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| 1 | Design and simulation of an integrated end-effector for picking kiwifruit by robot显示文摘The harvesting of fresh kiwifruit is a labor-intensive operation that accounts for more than 25%of annual production costs.Mechanized harvesting technologies are thus being developed to reduce labor requirements for harvesting kiwifruit.To improve the efficiency of a harvesting robot for picking kiwifruit,we designed an end-effector,which we report herein along with the results of tests to verify its operation.By using the established method of automated picking discussed in the literature and which is based on the characteristics of kiwifruit,we propose an automated method to pick kiwifruit that consists of separating the fruit from its stem on the tree.This method is experimentally verified by using it to pick clustered kiwifruit in a scaffolding canopy cultivation.In the experiment,the end-effector approaches a fruit from below and then envelops and grabs it with two bionic fingers.The fingers are then bent to separate the fruit from its stem.The grabbing,picking,and unloading processes are integrated,with automated picking and unloading performed using a connecting rod linkage following a trajectory model.The trajectory was analyzed and validated by using a simulation implemented in the software Automatic Dynamic Analysis of Mechanical Systems(ADAMS).In addition,a prototype of an end-effector was constructed,and its bionic fingers were equipped with fiber sensors to detect the best position for grabbing the kiwifruit and pressure sensors to ensure that the damage threshold was respected while picking.Tolerances for size and shape were incorporated by following a trajectory groove from grabbing and picking to unloading.The end-effector separates clustered kiwifruit and automatically grabs individual fruits.It takes on average 4–5 s to pick a single fruit,with a successful picking rate of 94.2%in an orchard test featuring 240 samples.This study shows the grabbing–picking–unloading robotic end-effector has significant potential to facilitate the harvesting of kiwifruit. | Longtao Mu Gongpei Cui Yadong Liu Yongjie Cui Longsheng Fu Yoshinori Gejima | 2020 | Information Processing in Agriculture2020，7，1： | 6 |
| 2 | Mechanized technologies for scaffolding cultivation in the kiwifruit industry:A review显示文摘The success of organic and green agricultural fruit production depends on quality and cost.As the kiwifruit industry becomes ever more commercialized,it is in the interests of the industry to mechanize production,which can promote industrialization and improve industrial value and market prospects.Currently,New Zealand,Italy,Chile,and China carry out research into the mechanism of kiwifruit production.This review describes in detail the current state of the art of pollination,harvesting and grading equipment,including detection and identification,non-destructive end effector,harvesting robots and grading devices.Process technologies that include artificial pollination,harvest mechanization,grading and standardization of production problems are analysed and compared.These problems directly affect the quality of kiwifruit products.Finally,to solve the various problems that the kiwifruit industry experiences,it is necessary to accelerate the development of mechanized kiwifruit production,realize the mechanization of information acquisition and standardization in order to advance precision agriculture and agricultural wisdom for the future.Mechanization of the kiwifruit industry must adapt to adjustments in how China’s economic structure develops. | Longtao Mu Haozhou Liu Yongjie Cui Longsheng Fu Yoshinori Gejima | 2018 | Information Processing in Agriculture2018，5，4： | 5 |
| 3 | Bioproduction of D-psicose using permeabilized cells of newly isolated Rhodobacter sphaeroides SK011显示文摘D-psicose exits in an extremely small amount in nature and is difficult to be chemically synthesized.Only three bacteria have been used in the biotransformation of D-psicose from D-fructose.In this paper,another bacterium which could convert D-fructose to D-psicose was isolated and identified as Rhodobacter sphaeroides.The process parameters of D-psicose production using permeabilized cells of Rhodobacter sphaeroides SK011 were optimized,including the permeabilization procedure:0.1%(w/v)CTAB,10 min,and reaction conditions:cell concentration,30 g dry cell wt/L;concentration of substrate,50 g/L;40℃,pH 9.0;reaction time,8 h.Under the optimized conditions,the permeabilized cells produced approximately 6.5 g/L D-psicose with a Dpsicose productivity of 0.82 g·L^(-1)·h^(-1).This is the first report of bioproduction of D-psicose using permeabilized cells of Rhodobacter sphaeroides. | Longtao ZHANG Bo JIANG Wanmeng MU Tao ZHANG | 2009 | Frontiers of Chemical Science and Engineering2009，3，4： | 1 |
| 4 | Characterization of D-tagatose 3- epimerase from Rhodobacter sphaeroides that converts D- fructose into D- psicose 显示文摘 | Longtao Zhang Wanmeng Mu Bo Jiang | 2009 | Biotechnology Letters2009，31，： | 1 |
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