Amiga Batteries with 4x Keys

2. Camera with Attached Lens (handle with care)

3. Flash

4. USB-A to USB-C Cable

5. Measuring Tape

6. Color Checker

7. Stool

1. Setup Bench Bot and Camera

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Attach the camera and lens if separated.

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Replace the battery in the camera if low. I have found that

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Attach camera to the flash bracket. It is held in place by a screw and two washers. Try to align camera lens to parallel with the ground as best you can, and tighten as much as is reasonable. If the camera is too loose, it does not have a risk of falling but the BBot’s movement can jostle it and cause it to be pointed at an angle, which can lead to the amiga being in frame, pot edges being cut-off, etc. if this was not anticipated.

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1. Camera/Flash Setup

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If there is a risk of rain or if it is a hot, sunny day, it is advisable to put a cover over the camera.

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Place the four amiga batteries into the BBot. There is a battery slot above each wheel that they will slide into. Make sure it slides into the bench bot’s internal track, it can be easy to slide one of the sides on top the track instead of in it.

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2. BBot Setup

• Slides into internal track as it is easy to miss.

• When turning from “Unlocked” to “Off”,

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• gentle pressure must be applied towards the battery.

• A peg will push out of the underside of the battery

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• , entering a hole in the

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• metal panel of the Amiga.

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• If not unlocking, the battery

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• is likely misaligned. Try reinserting the battery.

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• Boot up will commence.

• **Reduce motor speed to 4 bars (

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• value of 80)

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• **

• Adverse conditions could occur if left at default setting.

• When choosing a starting place, make sure the camera is above the first row.

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• Pausing the BBot during batch collection to adjust alignment is okay.

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1. The light on the joystick should will be orange or blue. When this is on, the BBot will be able to can control itself (so the Y-axis is now controlled), but the joystick will be unresponsive.

2. To make further BBot adjustments with use the joystick, you may turn this off when needed. Make sure to turn .

3. Turn back on after making your adjustments, however, because if !

4. If BBot is started imaging with this “off,” then it will not be unable able to move forward and will , continuously take taking images of the same row.

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3.

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Weed Potting Area

Discard non-target weeds or plants with overlapping plants leaves by pulling themuprooting, shaking off their soil, and placing them into a bucket or bag. Do not leave removed weeds or plants on pots or on the landscape fabric. This is to avoid detecting them in the images that we collect Anything green will be detected, therefore everything that should not be imaged must be removed.

1. Remove overlapping target weeds in all pots

2. Remove non-target weeds from pots and from the background arealandscape fabric

   1. Check inside the pots for non-target weeds

   2. Check and remove weeds growing from underneath the pots

   3. Check for and remove weeds growing on the landscape fabric

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4. Check Camera and Flash Settings

Make sure that the camera settings match what is listed in the camera settings table

1. Check aperture is correct

2. Check that the focus is correct

3. Check the flash power

4. Check height of the lens from the potting soil surface using a measuring tape

5. Place the color checker in frame of the starting position

6. Open the BBot app on the BBot interface and press the “take image” button to take a test image.

4.1 Camera and Flash Settings

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Lens height above potting soil surface

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Aperture

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Focus

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Flash Power

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1.66 m

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Table4. Check and Adjust BBot App Settings

1. To avoid the Amiga/BBot frame being in the images, we start the camera at a position further in the X-axis, away from its right/leftmost position, which I am referring to as “0”. To get the camera into proper position, move the camera to the “0” position so that it is at its standard starting place, and then move it whatever distance your site species in the table below (the “x-axis starting” column).

2. If you are changing your species map (or need to replace it, as sometimes it will clear itself when restarting the app or BBot), use the “Species Map” tab to build it. Use the information in the table corresponding to your site to build the species map. At the moment, what you select for the “species” itself does not matter (we do not use that metadata and there are limited options). Just make sure to select a species from the list. If you leave it as “none”, BBot will not take images there. After making your settings, click add rows and your map will appear on the right side of the screen. If it looks good to you, then press “Save.” If you do not press save, then the map will not appear in the “Traversal” tab and you will have to rebuild it.

BenchBot App Programmed

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Settings Table

5. Begin the Batch

1. Start BBot collection via the “run” button on the “Traversal” tab

2. Stick around for at least the first two rows to ensure everything is working properly. If the BBot is not rolling forward after a row, then the auto button on the Amiga interface is likely in the wrong state (the joystick light should be blue or orange, not white).

3. Move the color checker, once it will no longer be in anymore images, to a new spot ahead of the BBot. I personally put it at the start of every species. It is good to have the color checker in a batch several times, as lighting conditions do change throughout the day.

4. Every now and then, when BBot reaches the ends of a row, check these outermost photos to make sure the pot is fully in the frame and no Amiga is in frame. If either of these happened, then your camera may not be parallel to the ground, or you may need to adjust BBot’s position with the joystick.

5. Depending on site, you may have to replace the flash battery every once and a while.

   1. At MD, our BBot does not charge the flash as it goes along, so the battery is not gaining any charge. I find that the Battery lasts about 2.5 species normally, so I like to change it out at the end of the second species and the end of the fourth species. Make sure to pause the BBot traversal before doing so, and also when you slip the new battery in, turn the flash on. The flash does not automatically turn on (even if it was still on when your removed the old battery), so you will have to manually turn it on again. Always have your flash batteries charging in case you are ready at any moment.

6. Packing-Up

1. Return BBot to its starting position.

2. Reapply lens cap to camera lens if needed

3. Unplug the camera cable, and screw the USB-port cap back onto the BBot box.

4. Take the camera off the BBot. At the triangle mounting spot, there is a little tab you will need to press in to disengage the mount. When holding that tab in, you will be able to lift the camera/flash out. I like to have one hand dedicated to the tab, and another below the flash, holding it and pushing up.

5. Pack away any accessories you brought out (Color Checker, Tweezers, etc.).

6. Turn off Amiga batteries and unplug them.

7. Bring everything inside, and charge all batteries so that they are ready for the next batch collection.

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Troubleshooting

No images taken

In the mini-computer (via piKVM)

While in the mini-computer, you execute localhost:5000/image in the address bar, and this message is returned:

{“text”: “RAW BMP missing”, “imageTaken”: 0}

on the screen it says “Raw BMP missing”

Order of operations

power to camera

data to camera

flash to camera

1. power cable to the camera

2. flash camera from the camera (camera to flash)

3. data ethernet cable from the camera to the box

Troubleshooting

1. check that cable are securely in place (unplug and re-plug)

   • flash to camera cable

   • data cable

   • power cable (make sure to properly turn off the bbot before removing power cable)

2. check that the mini computer is and camera are communicating

Basic Troubleshooting Tips:

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If BBot starts taking images in the same spot and seems unable to move (both X-Axis and Y-Axis motors), I have had success just restarting the BBot app with that every time. Just close the app and reopen it.

Examples of Plant Spacing and Non-Target Weeds

Non-target weeds

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Plant spacing

Avoid overlapping plants. Thin plants when they do overlap. Be liberal when thinning plants. We don’t need to worry about having enough plants. It’s more important to have no overlap than it is to have more plants per plot.

Prioritize no-overlap for plant within a pot and no-overlap of plants from different pots. View below for examples of good plant spacing.

Within-Pot Plant Spacing

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Between-Pot Plant Spacing

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