• Proceedings of the Korean Society for Agricultural Machinery Conference
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• v.11 no.2
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• pp.363-367
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• 2006

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2001.11a
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• pp.46-51
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• 2001

시설원예는 노동집약적이며 순자르기, 눈따기, 유인, 열매솔기, 수확 등 기계화하기 어려운 작업이 많다. 또 대부분의 작업체계에서 항상 운반작업이 이루어지고 있으며 시설 내 여러가지 작업단계 중 운반작업에 소모되는 노동력 비율이 매우 높다. 그리고 다량의 수확물을 바구니나 용기로 소량 운반하기 때문에 필연적으로 보행거리가 길어지고 규모의 확대에 따라 노동강도가 크게된다. (중략)

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1184-1191
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• 2009

Energy harvesting from environment can make the energy constrained systems such as sensor networks to sustain their lifetimes. However, environmental energy is highly variable with time, location, and other factors. Unlike the existing solutions, we solved this problem by allowing the sensor nodes with mobilizer to move in search of energy and recharge from remote energy station. In this paper we present and analyze a new harvesting aware framework for mobile sensor networks with remote energy station. The framework consists of energy model, motion control system and data transfer protocol. Among them, the objective of our data transfer protocol is to route a data packet geographically towards the target region and at the same time balance the residual energy and the link connectivity on nodes with energy harvesting. Our results along with simulation can be used for further studies and provide certain guideline for realistic development of such systems.

• Journal of Biosystems Engineering
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• v.25 no.1
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• pp.63-70
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• 2000

In Korea, researches for year-round leaf vegetables production system are in progress and the most of them are focused on environment control. Automation technologies for harvesting , transporting and grading need to be developed. This study was conducted to develop harvesting process automation system profitable to a competitive price. 1. Manipulator and end-effector are to be designed and fabricated , and fuzzy logic controller for controlling these are to be composed. 2. The entire system constructed is to be evaluated through a performance test. A robot system for harvesting a lettuce was developed. It was composed of a manipulator with 20DOF (degrees of freedom) an end-effector, a lettuce feeding conveyor , an air blower , a machine vision device, 6 photoelectric sensors and a fuzzy logic controller. A fuzzy logic control was applied to determined appropriate grip force on lettuce. Leaf area index and height index were used as input parameters, and voltage was used as output parameter for the fuzzy logic controller . Success rate of the lettuce harvesting system was 93.06% , and average harvesting time was about 5 seconds per lettuce.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.107-114
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• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.99-109
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• 2023

In this paper, the cinch bag typed fruit harvesting gripper was proposed. This gripper is focused on preventing problems that we found from the related research and setting the breakthrough as a design condition according to the harvest failures of other related studies. The cover part is designed to overcome the surrounding obstacles of target fruits such as tomato, Korean melon, and sweet pepper. The measurement of maximum load showed that the well-grasped target object, such as a spherical object with 65 mm of diameter, is unable to slip in a range of 0 kg to 10 kg. The fact that the gripper allows from 4 cm to 6 cm of positional error was shown in the measurement of positional error tolerance. And the cover part of this gripper showed that the suggested gripper can grab a target object without being obstructed by leaves and stems. Finally, it was proved that the gripper satisfied the design conditions through the measurement of contacting force, which showed it is appropriate for grasping an actual fruit without damage.

• Journal of Drive and Control
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• v.21 no.2
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• pp.65-71
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• 2024

In this study, we suggested a key-point detection method for robot harvesting of oriental melon. Our suggested method could be used to detect the detachment part and major composition of oriental melon. We defined four points (harvesting point, calyx, center, bottom) based on tomato with characteristics similar to those of oriental melon. The evaluation of estimated key-points was conducted by pixel error and PDK (percentage of detected key-point) index. Results showed that the average pixel error was 18.26 ± 16.62 for the x coordinate and 17.74 ± 18.07 for the y coordinate. Considering the resolution of raw images, these pixel errors were not expected to have a serious impact. The PDK score was found to be 89.5% PDK@0.5 on average. It was possible to estimate oriental melon specific key-point. As a result of this research, we believe that the proposed method can contribute to the application of harvesting robot system.

• Journal of Biosystems Engineering
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• v.14 no.2
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• pp.104-114
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• 1989

The most important subject in developing agricultural robots for fruit harvesting is to detect accurately the location of a fruit about the given coordinate system. This study was carried out to develop an image processing algorithm which enables finding out the three dimensional locations of a fruit. The digital image processing device consisted of an optosensor (Closed-circuit TV camera), image processing interface board (Digitizer) and microcomputer (IBM PC/AT). A stereo-image processing method using the two cameras attached to the manipulator was evaluated through experiment with apples. The accuracy and quickness of detecting the location of apples by this method was not satisfactory. The maximum errors of the detected locations by the stereo-image processing method in x-, Y-, and z- directions were 3, 4 and 4 cm, respectively. The maximum time required to get the rectangular coordinate data of a fruit was about 2 minutes.

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2000.10b
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• pp.98-103
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• 2000

포도 생과의 수입 개방으로 1996년에 2,400톤, 1997년에 3,500톤을 수입한 바 있다. 현재까지는 칠레산 포도가 3월부터 5월 사이에 수입되어 그 동안 안정적으로 발전해 오던 시설포도의 수익성이 크게 떨어진 바 있으나 수입종 과실의 품질, 기호성, 신선도, 잔류 농약의 문제 등으로 소비자들이 국산 포도를 선호하고 있어 크게 문제되지 않고 있다. 그러나 앞으로의 포도의 지속적인 수입 개방으로 인하여 좋은 품질의 포도가 수입될 것으로 예상된다. (중략)

• Proceedings of the Korean Society of Crop Science Conference
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• 2023.04a
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• pp.24-24
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• 2023

현대화된 재배법은 작물의 생육을 위해 시설내부의 환경을 제어하고 실시간 센싱 정보를 저장하는 시스템을 구축하고 이를 활용하고 있으나, 작물의 생육·생장에 미치는 직접적인 영향에 대한 생육데이터 취득은 아직까지도 전문 재배사·농민이 수작업을 통해 조사되고 있다. 본 연구는 작물의 생육데이터 자동 취득을 위한 장치를 개발하고 이를 실용화하기 위한 정확도 측정 시험을 진행하였다. 실험을 위한 장치구성은 3D Depth 카메라(Intel D415)와 운용 PC이며 딥러닝 모델을 이용하여 작물의 세부기관을 자동으로 인식하는 모델을 포함한다. 장치는 다양한 재배환경의 작물 생육데이터 취득을 위하여 휴대용, 고정형, 로봇형 3가지 유형으로 개발하였고 측정 정확도 검증은 휴대용 생육측정장치를 활용하여 조사하였다. 이러한 연구를 통해 수작업이 아닌 영상에 의한 생육 데이터수집으로 작물의 생육정보(측정값+이미지)를 확보함으로써 환경데이터와 함께 객관적인 정보에 의한 작물의 생산량, 수확시기 등을 예측하는데 활용될 수 있을것으로 예상된다.