• Journal of Biosystems Engineering
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• 제23권3호
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• pp.271-276
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• 1998

A gripper mechanical design using a pneumatic system was developed to successfully grip, hold, and release a seedling plug for transplanting it. The gripper comprised of two air cylinders and shovel-type fingers. The gripper can grasp and hold a seedling by sliding the two fingers attached to the two separate air-cylinders, mounted at an angle of 15$^{\circ}$ When releasing a plug, retraction of the fingers gives a seedling little attachment to the gripper. To prevent seedling from attaching to the fingers, press-plates were attached to the end of the gipper. Transplanting performance of the developed gripper was tested with cucumber seedlings at different soil moisture contents. Overall transplanting performance of developed gipper was higher than the performance of the previously developed gripper. Best transplanting result was achieved at medium level of soil moisture content.

• Journal of Biosystems Engineering
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• 제25권1호
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• pp.19-24
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• 2000

This study was carried out to develop gripper which to adaptive variable tray and to develop automatic transplanting system for seedling-production system between tray. This system consisted of five set of gripper and end-effector, a planting-width control unit, a tray transfer unit, and gripper moving device which move gripper between nursing tray and growing tray. This system used push-out rod to grasp plant instead of pull-out end -effector. Several types of fingers, which physically grip seedlings, were also developed and tested to ensure reliable transplanting operation of the gripper. The transplanting system detaches seedlings from a tray with push-o0ut rods, which were installed under the tray transfer unit. The performance of the transplanting system was evaluated by successive transplanting experiments. Using the best type of finger , the transplanting system produced 94.6% of transplanting success rate.

• Journal of Biosystems Engineering
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• 제22권3호
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• pp.325-332
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• 1997

The use of a robotic transplanter reduces the labor requirement in the greenhouse by carrying out repetitive tasks in an accurate and reliable manner. The transplanter manipulates seedlings by means of end-effector. The end-effector is designed differently from an industrial robot because it manulates biological seedlings of variable size, shape, position, and orientation. This study was conducted to develop an end-effector of a robotic transplanter for bedding plants. The development of an end-effector included selection of the best finger type for the transplanting operation. The performance of developed end-effector was tested and compared with two different transplanting schemes depending on the leaf-orientation consideration. The end-effector developed in this research reliably handled seedlings during transplanting task. Results showed that the shovel type finger was suitable for transplanting with the damaging seedlings.

• Journal of Biosystems Engineering
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• 제24권1호
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• pp.41-50
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• 1999

This study aims at detecting the three dimensional gripping points for the transplanting robot system to grip in the process of developing transplanting robot system, which is one of the automation systems for transplanting tissue culture. The stereo vision system equipped with two cameras has been used to detect the gripping points of the plant stem. The method for matching the plants of the image information which came from two cameras was to measure the total numbers of pixels, leaves, and the heights of the plants. The gripping points were detected near the roots after extracting the stem parts by the standard deviation of the X axis according to the Y axis. The performance test of the developed program showed that the detecting errors of the gripping points were 0∼1mm for X axis and 1∼2mm for Y & Z axis. The mean running time of the program was about 3 seconds.

• 농업생명과학연구
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• 제46권1호
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• pp.53-61
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• 2012

본 연구는 우리나라의 대표적인 조림수종인 참나무류의 건전하고 효율적인 묘목생산을 위한 적정 단근길이와 이식밀도를 구명하고자 실시하였다. 상수리나무와 졸참나무의 단근길이별 묘목생장에서 5 cm로 단근된 묘목은 10 cm 및 15 cm로 단근된 묘목보다 저조한 지상부 및 뿌리생장을 나타내었고, 10 cm로 단근된 묘목은 15 cm로 단근된 묘목과 유사한 생장을 나타내었다. 이식밀도별 묘목생장에서는 64본/$m^2$ 이하의 이식밀도 처리구가 81본/$m^2$ 이상의 이식밀도 처리구보다 우수한 생장을 나타내었다. 따라서 묘목의 우수한 생장과 이식작업의 효율성 등을 고려할 때, 상수리나무와 졸참나무 1-0묘의 이식은 주근을 10 cm로 단근하여 64본/$m^2$의 밀도로 이식하는 것이 가장 적합할 것으로 생각된다. 이러한 본 연구결과는 상수리나무와 졸참나무의 양묘 시 우수한 생장을 나타내는 묘목을 생산하고, 두 수종의 초기 이식생장을 이해하는 기초자료로서 이용될 수 있을 것이다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1997년도 동계 학술대회 논문집
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• pp.88-98
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• 1997

This study was conducted to develope the gripper of a robotic transplanter for bedding plants. Specific objectives of this study were 1) to develope the gripper for plug tray seedlings and 2) to find the suitable finger type for transplanting. The performance of gripper was tested and compared by two different transplanting methods, which were to consider the leaf position of seedlings and not to consider. The results of this study are summarized as follows. (1) The gripper of a robotic transplanter was developed and tested with 4 different finger type. (2) The shovel type finger was suitable for transplanting with the least percent of damaged seedlings.

• Journal of Biosystems Engineering
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• 제23권4호
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• pp.319-326
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• 1998

A herbicide applicator attached to a rice transplanter was developed to perform herbicide application and transplanting simultaneously. The prototype machine was composed of herbicide tank, discharge device, spinner, scattering plate and power drive. The application rate of the machine could be adjusted from 10 to 30 kg/㏊ and the application swath was 1.8m. According to the field test, application uniformity showed the range of 13.6~43.9％ in terms of CV(coefficient of variation) depending on the spinner speed, application height and shape of diffuser. The best uniformity could be achieved with the spinner speed of 30.8m/s and application height of 20cm. Field efficiency of the prototype was 4.7hr/㏊. Transplanting machine has field efficiency of 4.6hr/㏊ in Korea. By attaching the herbicide applicator, field efficiency became lowed only by 0.1hr/㏊, which was counted for filling time of herbicide. Simultaneous operation of transplanting and herbicide application had a of labor saying. The weed control efficacy was measured to be 96% in field when AC140 + Stomp and Londax + YRC was applied at the 65th day after transplanting. Nonanmae was treated by manual application to be compared to.

• 한국자원식물학회지
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• 제26권6호
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• pp.709-717
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• 2013

The objective of this study was to examine the effect of root pruning intensity in combination with different initial seedling size on the growth of transplanting seedlings of Quercus acutissima. One-year-old seedlings were divided into three groups depending on their height, i.e. small (< 15 cm), medium (25-35 cm) and large size (35 cm <). Root of seedlings was pruned by three intensity such as, leaving 5 cm (severe), 10 cm (medium) and 15 cm (light) of taproot from the root-collar. After one year, we investigated survival rate, height and root-collar diameter (RCD) increment and final shoot dry weight. Also we measured characteristics of newly developed lateral roots such as number, total length, dry weight and diameter. Severe root pruning showed the lowest survival rate in all seedling size. Height increment, RCD increment and shoot dry weight were decreased with increasing intensity of root pruning. Seedlings of medium and light root pruning showed similar above-ground growth and dry weight of lateral roots. More large seedlings showed good survival rate, height increment and final shoot dry mass in all root pruning intensity. Therefore, one-year-old seedlings of Q. acutissima should be pruned taproot by 10 cm and transplanted to obtain excellent performance and increase the efficiency of transplanting work. Based on the findings of this study, it is important that applying to different root pruning intensity depending on initial seedling size for producing 2-year-old seedlings with excellent growth and high quality.

• Journal of Biosystems Engineering
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• 제30권2호
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• pp.81-88
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• 2005

Manual transplanting Chinese cabbage needs 184 hours per ha in Korea. Mechanization of Chinese cabbage transplanting operation has been highly required because it needs highly intensive labor during peak season. This study was conducted to developed walking-type Chinese cabbage transplanter. In order to find out design factor of the transplanter, a kinematic analysis software, RecurDyn, was used. The prototype was tested in the circular soil bin and its operating motion was captured and analyzed using high speed camera system. Prototype was one row type which utilized original parts of engine, transmission and etc. from walking-type rice transplanter in order to save the manufacturing cost. Success ratio of pick-up device of hole-pin type and latch type were $96.0\%$ and $99.2\%$, respectively. which was highly affected by feeding accuracy of feeding device of seedling. Transplanting device of the prototype produced a elliptic loci which were coincident with those produced by the computer simulation. Prototype proved good performance in transplanting with mulching and without mulching operation, either. Working performance of prototype was 22 hours per ha and operation cost of the prototype was 961,757 won per ha. So, it would reduce $88\%$ of the labor and $29\%$ of operation cost.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1998년도 동계 학술대회 논문집
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• pp.231-236
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• 1998