• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.91-99
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• 2020

Fruit and vegetable harvesting robots have been widely studied and developed in recent years to reduce the cost of harvesting tasks such as labor and time. However, harvesting robots have many challenges due to the difficulty and uncertainty of task. In this paper, we characterize the crop environment related to the harvesting robot and analyzes state-of-the-art of the harvesting robot especially, in the viewpoint of robotic end-effector. The end-effector, an one of most important element of the harvesting robot, was classified into gripper and harvesting module, which were reviewed in more detail. Performance measures for the evaluation of harvesting robot such as test, detachment success, harvest success, and cycle time were also introduced. Furthermore, we discuss the current limitations of the harvesting robot and challenges and directions for future research.

• Journal of Biosystems Engineering
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• v.39 no.4
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• pp.283-289
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• 2014

Purpose: This study was carried out to evaluate the labor requirement and the cost-reducing effects of the pick-up type pulse crop harvester compared with those of conventional harvesting for soybeans and red beans. Methods: The labor requirement and the cost to gather, thresh, and clean for conventional harvesting operations were surveyed; those for the pick-up type pulse crop harvester were estimated for soybeans and red beans. The annual capacity of the harvester and the break-even area of the two harvesting methods were also estimated. Results: For soybean harvesting, the labor requirement of 0.57 hour-persons/10 a for the pick-up type pulse crop harvester reflects a 91.9% reduction in the labor requirement of 7.00 hour-persons/10 a for conventional harvesting. Machinery costs of 51,300 won/10 a for the harvester were estimated for an annual harvesting area of 52.5 ha/year, representing a reduction of 33.3% from the 78,700 won/10 a cost of conventional harvesting. A break-even area of 28.4 ha was estimated for the two harvestings. For red bean harvesting, the labor requirement of 0.57 hour-persons/10 a for the harvester reflects a 92.6% reduction in the labor requirement of 7.66 hour-persons/10 a for conventional harvesting. For an annual harvesting area of 52.5 ha/year, annual capacity of 52.5 ha/year and machinery costs of 51,700 won/10 a were estimated for the harvester, reflecting a reduction of 44.7% in the cost of 93,500 won/10 a for conventional harvesting. A break-even area of 23.1 ha was estimated for the two harvestings. A governmental subsidy for purchasing the harvester could contribute to reducing the break-even area and harvesting costs. Conclusions: The pick-up type pulse crop harvester for soybean and red bean harvesting could reduce the labor requirement and costs of conventional harvesting, and a governmental subsidy for purchasing the harvester will improve the economics of the harvester for efficient mechanical harvesting.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.478-487
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• 1996

A " plucking rolls device" was developed in this study to improve the quality of harvested tea leaves. In this report, the outline of the system and the results of performance experiments in our laboratory are discussed. Tow kinds of performance experiments were carried out. The first experiment checked harvesting accuracy by using a plucking unit that was developed for harvesting machine installation. The second experiment was a harvesting experiment which utilized a fron bar in order to prevent cutting of the tea buds which had been a problem in precious experiments . As a results of the first experiments , it was confirmed that selective harvesting obtained high quality tea leaves. but a cutting problem that, when the harvesting seed was faster than the working speed, which was non-selective harvesting , was also seen. In the second experiment, the cutting rate decreased to a maximum of 50% level, when tea buds most bent ahead by the front bar. The effect was seen that cutt ng problem was alleviated from this.

• Macromolecular Research
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• v.11 no.3
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• pp.133-145
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• 2003

We have developed novel lanthanide-cored supramolecular systems with highly efficient light-harvesting dendritic arrays for integrated planar waveguide-typed amplifiers. Er$^{3+}$ ions were encapsulated by the supramolecular ligands, such as porphyrins and macrobicyclics. The supramolecular ligands have been designed and synthesized to provide enough coordination sites for the formation of stable Er(III)-chelated complexes. For getting a higher optical amplification gain, also, the energy levels of the supramolecular ligands were tailored to maintain the effective energy transfer process from supramolecular ligands to erbium(III) ions. Furthermore, to maximize the light-harvesting effect, new aryl ether-functionalized dendrons as photon antennas have been incorporated into lanthanide-cored supramolecular systems. In this paper, molecular design, synthesis and luminescent properties of novel lanthanide-cored integrated supramolecular systems with highly efficient light-harvesting dendritic arrays will be discussed.d.

• Journal of The Korean Society of Agricultural Engineers
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• v.60 no.1
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• pp.31-36
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• 2018

A rainwater harvesting device was developed for runoff flow harvesting in a small stream or channel and its performance was evaluated in small fields. The rainwater harvesting device has slits on its side of cylindrical volume in 15 cm diameter and 70 cm length, which is designed to increase its water flow harvesting capacity. The maximum collectable water quantity was about 0.0022 ton/sec (130 L/min). Rainwater harvesting device were installed in two locations (P1, P2). P1 is a point for rainfall runoff flow harvesting. P2 is a point for ordinary flow harvesting. During this study, total rainfall depth was 334.5 mm. Runoff of 1,722 ton and 7,984 ton occurred in P1 and P2, and 273 ton and 125 ton were collected by this rainwater harvesting device. Harvesting efficiency was calculated as 15.85 % and 1.57 % in P1 and P2. Clogging of screen filter media in the cylinder due to soil and suspended solids has lowered the harvesting efficiency. However, it was possible to harvest 30 ton/month of rainwater harvesting and it is expected that it will help to solve short-term water shortage.

• Journal of The Korean Society of Grassland and Forage Science
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• v.26 no.2
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• pp.97-104
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• 2006

This experiment was carried out to determine the effect of harvesting date on the forage yield and quality of different rye (Secale cereale L.) cultivars. The experiment was conducted in split plot design with three replications. The main plots consisted of two harvesting dates 20th and 30th April. The subplots consisted of five rye cultivars from different maturity groups such as 'Kodiak (Late)'. 'Koolgrazer (Early)', 'Danko (Late)', 'Homil22 (Medium)' and 'Olhomil (Early)' Dry matter (DM) contents of 17.8% at early harvesting were lower 2.2% than at late harvesting. But crude protein (CP) of 18.9% and total digestible nutrients (TDN) contents of 65.5% at early harvesting were higher 2.3% and 3.0% than those at late harvesting, respectively. There were significant differences in DM, CP and TDN contents among the rye cultivars tested (p<0.05). The contents of fiber components at early harvesting were lower than those at late harvesting. The acid detergent fiber (ADF), neutral detergent fiber (NDF), cellulose and acid detergent lignin (ADL) contents at early harvesting were lower than those at late harvesting, and hemicellulose contents at early harvesting was higher than that at late harvesting. The fiber component of early maturing cultivars such as 'Koolgrazer' and 'Olhomil' were higher than those of the others. Dry matter, CP, in vitro digestible dry matter (IVDDM) and TDN yields at early harvesting were lower than those at late harvesting, and the yield of early maturing cultivars were higher than those of the others. In this study, the results of this study indicate that forage production technology in combination with early maturing rye cultivar and late harvesting could enhance both production and quality of rye.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.28 no.2
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• pp.69-74
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• 2015

Recently, energy harvesting technology is increasing due to the fossil fuel shortages. Energy harvesting is generating electrical energy from wasted energies as sunlight, wind, waves, pressure, and vibration etc. Energy harvesting is one of the alternatives of fossil fuel. One of the energy harvesting technologies, the piezoelectric energy harvesting has been actively studied. Piezoelectric generating uses a positive piezoelectric effect which produces electrical energy when mechanical vibration is applied to the piezoelectric device. Piezoelectric energy harvesting has an advantage in that it is relatively not affected by weather, area and place. Also, stable and sustainable energy generation is possible. However, the output power is relatively low, so in this paper, newly designed honeycomb shaped piezoelectric energy harvesting device for increasing a generating efficiency. The output characteristics of the piezoelectric harvesting device were analyzed according to the change of parameters by using the finite element method analysis program. One model which has high output voltage was selected and a prototype of the honeycomb shaped piezoelectric harvesting device was fabricated. Experimental results from the fabricated device were compared to the analyzed results. After the AC-DC converting, the power of one honeycomb shaped piezoelectric energy harvesting device was measured 2.3[mW] at road resistance 5.1[$K{\Omega}$]. And output power was increased the number of harvesting device when piezoelectric energy harvesting device were connected in series and parallel.

• Journal of Biosystems Engineering
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• v.35 no.6
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• pp.367-372
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• 2010

Consumption of pepper, a major spice vegetable used for seasoning Kimchi, continues to increase, but cultivation is in decline due to shortage of rural labor in Korea. The 39.2% of total labor requirement for conventional pepper cultivation was available for harvesting work. Therefore conventional manual harvesting should be turned to mechanical harvesting for labor-saving, cost-reducing and easy work. Surveys on conventional pepper cultivation patterns, labor requirements for various pepper cultivation works, and farmers' opinions on the mechanization of pepper harvesting were conducted to obtain basic informations. The labor requirement for pepper harvesting was 954 h/ha out of a total labor requirement of 2,436 h/ha for pepper cultivation. Harvesting was the hardest work, and hiring workmen for harvesting was also difficult. Farmers preferred to develop a small-scale pepper harvester using agricultural tractor or cultivar. Most farmer agreed to change cultivation pattern for mechanization of pepper harvesting, but hesitated to adopt new one-time-harvesting pepper varieties.

• Magazine of the Korean Society of Agricultural Engineers
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• v.17 no.2
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• pp.3772-3777
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• 1975

This paper reports on the analysis of the distributions of probable days being good for mechanical rice harvesting and the method of determining the capacity of rice harvesting machinery for the given harvesting duration. In the analysis of the probability distribution of days being good for rice harvesting, the daily rainfalls above which mechanical field work may be impracticable were specified and their frequency of occurances was analyzed by using the weather records during past twenty-one years measured at five different locations. The conclusions being drawn from the analysis are as follows: 1. The distributions of probable workable days in different region and harvesting duration are very distinct and are different to set a uniform trend (refer to Fig. 1-4). 2. The occurance of probable days being good for mechanical field work under 66% confidence level are quite variable by region and by ten-day period. The analysis indicates that the probable workable days may range from 7.5 to 8.5 days of 10-day span within optimum harvesting duration (refer to Table 1). 3. Based on the probability distributions analyzed, the optimun capacities of harvesting machinery required for different harvesting areas and harvesting start-date were estimated as a function of operating duration (refer to Fig. 5 and Table 2)

• Korean Chemical Engineering Research
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• v.55 no.4
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• pp.530-534
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• 2017

Chitosan is a promising flocculant for microalgae harvesting, but its scale-up application is not economically supported yet. Low solubility of chitosan in microalgae suspension demands high dosage (as a flocculant) to destabilize the cells, and thus, increases the cost of microalgae harvesting. This study identifies efficient solvents for the chitosan, and optimizes the concentration of solvents and chitosan dose to improve the harvesting efficiency. Chitosan was dissolved in different acids, and subsequently used as a flocculant. The flocculant efficacy was measured in terms of harvesting efficiency and reduction in chemical oxygen demand (COD) of the microalgae suspension. It was found that chitosan dissolved in 0.05 M HCl showed the highest harvesting efficiency ($89{\pm}0.87%$) at only 30 mg/L of dosage. In comparison, 270 mg/L of $FeCl_3{\cdot}6H_2O$ was required to attain $86{\pm}0.083%$ of the harvesting efficiency. $H_2SO_4$ dissolved chitosan required high flocculant dose (150 mg/L) and resulted in relatively low harvesting efficiency ($77{\pm}0.11%$). It was concluded that the efficacy of chitosan is solvent dependent, and the selection of proper solvent can decrease the dosage requirement for microalgae harvesting.