• Journal of Bio-Environment Control
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• v.12 no.2
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• pp.63-67
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• 2003

Cucumber fruits requires a lot of labor to harvest in time in Korea, since the fruits are cut and grabbed by hand. In this study, we developed an end-effector for robotic harvester of cucumber fruits. Its development involved the integration of an end-effector system with a PC compatible, DC motors, and a motor controller board. Software, written in Pic-basic, combined the functions of motor control with various circumstances. Cucumber's properties were measured and analyzed for precision of the end-effector. The results were similar to those of other vegetables. Properties including hardness of cucumber fruits were used as basic data for development of a harvester.

• Journal of Biosystems Engineering
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• v.25 no.5
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• pp.415-420
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• 2000

It is very difficult to mechanize tomato harvesting because identifying a target tomato which is partly covered by leaves and stalks is not easy. This research was conducted to develop tomato harvesting robot which can identifying a target tomato, determining its dimensional position, and harvesting it in a limited time. Followings were major findings in this study. The first visual system of the robot was composed of two CCD cameras, however, which could not detect tomato not placed on the center of lens and partly covered by leaves or stalks. Secondary visual device, combined with two cameras and pan tilting was designed which could decreased the positioning errors within $\pm$10mm but still not enough for covered tomato by any obstacles. Finally, laser detector was added to the visual system that could reduce the position detecting errors within 10mm in X-Y direction and 5mm in Z direction for the covered tomatoes.

• 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.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.07a
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• pp.251-256
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• 2000

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.07a
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• pp.257-262
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• 2000

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1999.12a
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• pp.685-690
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• 1999

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.02a
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• pp.587-593
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• 2000

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1998.12a
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• pp.475-480
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• 1998

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1998.12a
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• pp.481-486
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• 1998

• ICROS
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• v.17 no.3
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• pp.12-17
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• 2011

목표로 하는 성능 지수 함수를 여러 가지 제약 조건 하에서 최소 또는 최대 값을 찾는 문제에 관한 최적화 이론 (Optimization Theory)은 수확 및 공학 분야에서 가장 오래된 학문 영역 중 하나이다. 문제를 이루는 함수와 변수의 수학적 특성에 따라 그 문제를 푸는 많은 해석적 또는 수치적 해법에 관한 세부 이론들이 제시되어 왔다. 근래에는 빠른 계산 속도로 인해 과거에는 생각지 못했던 문제까지도 수치적인 접근을 통하여 그 해를 구할 수 있게 되었다. 본 기고에서는 몇몇 시스템 이론 분야에서 최적화 이론이 사용된 사례를 간략히 소개한다.