Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam.73.177

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：美味技術学会  

衝撃式粉砕法による米粉について，粒度区分（100μm未満，100～150μm未満，150～212μm未満）と，加水量，混捏時間，加糖量，加塩量などのパン生地調製条件が発酵時の生地膨張に及ぼす影響を調べた。生地は，各区分の米粉に粉末グルテンを添加して調製した。<br>100μm未満の粒度では，損傷でんぷん率が最も高く，膨張に適する加水量も多く必要であり，膨張停止がやや早かった。混捏時間は少なくとも10分は必要であったが，150～212μm未満の粒度では，長く混捏すると膨張率が低くなり，大きい粒子がグルテンネットワークを損傷したと考えられた。<br>3区分とも，無糖であっても高い膨張率が得られたことから，米の食味を生かした製パンが可能であり，グルテン添加米粉パンが，主食として副食を伴う健康的な食事構成に結びつくものと考えられた。

DOI： 10.11274/bimi2002.2011.18_19

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：美味技術学会  

製パンにおいては，生地の材料や調製条件がその品質に大きく関わっており，発酵時に高い膨張を示す生地ほどパンの評価が高いとされている。しかし，これまでのパン生地膨張の計測は接触式の方法であり，本来の生地の挙動を正しく観察することは困難である。また，数値の読み取りにも誤差が生じる場合が多い。そこで本研究では，画像を用いて非接触かつ定量的にパン生地の膨張過程を3次元的に計測する手法を検討した。

DOI： 10.11274/bimi2002.2011.18_28

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier B.V.  

An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.

DOI： 10.1016/S1881-8366(10)80007-2

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the progress of precision farming, it is very important to collect variety of information on crops and field. In this study, we developed a prototype mobile eggplant grading robot in order to get information that be used for presentation of better way on cultivation. This robot can collect and accumulate the fruit's features information and location information at the same time while harvesting. After the field test experiment, a prototype mobile eggplant grading robot has achieved its purpose which was acquiring and storing information in real time and has created field spatial maps from the information. In the previous experiments, a rotary encoder was used in order to discriminate plant location based on the distance from the start point of the robot. However, the detecting error of the distance increased in proportion to the travelling distance of the robot because of the slip of the rotary encoder. In this paper, the robot discriminated plants by using IC tags attached to individual plants and a transmitter-receiver mounted on the robot. From the results, the robot could discriminate individual plants correctly.

DOI： 10.1299/jsmermd.2010._1A1-B05_1

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Asian Agricultural and Biological Engineering Association  

Dutch style greenhouse for tomato production has become popular recently in many countries while cluster tomatoes have gained popularity among consumers. To improve harvest efficiency of the cluster tomatoes in large scale Dutch production systems, it is desirable to replace manual labor with automated machines. In this paper, a machine vision system developed for autonomous tomato fruit cluster harvesting is described. Since the difficulty of recognizing the grasping point depended on exposure of plant parts and on robot access angle, acquired images were classified into three groups. The research results show a 73% success rate in automatically locating grasping points for the robotic end-effector on main stems of the cluster tomatoes that can be visually identified by human eyes.

DOI： 10.11165/eaef.2.60

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：AMER SOC AGRICULTURAL & BIOLOGICAL ENGINEERS  

Surface gloss is one of the important quality factors affecting consumer opinion on purchasing eggplant fruits. The current manual gloss grading method is subject to human bias and the outcome is often very ambiguous. This study developed a sensing device consisting of two CCD monochrome cameras and three long tungsten lights and an associated quantitative method of measuring surface gloss of eggplant fruit using the device. Distinguishing various glossiness states of the fruit were made possible by analyzing the specular reflectance of the fruit surface. Specular reflection of the light on fruit surface was measured by digital image analysis method. Gradient filter was applied on the gray-level image for measuring magnitude of intensity changes. The algorithm consistency and validation test on the samples showed the algorithm was feasible of quantitatively, assessing eggplant fruit surface gloss with an accuracy rate of 0.806. Details of the sensing devices, outline of the algorithm and preliminary, results are presented in this article.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：AMER SOC AGRICULTURAL & BIOLOGICAL ENGINEERS  

Machine vision based grading for agricultural crops has been well developed and accepted as an attractive grading method. However, machine vision based grading for eggplant fruit is not available yet. This study reports oil the attempt to develop an eggplant grading machine using six CCD cameras as the sensing device. Feature extraction algorithms were developed to extract eggplant&apos;s features, i.e., length, diameter, volume, curvature, color homogeneity, calyx color, calyx area, and surface defect. The system could acquire six images per fruits covering the entire surface of the eggplant fruits. All agreement rate Of 78.0% was achieved in the feasibility study where the machine vision based grading was compared with manual grading. The throughput of the developed system was 0.3 second per fruit. Details of the system, an outline of the algorithm, and performance results are reported in this article.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier B.V.  

A machine vision-based mobile eggplant grading robot was developed as a model to sense and log essential data needed for precision farming and traceability of agricultural crops. The robot consisted of battery railcar, trailer, grading mechanisms including manipulator, end-effector, machine vision and divider. Manually operated, the robot moved along crop ridges during the harvesting process with the grading mechanisms all mounted on the trailer. The robot sensed and logged the field spatial variability dynamically by grading manually harvested eggplant fruit of individual tree. This paper presents the details of manufactured robot and results of the performance test conducted. Test results showed that the robot was feasible for field spatial variability sensing in greenhouse.

DOI： 10.1016/S1881-8366(08)80005-5

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

Because the capability of inspecting all sides of each fruit has become a highly desirable feature of a grading system, a new type of rotary tray was developed, as a part of a grading line, to flip a fruit over during quality inspection by color and monochrome machine vision systems. Each grading line consisted of 348 rotary trays and ran at a speed of 38.1m/min. Since this grading machine had 6 lines, it was capable of sorting a total of 504, 000 fruits per day. However, the processing rate of this grading system has reached only 85% of the expected level, because of the operator's fruit unpacking rate. The automated packing and unpacking systems were considered to provide the grading system a fruit tracing capability in addition to labor saving.

DOI： 10.11357/jsam1937.69.68

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

Precision Farming practices that required GIS and GPS system are too costly and impractical for small-scale farm. However, site-specific management is still necessary as it contribute in reducing the operation cost and also over usage of pesticides chemicals. A new approach in generating yield and quality map for small scale farm using mobile grading robot has been carried out. A prototype mobile eggplant grading robot was constructed and field test was done. The mobile robot consists of a battery railcar with the grading unit trailer hauled behind. Eggplant fruits were harvested manually and passed to the grading robot. Features information of the eggplant was taken simultaneously with the harvesting location information to create field variability map. Observations found that the constructed prototype robot was capable of accumulating the field variability information during the field test.

DOI： 10.1299/jsmermd.2007._1A1-G03_1

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Publishing type：Research paper (international conference proceedings)   Publisher：American Society of Agricultural and Biological Engineers  

DOI： 10.13031/2013.21116

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, large scale greenhouses of tomato are constructed in Japan. The environments of the greenhouses are suitable for robotic operations because equipments and planting system are standardized. In this study, an outline of a tomato harvesting robot system is described and a potential for the practical use of the harvesting robot is discussed.

DOI： 10.1299/jsmermd.2006._2A1-B11_1

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmermd.2005.206_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmermd.2005.164_1

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

The objective of this study was to detect the plant stoma response under the lighting conditions of continuous and 1 to 15 minutes of lighting. In this study, a real-time measurement system was developed to observe a living plant stoma continuously for a long period in a growth chamber, using a microscope and a color TV camera. A video recording system was adopted to obtain details of stoma movement, and images were captured every 30 seconds. From the experimental results, it was observed that the stoma opened slowly 5 minutes after the lights were turned on, and then opened rapidly until it reached the maximum pore size. In guard cells, light stimulus activates a proton pump, the resulting hyperpolarization of the plasma membrane opens voltage-sensitive K⁺ channels, and then the water entering the guard cells opens the stoma after the K⁺ ions have entered. This process may cause 5 minutes of delay, and delay was also observed after the light was turned off. Ten minutes of lighting opened the stoma to the maximum size, as well as 5 minutes of lighting with a 30-minute interval. For better utilization of lighting, these on/off controls were suggested to give a 14% production benefit with 8.3% more energy input.

DOI： 10.2525/jshita.16.165

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

The objective of this study was to create a model of the plant stoma response process under CO₂ conditions (100 to 3000ppm) after lighting. In this study, a real-time measurement system was developed to observe living plant stomas continuously for a long period in a growth chamber using a microscope and a color TV camera. Six treatments were conducted by changing the CO₂ density, ranging from 100 to 3000ppm, under the conditions of a 2-hour on/off light cycle. From the experimental results, it was observed that the pore size was drastically changed in response to the CO₂ conditions. Lower CO₂ density caused larger-size pores under conditions of less than 1000ppm CO₂ density, while the pore size was almost constant under conditions of greater density. With CO₂ density of over 2000ppm, pores continued opening after 60 minutes had elapsed. The transient response with the 1 st-order lag element could well express the stoma response, and its desired value had a high correlation with CO₂ density.

DOI： 10.2525/jshita.16.41

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

The purpose of this study was to create a mathematical model for a responding process of a plant stoma to a given environmental condition aiming at plant growth control. A real-time measurement system was developed to observe a living plant stoma continuously for a long period in a growth chamber, using a microscope equipped with a color TV camera. Sixteen treatments were investigated by changing PPFD (Photosynthetic Photon Flux Density), CO₂ concentration, temperature and humidity, under the condition that the light was turned on and off every 6 hours. From the experimental results, it was observed that the stoma response was drastically changed by the environmental conditions and that the transient response with the 1st-order lag element could be adopted for the stoma response in cases of a higher PPFD and higher temperature. It was also observed that the stoma widely opened at a lower CO₂ concentration.

DOI： 10.11357/jsam1937.66.5_63

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A robotic harvesting system was developed to realize selective harvesting for eggplants. The purpose of the second part is to explain the local sensing for fruit-size judgment and picking control and to examine the harvesting performance. After the system approached the fruit, which was detected by the global sensing, the local sensing judged the fruit size with a fusion of the vision sensor and distance sensor. The end-effector then approached the peduncle. The harvesting scissors cut the peduncle, and the lower blades held it simultaneously. Therefore, the system conveyed it to a container without contact with the fruit. The harvesting experiment was done for eggplants trained in V-shape to examine the harvesting performance. The system could harvest the fruit with a successful harvesting ratio of 29.1%. The main cause of unsuccessful harvesting was that the fruit was invisible owing to leaves or stems. Moreover, it was found that the system misjudged fruit size or dropped fruit during conveyance to the container. The picking method using the lower blades was effective, since no damage to the fruit was observed. The picking time per fruit was 43.2 s/fruit. The work efficiency, including traveling time, was 14.9 m/h. In the future, it will be necessary to develop a more effective fruit-size judgment technique and a traveling method to the adjacent inter-ridge in the future.

DOI： 10.2525/jshita.15.211

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In rush seedling production system, plug seedlings have been widely popularized. However, the planting operation requires a great deal of labor and takes a long time because seedlings with a few main stems and a bud are picked from mother plants and are planted into the tray one by one by manual operations. Therefore, it is desirable to introduce machinery into the planting operation. The purpose of this study is to develop a planting machine for rush seedlings. In this paper, physical properties of seedlings were measured to obtain basic data for designing the machine. Furthermore, specifications and functions of the machine were examined based on the results of measurements.

DOI： 10.11357/jsam1937.65.2_106

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In the part 1 of this series, physical properties of rush seedlings were measured to obtain basic data for manufacturing a planting machine. Furthermore, functions and specifications of the machine were examined based on the result of measurements. In this paper, the planting machine was manufactured and tested. The machine mainly consisted of a planting part moved vertically, a sliding table of tray and a controller. From the results of performance tests, the success rates were around 90%.

DOI： 10.11357/jsam1937.65.2_113

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In part 1 of this series, a harvesting robot consisting of a 5 DOF polar-coordinate manipulator, a harvesting end-effector using sucking force, a visual sensor and a traveling device was manufactured and tested with strawberry grown on table top culture. From the results, it was observed that the table top culture was a suitable cultivation method for robotic operations because there were few obstacles around the target fruits, and that harvesting using a sucking force inflicted no damage on the fruits. However, it took the robot 14 to 20 seconds to harvest a single fruit because of the complicated construction and control method of the manipulator. <BR>In this study, a cartesian coordinate manipulator suspended under the planting bed of strawberry was employed in order to simplify construction and control method of the manipulator intended for practical use. The robot was capable of moving along the planting bed without a traveling device because one prismatic joint of the manipulator played the role of a traveling device. Furthermore, depth measurement by a visual sensor was simplified because distance between the robot and the fruits was kept approximately constant by suspending the robot under the planting bed. Harvesting experiments were conducted in a greenhouse by using the manipulator equipped with an improved end-effector and a visual sensor. From the results, time required to harvest a fruit was reduced to around 10 seconds because of the simplified construction and control method of the manipulator.

DOI： 10.2525/jshita.15.162

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A robotic harvesting system was developed to realize selective harvesting for eggplants (Solanum melongena L.) trained in V-shape in a greenhouse. The purpose of the first part of this study is to explain the system components and the global sensing for detecting fruit and to examine the image scanning. The system was composed of control unit, sensing unit, manipulator unit, end-effector unit, and traveling vehicle. The system could run at an inter-ridge space and scan the image of eggplants set at both sides with a combination of the vehicle traveling and manipulator control. The global sensing could detect the existence of fruit from approximately 500 mm away using an image processing technique. The basic experiment of image scanning was conducted to evaluate the global sensing. The success detection ratio was 69.3%. However, unsuccessful detections were observed, such as fruit on an adjacent plant, under-sized fruit, and shade. The scanning time, which includes traveling, image capture, and manipulator motion, within 4 m in length and 1.7 m in height was 317 s. The manipulator motion occupied most of the total scanning time. The fruit direction could be calculated from the centroids of the detected fruit.

DOI： 10.2525/jshita.15.205

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmermd.2003.43_1

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In the future, robots will be able to do many kinds of agricultural operations. However, it is difficult to consider that robots automatically perform all kinds of operations instead of human because of the complexity of agricultural operations. In other words, robots will be engaged in agriculture with human in the future. Therefore, it is considered that human cooperative agricultural robot systems are required.<BR>An essential element for a human cooperative robot is a sensing system which can detect the circumstances around a robot so that the robot can carry out its task safely and efficiently.<BR>Final goal of this research is to develop an external sensing system for human cooperative agricultural robots. In this paper, a sensing system consisted of a laser scanner and infrared sensors was manufactured and tested. The laser scanner was mounted on a lift moved up and down at a distance of 300 mm to capture a three-dimensional distance data. The infrared sensors were used to detect the existence of human.<BR>From the experimental results, not only the distance to an object but also the shape of the object was detected by moving the laser scanner up and down. The human motions including location, speed and direction were detected based on the information obtained from the laser scanner and the infrared sensors.

DOI： 10.2525/jshita.14.49

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In part 1 of this series, a sensing system consisting of a laser scanner and infrared sensors was manufactured and tested. The laser scanner was moved up and down by a lift to obtain a three-dimensional distance data, and the infrared sensors were used to detect the presence of human.<BR>In this paper, an algorithm for discriminating human bodies was investigated. From the results, discrimination was achieved even when human bodies overlapped each other crosswise with some distance between them.<BR>Furthermore, manipulator control experiments for obstacle avoidance were carried out to confirm effectiveness of the sensing system. First, the distances and the shapes of objects around a robot were measured by the laser scanner, and an avoidance motion of manipulator decided. Secondly, the manipulator moved while avoiding the object. The degree of danger was calculated when infrared sensors detected a human body around the robot, which then triggered adjustment of the speed of manipulator tip. From the experimental results, the manipulator avoided obstacles within its operating area and changed its speed according to the value of degree of danger.

DOI： 10.2525/jshita.14.104

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

The second prototype robot for harvesting strawberries grown on annual hill top was made for trial based on experimental results of the first prototype robot. Its manipulator was a cartesian coordinate type with three degrees of freedom and a sucking type end-effector was attached to the manipulator. Harvesting action of the robot was as follows : The end-effector moved downward until the sucking head reached ground. It was possible to stop end-effector movement without measuring the depth to ground by an external sensor because a limit switch was attached to sucking head of the end-effector. The end-effector could suck a target fruit into the sucking head. When two pairs of photo-interrupters detected the fruit in the sucking head, the manipulator moved upward and internal cylinder rotated to cut peduncle. Even if the peduncle was not cut by the rotation, an open-close section was closed and detached the fruit from the peduncle. As the visual sensor, a color CCD camera was used. Three dimensional positions of target fruits were calculated from a two dimensional image acquired by the camera and from the depth when the end-effector reached ground. The depth was stored and ac-cumulated in computer memory and the averaged value was used as z coordinate of the next target fruit.<BR>From the experimental results, it was observed that every mature fruit could be harvested in about 7 seconds. Although the success rate was 100%, some adjacent immature fruits were sucked with the target fruits. It was considered that control of volume flow rate of the vacuum device and immature fruit position detection were necessary from engineering view point and that control of peduncle length was desired from horticultural view point in order to reduce the sucked immature fruits.

DOI： 10.2525/jshita.13.231

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In this paper, it is reported that a robot was developed for harvesting strawberry grown on table top culture. The robot mainly consisted of a 5 DOF manipulator, a pneumatic type end-effector, a visual sensor of a color CCD camera, and a traveling device with 4 wheels. Strawberry fruits were hanging from planting bed top which was hung down from the ceiling of greenhouse.<BR>As the manipulator, a polar coordinate type was adopted, because it was not necessary to avoid obstacles and control of the manipulator was not complicated. The end-effector could suck a fruit using a vacuum device and it could compensate detecting errors caused by the visual sensor. The visual sensor gave the robot two dimensional information based on an acquired image and fruit depth was calculated as an average value of previously harvested fruit depths obtained from end-effector positions when the robot actually harvested. The end-effector moved toward a target fruit based on the three dimensional position of the target fruit until the fruit was detected by two pairs of photo-interrupters on sucking head. Then, the robot's wrist joint rolled and its peduncle was introduced into a hole curved at the tip of the sucking head. After cutting the peduncle, the fruit was kept in the sucking head and was transported to a tray by manipulator.<BR>From fundamental harvesting experiments conducted in greenhouse, it was observed that the robot could harvest all target fruits with no injury, but that the end-effector also harvested immature fruits located around target fruits sometimes. It was considered that the mechanisms of robotic components and their software algorithms could be simple, because the strawberry on table top culture had a suitable condition for robotic harvesting.

DOI： 10.2525/jshita.13.159

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ELSEVIER SCI LTD  

It is a common belief that a sweet Iyokan orange fruit is reddish in color, of medium size, with a height to width ratio less than one, and having a glossy surface. However, the criteria are ambiguous and vary from people to people and locations to locations. In this paper, sugar content and acid content of Iyokan orange fruit were evaluated using a machine vision system. Images of 30 Iyokan orange fruits were acquired by a color TV camera. Features representing fruit color, shape, and roughness of fruit surface were extracted from the images. The features included RIG color component ratio, Feret's diameter ratio, and textural features. These features and weight of the fruit were entered to the input layers of neural networks, while sugar content or pH of the fruit was used as the values of the output layers. Several neural networks were found to be able to predict the sugar content or pH from the fruit appearance with a reasonable accuracy. (C) 2000 Published by Elsevier Science B.V.

DOI： 10.1016/S0168-1699(00)00141-1

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.62.3_1

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DOI： 10.2525/jshita.12.23

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In the previous installment of this series, the relationship between human being's evaluation and morphological features extracted from chrysanthemum cut flower was investigated in order to quantify the vague criteria that has been established based on human sense. It was also found that the individual morphological feature did not co-relate to human evaluation scores. It was considered that some combination of the features might improve the co-relation. The machine learning system such as the neural networks was considered to be usefully to automate the cut flower evaluation process.<BR>In this paper, length of cut flower, stem diameter, leaf area, length between flower and top leaf, leaf length, and, stem bend were selected for input parameters of neural networks whose output parameter was a human evaluation score. The neural networks were trained by KNT (Kalman Neuro Training) method. From the results, it was observed that output value satisfactorily agreed the human evaluation score. The error was less than the human error resulted from the human double check procedure. It was also confirmed that the evaluation by the neural networks with several appropriate features was effective. In addition, a feasibility of automated cut flower evaluation system, which does not involve human error, was found.

DOI： 10.2525/jshita.11.100

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In this paper, a chrysanthemum cutting providing system which individually separates cuttings and sends them to a cutting sticking robot is described to totally automate the cutting sticking operation. The system mainly consisted of a 5 DOF manipulator, a water tank, and a monochrome TV camera. A bundle of cuttings was put into the water tank and was separated on waving water surface caused by a solenoid actuator and springs. Based on size, shape, and orientation of individual cutting recognized by the TV camera, the manipulator picked cuttings up one by one according to the order of degree of isolation. From the experimental results, it was observed that the cuttings were transported with about 90% success rate.

DOI： 10.11357/jsam1937.61.5_109

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A method on uniformity analysis made weed detection in lawn field possible. The method could detect weeds based on their surfaces which were more uniform in gray-scale values compared with lawn surface, regardless of their color. The result of uniformity analysis, however, was far from ready to be used as a target decision for weeding because it was a binary image with many noises and broken parts. Morphological image processing was applied to the result of uniformity analysis to obtain stronger and clearer binary images. In addition, the detected weed center location which was expected to correspond with the main root of the weed, was determined for minimum chemical weeding. The techniques on how to do that was also described in this paper.

DOI： 10.2525/jshita.11.127

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.11357/jsam1937.61.2_81

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DOI： 10.11357/jsam1937.61.2_91

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DOI： 10.11357/jsam1937.61.3_73

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

The grading or quality evaluation of chrysanthemum cut flowers is traditionally performed by experts trained in the grading based on their skilled sensibility. In this paper, an attempt was made to draw some quantitative criteria from the traditional evaluation process by scoring the quality of chrysanthemum cut flowers. The pictorial images of forty-five chrysanthemum cut flowers of which morphological features were intentionally varied were recorded on a video tape. The video images were shown to two independent experts who were asked to score those cut flowers based on the video images. Two replications were made. The results revealed that there were significant differences between two sets of scores given by two experts respectively. There were also large difference between the first evaluation and the second one. The results imply that the human evaluation is vague and uncertain. The measurements were taken for cut flower length, length between flower and the uppermost node, main stem diameter, curvature of main stem, average internode length, area of leaves and stems, and sizes of leaves in order to investigate the relationship between physical features of cut flowers and experts' decision criteria. It seemed that the most of measured physical features were related to experts' decision criteria. No straight applications of these physical features to the grading parameters seem to be possible because there was not enough statistical substantiality. There must be some complex combinations between physical features that make experts decide the quality of individual cut flower. One of the well known functions of neural network is a classifier that can handle this type of problem.

DOI： 10.2525/jshita.11.93

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

Weeding is an essential operation for maintaining the beauty of lawn fields such as golf course and garden. Since intensive chemical spray is not desirable, it is necessary that the weed area is discriminated from lawn area. However, both weed and lawn usually have similar green color in summer. A method using textural features extracted from an image was investigated for detecting weed area in this paper.<br>Three textural features, Contrast Angular Second Moment, and Inverse Difference Moment were extracted from 9 or 16 regions in an image with and without image smoothing. The results showed that the features extracted from weeds' size well-fitted segmented image area with image smoothing could discriminate weed regions from lawn regions in lawn field.

DOI： 10.11357/jsam1937.61.2_61

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：KLUWER ACADEMIC PUBL  

Two types of robotic end-effectors capable of harvesting tomato fruits were manufactured based on the physical properties of tomato plant and tested. The first prototype end-effector consisted of two parallel plate fingers and a suction pad. The fingers pick a fruit off at the joint of its peduncle after the suction cup singulates it by vacuum from other fruits in the same cluster. From the results of harvesting experiment, the end-effector could not harvest fruits with a short peduncle because the fruits were detached from the suction pad before they were gripped by the fingers. Therefore, the second prototype in which the functions to detect the fruit position and the air pressure in the pad were installed, was made, so that the fruits were harvested regardless of the length of their peduncle. Experimental results using the improved end-effector showed that the fruits were harvested successfully with no damage.

DOI： 10.1023/A:1006595416751

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.60.Supplement_393

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In the previous papers of this series, detecting algorithms of chrysanthemum cutting for visual sensor and two types of leaf removing devices were reported. In this paper, a planting device which sticks cuttings into a plug tray is described as a final procedure of this cutting sticking robot system. The planting device grasped ten cuttings whose lower leaves were removed by the leaf removing device with a plate and could stick the cuttings into a plug tray at a time. From the experimental results, it was observed that its success rate was around 95%.

DOI： 10.11357/jsam1937.60.5_37

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DOI： 10.11357/jsam1937.60.4_37

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In this paper, a detecting algorithm of chrysanthemum cutting for automation of the cutting sticking operation was developed by use of a monochrome TV camera with near infrared sensitivity and boundary complexity of cutting based on problems in the previous paper. From the experimental results using this algorithm, it was observed that infrared region was more effective than visible region for discrimination between the cutting and its background. A success rate to detect the cutting stem end was 96.1% and it was much higher than the previous method, although its processing time was almost same (1.5s). In addition, it was possible to make 0% mis-detection in this algorithm.

DOI： 10.11357/jsam1937.60.3_63

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

A cutting sticking operation is laborious and requires long time especially for a large amount of chrysanthemum seedlings in Japan. In this paper, a detecting algorithm of chrysanthemum cutting is described for automation of the cutting sticking operation. An image of the chrysanthemum cutting was acquired by a color TV camera and a stem end of the cutting was detected on a thresholding image by combination to use MFN (Most Frequent Number) method based on chain code and a method to recognize the stem shape around a candidate point of the stem end. From the experimental results, it was observed that its success rate was 88% and that 1.5 seconds was required for the detection.

DOI： 10.11357/jsam1937.60.2_67

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society of Agricultural, Biological and Environmental Engineers and Scientists  

It is necessary that the weed area is discriminated from lawn area if selective spraying is applied to maintain a lawn field. However, both weed and lawn usually have similar green color in summer. In this paper, a color independent method using gray-scale uniformity in image was proposed for detecting the weed area. This method works based on different levels of uniformity for weed and lawn surfaces and could precisely detect only the weed leaves. The analysis results showed that a weed could be detected if its leaves are at least 5 pixels wide in image, while its length is enough to generate a minimum size blob. It was also found that the image had to be acquired at a short camera distance so that the soil among the lawn was visible and the lawn area had less uniformity. After weed leaf detection, a morphological image analysis was performed on a group the adjacent blobs as result of leaf detection. It was observed that the morphological image analysis was useful in locating a representative center-point for grouped blobs in correspondence to main root location of the weeds.

DOI： 10.2525/ecb1963.36.227

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.11357/jsam1937.60.6_97

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INTERNATIONAL SOCIETY HORTICULTURAL SCIENCE  

The procedure to produce chrysanthemum seedling involves; making cuttings from mother plants of chrysanthemum, preserving the cuttings in a refrigerator to get appropriate amount of cuttings for planting at a time and sticking them into a plug tray after applying water on them over night. A commercialized transplanter had already been developed and was used for transplanting the chrysanthemum seedlings in the field. In the last procedure, a few lower leaves of cutting should be removed when plug tray seedlings are made for the transplanter, since the lower leaves would be obstacles for smooth transplanting. The procedure is still done manually so early developments of machine systems are desired.
A robotic chrysanthemum cutting sticking system introduced in this paper mainly consisted of a leaf removing device, a sticking device and a visual sensor. The visual sensor has to understand direction, location, size and shape of chrysanthemum cutting extracting features from acquired image in the robotic cutting sticking system. A color TV camera and a monochrome TV camera were used to discriminate target object from background. Comparing the thresholding images, monochrome TV camera including infrared sensitivity was effective in discriminating the cutting, because chrysanthemum cutting has much higher reflectance in infrared region than in visible region. After thresholding, border between object and background was represented by chain codes using eight values in image. The difference of chain code could indicate location of stem and its end of cutting. A manipulator could grip the cutting at an appropriate point and the cutting was transported to sticking device through leaf removing device.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：VSP BV  

Many studies on agricultural robots and on robot components such as manipulators, visual sensors, end-effecters and traveling devices have been performed to solve problems when robots work in fields or in greenhouses. In addition, productivity should also be considered in the agricultural production system in the case that the cultivation method and plant training system are changed so that the robot can work without trouble. In this study, a tomato harvesting robot is described as a example of an agricultural robot. First, the basic mechanism of the robot and the details of the robot components are developed based on the physical properties of the tomato plant and on the environmental conditions. Secondly, a cherry tomato harvesting end-effector is also developed so that the robot can harvest not only normal size tomatoes but also cherry tomatoes by changing the end-effector to make it a multi-purpose robot. Lastly, horticultural methods such as suitable cultivation methods and plant training methods for robot working are investigated to construct a new tomato harvesting system using a robot.

DOI： 10.1163/156855396X00020

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DOI： 10.2525/ecb1963.34.123

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：PERGAMON PRESS LTD  

We have developed harvesting robots for tomato /1/, petty-tomato, cucumber /2/ and grape /3/ in Japan. These robots mainly consist of manipulators, end-effecters, visual sensors and traveling devices. These mechanisms of the robot components were developed based on the physical properties of the work objects. The robots must work automatically by themselves in greenhouses or fields, since we are considering for one operator to tend several robots in the production system. The system is modeled after Japanese agriculture which is commonly seen to produce many kinds of crops in greenhouses and in many small fields intensively. Bioproduction in space is somewhat similar to the agricultural system in Japan, because few operators have to work in a small space. Employing robots for bioproduction in space is considered desirable in near future. The following is a description of the harvesting robots.

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DOI： 10.2525/ecb1963.33.253

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DOI： 10.2525/ecb1963.33.261

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INTERNATIONAL SOCIETY HORTICULTURAL SCIENCE  

An agricultural robot which worked in vineyard cultivated in trellis training has been studied, This robot system consisted of a manipulator with 5 degrees of freedom, end-effecters, a visual sensor and a traveling device. It was able to harvest grape bunches and thin berries by changing end-effecters,
In this study, capability of the robot system for other works was investigated in order to develop a multipurpose robot in a new grape production system, Two end effectors for bagging and spraying were made and they were attached to the manipulator end. Bagging operation is an essential work on a grape production system in Japan to protect growing bunches from birds, insect pest, rain drop, and so on, The bagging end-effector which consisted of fingers and bag feeder could put bags on growing bunches continuously one by one, The spraying end-effector could spray the target evenly at a constant speed, Texture analysis was used for comparing spraying by robot with spraying by human being after their images were inputted by TV camera, From the experimental results, it was considered that study on multipurpose robot promoted application of the robot system.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INTERNATIONAL SOCIETY HORTICULTURAL SCIENCE  

Production of petty-tomato has been increasing recently in Japan because of its preferable size and taste, however it takes long time to harvest since its fruit cluster has many fruits and they must be harvested one by one without damage. Therefore robot which can harvest petty-tomato fruits by its manipulator automatically is desirable. In this study, two end-effecters for petty-tomato harvesting were developed using pneumatic tube between end-effector and vessel on the base of robot, The end-effecters pulled fruit into the head and detached it from its peduncle at the joint. The harvested fruit was sent to the vessel through the tube by pneumatic force. So the manipulator did not need to transfer the fruit one by one, When the fruit was detached, one end-effecter nipped around the joint after the fruit was pulled into the head of end-effector pneumatically, while the other one sucked fruit and bent at the joint. The manipulator had 2 prismatic joints and 5 rotational joints. The lengths of upper arm and fore arm were 250 mm and 200 mm, while strokes of the prismatic joints are 200 mm and 300 mm. The harvesting experiments were done in greenhouse after each end-effector was attached to the manipulator. From the results, the feasibility to harvest the petty-tomato by these end-effecters was found.

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DOI： 10.2525/ecb1963.33.237

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DOI： 10.11357/jsam1937.56.45

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

Part 1 and 2 of this series reported on a manipulator, a harvesting hand, and a visual sensor of robot in vineyard. In this paper, an automatization of berry thinning operation was investigated in order to develop a grape production system with robot. The physical properties of grape were measured in the first place. Secondly, a berry thinning hand was made as a trial. This hand consisted of three parts; upper part removed berries, middle part penetrated and shed berries, and lower part cut a bunch to unify its length. Berry thinning experiment was done by using this hand, and the feasibility of the robotization of berry thinning operation was confirmed.

DOI： 10.11357/jsam1937.56.2_93

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.56.Supplement_539

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本生物環境調節学会  

DOI： 10.2525/ecb1963.31.75

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DOI： 10.2525/ecb1963.31.87

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

Grapevine is planted in trellis training in Japan. It is considered that this training has much adaptability for robot working than other trainings. In this paper, it is reported that a manipulator with 5 degrees of freedom and a harvesting hand were made as a trial based on the measurement of positions of grape bunches, frictional resistance and cutting resistance of rachis. The manipulator was a polar coordinate type and its end was controlled to move in continuous path. The hand had three functions; grasping rachis, cutting rachis and pushing bunch. The experiment to harvest individual bunches showed that the manipulator and the hand were effective for harvesting.

DOI： 10.11357/jsam1937.55.6_85

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society of Agricultural, Biological and Environmental Engineers and Scientists  

It is desirable to develop the visual sensor which can detect fruit for agricultural robot and plant factory which have been studied recently. In this paper, fruit discrimination and recognition were experimented in order to develop cucumber fruit detecting visual sensor.<BR>Generally, cucumber fruit has so similar color to its leaf and stem that it is difficult to discriminate them by use of R, G, B signals of color T.V. camera. In this experiment, image was input by using a monochrome T.V. camera and two interference filters which had sensitivity not only in visible region but also in infrared region for discrimation. Secondly, binary image was made after calculation between the two gray level images. Thirdly, fruit was recognized by features of the binary image and line image. From the experimental results about discrimination and recognition, the following was obtained.<BR>1) It was possible to discriminate fruit from its leaves and stems by use of both 550 and 850 nm wavelength interference filters.<BR>2) It was effective for fruit discrimination to add pixels of high gray level in the image through 850 nm wavelength, when part of fruit had yellow green color or much bright reflection.<BR>3) Fruit was almost recognized successfully by using features in the binary image and line image such as area, Feret's diameter ratio, continuity of horizontal intersectional line, centerline length and centerline direction.<BR>4) Connection between centerlines considering the directions made fruit recognition easy and precise, even when fruit was divided by leaves or stems in the image.

DOI： 10.2525/ecb1963.31.93

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

It is desirable to develop an agricultural robot for reduction of labor and sterile cultivation in greenhouse or plant factory recently. It was already reported that basic mechanism of manipulator to work in tomato plant field was studied. The manipulator has 7 degrees of freedom involving prismatic joints.<BR>In this paper, the manipulator was manufactured as a trial and a control method for the redundant manipulator was investigated on purpose to harvest tomato fruit. The method is as follows; operational space was segmented into 50×75 mm small region at first. Secondly, joint angles were calculated for each segmentation by use of evaluating function which contains measure of manipulatability, manipulator and straight moving distance, and displacement of vertical prismatic joint as parameters. Thirdly, the joint angles were referred before manipulator moving.<BR>Harvesting experiment was done using the control method, after a hand with absorptive pad was attached to the manipulator. From the results, the following was obtained.<BR>(1) Segmentation of operational space made control of redundant manipulator easy and speedy.<BR>(2) It was possible for the manipulator to harvest any objects in configuration whose manipulatability and straight moving distance were big.<BR>(3) Manipulator could harvest with reasonable displacement of vertical prismatic joint by using of evaluating function which contains the displacement as parameter.

DOI： 10.2525/jshita.5.44

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DOI： 10.7210/jrsj.33.680

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Language：English   Publisher：Elsevier BV  

DOI： 10.3182/20130327-3-jp-3017.00082

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A tomato harvesting robot to work in large scale greenhouse has been studied by our research group. This robot harvested a fruit by bending its stem instead of by cutting the stem. Some fruits without calyx were harvested by the robot, although tomato fruit with calyx for fresh market are sold in Japan. To solve this problem, in this study, a harvesting end-effector was improved to harvest a fruit with calyx.

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Other Link： http://agriknowledge.affrc.go.jp/RN/2010770299

Language：English   Publishing type：Research paper, summary (international conference)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Large scale Dutch style greenhouses for tomato production have been introduced in many countries recently. Automation systems for many kinds of operations in them are required for improving the conditions of labor shortage, monotonous works, sterilization operation, working efficiency on seedling production, spraying and harvesting operations. In this research, hormone spray and harvesting operations were focused, and machine vision systems and an end-effector were investigated. Because tomato flower petals have higher reflectance in UV region than in visible region, a UV camera and a color camera images were compared. Although end-effectors to harvest individual tomato fruits were already reported so far, an end-effector to harvest a whole fruit cluster was developed and experimented.

DOI： 10.1299/jsmermd.2009._1A2-B16_1

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Language：Japanese   Publisher：山陽放送学術文化財団  

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In this study, an end-effector to harvest whole tomato cluster including 4 to 6 fruits was designed and was manufactured as a trial. Before designing the end-effector, physical properties and dynamic properties of tomato plant were measured The end-effector made as a prototype mainly consisted of upper fingers, lower fingers, and a pushing device. Peduncle graspers and peduncle cutters were attached to the upper fingers by use of springs and cutters. The upper fingers moved upward and downward by a ball screw, while the peduncle graspers slid and grasped the peduncle with spring forces, when the upper finger moved downward Both upper and lower fingers opened and closed through push pull cables driven by solenoid actuators. A pushing device was attached to this end-effector to prevent fruit cluster swinging during transporting the fruit cluster to a tray from tomato plant.

DOI： 10.1299/jsmemecjo.2007.5.0_465

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A robot which could spray chemicals under grapevine trellis was developed and experimented. From the experimental results, it was observed that the robot system made precise spraying operation and its precise operation record possible. Based on the precise operations and records, an optimum management of chemicals could be expected, that is, necessary amount of chemicals would be sprayed only at necessary places for protection of environment and ecosystem. In addition, it was considered that this robot would be able to contribute the minimum input-maximum output production system by establishment of traceability system in grape production.

DOI： 10.1007/10991459_52

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DOI： 10.13031/2013.20882

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

The practice of tracking and analyzing foods from farm to market, food traceability, has been well accepted by both producers and consumers. This system could assure a safe and sufficient food supply. In line with this, a mobile eggplant grading robot was proposed to fulfill the flow of information in food traceability. The robot, which travels together with a human worker inside the greenhouse while harvesting, was expected capable of generating yield and quality map the end of the grading process utilizing information collected during the grading process. Partly of the prototype robot was constructed and fundamental experiments of basic components were conducted in this study. Results showed that objective of these constructed basic component were achieved, which was transferring the fruit from the turntable and place on a rotary tray follow by turning the fruit 180 degree presenting the fruit to a machine vision system mounted on top of it.

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)   Publisher：JAPAN INT RESEARCH CENTER AGRICULTURAL SCIENCES  

The purpose of this study is to develop a planting machine for rush seedlings. In rush seedling production systems, the use of plug seedlings has been widely popularized in Japan. However, the planting operation requires a great deal of labor and takes a long time because a large quantity of seedlings that have a few main stems and a bud are individually picked from the mother plants, and are planted in a tray by manual operations. Therefore, it is desirable to introduce machinery into the planting operation,. In this paper, a semiautomatic planting machine was manufactured based on the physical properties of the rush seedling and planting experiments were carried out. The machine mainly consisted of planting unit, tray shifter, controller and air compressor. From the results of planting experiments, the success rate for planting was approximately 90%.

DOI： 10.6090/jarq.38.43

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A three-dimensional sensing system that consisted of a laser scanner and a lift was developed for agricultural robot to capture precise external information. The laser scanner was moved vertically by the lift to collect three-dimensional distance information around the robots. In the experiments by using a laser scanner and a color camera, each tomato fruit in a same cluster was discriminates successfully. Furthermore, the sensing system detected not only objects but also human motion around a robot when infrared sensors were added to the sensing system.

DOI： 10.1109/AIM.2003.1225516

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Language：Japanese   Publisher：岡山大學農學部  

穀粒を輸送し、調製加工する場合には、その特性を知る必要がある。本研究は、鉛直管内における流動状態を調べることにより、穀粒の基本的流動特性を明らかにする目的で、玄米、BB弾、大豆を空気流によって流動化させて、流動化開始風速と終端速度を求め、その流動状態をビデオカメラで記録して観察した。その結果から：1.流動化開始風速は、大豆が1.6～2.1m/s、BB弾は1.2～1.7m/s、玄米は0.6～1.1m/sの範囲にあった。2.玄米に噴水状態が現れたが、大豆とBB弾に噴水状態がなかった。これはBB弾と大豆の形状が球あるいは球に近いためであると考えられた。3.終端速度を測定した結果、玄米が6.8m/s、BB弾は9.5m/sで、大豆は12.2m/sであることが分かった。

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DOI： 10.11357/jsam1937.65.Supplement_419

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DOI： 10.11357/jsam1937.65.Supplement_171

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DOI： 10.11357/jsam1937.64.Supplement_571

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DOI： 10.11357/jsam1937.62.Supplement_411

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Language：English   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.61.Supplement_543

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.61.Supplement_447

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Language：English   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.61.Supplement_549

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Language：English  

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Language：English   Publisher：PERGAMON PRESS LTD  

In this paper, robotic components were developed for harvesting strawberry grown on a hydroponic system. The robot mainly consisted of a manipulator, an end-effector and a visual sensor and could harvest fruits which hung down from hydroponic flumes. The manipulator was a polar coordinate type with five degrees of freedom, since there were few obstacles around the strawberry fruits. The end-effector could suck the fruit into it by a blower so that detecting errors caused by a visual sensor could be compensated From a fundamental experimental result in laboratory, feasibility to harvest strawberry fruits by robot was found. Copyright (C) 1998 IFAC.

Web of Science

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Authorship：Lead author   Language：English  

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Authorship：Lead author   Language：English  

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Language：English  

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.60.Supplement_387

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.60.Supplement_381

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Language：English   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.60.Supplement_355

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.60.Supplement_379

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Language：Japanese   Publisher：農業食料工学会  

DOI： 10.11357/jsam1937.59.Supplement_325

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J-GLOBAL

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Language：English  

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Authorship：Lead author   Language：English  

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Language：English  

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.59.Supplement_323

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DOI： 10.11357/jsam1937.59.Supplement_347

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Authorship：Lead author   Language：English  

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Language：English  

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Authorship：Lead author   Language：English   Publisher：I E E E  

Web of Science

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.57.Supplement_19

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Language：English   Publisher：AMER SOC AGRICULTURAL ENGINEERS  

Web of Science

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Authorship：Lead author   Language：English   Publisher：AMER SOC AGRICULTURAL ENGINEERS  

Web of Science

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Language：English  

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Language：English   Publisher：AMER SOC AGRICULTURAL ENGINEERS  

Web of Science

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Language：English   Publisher：AMER SOC AGRICULTURAL ENGINEERS  

Web of Science

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.56.Supplement_525

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.56.Supplement_369

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DOI： 10.11357/jsam1937.56.Supplement_391

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.55.Supplement_219

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DOI： 10.11357/jsam1937.55.Supplement_223

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.54.Supplement_418

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DOI： 10.11357/jsam1937.54.Supplement_235

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Language：Japanese  

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.48.Supplement_193

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.48.Supplement_194

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Event date： 2022.9.22

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Event date： 2022.3.3

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2022.3.3

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Event date： 2022.3.3

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Event date： 2021.3.2

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：ウエブ会議  

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Event date： 2019.10.4

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：堺市  

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Event date： 2018.3.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：京都大学  

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Event date： 2017.3.15

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪府立大学  

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Event date： 2017.3.15

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪府立大学  

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Event date： 2017.3.15

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Venue：大阪府立大学  

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Event date： 2016.9.27

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Venue：福山市  

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Event date： 2016.3.2

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Venue：神戸市  

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Event date： 2016.3.2

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Venue：神戸市  

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Event date： 2016.3.2

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Venue：神戸市  

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Event date： 2016.3.2

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Venue：神戸市  

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Event date： 2015.9.14 - 2015.9.18

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Venue：盛岡市  

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Event date： 2015.9.14 - 2015.9.18

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Venue：盛岡市  

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Venue：京都市  

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Event date： 2015.3.3

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Venue：京都市  

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Event date： 2015.3.3

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Venue：京都市  

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Event date： 2015.3.3

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Venue：京都市  

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Venue：京都市  

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Venue：京都市  

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Event date： 2015.3.3

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Venue：京都市  

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Event date： 2014.9.26

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：岐阜市  

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Event date： 2014.9.26

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Venue：岐阜市  

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Event date： 2013.5.15 - 2013.5.17

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Venue：神戸市  

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Event date： 2013.3.27 - 2013.3.29

Language：English   Presentation type：Oral presentation (general)  

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Event date： 2013.3.5