WiFi based respiratory detection has attracted increasing attentions due to its ubiquity and convenience. In Non-Line-of-Sight (NLoS) scenarios, WiFi signals reflected from human target are blocked by obstacles and become much weaker, thus limiting the sensing range and hindering the practical deployment. The existing best respiratory detection system extended the sensing range by scaling and aligning dynamic components in WiFi signals. However, its dynamic component scaling causes the amplification of noise, while its dynamic component alignment increases computation complexity due to the traversal on all possible rotation angles. To address the above issues, in this paper we first build WiFi sensing range models for respiratory detection in NLoS scenario, find factors that limit the sensing range, and then propose a new respiratory detection system named RaliSense which can further rapidly extend the sensing range in NLoS scenario. The main idea of RaliSense is rapidly aligning dynamic components without amplifying noise, based on change direction vector and CSI ratio sum polarity of dynamic components. The proposed change direction vector is obtained by calculating the direction on which the noisy dynamic components have the maximum variance, and CSI ratio sum polarity is then obtained by summing the dynamic components which have been rotated by the change direction vector. According to the CSI ratio sum polarity, the rotation angle is quickly adjusted for aligning dynamic components. Extensive simulation and experiment results verify the effectiveness of our proposed sensing range models. The results also demonstrate that our proposed system RaliSense can effectively extend sensing range in NLoS scenario, achieving a 22.7% improvement over the best existing work but spending only a quarter of its computation time.

Using robots for tomato truss harvesting represents a promising approach to agricultural production. However, incomplete acquisition of perception information and clumsy operations often result in low harvest success rates or crop damage. To address this issue, we designed a new method for tomato truss perception, an autonomous harvesting method, and a novel circular rotary cutting end-effector. The robot performs object detection and keypoint detection on tomato trusses using the proposed Top-down Fusion Network, making decisions on suitable targets for harvesting based on phenotyping and pose estimation. The designed end-effector moves gradually from the bottom up to wrap around the tomato truss, cutting the peduncle to complete the harvest. Experiments conducted in real-world scenarios for robotic perception and autonomous harvesting of tomato trusses show that the proposed method increases accuracy by up to 11.42% and 22.29% for complete and limited dataset conditions, compared to baseline models. Furthermore, we have implemented an automatic tomato harvesting system based on TDFNet, which reaches an average harvest success rate of 89.58% in the greenhouse.

To address the limitations inherent to conventional automated harvesting robots specifically their suboptimal success rates and risk of crop damage, we design a novel bot named AHPPEBot which is capable of autonomous harvesting based on crop phenotyping and pose estimation. Specifically, In phenotyping, the detection, association, and maturity estimation of tomato trusses and individual fruits are accomplished through a multi-task YOLOv5 model coupled with a detectionbased adaptive DBScan clustering algorithm. In pose estimation, we employ a deep learning model to predict seven semantic keypoints on the pedicel. These keypoints assist in the robot’s path planning, minimize target contact, and facilitate the use of our specialized end effector for harvesting. In autonomous tomato harvesting experiments conducted in commercial green-houses, our proposed robot achieved a harvesting success rate of 86.67%, with an average successful harvest time of 32.46 s, showcasing its continuous and robust harvesting capabilities. The result underscores the potential of harvesting robots to bridge the labor gap in agriculture.