• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.4
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• pp.358-365
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• 2017

In this paper, we propose an object recognition method using image information to improve the efficiency of visual servoingfor industrial manipulators in industry. This is an image-processing method for real-time responses to an abnormal situation or to external environment change in a work object by utilizing camera-image information of an industrial manipulator. The object recognition method proposed in this paper uses the Otsu method, a thresholding technique based on separation of the V channel containing color information and the S channel, in which it is easy to separate the background from the HSV channel in order to improve the recognition rate of the existing Harris Corner algorithm. Through this study, when the work object is not placed in the correct position due to external factors or from being twisted,the position is calculated and provided to the industrial manipulator.

• Food Science and Preservation
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• v.23 no.4
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• pp.453-458
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• 2016

'Jonathan' apples are relatively small size which contributes to enhancing fruit consumption and gaining popularity. Thus, this study was carried out to evaluate the effects of AVG (aminoethoxyvinylglycine, ReTain$^{(R)}$), sprayable 1-MCP (1-methylcyclopropene, Harvista$^{TM}$), and fumigation 1-MCP (SmartFresh$^{TM}$) applications on fruit quality attributes and storability in 'Jonathan' apple fruits during cold-stored. The Jonathan fruits were dipped with either ReTain (75 mg/L) or Harvista (125 mg/L) solutions for 5 min, or fumigated with SmartFresh (1 mg/L) for 18 hr before storage at $0{\pm}1^{\circ}C$ for 75 days. Flesh firmness and titratable acidity remained higher in all pre-treated apples than control ones during cold storage period. Flesh firmness was higher for apples treated with ReTain and SmartFresh than samples treated with Harvista, while soluble solid content and respiration rate were not affected by sample pretreatment. Internal ethylene concentration (IEC) of all pretreated apples remained below about $4.5{\mu}L/L$ during the entire storage period while that of control sample greatly increased to $10.29{\mu}L/L$. Ethylene production was much higher in control fruits than in treated ones during cold storage. These results indicated that ReTain and 1-MCP treatments would be considerably effective in retention of fruit quality attributes of 'Jonathan' apple during cold-stored.