In the propagation of plant tissue in vitro it is necessary to obtain from the leaf a circular section cut. In order to achieve this type of cuts the visual feedback is used, allowing us to analyze the RGB planes to detect the green color and find the image centroid. In order to fulfill the cut objective a PD+ control is used with self-tuning based on the adaptive differential evolutionary algorithm JADE.

中文翻译：

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使用 JADE 算法的视觉控制律调整应用于叶片检测和切割

在植物组织的体外繁殖中，有必要从叶子中获得圆形截面。为了实现这种类型的切割，使用了视觉反馈，允许我们分析 RGB 平面以检测绿色并找到图像质心。为了实现切割目标，PD+ 控制与基于自适应差分进化算法 JADE 的自调整一起使用。