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The purpose of this study is to describe peer support work in a men’s mental health unit from a lived experience and service user’s perspective. The intertwining of process (a lived experience perspective) and subject (the therapeutic value of peer support) leads to greater knowledge and insight into peer support for people with mental health problems.

This service user narrative draws on the extracts from a reflective journal of interactions and conversations with people with mental health problems as well as feedback from service users and staff about the value of peer support. These methods allow a first-person, service user’s, reflective and narrative account of peer support work.

Peer support work, particularly hearing voices sessions, are found to be highly therapeutic and worthwhile. They promote insight and create feelings of safety and hope in what can sometimes be a frightening and hostile ward environment. Peer support provides emotional and practical support. Sharing stories and experiences of mental illness with people leads to trust, feelings of being valued, heard and accepted as well as better experiences of care and being seen as a person first. Due to their shared experiences, peer support workers are able to befriend people with mental health problems on the ward. Peer support work bridges the gap and vacuum of care between people with mental health problems and staff. It compensates for understaffing to provide more holistic and person-centred care and support.

Lived experience/ service user perspectives and narratives on peer support are rare, particularly in a hospital setting. This article provides a rich, perhaps overlooked and hidden narrative on the nature of peer support work. People with mental health problems, like Ben, are often excluded from society, health and social care, education, employment and research. This narrative opens up a pathway to understanding peer support from a service user perspective.

Time of flight (ToF) imaging is a promising emerging technology for the purposes of crop identification. This paper aim to presents localization system for identifying and localizing asparagus in the field based on point clouds from ToF imaging. Since the semantics are not included in the point cloud, it contains the geometric information of other objects such as stones and weeds other than asparagus spears. An approach is required for extracting the spear information so that a robotic system can be used for harvesting.

A real-time convolutional neural network (CNN)-based method is used for filtering the point cloud generated by a ToF camera, allowing subsequent processing methods to operate over smaller and more information-dense data sets, resulting in reduced processing time. The segmented point cloud can then be split into clusters of points representing each individual spear. Geometric filters are developed to eliminate the non-asparagus points in each cluster so that each spear can be modelled and localized. The spear information can then be used for harvesting decisions.

The localization system is integrated into a robotic harvesting prototype system. Several field trials have been conducted with satisfactory performance. The identification of a spear from the point cloud is the key to successful localization. Segmentation and clustering points into individual spears are two major failures for future improvements.

Most crop localizations in agricultural robotic applications using ToF imaging technology are implemented in a very controlled environment, such as a greenhouse. The target crop and the robotic system are stationary during the localization process. The novel proposed method for asparagus localization has been tested in outdoor farms and integrated with a robotic harvesting platform. Asparagus detection and localization are achieved in real time on a continuously moving robotic platform in a cluttered and unstructured environment.