• Korean Journal of Organic Agriculture
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• v.23 no.1
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• pp.91-101
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• 2015

'Chuhwangbae' pears (Pyrus pyrifolia Nakai) were investigated on how types of paper bag and harvesting dates influenced on skin blackening before harvest as well as fruit quality after harvest. Experiments included four different types of paper bags (NP/YP, GP/YP, NP/BP, and NP/RP) and five different harvesting dates [160, 170, 180, 190, and 200 days after full bloom (DAFB)]. NP/YP and GP/YP indicated for newspaper- and gray paper-outer bag, respectively, with yellow paper-inner bag of the both. NP/BP and NP/RP indicated for newspaper-outer bag of the both with black paper- and red paper-inner bag, respectively. The NP/YP (newspaper/yellow paper) showed high absorbance and air and water vapor permeability in the bags, while the NP/RP (newspaper/red paper) resulted in poor physical properties in the bags. Fruit enclosed with NP/YP resulted in the absence of skin blackening, but fruit with NP/RP bags had the highest skin blackening (12.7%). Occurrence of skin blackening was concentrated on the middle and calyx end-part of fruit region. NP/RP bag treatment was likely to increase fruit weight, firmness, titratable acidity, and fruit surface color. Harvest at high relative humidity in air increased skin blackening of fruit. Later fruit harvest, such as 190 and 200 DAFB, increased skin blackening, fruit weight, and sugar content while decreasing fruit firmness and titratable acidity.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.621-631
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• 1996

It is said that robot can be used for multi-purpose use by changing end effector or/and visual sensor with its software. In this study, it was investigated what multi-purpose robot for fruit-production was using a tomato harvesting robot and a robot to work in vineyard. Tomato harvesting robot consisted of manipulator, end-effector, visual sensor and traveling device. Plant training system of larger size tomato is similar with that of cherry-tomato. Two end-effectors were prepared for larger size tomato and cherry-tomato fruit harvesting operations, while the res components were not changed for the different work objects. A color TV camera could be used for the both work objects, however fruit detecting algorithm and extracted features from image should be changed. As for the grape-robot , several end-effector for harvesting , berry thinning , bagging and spraying were developed and experimented after attaching each end-effector to manipulator end. The manipulator was a polar coordinate type and had five degrees of freedom so that it could have enough working space for the operations. It was observed that visual sensor was necessary for harvesting, bagging and berry-thinning operations and that spraying operation requires another sensor for keeping certain distance between trellis and end-effector. From the experimental results, it was considered that multi-operations by the same robot could be appropriately done on the same or similar plant training system changing some robot components . One of the important results on having function of multi-operation was to be able to make working period of the robot longer.

• Korean Journal of Food Science and Technology
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• v.31 no.6
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• pp.1503-1510
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• 1999

This study was performed to investigate the physicochemical properties of Korean Citrus sudachi fruit which were harvested at different harvesting time(every 20 days from Sep. 3 to Nov. 8) and region(Seogwipo and Cheju city area). The average weight of Citrus sudachi fruit harvested from Seogwipo area was as twice as that of Cheju area at the same period. The moisture content in fruit peel increased by ripening of fruit, but that of fruit juice showed no difference. The content of reducing sugar in fruit peel and fruit juice increased 2 times from Sep. 3 to Nov. 8. The content of crude fiber decreased both in fruit peel and fruit juice as progression of ripening. Crude protein and ash contents decreased in fruit peel but revealed no differences in the fruit juice during the same period. pH decreased in fruit peel and juice with its ripening. The content of vitamin C decreased by ripening of fruit. The transmittance which is important quality factor in fruit juice increased from Sep. 20 to Oct. 13. The content of free sugar increased about 2 times in fruit peel from Sep. 3 to Nov. 8 and showed 4 times increase in fruit juice at the same period. In the composition ratio of mineral, Ca and K were abundant in the fruit peel, but only K was the most abundant mineral in fruit juice than any others.

• Journal of Bio-Environment Control
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• v.18 no.2
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• pp.101-106
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• 2009

To study the effect of nonwoven fabric materials on growth and yield of korea melon, Medium denier nonwoven fabrics (MDNF), Polyster nonwoven fabrics (PENF) and 12 ounce nonwoven fabric (control) were used. Mean temperature at night was 13.1$^{\circ}C$ at control, 14.7$^{\circ}C$ at MDNF and 13.3$^{\circ}C$ at PENF from Feb. 6${\sim}$7, 2009. Because of higher temperature, early growth of korea melon of MDNF was better than control at 30 days after transplanting. Days required to harvesting (DRH) of control was 89, those of PENF and MDNF were 88, 78, respectively. First harvesting of MDNF was 11 days earlier than control. Harvested fruit of MDNF had higher weight, soluble solid and marketable fruit ratio than control. Yield ratio of control and PENF was 4:3:3 (early:middle:late harvesting season), but MDNF was 5:3:2. Using of MDNF provided earlier harvesting. Total yield of PENF was similar to control, 1,844kg per lOa, MDNF was increased by 9%.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.840-849
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• 1993

In this paper, it is reported that manipulator and hand-required for harvesting tomato were studied. At first, basic physical properties of tomato plant were investigated such as position of fruit, length of stems and leaves, width between ridges and son on . Secondly , basic mechanism of articulate manipulators with 5 to 7 degree of freedom were investigated by using evaluation indexes such as operational space, measure of manipulatability , posture diversity and so on. From the results, an articulate manipulator with 7 degrees of freedom was selected and the manipulator was manufactured as a trial according to the mechanism. Thirdly , physical properties about fruit and peduncle of tomato were also researched such as diameter, length , picking force and so on. Based on the properties , tomato harvesting hand with absorptive pad were also made as a trial. Finally, after the hand was attached to the manipulator, harvesting experiment was done in greenhouse . It was observed th t the robot could harvest satisfactorily , not only since the robot adapted to physical properties of tomato plant was manufactured but also since phyllotaxis of tomatoes was so methodical that all fruit clusters emerged in the same direction.

• Korean journal of applied entomology
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• v.41 no.2
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• pp.107-112
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• 2002

Seasonal occurrence pattern of the peach pyramid moth (PPM), Dichocrosis punctfferahs, was studied by sex pheromone traps and mercury light traps in several Fuyu persimmon orchards under different control pressures in southern region of Korea in 2000 and 2001. Fruit damage by the larvae was also checked at harvesting time from 1999 to 2001. The pattern showed 3 distinct peaks; the 1st one in mid to late June, the 2nd one in mid to late August, and the 3rd one in late September. Number of PPM catches was higher in less controlled than in intensively controlled orchards. There were no persimmon fruits damaged by the larvae of PPM and persimmon fruit moth, Stathmopoda masinissa, in our samples from the testing orchards at harvesting time. Therefore, it is unlikely that these two quarantine pests are included in the exporting fruits. Considering flora adjacent to the tested orchards and zero levels of fruit damage by the larvae, there is a strong possibility that the moths flew from neighbouring chestnut trees or other host plants to be attracted to the traps in the persimmon orchards.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.1063-1072
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• 1996

Fruit harvesting robots should have more diversity and flexibility in the working conditions and environments than industrial robots. This paper presents an efficient optimization algorithm for redundant manipulators to avoid obstacles using dynamic performance criteria, while the optimization schemes of the previous studies used the performance criteria using kinematic approach. Feasibility and effectiveness of this algorithm were tested through simulations on a 3-degrees-of-freedom manipulator made for this study. Only the position of the end-effector was controlled , which requires only three degrees of freedom. Remaining joints, except for the wrist roll joint, which does not contribute to the end-effector linear velocity, provide two degrees of redundancy. The algorithm was effective to avoid obstacles in the workspace even through the collision occurred in extended workspace, and it was found be to a useful design tool which gives more flexibility to design conditions nd to find the mechanical constraints for fruit harvesting robots.

• Journal of Biosystems Engineering
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• v.25 no.5
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• pp.399-408
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• 2000

This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

• Food Science and Preservation
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• v.16 no.3
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• pp.317-320
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• 2009

'Niitaka' (Pyrus pyriforia) has been the major cultivar of the Asian pear since the 1970s, and yielded about 70% of pear production in South Korea in 2002. When Chuseok (Korean Thanksgiving Day) is earlier than the fruit maturation period, farmers seek to advance the harvesting date to keep pace with the increase in consumer demand caused by the holiday. However, unripened fruit is of suboptimal marketable value because the flesh has a low soluble solid content, the fruit color is not attractive, and stone volume is high. Compost treatment can enhance soil microbial activity and affect soil chemistry, which may accelerate fruit maturation and allow an earlier harvesting date. Therefore, we examined the effect of 2 years of compost application on the fruit quality of Asian pear trees grown under conventional management conditions. The Hunter "L" and "a" values were higher in compost-treated fruit, which also showed greater sweetness and lower acidity than did conventional fruit. The stone volume was reduced and fruit calcium concentration was increased by compost treatment. Therefore, compost treatment may advance fruit harvesting owing to the increased marketability afforded by attractive skin color, sweetness, and reduced stone volume.