Biosystems Engineering最新文献_第9页

Early detection of bacterial canker in tomato plants using spectroscopy for smart agriculture applications 在智能农业应用中利用光谱技术早期检测番茄植物中的细菌溃疡病

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2025-02-01 DOI: 10.1016/j.biosystemseng.2025.01.009

Panagiotis Papazoglou , Ioannis Navrozidis , Stefanos Testempasis , Xanthoula Eirini Pantazi , Anastasia Lagopodi , Thomas Alexandridis

{"title":"Early detection of bacterial canker in tomato plants using spectroscopy for smart agriculture applications","authors":"Panagiotis Papazoglou , Ioannis Navrozidis , Stefanos Testempasis , Xanthoula Eirini Pantazi , Anastasia Lagopodi , Thomas Alexandridis","doi":"10.1016/j.biosystemseng.2025.01.009","DOIUrl":"10.1016/j.biosystemseng.2025.01.009","url":null,"abstract":"<div><div><em>Clavibacter michiganensis</em> subsp. <em>michiganensis</em> (Cmm) causes bacterial canker in tomatoes, causing severe yield loss. It would be of practical research interest within smart agriculture to develop an effective and quick method to distinguish pre-symptomatic infected tomato plants from healthy ones to take protective measures in time. In this study, artificially inoculated tomato plants with Cmm were grown in a temperature-controlled chamber. Using the Relief method, 25 wavelengths in the visible spectrum (cyan and red regions) showed the highest statistical differences, between healthy and asymptomatic infected tomato plants, two days before the first appearance of the foliar symptoms, in each plant. In addition, inoculated tomato plantlets showed differences in contrast to healthy ones, in the near-infrared spectrum, thirteen days after the inoculation with Cmm. The spectral data were used for the creation of early detection models of healthy and inoculated pre-symptomatic plants, in a specific number of days before the appearance of the first symptoms, in each plant, and in a specific number of days-post inoculation, using two ML algorithms (SVMs and kNN). The algorithms proved effective and robust in the discrimination of the two classes of the two instances mentioned. Furthermore, three patterns of data-preprocessing followed before the training of the algorithms, i.e. the case of multidimensionality, the application of PCA, and the use of Relief method. Finally, six models were created for datasets that contain spectral data of asymptomatic inoculated with Cmm and healthy tomato transplants, all of which showed very high overall accuracy, ranging from 92 to 100%.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"251 ","pages":"Pages 1-10"},"PeriodicalIF":4.4,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143158209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The cubicle hood sampler: Design of a practical system for the measurement of dairy cows’ methane production rates 隔间罩取样器：一种实用的奶牛甲烷产率测量系统的设计

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2025-02-01 DOI: 10.1016/j.biosystemseng.2025.01.014

Cécile M. Levrault , Jur T. Eekelder , Peter W.G. Groot Koerkamp , Johan P.M. Ploegaert , Nico W.M. Ogink

{"title":"The cubicle hood sampler: Design of a practical system for the measurement of dairy cows’ methane production rates","authors":"Cécile M. Levrault , Jur T. Eekelder , Peter W.G. Groot Koerkamp , Johan P.M. Ploegaert , Nico W.M. Ogink","doi":"10.1016/j.biosystemseng.2025.01.014","DOIUrl":"10.1016/j.biosystemseng.2025.01.014","url":null,"abstract":"<div><div>Monitoring methane production from individual cows is crucial for the implementation of greenhouse gas reduction strategies. However, monitoring methane production rates (<strong>MPR</strong>) under practical conditions and with acceptable levels of accuracy, intrusiveness, and throughput remains challenging. In this study, we present a renewed design of the Cubicle Hood Sampler (<strong>CHS</strong>) as a potential solution to this challenge.</div><div>Placed in the cubicles, the CHS collects and analyses the methane content of the air exhaled by cows when lying down. The ability of four CHS units to recover known MPR was assessed in three series of recovery tests using a reference method (artificial reference cow (<strong>ARC)</strong>). For the fluxes tested, there were no significant difference in recovery rates (mean 110.5 ± 8.7%) between CHS units (<em>p</em> = 0.207), production rates (<em>p</em> = 0.080), and repetitions (<em>p</em> = 0.148). Recovery rates appeared not to be significantly different from 100% (<em>p</em> = 0.154), and root mean square error equated 35.0g, which is considered acceptable for MPR levels of 200 and 400g/day. Repeatability equated 0.94, showing the high repeatability and reliability across replicates. These results place the CHS as a promising tool for on-barn methane measurements. However, the radio frequency identification used to link measurements to specific cows did not yield sufficient levels of correct identification. Similarly, the monitoring of head poses was not satisfactory, and the CHS still requires further improvements to be made.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"251 ","pages":"Pages 11-19"},"PeriodicalIF":4.4,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143159181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Evaluating the influence of straight-plain types of rotary tiller blades with various edge curves on maize residue using DEM 利用DEM评价不同边缘曲线直平型旋耕机叶片对玉米残茬的影响

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2025-02-01 DOI: 10.1016/j.biosystemseng.2024.11.016

Shilin Zhang , Yuxiang Huang , Xiaojun Gao , Yubin Bi , Jianxin Dong , Hongbo Zhao , Pengfei Zhao , Xian Jia

{"title":"Evaluating the influence of straight-plain types of rotary tiller blades with various edge curves on maize residue using DEM","authors":"Shilin Zhang , Yuxiang Huang , Xiaojun Gao , Yubin Bi , Jianxin Dong , Hongbo Zhao , Pengfei Zhao , Xian Jia","doi":"10.1016/j.biosystemseng.2024.11.016","DOIUrl":"10.1016/j.biosystemseng.2024.11.016","url":null,"abstract":"<div><div>In no-tillage and minimum tillage systems, the abundance of crop residues and stubble left on the soil surface poses considerable challenges in seedbed preparation and residue handling for seeders in maize-wheat rotations. This study utilised the Discrete Element Method (DEM) to develop models illustrating the interactions between plain-straight blades featuring three edge-curves (Archimedean spiral, sinusoidal-exponential spiral, and logarithmic spiral) and maize residues, encompassing stubble and straw. Simulation experiments were employed to evaluate the soil disturbance, operational resistance, torque requirements, and residue-cutting efficiency of these various blade types at four initial static slide-cutting angles (ISSCAs: 35°, 45°, 55°, 65°). The simulation results exhibited an error of <7.5% compared to actual measurements of straw bending properties and soil cone index. The results showed that blade length, curvature, and dynamic slide-cutting angle range increased with higher ISSCA values. The elevation in slide-cutting angles notably enhanced the slide-cutting performance of the blade, leading to diminished torque requirements and draft forces within specific ISSCA ranges while improving residue-cutting efficiency. The stubble-cutting revealed more obvious soil disturbance than straw-cutting due to the adhesion between roots and soil. Notably, all three blade types exhibited increased vertical force and amplified soil disturbance area at 65° ISSCA during stubble cutting, primarily influenced by blade length. The Archimedean spiral blade demonstrated superior residue-cutting efficiency at 55° ISSCA while exhibiting reduced torque demands, operational resistance, and soil disturbance among all treatments. The findings help optimise the structure of plain-straight blades and field residue management.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"250 ","pages":"Pages 49-61"},"PeriodicalIF":4.4,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Correlation between rheological properties and maturity of passion fruit based on machine vision 基于机器视觉的百香果流变特性与成熟度的相关性研究

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2025-02-01 DOI: 10.1016/j.biosystemseng.2024.12.008

Fan Lin , Dengjie Chen , Caihua Lu , Jincheng He

{"title":"Correlation between rheological properties and maturity of passion fruit based on machine vision","authors":"Fan Lin , Dengjie Chen , Caihua Lu , Jincheng He","doi":"10.1016/j.biosystemseng.2024.12.008","DOIUrl":"10.1016/j.biosystemseng.2024.12.008","url":null,"abstract":"<div><div>Rheological properties play an important role in food production and quality control. This research explores the relationship between rheological parameters and quality characteristics of passion fruit and establishes a maturity classification model for passion fruit based on its rheological properties. Each sample undergoes a rheological test, texture profile test, puncture test, and physicochemical index test. These tests aim to gather precise mechanical and physiological information on passion fruit. We built a mechanical testing platform and used machine vision to analyse the micro-deformation of fruit. The platform can measure the real-time contact area and load value to obtain accurate stress values during compression. Non-destructive rheological tests were conducted on intact passion fruit to get the elastic modulus during the loading stage. It is highly consistent with the results of traditional Hertz contact theory. Additionally, the stress relaxation parameters were obtained by fitting the five elements Maxwell model during the holding stage. Notably, there are strong correlations between the rheological parameters and most texture parameters or physicochemical indicators, with the highest correlation coefficient reaching 0.703. Therefore, the rheological parameters were utilised as inputs for maturity classification models (GBDT, MLP, and AdaBoost). All models achieved satisfactory classification results. Particularly, the GBDT model demonstrated excellent classification performance and generalisation capability, with Precision, Recall, and F-Score of 80.44%, 80.08%, and 80.26%. The results show that it is feasible to determine the maturity of passion fruit based on non-destructive rheological characteristics.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"250 ","pages":"Pages 236-249"},"PeriodicalIF":4.4,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143152588","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Corrigendum to “Optimisation design and experimental analysis of rotary blade reinforcing ribs using DEM-FEM techniques” [Biosystems Engineering 249 (2025) 1–17] “使用DEM-FEM技术的旋转叶片强化肋的优化设计和实验分析”的勘误表[生物系统工程249 (2025)1-17]

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2025-02-01 DOI: 10.1016/j.biosystemseng.2024.12.012

Jianguo Zhao

引用次数: 0

Development of a spectral repository for the identification of western Himalayan medicinal plants using machine learning techniques 利用机器学习技术开发喜马拉雅西部药用植物的光谱库

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2025-01-01 DOI: 10.1016/j.biosystemseng.2024.11.014

Kishor Chandra Kandpal , Shubham Anchal , Anirudh Verma , Amit Kumar

{"title":"Development of a spectral repository for the identification of western Himalayan medicinal plants using machine learning techniques","authors":"Kishor Chandra Kandpal , Shubham Anchal , Anirudh Verma , Amit Kumar","doi":"10.1016/j.biosystemseng.2024.11.014","DOIUrl":"10.1016/j.biosystemseng.2024.11.014","url":null,"abstract":"<div><div>The identification of medicinal plant species is a crucial task for assessing the status of our bioresources. Conventional methods primarily rely on taxonomy and laboratory-based instruments, which are time-consuming and require the requisite expertise. Thus, there is an escalating demand for efficient techniques that can quickly identify these precious species. The advent of Hyperspectral Remote Sensing (HRS) with artificial intelligence has significantly increased the scope of HRS techniques by offering rapid and precise plant identification. This study utilised non-imaging HRS handheld sensors to build a spectral repository for 10 important medicinal plant species from diverse locations across Indian Himalayan states, representing varying altitudinal and ecological conditions. The spectral repository encompasses 1237 distinct spectral signatures obtained from the leaves and canopies of the targeted plant species. Subsequently, an identification model has been developed using Random Forest (RF) with several feature selection methods, and it has been revealed that the RF model, coupled with wrapper-based feature selection, is an effective combination for classifying the targeted plant species. The calibration and test datasets accounted for accuracies of 87.87% and 91.39%, respectively, with corresponding kappa coefficients of 0.85 and 0.89. Furthermore, the developed RF model was applied to ‘PRISMA’ satellite data to identify <em>Saussurea costus</em> crops in farmers' croplands, achieving a classification accuracy of 81.31% and a kappa coefficient of 0.76. Therefore, the study highlights the potential of integrating RF, <em>in-situ</em> HRS, and satellite HRS for the non-destructive, precise, and accurate identification of medicinal plants that can significantly contribute to biodiversity conservation and sustainable resource management.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"249 ","pages":"Pages 58-70"},"PeriodicalIF":4.4,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143149854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Egg characteristics assessment as an enabler for in-ovo sexing technology: A review 卵子特征评估作为卵内性别鉴定技术的推动者：综述

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2024-12-02 DOI: 10.1016/j.biosystemseng.2024.11.008

Shaomin Xu , Sifang Long , Zixian Su , Khawar Hayat , Lijuan Xie , Jinming Pan

{"title":"Egg characteristics assessment as an enabler for in-ovo sexing technology: A review","authors":"Shaomin Xu , Sifang Long , Zixian Su , Khawar Hayat , Lijuan Xie , Jinming Pan","doi":"10.1016/j.biosystemseng.2024.11.008","DOIUrl":"10.1016/j.biosystemseng.2024.11.008","url":null,"abstract":"<div><div>The culling of day-old male chicks remains a significant challenge for the egg-laying industry. While <em>in ovo</em> sexing technology has made strides, it has yet to achieve an optimal balance between early identification of sex at hatching, high sensitivity, and non-invasive operation. This paper aims to provide a comprehensive review of the research progress in <em>in ovo</em> sexing from various perspectives and to explore potential solutions in light of industrial practices and key technological bottlenecks. This study describes an efficient detection method for low-concentration samples and provides recommendations for the rapid detection of sex markers in chicken embryo allantoic fluid. Given the complexity of optical signals and the significant individual differences among eggs, the paper underscores the importance of evaluating egg characteristics in advancing <em>in ovo</em> sex determination technology. Based on this core concept, the use of multimodal data fusion strategies are advocated for <em>in ovo</em> sexing. This approach aims to deepen researchers' understanding of the complex relationship between sex labels and the high-dimensional data of breeding eggs, thereby injecting new momentum and direction into the development of this field.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"249 ","pages":"Pages 41-57"},"PeriodicalIF":4.4,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis of three-dimensional cake thickness structure characteristics in a screen filter for drip irrigation based on the CFD‒DEM coupling method 基于CFD-DEM耦合方法的滴灌筛网三维滤饼厚度结构特征分析

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2024-12-02 DOI: 10.1016/j.biosystemseng.2024.11.017

Liu Zhenji , Long Yangjuan , Li Junfeng , Liu Dongdong

{"title":"Analysis of three-dimensional cake thickness structure characteristics in a screen filter for drip irrigation based on the CFD‒DEM coupling method","authors":"Liu Zhenji , Long Yangjuan , Li Junfeng , Liu Dongdong","doi":"10.1016/j.biosystemseng.2024.11.017","DOIUrl":"10.1016/j.biosystemseng.2024.11.017","url":null,"abstract":"<div><div>The three-dimensional filter cake structure is the focus of screen filter research. In order to explore the variation trend of filter cake thickness and thickness homogeneity under different inlet flow rates and different particle concentrations, the clogged mesh filters were studied by prototype and the CFD-DEM coupling experiment. The results showed that, as particle concentration increased, clogged filter cake thickness increased at first and dropped subsequently during the prototype experiment, which was determined by the number of particles per unit of time touching the screen and the particles of the force of interaction. Likewise, with an increasing inlet flow rate, the clogging cake thickness showed a slow decline and then tended to be stable during the prototype experiment, which was determined by the number of particles per unit of time touching the screen and the force of the flow field on the particles. The prototype experiment and simulation experiment showed the consistency of this trend. It was discovered that with the increase flow rate, the filter cake grade first increased then decreased after reaching a critical flow rate (160 m<sup>3</sup> h<sup>−1</sup>), and with the increase particle concentration the filter cake grade increased and then stabilised after reaching the saturation concentration (0.279 kg m<sup>−</sup>³). The best operating parameters were identified for filter functioning in actual irrigation based on the filter cake grade, to reduce clogging and simplifying future flushing.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"250 ","pages":"Pages 1-14"},"PeriodicalIF":4.4,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stiffness evaluation of semi-rigid connection using steel clamps in plastic greenhouse structure 塑料大棚结构钢夹半刚性连接刚度评价

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2024-12-02 DOI: 10.1016/j.biosystemseng.2024.11.018

Sangik Lee , Jong-hyuk Lee , Byung-hun Seo , Dong-su Kim , Dongwoo Kim , Yerim Jo , Won Choi

{"title":"Stiffness evaluation of semi-rigid connection using steel clamps in plastic greenhouse structure","authors":"Sangik Lee , Jong-hyuk Lee , Byung-hun Seo , Dong-su Kim , Dongwoo Kim , Yerim Jo , Won Choi","doi":"10.1016/j.biosystemseng.2024.11.018","DOIUrl":"10.1016/j.biosystemseng.2024.11.018","url":null,"abstract":"<div><div>Greenhouse structures, essential for modern agriculture, often experience significant uncertainties due to varying environmental conditions, leading to frequent damage and economic losses. Accurately analysing the structural responses of these greenhouses is particularly challenging due to the difficulty in understanding the actual behaviour of connections using steel clamps. This study focuses on evaluating the stiffness and mechanical behaviour of semi-rigid connections using steel clamps in plastic greenhouses. A specialised load-deformation testing apparatus was developed to assess the relationships between force and displacement or moment and rotation for these connections with various deformation modes. The experimental results were used to model stiffness coefficients and ultimate limit loads, providing a detailed understanding of the mechanical properties of these connections. Findings reveal that steel clamps introduce complex structural behaviours that differ significantly from traditional connections, highlighting the need for advanced modelling techniques. This comprehensive analysis offers new insights into the behaviour of semi-rigid connections in greenhouse structures and underscores the importance of detailed empirical studies. The research contributes to improving the structural design and safety assessments of agricultural facilities, ensuring better resilience against environmental stresses. The outcomes are crucial for developing more effective and reliable greenhouse designs that can withstand adverse conditions, ultimately supporting sustainable agricultural practices.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"250 ","pages":"Pages 15-27"},"PeriodicalIF":4.4,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vacuum suction end-effector development for robotic harvesters of fresh market apples 新鲜市场苹果机器人收获机的真空吸力末端执行器研制

IF 4.4 1区农林科学

Biosystems Engineering Pub Date : 2024-11-29 DOI: 10.1016/j.biosystemseng.2024.11.011

Wanjia Hua , Wenqiang Zhang , Zhao Zhang , Xiaohang Liu , Mengning Huang , C. Igathinathane , Stavros Vougioukas , Chayan Kumer Saha , N.S. Mustafa , Dina Saber Salama , Yao Zhang , Man Zhang

{"title":"Vacuum suction end-effector development for robotic harvesters of fresh market apples","authors":"Wanjia Hua , Wenqiang Zhang , Zhao Zhang , Xiaohang Liu , Mengning Huang , C. Igathinathane , Stavros Vougioukas , Chayan Kumer Saha , N.S. Mustafa , Dina Saber Salama , Yao Zhang , Man Zhang","doi":"10.1016/j.biosystemseng.2024.11.011","DOIUrl":"10.1016/j.biosystemseng.2024.11.011","url":null,"abstract":"<div><div>Timely harvesting of fresh apples faces challenges due to labour shortage, and the modern approach of robotic harvesting has the potential to address this issue. The prevailing process of apple harvest robotics could not meet the demands of practical applications, mainly due to the lack of a suitable manipulator, because the existing ones are associated with low picking rates, fruit damage, and high costs. A prototype apple harvesting manipulator was developed, which includes a vacuum three-revolute-degrees-of-freedom end-effector, a three-prismatic-degrees-of-freedom Cartesian system, an RGB-D camera, and system integration. The vision positioning system and controller were designed to realise precise positioning and detachment of the manipulator. The major contribution of the current study is the three-revolute-degrees-of-freedom vacuum suction end-effector, whose performance evaluation was conducted in a commercial apple orchard. Experimental results showed that a 33<em>ϕ</em> mm diameter suction cup achieved superior performance over a 43<em>ϕ</em> mm cup. The method of rotation followed by pull proved to be more effective than only pulling for apple detachment. The results indicated that the apple’s equatorial region was the optimal area for suction. Furthermore, the vacuum pressure should be at least −65 kPa to guarantee successful detachment. Experimental results showed that 83.1% of harvested apples had stems intact. For the developed manipulator, a 33<em>ϕ</em> mm diameter suction cup, a rotate-and-pull separation method, and −65 kPa were recommended for practical applications. With the integrated new manipulator, the developed apple harvest robot has been demonstrated to have the potential to realise robotic apple harvesting.</div></div>","PeriodicalId":9173,"journal":{"name":"Biosystems Engineering","volume":"249 ","pages":"Pages 28-40"},"PeriodicalIF":4.4,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142747257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"农林科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0