Progress 09/01/08 to 08/31/13
Outputs
Target Audience: Target audiences were identified and engaged throughout the course of the five-year project and include: 1. Tree fruit producers: This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 2. Specialty crop producers (other than tree fruit, including tree fruit nursery producers and ornamental nursery producers): This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 3. Tree fruit orchard managers: This sector includes on-farm managers and includes racial and ethnic minorities. 4. Agricultural field advisors: This sector includes both public and private sector agricultural advisors. 5. Researchers: Both public and private individuals involved in a wide range of work that contributes to or benefits from the CASC project. This sector includes racial and ethnic minorities. 6. Graduate and undergraduate students: Includes racial and ethnic minorities. 7. Industry leadership: Includes individuals and groups that identify needs, set research and outreach priorities, collaborate in activities, and provide funding. 8. Equipment design engineers, manufacturers and distributors: This includes private sector communities, both those who have historically worked with agricultural industry and those who have recently been identified as potential technology/equipment providers. Changes/Problems:
Nothing Reported
What opportunities for training and professional development has the project provided? CASC trained a cumulative total of 84 students in CASC projects, who now have an interest in engineering solutions for specialty crops; and a cumulative total of 40 trainers, including 25 from other institutions. How have the results been disseminated to communities of interest? The results have been disseminated through field days, tours, publications, and talks that generated a cumulative total of 11,908 direct contacts. Project outcomes and impacts include: 1. The Specialty Crops Engineering Solutions Workshop was attended by 50 people, including 10 in teleconference. It included a demonstration of the CASC orchard vehicles, including the new Toro drive-by-wire vehicle for specialty crops. The program and presentations are publicly available at http://www.cs.cmu.edu/~casc/specialty_crops_workshop_2012/. 2. The new Toro drive-by-wire vehicle for specialty crops brings the autonomous orchard vehicle technology developed in CASC one step closer to commercialization. 3. Trials with the autonomous orchard platforms demonstrated the following increases in production efficiency compared to ladders: in WA, 116% for string tying/tree training and 36% for green fruit thinning; in PA, 51% for pheromone dispenser placement, 30% for peach green fruit thinning, and 45% for green apple thinning. 4. A stakeholder using the new automatic counter system counted 2-year old in-field nursery trees with accuracy varying between 89% and 100% at 3 and 5 mph. Feedback from the stakeholder was positive. Next steps include improving performance so counting can be done reliably at 7-10 mph and improving the user interface. 5. Improvements made to the harvest assist system enabled: (i) increased productivity because the picking bucket’s tapered and the padded bottom funneled the fruit directly into the vacuum hose; (ii) safe and efficient nighttime harvesting; (iii) easier turning at the end of the rows; (iv) better utilization of manpower by removing a person from the tractor while in the row; (v) greater safety provided by the hand brake; and (vi) reduced bruising and more even bin filling due to the additional drape. Testing on apples in WA resulted in 3 to 6% bruising, an acceptable level. In CA the system handled the peaches well, but configuration changes need to be made to improve efficiency in this environment. When tested with pears in CA, the system’s greatest obstacle was stem breakage; the machine must be modified to reduce breakage to a level below that of hand picking. 6. The newly designed bio-impedance sensor in the Z-Trap eliminated false detections and achieved a comparable capture rate to that of the industry standard large plastic delta traps. 7. The Z-Traps can now operate up to 4 months when running 12 hours a day. 8. Insect population data collected in the Z-Traps can now be displayed on a web application in real-time. 9. Surveys conducted at field days and grower conventions indicated positive KASA changes and that producers felt the greatest technological needs in the next 10 years will be for harvest assist, spray application, improved labor efficiency, and crop load estimation. 10. Seventy-four percent of growers attending AgTools Academy workshops said they finance orchard renewal and technology purchases from annual cash flow or short-term debt. After financial strategies and orchard renewal information was presented and discussed, 62% of the growers indicated they would invest capital when cash is available and 33% would invest capital when they qualify for a loan. 11. The International Fruit Tree Association session on automation was attended by 300 growers from over 10 countries. What do you plan to do during the next reporting period to accomplish the goals?
Nothing Reported
Impacts
What was accomplished under these goals?
1. Conducted the Specialty Crops Engineering Solutions Workshop on November 28th, 2012. 2. Integrated orchard vehicle autonomy system onto new Toro drive-by-wire vehicle for specialty crops. 3. Designed and built a new automatic tree counter based on a low-cost microprocessor that replaces the laptop used in previous versions. Migrated the software from the laptop to the microprocessor. Verified that the system works correctly at Eisler Nursery in Prospect, PA. 4. Built five copies of the new tree counter and distributed to scientists and stakeholders at Oregon State University, Washington State University, and Virginia Polytechnic Institute and State University. 5. Evaluated the new tree counter at several locations at J. Frank Schmidt nurseries in Oregon. 6. Modified harvest assist system for PNW tree architectures and operations. 7. Delivered a four-hose harvest assist system for NE tree architectures to PA for testing. 8. Tested the harvest assist system in WA, PA, and MI (apples) and CA (peaches, pears) with respect to bruising, efficiency, and ergonomics. 9. Deployed 30 electronic traps (Z-Traps) at WA Sunrise Orchard and PA Fruit Research Extension Center. 10. Integrated MyTraps web application with the Z-Traps. 11. Developed and deployed two crop yield estimation systems in orchards in WA and PA. 12. Held four AgTools Academies in the PNW reaching 97 apple, pear, and cherry growers. The goal was to assist growers to manage their financial, marketing and production risks when establishing new orchards and purchasing technologies. One-third of the participants were from small farms and about half from large farms. 13. Completed in-depth case studies of 17 producers to assess knowledge, perceptions, and attitudes, based on diffusion of innovation research, regarding implementation of three CASC technologies. 14. Redesigned project web site and refined the outputs of the project for long-term archival. 15. Eight CASC team members presented at a special automation session of the International Fruit Tree Association Convention on February 25, 2013 (http://www.ifruittree.org/?page=2013AnnualConference). Featured presentations included: “Technologies to Determine Plant Stress” by Michael Glenn and George Kantor; “Progress with Harvest Assist Systems” by Michael Rasch, Karen Lewis, and Jim Schupp; “Automated Pest Monitoring—From Field to Computer to Recommendation” by Johnny Park and Larry Hull; “Multi-Tasking Autonomous Prime Mover (APM) for Orchards” by Sanjiv Singh; and “A Producer’s Experiences and Insights on New Technologies for Orchards” by Bruce Hollabaugh, a grower who field-tested many of the CASC technologies over the course of the project.
Publications
- Type:
Journal Articles
Status:
Published
Year Published:
2013
Citation:
Park, J., L.A. Hull. B. Lehman, H. Medeiros, A. Nascimento and G. Krawczyk. 2013. Design and evaluation of a network of electronic traps for automated monitoring of insect pest populations in apple orchards. Pennsylvania Fruit News 93(1): 38-44.
- Type:
Journal Articles
Status:
Published
Year Published:
2013
Citation:
Kon, T. M., J. R. Schupp, H. E. Winzeler and R. P. Marini. 2013. Influence of mechanical string thinning treatments on vegetative and reproductive tissues, fruit set, yield and fruit quality of apple. HortScience 48:40-46.
- Type:
Journal Articles
Status:
Published
Year Published:
2012
Citation:
Auxt Baugher, T., J. Schupp, C. Lara, S. Prozo. 2012. Blossom thinning results in an early bloom season. Horticultural News 93 (1):1-8.
- Type:
Journal Articles
Status:
Published
Year Published:
2012
Citation:
Auxt Baugher, T. 2012. Mechanization research in the United States. Compact Fruit Tree 45(3):18-20.
- Type:
Journal Articles
Status:
Published
Year Published:
2013
Citation:
Schupp, J., T. Auxt Baugher, E. Winzeler, T. Kon and M. Schupp. 2013. Labor efficient apple peach production. PA Fruit News, 93(1):35-37.
- Type:
Journal Articles
Status:
Awaiting Publication
Year Published:
2013
Citation:
Schupp, J., T. Auxt Baugher, P. Heinemann, E. Winzeler, T. Kon and M. Schupp. 2013. Labor efficient apple and peach production. Compact Fruit (in press).
- Type:
Journal Articles
Status:
Accepted
Year Published:
2014
Citation:
Caplan, S., B. Tilt, G. Hoheisel, T. Auxt Baugher. 2013. Specialty crop growers perspectives on adopting new technologies. HortTechnology (accepted for publication).
- Type:
Conference Papers and Presentations
Status:
Published
Year Published:
2013
Citation:
Freitas, G.; Lizarralde, F.; Hsu, L.; Bergerman, M. 2013. Terrain Model-Based Anticipative Control for Articulated Vehicles with Low Bandwidth Actuators. IEEE International Conference on Robotics & Automation, Karlsruhe, Germany, pp. 382-389.
- Type:
Book Chapters
Status:
Published
Year Published:
2012
Citation:
Freitas, G.; Zhang, J.; Hamner, B.; Bergerman, M.; Kantor, G. 2012. A Low-Cost, Practical Localization System for Agricultural Vehicles. Lecture Notes in Computer Science, Springer, Volume 7508, pp. 365-375, DOI: 10.1007/978-3-642-33503-7_36. Also published in the proceedings of the International Conference on Intelligent Robotics and Applications, Montreal, Canada, October 2012.
- Type:
Conference Papers and Presentations
Status:
Published
Year Published:
2012
Citation:
Zhang, J.; Kantor, G.; Bergerman, M.; Singh, S. 2012. Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments. IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, pp. 3659-3666.
- Type:
Conference Papers and Presentations
Status:
Published
Year Published:
2012
Citation:
Freitas, G.; Hamner, B.; Bergerman, M.; Singh, S. 2012. A Practical Obstacle Detection System for Autonomous Orchard Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, pp. 3391-3398.
- Type:
Conference Papers and Presentations
Status:
Published
Year Published:
2012
Citation:
Freitas, G.; Zhang, J.; Libby, J.; Hamner, B.; Bergerman, M.; Kantor, G. 2012. A Practical Localization System for Orchard Vehicles. Brazilian Conference on Automatics, Campina Grande, Brazil
- Type:
Conference Papers and Presentations
Status:
Published
Year Published:
2012
Citation:
Freitas, G.; Bayar, G.; Bergerman, M. 2012. Stability Analysis of an Agricultural Platform. Brazilian Conference on Automatics, Campina Grande, Brazil.
|
Progress 09/01/11 to 08/31/12
Outputs
OUTPUTS: 1. Integrated autonomy system onto new Toro drive-by-wire vehicle for specialty crops. 2. Upgraded two autonomous orchard platforms with low speed control and user-friendly interface. 3. Integrated low-cost localization algorithm into orchard vehicle. 4. Modified harvest assist system for PNW tree architectures and operations: remote steering for tractor, lighting for night-time work shift, retractable tongue, removed rails. 5. Delivered a four-hose harvest assist system for NE tree architectures to PA for testing. 6. Tested the harvest assist system in CA (peaches, pears) and WA (apples) with respect to bruising, efficiency, and ergonomics. 7. Deployed ten weather data collection stations within the tree canopy at separate locations in a mature apple orchard. Collected data from one weather station outside of the orchard. 8. Each station collected leaf wetness from three sensors deployed at different locations in the canopy. Data were transmitted wirelessly to a base station and uploaded to Sensorweb. 9. Deployed 30 electronic traps (Z-Traps) at WA Sunrise Orchard and PA Fruit Research Extension Center. 10. Integrated MyTraps web application with the Z-Traps. 11. Trained stakeholders at J. Frank Schmidt Nursery (JFS), Bailey Nurseries, Inc. (BNI), and C&O Nursery to use the on-the-go counter. 12. Evaluated the on-the-go caliper on trees of varying size at JFS and Dave Wilson Nursery (DWN). 13. Determined human error and variation of caliper due to tree stem or trunk shape at JFS. 14. Developed an user guide for the on-the-go counter. 15. Evaluated the accuracy of low-cost GPS as a tool for localization of the counter and caliper. 16. Developed an automatic bias correction algorithm for the crop load estimation software that does not require hand count data to compensate for occluded fruit. 17. Deployed the new crop yield estimation system in orchards in Biglerville, PA. 18. Developed red apple and green apple crop yield estimation software and tested it on data collected by the new estimation system. 19. Held four AgTools Academies in the PNW reaching 97 apple, pear, and cherry growers. The goal was to assist growers to manage their financial, marketing and production risks when establishing new orchards and purchasing technologies. One-third of the participants were from small farms and about half from large farms. 20. Completed in-depth case studies of 17 producers to assess knowledge, perceptions, and attitudes, based on diffusion of innovation research, regarding implementation of three CASC technologies. 21. Made a cumulative total of 11,908 direct contacts through field days, tours and presentations; redesigned web site (http://www.CasCrop.com) to improve usability and refine the material for the final project year; posted a cumulative total of 38 videos, with "APM vs. ladder" (1,181 views), "Vision Robotics Automated Scout" (596 views), and "Augmented Harvesting Overview" (598 views) generating the most views. 22. Trained a cumulative total of 40 trainers, including 25 from other institutions. 23. Trained a cumulative total of 84 students in CASC projects, who now have an interest in engineering solutions for specialty crops. PARTICIPANTS: 1. Institutions: Carnegie Mellon University, The Pennsylvania State University, Washington State University, Oregon State University, Purdue University, USDA Agricultural Research Service, Vision Robotics, Phil Brown Welding, DBR Conveyor Concepts, Spensa Technologies, The Toro Company, Trimble Navigation. 2. Project director: Prof. Sanjiv Singh, Carnegie Mellon University. 3. Co-directors: Brian Lehman, Clark Seavert, David Michael Glenn, George Kantor, Gwen-Alyn Hoheisel, Harvey Koselka, James Owen, Jillian Cannons, Johnny Park, Karen Lewis, Larry Hull, Marcel Bergerman, Tara Baugher, Vincent Jones, William Messner. 4. Other professionals: Alain Samaha, Amy Tabb, Art Lange, Avinash Kak, Bret Wallach, Brian Lee Lehman, Catherine Lara, Clark Seavert, Dana Lonn, David Michael Glenn, Edwin Winzeler, George Kantor, Grzegorz Krawczyk, Guiqin Li, Gurcan Aral, Gwen-Alyn Hoheisel, Harvey (Tony) Koselka, Heather Stoven, James Owen, James Remcheck, James Schupp, James Teza, Ji Zhang, Jillian Cannons, Johnny Park, Karen Lewis, Larry Hull, Manoj Karkee, Marcel Bergerman, Michael Rasch, Phil Brown, Robin Rosetta, Sanjiv Singh, Silvio Maeta, Stephan Roth, Stephen Nuske, Tara Baugher, Vincent Jones, Wenfan Shi. 5. Since the beginning of the project, 84 students participated in project activities. Time commitment ranged from three months for summer interns to multi-year appointments for graduate students. TARGET AUDIENCES: Target audiences were identified and engaged throughout the period of 09/2011 to 09/2012. They include: 1. Tree fruit producers: This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 2. Specialty crop producers (other than tree fruit, including tree fruit nursery producers and ornamental nursery producers): This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 3. Tree fruit orchard managers: This sector includes on-farm managers and includes racial and ethnic minorities. 4. Agricultural field advisors: This sector includes both public and private sector agricultural advisors. 5. Researchers: Both public and private individuals involved in a wide range of work that contributes to or benefits from the CASC project. This sector includes racial and ethnic minorities. 6. Graduate and undergraduate students: Includes racial and ethnic minorities. 7. Industry leadership: Includes individuals and groups that identify needs, set research and outreach priorities, collaborate in activities, and provide funding. 8. Equipment design engineers, manufacturers and distributors: This includes private sector communities, both those who have historically worked with agricultural industry and those who have recently been identified as potential technology/equipment providers. PROJECT MODIFICATIONS: The project was extended by the USDA until Feb 28, 2013.
Impacts
1. Trials with autonomous orchard platforms demonstrated the following increases in production efficiency compared to ladders: in WA, 116% for string tying/tree training, 36% for green fruit thinning; in PA, 51% for pheromone dispenser placement, 30% for peach green fruit thinning, 45% for green apple thinning. 2. Improvements made to harvest assist system enabled (i) increased productivity because the picking bucket's tapered, padded bottom funneled the fruit directly into the vacuum hose; (ii) safe, efficient nighttime harvesting; (iii) easier turning at the end of the rows; (iv) better utilization of manpower by removing a person from the tractor while in the row; (v) greater safety provided by the hand brake; and (vi) reduced bruising and more even bin filling due to the additional drape. Testing on apples in WA resulted in 3 to 6% bruising, an acceptable level. In CA the system handled the peaches well, but configuration changes need to be made to improve efficiency in this environment. When tested with pears in CA, the system's greatest obstacle was stem breakage; the machine must be modified to reduce breakage to a level below that of hand picking. 3. Placement of weather stations in the orchard affected outputs of temperature, relative humidity, and leaf wetness. Leaf wetness sensors in the canopy widely affected duration of leaf wetness measurements. Weather data collected within the canopy varied significantly compared to weather data collected outside the orchard. Placement of weather stations and leaf wetness sensors and threshold of leaf wetness affected outcomes of apple scab disease prediction. 4. The newly designed bio-impedance sensor in the Z-Trap eliminated false detection and achieved a comparable capture rate to that of the industry standard large plastic delta traps. The Z-Traps can now operate up to 4 months when running 12 hours a day. Insect population data collected in the Z-Traps can now be displayed on a web application in real-time. 5. A stakeholder using the on-the go-counter system counted 2-year old in-field nursery trees with 99% accuracy at 5 and 10 mph. 6. The new robust on-the-go caliper device evaluated at time of tree digging was able to provide caliper data for each tree. Accuracy is yet to be determined. 7. Using the new automatic bias correction algorithm, the crop load estimation system yielded average relative errors of -10.2% and 15.6% for red apple blocks with low occlusion and medium occlusion, respectively, scanned in September, 2011. 8. Surveys conducted at field days and grower conventions indicated positive KASA changes and that producers felt the greatest technological needs in the next 10 years will be for harvest assist, spray application, improved labor efficiency, and crop load estimation. 9. Seventy-four percent of growers attending AgTools Academy workshops said they finance orchard renewal and technology purchases from annual cash flow or short-term debt. After financial strategies and orchard renewal information was presented and discussed, 62% of the growers indicated they would invest capital when cash is available and 33% would invest capital when they qualify for a loan.
Publications
- Baugher, T. Auxt, J. Schupp, L. Hull, C. Lara. 2012. Specialty Crop Innovations: Progress and Future Directions. Penn State Cooperative Extension Ag Innovations Pub. 5.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Electronic Trap. CASC video.
- 1. Research Papers/Written Reports, 2011-2012
- Baugher, T., J. Schupp, P. Heinemann. 2011. Innovations in peach thinning. Proc. New England Vegetable and Fruit Convention, Manchester, New Hampshire.
- Schupp, J., T. A. Baugher, J. L. Frecon, J. Remcheck, and K. Ellis. 2011. Evaluation and Demonstration of New Stone Fruit Varieties and Tree Forms. PA Fruit News 91.
- Schupp, J. and T. Auxt Baugher. 2011. Peach blossom string thinner performance improved with selective pruning. HortScience 46:1486-1492.
- Schupp, J., and E. Winzeler. 2011. A Precision Electronic Fruit Grading System for the PSU Fruit Research and Extension Center. PA Fruit News 91(1):38.
- Peters, M. 2011. Current status and future refinements for the Darwin string thinner. Proc. Great Lakes Fruit Expo. Grand Rapids, MI.
- Schupp, J., T. Baugher, E. Winzeler, M. Schupp, W. Messner. 2011. Preliminary results with a vacuum assisted harvest system for apples. Fruit Notes76(4): 1-5.
- Weng, M., Q. Zhang, K. M. Lewis. 2012. End-effector performance evaluation of a hand-held mechanical thinning device. 2012 ASABE Annual International Meeting, Dallas, TX (Abstract).
- Kohanbash, D., M. Bergerman, K. M. Lewis, S. Moorehead. 2012. Safety architecture for robotic systems. Proceedings ASABE Annual International Meeting.
- Wang, Q., S. Nuske, M. Bergerman, S. Singh. 2012. Design of Crop Yield Estimation System for Apple Orchards Using Computer Vision. Proceedings ASABE Annual International Meeting.
- Lou, Ruilong, K. M. Lewis and Q. Zhang. 2012. Assessment of Bruise Damage by Vacuum Apple Harvester using an Impact Recording Device. Proceedings ASABE Annual International Meeting.
- Weng, M., Q. Zhang, K. M. Lewis. 2012. End-Effector Performance Evaluation of a Hand-Held Mechanical Thinning Device. Proceedings ASABE Annual International Meeting.
- Wang, Q., S. Nuske, M. Bergerman, S. Singh. 2012. Automated Crop Yield Estimation for Apple Orchards. International Symposium on Experimental Robotics (ISER). Quebec City, Canada.
- G. Freitas, J, Zhang, B. Hamner, M. Bergerman, and G. Kantor. 2012. A Low-Cost, Practical Localization System for Agricultural Vehicles. International Conference on Intelligent Robotics and Applications. Montreal, Canada.
- G. Freitas, J, Zhang, J. Libby, B. Hamner, M. Bergerman, and G. Kantor. 2012. A Practical Localization System for Orchard Vehicles. Brazilian Conference on Automatics. Campina Grande, Brazil.
- G. Freitas, G. Bayar, and M. Bergerman 2012. Stability Analysis of an Agricultural Platform. Brazilian Conference on Automatics. Campina Grande, Brazil.
- G. Freitas, B. Hamner, M. Bergerman, and S. Singh. 2012. A Practical Obstacle Detection System for Autonomous Orchard Vehicles, IEEE/RSJ International Conference on Intelligent Robots and Systems. Algarve, Portugal.
- J. Zhang, G. Kantor, M. Bergerman, and S. Singh. 2012. Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments. IEEE/RSJ International Conference on Intelligent Robots and Systems. Algarve, Portugal.
- 2. Invited Presentations, 2011-2012
- Baugher, T., J. Schupp, P. Heinemann. 2011. Innovations in Peach Thinning. New England Vegetable and Fruit Convention, Manchester, New Hampshire.
- Peters, M. 2011. Current Status and Future Refinements for the Darwin String Thinner. Proc. Great Lakes Fruit Expo. Grand Rapids, MI.
- B. Wenk, J. Snavely, J. Weaver, A. Tougas, R. Lamb. 2011. A New Generation's Ideas on Innovation in the Fruit Industry. New England Vegetable and Fruit Convention, Manchester, New Hampshire.
- S. Singh and CASC Team Leaders. Comprehensive Automation for Specialty Crops - Year 3 Achievements and Year 4 Goals. 2011. Washington State Horticultural Convention (Poster).
- T. Baugher. 2012. Mechanization Research in the USA. International Fruit Tree Association Annual Conference. Santiago, Chile.
- S. Singh and CASC Team Leaders. 2012. Comprehensive Automation for Specialty Crops - Year 3 Achievements and Year 4 Goals. Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA (Poster).
- T. Baugher and Innovative Thinning Team Leaders. 2012. Innovative Thinning Technologies for Tree Fruit. S. Singh and CASC Team Leaders. Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA (Poster).
- S. Singh. 2012. An Engineer's Vision for the Development of Orchard Labor Saving Technologies. Special Session on Engineering Solutions for Specialty Crops, Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- Fruit Grower News, October 2011. Industry Spotlight on Phil Brown apple Harvester, by D. Sigler.
- PA Fruit News, October 2011. IFTA Hops the Pond: New Training Systems for Mechanization, by J. Snavely.
- Fruit Grower News, November 2011. Apple Harvester Represents a Landmark Change in Technology, by D. Sigler.
- Good Fruit Grower, November 2011. Electronic Trap Saves Labor - Growers Will be able to Monitor Pests from their Computers in Real Time, by G. Warner and M. Hansen.
- Good Fruit Grower, November 2011. Picker and Platform, by M. Hansen.
- Good Fruit Grower, November 2011. Blossom Thin Peaches, by R. Lehnert.
- American/Western Fruit Grower, November/December 2011. Seeking a Labor Solution/ Research on Display, by J. McFerson.
- Good Fruit Grower, December 2011. Collaborative Research - A New Approach to Tree Fruit Research is Starting to Bear Fruit, by G. Warner.
- Lancaster Farmer, January 2012. Apple Growers Think Thin(ning),' by K. Mathews.
- American Fruit Grower, February 2012. Help Wanted: Mechanization is One Solution, by D. Eddy.
- The Grower, January 2012. Iffy Labor Supply Drives Development of Labor-saving Equipment, by R. Stern.
- Purdue University News, March 2012. Purdue's Emerging Innovations Fund Invests in Two Startups, by S. Martin.
- Cling Peach Review, Fall/Winter 2011. Mechanized Harvest Research Continues, by M. Hansen.
- The Grower, March 2012. Computer Program Aids Insect Tracking Management, by The Grower Staff.
- Good Fruit Grower, March 2012. IPM Researcher Sees Challenges Ahead, by R. Lehnert.
- American/Western Fruit Grower, March 2012. Applying Precision Ag to Tree Fruit, by J. McFerson.
- Mission Critical, Spring 2012. CMU-led Automation Program Puts Robots in the Field, by B. Davis.
- American/Western Fruit Grower, April 2012. From the Ground Up, by B. Sparks.
- American/Western Fruit Grower, April 2012. What to Know about Automation, by R. Bartels.
- American/Western Fruit Grower, May 2012. Moving Toward Automation, by B. Sparks.
- American/Western Fruit Grower, May 2012. Apple Harvester Getting Closer, by B. Sparks.
- DYI Drones, May 2012. A Whole `nother APM: Robofarmer!, by C. Anderson.
- Good Fruit Grower, May 2012. Finding the Ideal Peach Orchard, by R. Lehnert.
- Penn State Extension and Gettysburg Times, June 2012. Ingenuity in the Field, by S. Prozo. http://extension.psu.edu/adams/news/2012/ingenuity-in-the-field-conse rvation-and-machinery
- Good Fruit Grower, August 2012. Focus Shifts to Full Automation, by G. Warner.
- Good Fruit Grower, August 2012. Harvest Assistance, by G. Warner.
- Good Fruit Grower, August 2012. Robotic Harvester Would be Costly, by G. Warner.
- Growing Produce, October 2012. Vacuum Apple Harvester in Action, by B. Sparks.
- 4. Bulletins, Fact Sheets, Computer Software and Videos, 2011-2012
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. VRC Scout - Year 4 Goals. CASC video.
- Schupp, J., T. Baugher, E. Winzeler, M. Schupp, W. Messner. 2011. Preliminary results with a vacuum assisted harvest system for apples. Horticultural News, Fall 2011 issue.
- Schupp, J., T. Baugher, E. Winzeler, M. Schupp, W. Messner. 2011. Preliminary results with a vacuum assisted harvest system for apples. PA Fruit News 91(8):22-27.
- Kohanbash, D. and M. Bergerman. 2012. Safety architecture for robotic systems. ASABE Annual International Meeting (Abstract).
- Heinemann, P., J. Schupp, T. Baugher, J. Liu, W. Messner. 2012. Collaborative efforts with a commercialization partner to develop a vacuum assisted harvest system. International Symposium on Mechanical Harvesting and Handling Systems of Fruits and Nuts (Abstract).
- Lewis, K. M. and I. Hanrahan. 2012. Field Testing of Two Harvest Aides in Washington State Apple Orchards. International Symposium on Mechanical Harvesting and Handling Systems of Fruits and Nuts (Abstract).
- Hehnen, D., I. Hanrahan, K. Lewis, J. McFerson, Michael Blanke. 2012. Mechanical flower thinning improves fruit quality of apples and promotes consistent bearing. Scientia Horticulturae: 134: 241-244.
- Hamner, B., M. Bergerman, S. Singh. 2012. Specialty crop automation with autonomous vehicles. International Conference on Robotics and Automation, IEEE: 1829-1835.
- Wang, Q., S. Nuske, M. Bergerman, S. Singh. 2012. Automated crop yield estimation for apple orchards. International Symposium on Experimental Robotics (ISER). Quebec City, Canada.
- Wang, Q., S. Nuske, M. Bergerman, S. Singh. 2012. Design of crop yield estimation system for apple orchards using computer vision. 2012 ASABE Annual International Meeting, Dallas, TX .
- Heinemann, P., J. Liu, J. Schupp, T. Baugher. 2012. Harvest-assist technologies for improving efficiency in apple production. NABEC/CSBE Northeast Agricultural and Biological Engineering Conference/Canadian Society for Biological Engineering Annual Meeting. Orillia, Ontario (Abstract).
- Heinemann, P., J. Liu, J. Schupp, T. Baugher. 2012. Harvest-assist technologies for improving efficiency in apple production. NABEC/CSBE Northeast Agricultural and Biological Engineering Conference/Canadian Society for Biological Engineering Annual Meeting (Abstract).
- Lou, Ruilong, K. M. Lewis and Q. Zhang. 2012. Assessment of bruise damage by vacuum apple harvester using an impact recording device. 2012 ASABE Annual International Meeting, Dallas, TX (Abstract).
- T. Baugher. 2012. Mechanization in Peach Thinning. Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- L. Hull. 2012. Insect IPM Research in Pennsylvania Tree Fruits over the Past 40 Years and a Glimpse into the Future. George Goodling Memorial Lecture, Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- B. Hollabaugh. 2012. A Producer's Perspective on Automation Technologies. Special Session on Engineering Solutions for Specialty Crops, Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- T. Baugher, B. Hollabaugh, M. Boyer, S. Singh, L. Hull. 2012. What Should Future SCRI Proposals Address Special Session on Engineering Solutions for Specialty Crops, Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- Tim Melchiori, K. Voss, R. Davit. 2012. Mechanization in the California Canning Peach Industry. Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- B. Wenk, J. Snavely, J. Weaver, A. Tougas, R. Lamb. 2012. A New Generation's Ideas on Innovation in the Fruit Industry. Mid-Atlantic Fruit and Vegetable Convention. Hershey, PA.
- Owen, J., W. Shi, S. Singh, H.M. Stoven, K. Lewis. 2012. On-the-go Caliper and Counter Device for Shade and Fruit Tree Nursery Inventory Management. Southern Region American Society for Horticultural Science. Birmingham, AL.
- Heinemann, P., K. Lewis, J. Schupp, T. Baugher, J. Liu, W. Messner, D. Guyer. 2012. Collaborative Efforts with a Commercialization Partner to Develop a Vacuum Assisted Harvest System. International Symposium on Mechanical Harvesting and Handling Systems of Fruits and Nuts. Lake Alfred, FL.
- Lewis, K. M. and I. Hanrahan. 2012. Field Testing of Two Harvest Aides in Washington State Apple Orchards. International Symposium on Mechanical Harvesting and Handling Systems of Fruits and Nuts. Lake Alfred, FL.
- Lewis, K. 2012. Update on CASC Technologies for Specialty Crops. Chelan Fruit Growers Meeting. Chelan, WA.
- Heinemann, P., J. Liu, J. Schupp, T. Baugher. 2012. Harvest-Assist Technologies for Improving Efficiency in Apple Production. NABEC/CSBE Northeast Agricultural and Biological Engineering Conference/Canadian Society for Biological Engineering Annual Meeting. Orillia, Ontario.
- 3. Trade Magazine and Newspaper Feature Stories, 2011-2012
- Good Fruit Grower, October 2011. New Orchard Technologies are Coming, by M. Hanson.
- Growing the Business of Fruits, Nuts and Vegetables. 2011 (Cover story). Robotic assistance becoming a reality for growers, by S. Colby.
- Capital Press, October 2011. Latest Orchard Automation Demonstrated, by D. Wheat.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Disease Detection: Fireblight overview and goals. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. On-the-fly Tree Counter. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2012. APM vs the Ladder. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. The Reasons for Plant Stress Detection. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. On-the-fly Caliper - Year 3 update. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Localization Year 3. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Bin Dog Mode on Autonomous Vehicle. CASC video.
- Hoheisel, G., K. Lewis, S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2012. Phil Brown Apple Harvester. CASC video.
- Hoheisel, G., K. Lewis, S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2012. Vacuum Harvest Assist. CASC video.
- Hoheisel, G., K. Lewis, S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2012. Autonomous Platform Cascade. CASC video.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. On-the-go Counter Update. CASC video.
- Hoheisel, G., T. Baugher, S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Placing Pheromones. CASC video.
- Hoheisel, G., T. Baugher, S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Hand Fruit Thinning. CASC video.
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Progress 09/01/10 to 08/31/11
Outputs
OUTPUTS: More details on all material presented in this AD-421 form can be found in our companion Year 3 report delivered electronically to the SCRI program directors Daniel Schmoldt and Thomas Bewick. 1. An upgraded multimodal sensor system that now includes an array of IR thermometers, a hyperspectral camera, two GreenSeeker systems, two range finders, and two digital cameras. 2. Sixteen digital Z-Traps deployed at Washington State University Sunrise Orchard and The Pennsylvania State University Fruit Research and Extension Center. 3. A fully annotated database consisting of over 8,600 images of both healthy and internal feeding worm (IFW)-damaged apples available publicly. 4. A new crop yield estimation system. 5. Industry-ready graphical user interfaces for both the caliper and counter devices. 6. A reconfigured caliper with new hardware and software for increased precision. 7. Two new autonomous orchard platforms delivered to The Pennsylvania State University and Washington State University. 8. A technique for off-line positioning with sub-meter accuracy using only an inexpensive (~$250) GPS receiver. 9. A mapping technique that enables our 30 cm accuracy laser-based on-line positioning to work without the need for high-precision ground truth system. 10. A new four-hose vacuum trailer-mounted harvest assist system with hydraulic powered centrifugal blowers for testing in Washington State orchard architectures. 11. An upgraded orchard platform-mounted harvest assist system for testing in Pennsylvania State orchard architectures. 12. Results from the Eastern and Northwestern grower socioeconomic surveys were published in HortTechnology. 13. Conducted an economic analysis for Vision Robotics' Newton crop load scout. Using the crop load scout in certain apple blocks to optimize fruit size and grade, the potential benefits could have a net present value of $1,385 per acre per year. 14. Established a Grower's Financial Indifference Value (gFIV) for the harvest assist system. The gFIV could be as high as $746 per acre per year, depending on the system's assumed use and apple production system. 15. A cumulative total of 6,271 direct contacts made through field days and presentations, and 10,000+ hits on CASC web sites (cascrop.com, YouTube, SlideShare, and Facebook). 16. Fourteen trainers trained in collaborating universities and 18 in other institutions. 17. A cumulative total of 68 students involved in CASC projects and who now have an interest in engineering solutions for specialty crops. PARTICIPANTS: 1. Institutions: Carnegie Mellon University, The Pennsylvania State University, Washington State University, Oregon State University, Purdue University, USDA Agricultural Research Service, Vision Robotics, Phil Brown Welding, DBR Conveyor Concepts, Spensa Technologies, The Toro Company, Trimble Navigation. 2. Project director: Prof. Sanjiv Singh, Carnegie Mellon University. 3. Co-directors: Bradley Hamner, Clark Seavert, David Michael Glenn, George Kantor, Gwen-Alyn Hoheisel, Harvey Koselka, Henry Ngugi, James Owen, Jillian Cannons, Johnny Park, Karen Lewis, Katie Ellis, Larry Hull, Marcel Bergerman, Tara Baugher, Vincent Jones, William Messner. 4. Other professionals: Alain Samaha, Amy Tabb, Art Lange, Avinash Kak, Bret Wallach, Brian Lee Lehman, Dana Lonn, German Holguin, Grzegorz Krawczyk, Guiqin Li, Gurcan Aral, Heather Stoven, Irene Yung, James Julian, James Remcheck, James Schupp, James Teza, Lily Mummert, Michael Rasch, Phil Brown, Robin Rosetta, Stephan Roth, Wenfan Shi, William C. Kleiner, Yunseop (James) Kim, Zhijun Yao, Ji Zhang. 5. Since the beginning of the project, 76 students participated in project activities. Time commitment ranged from three months for summer interns to multi-year appointments for graduate students. Training opportunities: Oct 2010: Specialty Crop Innovations Open House and Harvest-Assist Demonstration at Penn State FREC. Dec 2010: In-depth workshop on "Plant Water Relations and Cropping Efficiency," which featured CASC research on stress detection. Jan 2011: Caliper Counter Ornamental Nursery Focus Group Planning Meeting at N. Willamette Res. Ext. Ctr., Aurora, OR. Feb 2011: Ag Innovations - Progress and Future Directions Summit held in South Central Pennsylvania. Mar 2011: PA Pilot Orchard Lunch and Learn Session. Mar 2011: Tours of innovative PNW orchard systems and technologies for 300 International Fruit Tree Association Conference participants. Mar 2011: Ag Tools Apple Grower Workshop held at Penn State FREC. Mar 2011: Clark Seavert and Jim Julian led an Ag Tools Apple Grower Workshop for Washington producers and financial consultants. Mar 2011: Specialty Crop Tour for Young Growers. Jul 2011: Penn State Fruit Research and Extension Center Field Day. Aug 2011: Washington State University Sunrise Orchard Field Day. Sep 2011: Washington State University Sunrise Orchard Field Day. TARGET AUDIENCES: Target audiences were identified and engaged throughout the period of 09/2010 to 09/2011. They include: 1. Tree fruit producers: This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 2. Specialty crop producers (other than tree fruit, including tree fruit nursery producers and ornamental nursery producers): This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 3. Tree fruit orchard managers: This sector includes on-farm managers and includes racial and ethnic minorities. 4. Agricultural field advisors: This sector includes both public and private sector agricultural advisors. 5. Researchers: Both public and private individuals involved in a wide range of work that contributes to or benefits from the CASC project. This sector includes racial and ethnic minorities. 6. Graduate and undergraduate students: Includes racial and ethnic minorities. 7. Industry leadership: Includes individuals and groups that identify needs, set research and outreach priorities, collaborate in activities, and provide funding. 8. Equipment design engineers, manufacturers and distributors: This includes private sector communities, both those who have historically worked with agricultural industry and those who have recently been identified as potential technology/equipment providers. PROJECT MODIFICATIONS: In Year 3 Spensa Technologies was added to the project to develop digital insect traps for fruit tree orchards.
Impacts
1. Low-cost IR thermometers in our multimodal sensor system are able to detect 4 degrees C (7.2 degrees F) difference between healthy trees and moisture-stressed trees. 2. A multimodal sensor system can automatically filter out invalid NDVI measurements based on the canopy coverage and the canopy distance from the sensor, yielding a more accurate, reliable NDVI data collection in an apple orchard. The NDVI values collected by our system showed a large NDVI difference between healthy trees and moisture-stressed trees. 3. Preliminary investigation into the relationship between canopy temperature and fire blight infection showed that diseased plants have an increasingly higher temperature as time progresses after inoculation. 4. Insect traps ("Z-traps") we have developed achieved a comparable capture rate to that of the industry standard large plastic delta (LPD) traps. 5. The current Z-Trap has a detection accuracy of approximately 70%. False detections are due to the zapper not being controlled optimally. 6. An algorithm for detecting internal feeding worm provides >90% detection rate with <2.6% false detection rate. 7. We have scanned four acres of green and red fruit in orchards with two levels of occlusion using the existing Scout and the new scanning system. 8. We have collected crop load data by hand for use in validating the bias calculation method. 9. Successfully deployed counters on existing farm equipment to count fruit and ornamental trees. 10. Orchard platforms we have developed autonomously drove 30 km, controlled by growers and other persons not involved in the creation of the vehicles. 11. Testing with the upgraded orchard platform-mounted harvest assist system showed very low bruising but no significant improvement in efficiency compared with skilled pickers on ladders. 12. During an Intensive Workshop on Economics, Horticulture and Technology, 80% of Turning Point survey respondents indicated they planned to plant trees at densities of 800 trees per acre or higher in their next renewal or expansion, 72% said the main reason for adopting an orchard platform was to improve productivity, and 77% said the main reason for pursuing harvest assist technologies was to improve harvest productivity. 13. We have developed a website named AgTools that allows growers, processors, packers, and technology providers access to risk management tools. These tools can assess the profitability and feasibility of CASC projects if implemented in their own businesses. 14. Surveys conducted at field days and grower meetings indicated positive KASA changes and a 10% increase in planned practice changes compared to the previous year. 15. Trials comparing workers using the CASC autonomous orchard platforms vs. workers using ladders resulted in as much as a 58% increase in worker efficiency in PA and 89% in WA.
Publications
- Baugher, T., J. Schupp, K. Lewis, G. Hoheisel, K. Ellis, D. Ames, J. Remcheck. 2011. Pilot orchards provide laboratories in the field to increase industry adoption of labor assist and precision technologies (Poster). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- L. Hull. 2011. Labor Efficient IPM Tools. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- C. Seavert. 2011. Case Study of Harvest Aid Systems - AgProfit and AgFinance Analysis. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- C. Seavert, J. Julian, M. Taylor, A. DeMarree, K. Gallardo. 2011. Analysis Tools - Panel Discussion. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- C. Seavert. 2011. Profitability and Feasibility of Orchard Systems - AgProfit and AgFinance Analysis. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- C. Seavert. 2011. Profitability and Feasibility of Platforms in Apple - AgProfit and AgFinance Analysis. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- C. Seavert. 2011. Profitability and Feasibility of Harvest Aid Systems - AgProfit and AgFinance Analysis. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- C. Seavert. 2011. Are You Playing to Win or Playing Not to Lose. International Fruit Tree Association Convention, Pasco, WA.
- C. Seavert. 2011. Agricultural Economics: Sustaining Profits, Controlling Expenses (interactive Turning Point discussion). International Fruit Tree Association Convention, Pasco, WA.
- J. Owen. 2011. Terrestrial Approach to Inventory Management for Field Nursery Production. Farwest Horticulture Convention, Portland, OR.
- C. Seavert. 2011. Knowing When Technology is the Right Choice for Your Nursery Farwest Horticulture Convention, Portland, OR.
- M. Bergerman. 2011. Developing and Managing a Large SCRI grant. Invited seminar at Michigan State University, Lansing, MI.
- M. Bergerman. 2011. Developing and Managing a Large SCRI grant. Joint SAAESD & ASRED Spring Meeting, Greenville, SC.
- S. Singh. 2011. Working on Collaborative Projects. 16th Biennial Research Symposium of the Association of 1890 Research Directors, Atlanta, GA.
- 3. Trade Magazine and Newspaper Feature Stories, 2010-2011.
- Amberwaves (ERS-USDA), December 2010. "Labor-Intensive U.S. Fruit and Vegetable Industry competes in a Global Market," by Linda Calvin and Philip Martin.
- American/Western Fruit Grower, December 2010. "Harvest-Assist Technology-Getting Closer," by James R. McFerson.
- Good Fruit Grower, December 2010. "Vacuum Harvester Passes Bruising Tests," by Richard Lehnert.
- Growing Magazine, February 2011. "Expanding Pest Control Options," by Sally Colby.
- Good Fruit Grower, March 2011. "Mechanical Thinner Ready," by Richard Lehnert.
- Growing Magazine, March 2011. "Larger Fruit, Lower Labor Costs-Peach Growers Are Pleased with Mechanical Thinning," by Jennifer Paire.
- The Grower, April 2011. "Fruit Thinning Machines Rival Hand Thinning," by Renee Stern.
- Growing Magazine, May 2011. "Risk Management Tools-Making Tough Decisions Easier," by Sally Colby.
- Good Fruit Grower, May 2011. "Mechanical Thinning tested on Pears," by Geraldine Warner.
- Various Trade Journals, May 2011. "Accelerating Adoption of Agricultural Technology," a news release from CASC HortTechnology technology adoption research report.
- Gettysburg Times, July 2011. "Cutting Edge Innovations Featured at Penn State Fruit Research and Extension Center Field Day," by Amelia Jarvinen.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Comprehensive Automation for Specialty Crops - Developing a More Sustainable and Profitable U.S. Specialty Crop Industry. CASC Legislative Flier.
- January 12, 2011 - Caliper Counter Ornamental Nursery Focus Group Planning Meeting at N. Willamette Res. Ext. Ctr., Aurora, OR. J.S. Owen and H.M. Stoven led a meeting with 7 industry leaders from 4 progressive ornamental and fruit tree nurseries that outlined 2011 success criteria and ground truth protocol.
- February 22, 2011 - Ag Innovations - Progress and Future Directions Summit held in South Central Pennsylvania. Seventy producers and community leaders participated in a summit to develop strategies for preserving the Mid-Atlantic Fruit Belt through innovation.
- March 10, 2011 - PA Pilot Orchard Lunch and Learn Session - J. Schupp, L. Hull, and T. Baugher provided training on advanced IPM strategies for insect control, minimal pruning strategies to reduce labor requirements, and updates on comprehensive automation for specialty crops (2011 trials planned with Allegheny APM and WeedSeeker).
- Singh, S., M. Bergerman, G. Hoheisel, I. Yung, CASC Project Members. 2011. Comprehensive Automation for Specialty Crops - Developing a More Sustainable and Profitable U.S. Specialty Crop Industry. CASC Legislative Portfolio.
- Dise, R., M. Aasted, P. Heinemann, T. Baugher. 2011. Automated Positioning for Thinning Peach Trees. Penn State Extension video.
- Seavert, C., J. Julian, H. Hinman, T. Teegerstrom. 2011. AgTools Website. Oregon State University Extension Service. http://agtools.org.
- 5. Workshops, Tours, Field Days, and Reports to Grower Organizations, 2010-2011.
- October 5, 2010 - Annual Oregon Shade Tree Growers Meeting at N. Willamette Res. Ext. Ctr. In Aurora, OR. J.S. Owen and H.M. Stoven presented update of caliper/counter to 42 growers, allied suppliers, and colleagues.
- March, 2011 - Tours of innovative PNW orchard systems and technologies for 300 International Fruit Tree Association Conference participants.
- March 15, 2011 - Ag Tools Apple Grower Workshop held at Penn State FREC. Twelve producers and financial consultants attended an in-depth workshop on Ag Profit led by Clark Seavert and Jim Julian.
- March, 2011 - Clark Seavert and Jim Julian led an Ag Tools Apple Grower Workshop for Washington producers and financial consultants.
- March, 2011 - Report for Stakeholder Group - K. Lewis and P. Brown met with the Washington Tree Fruit Research Commission and reported on progress and plans for research with a vacuum assisted harvest system.
- March 16, 2011 - Ag Finance Round Table held at Penn State FREC. Four ag lenders participated in a round table discussion to provide feedback on Ag Finance and Ag Lease.
- March 17, 2011 - Specialty Crop Tour for Young Growers - T. Baugher, K. Ellis, and J. Remcheck facilitated a tour for 20 young growers to innovative orchard operations in Lancaster County, PA.
- March 23, 2011 - Report for Stakeholder Group - J. Schupp and T. Baugher met with the State Horticultural Association of Pennsylvania Strategic Planning Committee and the Pennsylvania Apple Marketing Board director to update the group on progress with SCRI projects.
- July 13, 2011 - Penn State Fruit Research and Extension Center Field Day - J. Schupp, L. Hull, H. Ngugi, T. Baugher, B. Hamner, and M. Bergerman presented field demonstrations relevant to the Mid-Atlantic fruit industry on Comprehensive Automation for Specialty Crops for 200 participants.
- P. Brown and J. Schupp. 2011. Encouraging Results from CASC Harvest Assist Trials with a Commercial Partner. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- K. Lewis. 2011. The Specialty Crop Research Initiative: Investing in Your Future. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- K. Lewis. 2011. Mechanized Bloom Thinning in apple and Sweet Cherry - New Tools for the Toolbox. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- P. Heinemann and R. Dise. 2011. Automated String Thinner Positioning. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- D. Ciolkosz. 2011. Real Energy Savings for Horticulture. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- S. Singh, T. Baugher, M. Bergerman, B. Grocholsky, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, I. Yung. 2011. Comprehensive Automation for Specialty Crops - Year II Results (Poster). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- J. Schupp, T. A. Baugher, K. Ellis, J. Remcheck, E. Winzeler, R. Duncan, S. Johnson, K. Lewis, G. Reighard, G. Henderson, M. Norton, A. Dhaddey, and P. Heinemann. 2011. String Blossom Thinner Designed for Variable Tree Forms Increases Crop Load Management Efficiency in Trials in Four Peach Growing Regions (Poster). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- J. Schupp. 2011. Preparing Our Enterprises for Labor Efficient Technologies. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- P. Heinemann, S. Singh, T. Baugher. 2011. Engineering Solutions under Development by University/Commercialization Partners. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- J. Schupp. Peach Training Systems for the Mid-Atlantic. 2011. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- P. Brown. 2011. A Vacuum Assisted Harvest System. Ohio Produce Growers and Marketers Conference, Sandusky, OH.
- S. Singh, T. Baugher, M. Bergerman, B. Grocholsky, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, I. Yung. 2010. Comprehensive Automation for Specialty Crops - Year II Results (Poster). International Fruit Tree Association Conference, Pasco, WA.
- K. M. Lewis. 2011. Innovative Thinning of Stone Fruits. Fruit Growers Supply, Oliver, B.C. Canada.
- C. Seavert. 2011. Tree Fruit Economics: Reality 101. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- J. Julian. 2011. AgProfit: A Powerful Tool for Making Long-run Decision When Implementing Technologies or analyzing Cropping Systems. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- C. Seavert. 2011. Whole Farm Basis. International Fruit Tree Association Intensive Workshop on Economics, Horticulture and Technology, Pasco, WA.
- Lancaster Farming, July 2011. "Technology Draws a Crowd at Fruit Growers Field Day," by Chris Torres.
- Good Fruit Grower, September 2011. "The Future is Here - Technology Designed to Automate Various Aspects of Fruit Production will be on View at a WSU Field Day," by G. Hoheisel.
- 4. Bulletins, Fact Sheets, Computer Software and Videos, 2010-2011.
- Baugher, T. Auxt, J. Schupp, L. Hull, H. Ngugi, K. Ellis, J. Remcheck, G. Krawczyk, E. Winzeler, R. Crassweller, R. Marini, J. Harper, L. Kime, P. Heinemann, J. Liu, K. Lewis, G. Hoheisel, V. Jones, M. Glenn, S. Miller, A. Tabb, J. Park, D. Slaughter, S. Johnson, A. Landers, G. Reichard, S. Singh, M. Bergerman, G. Kantor, B. Messner. 2010. Specialty Crop Innovations - Progress and Future Directions. Penn State Cooperative Extension Ag Innovations Pub. 3.
- Owen, J., H. Stoven, C. Seavert, J. Julian, S. Singh, W. Shi, M. Bergerman, K. Lewis. 2010. Moving Towards Automation-The Beginnings of Superior Inventory Management and Precision Agriculture for Nursery Field Crops. Oregon State University Growing Knowledge Series.
- Baugher, T. Auxt, J. Schupp, E. Winzeler, K. Ellis, and M. Wherley (ACTV). 2010. Assessment of String Patterns for Mechanical Blossom Thinning. Penn State Cooperative Extension Video Production.
- Baugher, T. Auxt, J. Schupp, L. Hull, H. Ngugi, and K. Ellis. 2011. Specialty Crop Innovations - Progress and Future Directions. Penn State Cooperative Extension Ag Innovations Pub. 4.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2011. Comprehensive Automation for Specialty Crops SCRI Website. http://www.cascrop.com/.
- October 20, 2010 - Specialty Crop Innovations Open House and Harvest-Assist Demonstration at Penn State FREC. CASC project leaders had exhibits for 25 producers and legislators on each thematic area. Over 75 producers, agricultural leaders, and legislators (including aides to Senator Casey and Representative Platts) attended at demonstration on the CASC vacuum assisted harvest project.
- December 19, 2010 - In-depth workshop on "Plant Water Relations and Cropping Efficiency," which featured CASC research on stress detection. Sixty producers attended the workshop, and in an exit survey, 82% of respondents indicated they learned something that has potential to make their businesses more profitable in the future, with new technologies on monitoring irrigation needs ranking highest. Respondents grew a combined total of 2326 acres of fruit.
- August 16, 2011 - Washington State University Sunrise Orchard Field Day - CASC team members presented field demonstrations on mechanical thinning, autonomous platform and automated trap.
- September 23, 2011 - Washington State University Sunrise Orchard Field Day - CASC team members presented field demonstrations on harvest assist, autonomous prime movers, automated tree counting and automated traps.
- 1. Research Papers/Written Reports, 2010-2011.
- Miller, S., J. Schupp, T. Baugher, S. Wolford. 2011. Performance of mechanical thinners for bloom or green fruit thinning in peaches. HortScience 46:43-51.
- Aasted, M., R. Dise, T. Baugher, P. Heinemann, S. Singh. 2011. Autonomous mechanical thinning using scanning Lidar. 2011 ASABE Annual International Meeting, Louisville, KY, August 7-10.
- Hamner, B., M. Bergerman, S. Singh. 2011. Autonomous orchard vehicles for specialty crops production. 2011 ASABE Annual International Meeting, Louisville, KY, August 7-10.
- Heinemann, P., J. Liu, J. Schupp, T. Baugher, T. Grift, D. Lyons, R. Dise, R. Pritz, M. Aasted. Advancing technologies for thinning of tree fruit. 2011 ASABE Annual International Meeting, Louisville, KY, August 7-10.
- Baugher, T. A., J. Schupp, E. Winzeler, W. Messner, M. Bergerman. 2011. Mechanically assisted harvest of apples. 2011 ASABE Annual International Meeting, Louisville, KY, August 7-10 (Abstract).
- Julian, James and Clark F. Seavert. 2011. AgProfitTM: A net present value and cash flow based decision aid for agriculture producers. Agricultural Finance Review 71(3): in print.
- Winzeler, H.E. and J.R. Schupp. 2011. Image Analysis of Blush Coverage Extent and Measures of Categorical Blush Intensity in 'Honeycrisp' Apples. HortScience, 46(5):705-709. 2011.
- 2. Invited Presentations, 2010-2011.
- S. Singh, T. Baugher, M. Bergerman, B. Grocholsky, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, I. Yung. 2010. Comprehensive Automation for Specialty Crops - Year II Results (Poster). Washington State Horticultural Convention, Yakima, WA.
- K. Lewis, J. Schupp, T. A. Baugher, K. Ellis, J. Remcheck, E. Winzeler, R. Duncan, S. Johnson, G. Reighard, G. Henderson, M. Norton, A. Dhaddey, and P. Heinemann. 2010. String Blossom Thinner Designed for Variable Tree Forms Increases Crop Load Management Efficiency in Trials in Four Peach Growing Regions (Poster). Washington State Horticultural Convention, Yakima, WA.
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Progress 09/01/09 to 08/31/10
Outputs
OUTPUTS: Outputs for the period 09/2009 to 09/2010 include: 1. On-the-go multimodal sensing system for plant stress detection based on canopy reflectance and temperature, including a graphical user interface for sensor fusion and data visualization. 2. Algorithms for detecting fire blight damage in digital images taken in the greenhouse and the field. 3. Two models of electronic trap prototypes based on IR sensors (IR-trap, six units) and on bio-impedance sensors (Z-trap, twenty units). 4. Image processing-based internal feeding worm damage detection algorithms. 5. 5,800 images of internal feeding worm-damaged apples and healthy apples across four varieties, to validate damage detection algorithms. 6. Web-accessible database of images of internal feeding worm-damaged and healthy apples collected in 2009. 7. Licensing agreement with Spensa Corp. to commercialize digital traps. 8. Upgraded crop load estimation scout ("Newton") system including new mast, additional cameras, industrial flash, GPS receiver. 9. Improved crop load (fruit count and size) estimation software. 10. On-the-go automatic caliper device for measuring tree diameter in the field. 11. On-the-go automatic counter device for counting nursery trees in the field. 12. Four weeks of caliper and counter field tests in Ephrata, WA, Royal City, WA, and Hickman, CA. 13. Large field experiment with Crop Tech LLC to count 1 million nursery trees to validate an insurance claim using CASC automatic counter. 14. Web-based geographic information system tool for collecting and managing crop information from the field. 15. Upgraded Autonomous Prime Mover based on Toro electric utility vehicle, including new computing, sensors, and environmental protection. 16. Hydraulic orchard platform converted to autonomous orchard vehicle, including computing and sensing. 17. Improved row following and turning algorithms for the Autonomous Prime Mover family of orchard vehicles. 18. New user-friendly Autonomous Prime Mover command interface. 19. Positioning algorithm that eliminates the need for artificial infrastructure in the orchard. 20. Four weeks of autonomous driving field tests in Pittsburgh, PA, Wexford, PA, Biglerville, PA, and Doubs, MD; Two weeks of field tests in Wenatchee, WA and Royal City, WA. 21. Passive bin-filling prototype using a variety of energy absorbing materials. 22. Harvest assist transport and bin filling system for apple orchards. 23. Socio-economic survey of growers conducted in the Pacific Northwest. 24. Economic models for four CASC thematic areas. 25. Business plan for digital traps. 26. Got Economics workshop. 27. AgTools website. 28. AgFinance software (alpha version). 29. A total of 3,671 direct contacts made through field days and presentations. 30. 45 students involved in CASC activities. 31. 33 three research papers and written reports. 32. 47 invited presentations. 33. 25 trade magazine and newspaper feature stories. 34. 8 bulletins, fact sheets, computer software and videos. 35. 21 workshops, tours, field days, and reports to grower organizations. More details can be found in our Year 2 report delivered electronically to the SCRI program directors. PARTICIPANTS: 1. Institutions: Carnegie Mellon University, The Pennsylvania State University, Washington State University, Oregon State University, Purdue University, USDA Agricultural Research Service, Vision Robotics, Phil Brown Welding, DBR Conveyor Concepts, The Toro Company, Trimble Navigation. 2. Project director: Prof. Sanjiv Singh, Carnegie Mellon University. 3. Co-directors: Ben Grocholsky, Bradley Hamner, Clark Seavert, David Michael Glenn, George Kantor, Gwen-Alyn Hoheisel, Harvey Koselka, Henry Ngugi, James Owen, Johnny Park, Karen Lewis, Katie Ellis, Larry Hull, Marcel Bergerman, Tara Baugher, Vincent Jones, William Messner. 4. Other professionals: Alain Samaha, Amy Tabb, Art Lange, Avinash Kak, Bret Wallach, Brian Lee Lehman, Dana Lonn, Derek Morikawa, German Holguin, Grzegorz Krawczyk, Guiqin Li, Gurcan Aral, Heather Stoven, Irene Yung, James Julian, James Remcheck, James Schupp, James Teza, Jillian Cannons, Lily Mummert, Michael Rasch, Phil Brown, Robin Rosetta, Stephan Roth, Wenfan Shi, William C. Kleiner, Yunseop (James) Kim, Zhijun Yao. 5. Graduate students: Brian Kliethermes, David Ferguson, German Holguin, Guiqin Li, Gwendolyn Barr, Jacqueline Libby, Matt Aasted, Reuben Dise, Tom Kon. 6. Undergraduate students: Alex Leslie, Alex Reece, Amelia Jarvinen, Andrew Haun, Anjali Patwardhan, Art Flores, Asif Siddiqi, Bethany Ely, Brian Moore, Caleb Tan, Celine Kuntz, David Stonestrom, Dong Hyun Choi, Evan Moore, Jackson Kowalski, Jennifer Rouzer, Juliet Hulse, Jung Hwan Park, Kuan-Po Chen, Kyle Tynan, Lauren Von Dehsen, Lily Li, Luke Kambic, Matt Morrill, Matthew Hartwig, Mattie Kuntz, Nicolas Liebrum, Robin Pritz, Russell Rohrbaugh, Ryan Hilton, Sangwon Lee, Seoyeon Yang, Wei Jian Chan. Training opportunities in the period 09/2009 to 09/2010 include the following: 09/24/2009: Dean of Agriculture Tour for PA Legislators and Agricultural Leaders. 10/21/2009: Tour for University of Maryland Advanced Technologies in Horticulture Class. 11/5/2009: Specialty Crop Tour for Young Growers. 11/9-10/2009: Spotlight on Assisted Harvest. 12/16/2009: PA Pilot Orchard Lunch and Learn Session. 1/29 and 4/23/2010: Field Laboratory Experience for CMU Students Redesigning APM Graphical Interface. 2/3/2010: Special Orchard Automation Session during Mid-Atlantic Fruit and Vegetable Convention. 3/3/2010: CASC Workshop on AgProfit "Got Economics" 3/10/2010: Specialty Crop Innovations Tour for Nuffield Contemporary Scholars Conference. 3/19/2010: Classroom in the Field at Mike Flinchbaugh's and Justin Weaver's Conservation Innovation Grant planting for 16 Young Grower Alliance Members. 5/13/2010: Classroom in the Field at Neil Starner's Conservation Innovation Grant planting for Pilot Orchard Cooperators. 6/17/2010: Tour of Specialty Crop Innovation Projects at USDA-ARS Appalachian Fruit Research Station for 14 Young Grower Alliance members. 6/21/2010: ASABE annual meeting tour. 8/26/2010: Fruit Technology Showcase at Penn State Fruit Research and Extension Center. 9/9/2010: Specialty Crop Innovations Tour for USDA Cochran Fellows. 9/20/2010: Specialty Crop Innovations Tour for University of California Extension Educators. TARGET AUDIENCES: Target audiences were identified and engaged throughout the period of 09/2009 to 09/2010. They include: 1. Tree fruit producers: This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 2. Specialty crop producers (other than tree fruit, including tree fruit nursery producers and ornamental nursery producers): This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 3. Tree fruit orchard managers: This sector includes on-farm managers and includes racial and ethnic minorities. 4. Agricultural field advisors: This sector includes both public and private sector agricultural advisors. 5. Researchers: Both public and private individuals involved in a wide range of work that contributes to or benefits from the CASC project. This sector includes racial and ethnic minorities. 6. Graduate and undergraduate students: Includes racial and ethnic minorities. 7. Industry leadership: Includes individuals and groups that identify needs, set research and outreach priorities, collaborate in activities, and provide funding. 8. Equipment design engineers, manufacturers and distributors: This includes private sector communities, both those who have historically worked with agricultural industry and those who have recently been identified as potential technology/equipment providers. PROJECT MODIFICATIONS: In Year 2 Phil Brown Welding and DBR Conveyor Concepts became partially responsible for the Augmented Harvest scope of work.
Impacts
Outcomes and impacts for the period 09/2009 to 09/2010 include: 1. Determined that spectral signature and canopy temperature are highly correlated to plant water stress. 2. Detected up to 36% photosynthesis reduction due to plant water stress. 3. Determined that IR-traps have a low capture rate compared to standard delta traps; and that modified Z-traps achieved a similar or better capture rate compared to standard delta traps. 4. In laboratory, the Z-traps achieve >95% detection accuracy. Preliminary field data indicate that the new Z-traps achieve >80% detection accuracy with <5% false alarm rate. 5. IFW damage detection algorithm achieves >85% accuracy with <4% false alarm rate. 6. For red fruit, the crop load estimate for six acres was 75% of the load extrapolated from hand count. Median apple diameter estimate within 1% of the median of 2.58". 7. For green fruit, the crop load estimate for eleven acres was 94% of the load extrapolated from hand count. Median apple diameter estimate was within 3% of the median of 2.63". 8. The Scout scanned 11.5 acres over two blocks. 9. Determined caliper within 2 mm of harvested bareroot tree in the warehouse. 10. Determined caliper within 3 mm of nursery trees while moving at 2 mph. 11. Caliper data used to effectively determine bareroot tree grade. 12. Counted in-ground nursery trees of >= 1/4" in caliper with 95% accuracy while moving at 2.5 mph. 13. Counted in-ground nursery trees of >= 1/2" in caliper with 97% accuracy while moving at 3 mph. 14. Re-implemented Year 1 GIS to remove scripting and supervision of data entry and processing. Data query, editing and display use free, open source GIS tools. 15. Used GIS tools to display crop load estimates from WA field trials. 16. Leveraged APM mobility to collect data on runs over 10 km with three sensors (laser, camera, NDVI). 17. Autonomously traversed 169 km of orchard rows. 18. APM controlled by orchard workers using a user-friendly graphical interface. 19. Demonstrated sub-meter positioning accuracy in over 100 km of field trials. 20. Autonomous row following and turning without GPS. 21. Determined that singulation of fruit during transport from tree to bin is essential to reduce bruising. 22. Initial trials with harvest assist system showed 10% improvement in harvesting speed with 5% reduction in bruising. 23. Socio-economic survey findings include: (1) crop projection sensor more popular in PNW than in the East; (2) justifiable price point of technology that increases fruit packout is higher in the Northwest; (3) Eastern growers are less concerned with water availability effects on crop production. 24. Preliminary findings suggest that CASC technologies could have an impact ranging from $20 to $1,047/acre/year. 25. A quarter of mid-Atlantic producers who attended CASC presentations adopting new technologies for precision agriculture. PNW growers who attended a CASC field day rated interest in adoption 3.8-4.4 (1-5 scale). 26. Management efficiency trials in pilot orchards demonstrated increases in efficiency as high as 78%. 27. 30% of PA producers who attended field days are adopting trellised planting systems and 65% plan to make this change.
Publications
- Seavert, C., J. Julian, H. Hinman, T. Teegerstrom. 2009. Agriculture's Profitability Tool (AgProfitTM) Computer software Program, version 2.0. Oregon State University Extension Service. http://agtools.org.
- Baugher, T. Auxt, J. Schupp, S. Miller, K. Ellis, A. Leslie, J. Koan, R. Rohrbaugh, C. Musselman, and M. Wherley (ACTV). 2009. Innovative Technologies for Thinning Fruit. Penn State Cooperative Extension Video Production.
- Baugher, T. Auxt, J. Schupp, K. Ellis, and M. Wherley (ACTV). 2009. Spotlight on Assisted Harvest. Penn State Cooperative Extension Video Production.
- Owen, J., H. Stoven, C. Seavert, J. Julian, S. Singh, W. Shi, M. Bergerman, K. Lewis. 2010. Moving Towards Automation-The Beginnings of Superior Inventory Management and Precision Agriculture for Nursery Field Crops. Oregon State University Growing Knowledge Series.
- November 5, 2009-Specialty Crop Tour for Young Growers-T. Baugher, J. Schupp, K. Ellis, and J. Remcheck facilitated a tour for 20 young growers to an innovative orchard in MD and a Delaware nursery utilizing new rootstocks for modern tree architectures.
- November 9, 2009-Spotlight on Assisted Harvest-J. Schupp, T. Baugher, and K. Ellis conducted a harvest platform demonstration for Carnegie Mellon and WSU faculty and students.
- November 10, 2009-Spotlight on Assisted Harvest-T. Baugher, K. Ellis, G. Hoheisel, and E. Winzeler conducted a harvest platform demonstration for 20 members of the PA Ag Innovations Advisory Committee and the State Horticultural Association of PA.
- December 15, 2009-Report for Funding Agency-T. Baugher and J. Remcheck met with the State Horticultural Association of Pennsylvania Extension Committee and provided an update on the SCRI grants received by Penn State.
- December 16, 2009-PA Pilot Orchard Lunch and Learn Session-J. Schupp, L. Hull, T. Baugher, and K. Ellis provided training on advanced IPM strategies for insect control, minimal pruning strategies to reduce labor requirements, and updates on comprehensive automation for specialty crops.
- January 29, 2010-Field Laboratory Experience for Carnegie Mellon Students Redesigning APM Graphical Interface-T. Baugher, K. Ellis, L. Hull, T. Salada, and two growers hosted the students who needed to collect video images in the orchard to complete their assignments.
- February 2, 2010-Advisory Panel Meeting in Conjunction with Mid-Atlantic Fruit and Vegetable Convention-CASC project leaders shared progress with Advisory Panel members and Pilot Orchard cooperators.
- February 3, 2010-Special Orchard Automation Session during Mid-Atlantic Fruit and Vegetable Convention-T. Baugher, K. Ellis, J. Schupp, P. Heinemann, and 4 growers who cooperated on field trials led a half-day session on orchard automation. There were 250 participants, and 156 participated in a survey to measure potential impacts-58% indicated that as a result of educational programming they would likely plant new competitive orchard systems at higher tree densities, and 22% said they were already making changes; 53% responded that they would likely adopt new labor saving technologies, and 18% are already making changes; 55% said they were likely to adopt new IPM strategies/technologies for increasing precision and reducing environmental impacts, and 29% are already making changes.
- March 3, 2010-CASC Workshop on AgProfit TM-Planting a New Block of Apples Buying Technology Got Economics-C. Seavert, J. Julian, L. Hull, J. Remcheck, and T. Baugher presented an interactive session for 25 producers on considerations for successful orchard renewal and adoption of new technologies.
- March 10, 2010-Specialty Crop Innovations Tour for Nuffield Contemporary Scholars Conference-T. Baugher and J. Schupp conducted a tour for 75 Nuffield Scholars from Australia, New Zealand, Canada, England, Ireland, and the United States.
- March 19, 2010 - Classroom in the Field at Mike Flinchbaugh's and Justin Weaver's Conservation Innovation Grant (CIG) planting for 16 Young Grower Alliance Members-J. Schupp and T. Baugher discussed apple and peach tree architecture systems for adaptability with automation.
- April 23, 2010-Field Laboratory Experience for Carnegie Mellon Students Redesigning APM Graphical Interface-T. Baugher, K. Ellis, L. Hull, T. Salada, and two growers answered questions and provided research space for a classroom project.
- May 13, 2010-Classroom in the Field at Neil Starner's Conservation Innovation Grant (CIG) planting for Pilot Orchard Cooperators-T. Baugher discussed two tree architecture systems for adaptability with automation.
- June 17, 2010-Tour of Specialty Crop Innovation Projects at USDA-ARS Appalachian Fruit Research Station for 14 Young Grower Alliance members-S. Wolford demonstrated harvest assist technologies.
- June 21, 2010 - The ASABE annual meeting tour included a stop at Soergel Orchards in Pittsburgh, where the CASC team demonstrated the APM. There were about 60 visitors in the group, including 45 ASABE attendees, 4 CMU Summer Scholar interns, Soergel's farm employees, and local middle-school students. In the first part of the demonstration Brad Hamner showed the vehicle following a few tree rows and turning from one row into another. He explained in detail each of the components of the autonomy system (sensors, computing, and actuation) and entertained a variety of technical questions from the audience. In the second part Matt Aasted showed the audience how to control the APM using the newly-developed grower-friendly APM user interface running on a field-ready handheld Panasonic tablet computer. He then let several attendees control the robot using the interface, including all the children present. People were able to use the interface with literally no training (especially the children!).
- August 2, 2010-USDA SCRI Director's Workshop at the American Society for Horticultural Science Convention-S. Singh presented a progress report on the SCRI CASC Project.
- August 26, 2010-Fruit Technology Showcase at Penn State Fruit Research and Extension Center-B. Grocholsky, M. Aasted, J. Schupp, T. Baugher, K. Ellis, J. Remcheck, L. Hull, H. Ngugi, B. Lehman, G. Krawczyk, four graduate students, and six summer interns presented 2010 research results on Comprehensive Automation for Specialty Crops.
- September 9, 2010-Specialty Crop Innovations Tour for USDA Cochran Fellows-T. Baugher, J. Schupp and three growers demonstrated innovative orchard technologies for five fruit producers from Albania.
- September 20, 2010-Specialty Crop Innovations Tour for University of California Extension Educators-J. Schupp and T. Baugher provided "train the trainer" programs for two tree fruit extension educators.
- Singh, Sanjiv, Marcel Bergerman, Jillian Cannons, Benjamin Grocholsky, Bradley Hamner, German Holguin, Larry Hull, Vincent Jones, George Kantor, Harvey Koselka, Guiqin Li, James Owen, Johnny Park, Wenfan Shi, James Teza. 2010. Comprehensive automation for specialty crops: Year 1 results and lessons learned. Journal of Intelligent Service Robotics, Special Issue on Agricultural Robotics DOI: 10.1007/s11370-010-0074-3.
- Kim, Y., D. M. Glenn, J. Park, H. K. Ngugi, B. L. Lehman. 2010. Hyperspectral image analysis for plant stress detection. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Kim, Y., D. M. Glenn, J. Park, H. K. Ngugi, B. L. Lehman. 2010. Active spectral sensor evaluation under varying conditions. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Libby, J., G. Kantor. 2010. Accurate GPS-free positioning of utility vehicles for specialty agriculture. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Singh, S., W. Shi, J. Owen. 2010. On-the-fly tree counting and caliper measurement. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Kliethermes, B., A. Leslie, R. Rohrbaugh, J. Koan, S. Wolford, M. Glenn, T. Baugher, K. Lewis, W. Messner. 2010. Novel approaches to passive bin filling for apples. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Ellis, K., T. Baugher, K. Lewis, G. Hoheisel. 2010. Using surveys to overcome obstacles to specialty crop industry adoption of automated technologies. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract.
- Baugher, T., J. Schupp, K. Lewis, G. Hoheisel, K. Ellis, D. Ames, J. Remcheck. 2010. Pilot orchards provide laboratories in the field to increase industry adoption of labor assist and precision technologies. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract.
- Baugher, T., J. Schupp, K. Ellis, E. Winzeler, S. Miller, K. Lewis, J. McFerson, G. Reighard, G. Henderson, S. Johnson, R. Duncan, M. Norton, A. Dhaddey, C. Walsh. 2010. Non-selective mechanical thinning of peaches. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract.
- Hamner, B, S. Singh, M. Bergerman. 2010. Improving orchard efficiency with autonomous utility vehicles. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Heinemann, P. H., J. Liu, T. A. Baugher, J. Schupp, R. Dise, A. Leslie. 2010. Mechanization and automation of tree fruit thinning. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Dise, R., P. Heinemann, T. Baugher, J. Schupp, J. Liu. 2010. Development of an autonomous sensing and positioning system for use with tree fruit production equipment. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Emery, K.G., D.M. Faubion, C.S. Walsh, Y. Tao. 2010. Development of 3-D range imaging system to scan peach branches for selective robotic blossom thinning. American Society of Agricultural and Biological Engineering Annual Convention Proceedings Abstract and Paper.
- Heinemann, P., J. Schupp, T. Auxt Baugher. 2010. Innovative technologies for thinning of fruit. HortScience 45(8):S199. Abstract.
- Schupp, J., T. A. Baugher, K. Ellis, J. Remcheck, E. Winzeler, R. Duncan, S. Johnson, K. Lewis, G. Reighard, G. Henderson, M. Norton, A. Dhaddey, P. Heinemann. 2010. String blossom thinner designed for variable tree forms increases crop load management efficiency in trials in four peach growing regions. HortScience 45(8):S199. Abstract.
- Kon, T. M., W. E. Winzeler, J. R. Schupp. 2010. 'Golden Delicious' crop load adjustment with the Equilifruit disk. HortScience 45(8):S256. Abstract.
- Winzeler, H. E. and J. Schupp. 2010. Uncertainty analysis of visual estimates of apple blush. HortScience 45 (8):S255. Abstract.
- Winzeler, H. E. and J. Schupp. 2010. Digital analysis for estimating Honeycrisp blush coverage. HortScience 45(8):S255. Abstract.
- Baugher, T. Auxt, J. Schupp, K. Ellis, E. Winzeler, J. Remcheck, K. Lesser, K. Reichard. 2010. Mechanical string thinner reduces crop load at variable stages of bloom development of peach and nectarine trees. HortScience 45(9):1327-1331.
- Peterson, D. L., A. L. Tabb, T. A. Baugher, K. Lewis, D. M. Glenn. 2010. Dry bin filler for apples. Applied Engineering in Agriculture 26(4):541-549.
- Peach Times, Fall 2009. "What's Next Thinning Technology Shows Promise for U.S. Peach Production" by Katie Ellis and Jim Remcheck.
- WSU Today, October 2009. "Automation Could Save Money, Create High-Tech Jobs" by Tony Drovetto.
- American Society for Horticultural Science EurekAlert, November 2009. "Horizontal String Thinner Reduces Labor Costs, Increases Peach Size," by Nancy Heller.
- The Packer, November 2009. "Consortium Works to Help Orchard Growers," by Bob Luder.
- PrecisionAg Works, November 2009. "Tree Fruit: Precision Ag Coming into Focus," by Jim McFerson.
- Penn State College of Agriculture Magazine, Fall 2009. "Fruitful Endeavor-Biological Engineering Students Take Talents to Orchards."
- J. Schupp, T. Baugher, E. Winzeler, J. Remcheck. 2010. Training Systems for Early Peach Production and Increased Opportunities for Automation. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- T. Baugher, J. Schupp, E. Winzeler, T. Kon. R. Rohrbaugh, R. Hilton, A. Jarvinen. 2010. Evaluation of Sensor Technologies for Targeted Weed Applications in Pennsylvania Pilot Orchards. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- K. Ellis. 2010. Surveys to Increase Adoption of New Technologies. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- 3. Trade Magazine and Newspaper Feature Stories, 2009-2010
- Good Fruit Grower, October 2009. "Ready for Robots New Technologies will Improve Orchard Efficiency, but will your Orchard be able to Accommodate them" by Geraldine Warner.
- Country Folks Grower, December 2009. "Technology in New Equipment to Ease the Workload" (a report on the Spotlight on Harvest Assist field day), by Sally Colby.
- The Economist, December 2009. "Agricultural Robots-Fields of Automation," by Jason Dorfman.
- Cling Peach Review, Winter/Spring 2010. "Darwin Blossom Thinner Results," by Roger Duncan.
- Erickson Financial, January 2010. "Fields of Automation," by Jason Dorfman.
- Growing Produce.com, February 2010. "Machines with Vision," by Meister Media.
- Yakima Herald-Republic, February 2010. "Machine May Thin Labor Costs in Orchards," by David Lester.
- Good Fruit Grower, April 2010. "Mechanical Thinning Works," by Melissa Hansen.
- Ontario Fruit and Vegetable Conference Guide, February 2010. "Horizontal Thinner Reduces Labour, Increases Peach Size," by T. Baugher for ASHS.
- Yakima Valley Business Journal, March 2010. "Mechanical Thinner Tested in Cherry Application Near Buena," by Richard Burger.
- Gettysburg Times Apple Blossom Magazine, April 2010. "Technology Adoption-Ag Summit Makes a Difference We All Enjoy at Apple Blossom Time," by Tara Baugher.
- Capital Press, April 2010. "Mechanical Thinner Trims Costs," by Dan Wheat.
- Nursery Management and Production, June 2010. "On the Cutting Edge-Raemelton Farm Seeks Progressive Practices to Maximize Production," by Kelli Rodda.
- American/Western Fruit Grower, June 2010. "Welcome to the Machine-Apple Growers are Closer than Ever to Having an Automated Harvesting System suitable for their Needs," by Brian Sparks.
- New Jersey Plant and Pest Advisory, September 2010. "Technology Showcase and Open House," by Jerome L. Frecon.
- Good Fruit Grower, August 2010. "Insights into Cherry Thinning," by Geraldine Warner.
- Good Fruit Grower, August 2010. "Mechanical Thin Cherries," by Geraldine Warner.
- American/Western Fruit Grower, August 2010. "Predicting Quality and Quantity," by James R. McFerson.
- Good Fruit Grower, August 2010. "Electric Farm Vehicles," by Geraldine Warner.
- Ellis, K., Tara Auxt Baugher, K. Lewis. 2010. Use of survey instruments to assess technology adoption for tree fruit production. HortTechnology (accepted for publication).
- 2. Invited Presentations, 2009-2010
- B. L. Lehman, L. A. Hull J. Park, G. Holguin, V.P. Jones. 2009. An Automated Sex Pheromone Trap for Monitoring Adult CM and OFM and the Influence of Trap Color on Moth and Non-Target Captures. Cumberland Shenandoah Fruit Workers Conference. Winchester, VA.
- B. Kliethermes, W. Messner, A. Leslie, T. Baugher, D. M. Glenn, R. Rohrbaugh, J. Koan, K. Lewis, P. Heinemann. 2010. Performance of Energy Absorbing Materials for Passive Bulk Bin Filling. Cumberland-Shenandoah Fruit Workers Conference, Winchester, VA.
- K. Ellis. 2009. Developments in Technology and Automation for Tree Fruit. Great Lakes Fruit, Vegetable, and Farm Market Expo, Grand Rapids, MI.
- N. Miburn, M. Reid, J. Snavely, B. Wenk, R. Lamb. 2009. Exploring Tree Fruit Innovations for the Future (Young Grower Alliance panel discussion). Great Lakes Fruit, Vegetable, and Farm Market Expo, Grand Rapids, MI.
- K. Ellis and J. Remcheck. 2009. Impact of Specialty Crops Innovations Initiative on the Adams County Fruit Belt. Gettysburg and Adams County Chamber of Commerce Agriculture Committee Meeting, Gettysburg, PA.
- S. Singh, T. Baugher, M. Bergerman, B. Grocholsky, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, D. Ames. 2009. Comprehensive Automation for Specialty Crops-Year 1 Results (Poster). Washington State Horticultural Convention, Yakima, WA.
- C. Seavert. 2009. Estimating the Profitability and Feasibility of Precision Agriculture Applications in Specialty Crops. American Society of Agricultural and Biological Engineering Annual Meeting, Reno, NV.
- C. Seavert. 2009. Mechanization and Efficiencies-Growing Together for the Future. Oregon Association of Nurseries Convention, Bend, OR.
- C. Seavert. 2009. New Agricultural Technologies. Ag Outlook. Oregon Farm Managers and Rural Appraisers Annual Meeting, Salem, OR.
- M. Bergerman. 2009. Project Management. USDA Systems Workshop, Geneva, NY.
- J. Schupp. 2009. Putting Together a Successful SCRI Project. USDA Systems Workshop, Geneva. NY.
- S. Singh, T. Baugher, M. Bergerman, B. Grocholsky, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, D. Ames. 2010. Comprehensive Automation for Specialty Crops-Year 1 Results (Poster). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- T. Baugher, J. Schupp, P. Heinemann, K. Ellis, J. Remcheck, E. Winzeler, S. Miller 2010. Innovative Technologies for Thinning of Fruit (Poster). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- J. Schupp. 2010. Current and Potential Approaches to Thinning Apples and Peaches. Illinois Specialty Crops, Agritourism, and Organic Conference, Springfield, IL.
- J. Schupp. 2010. Apple Crop Management and Mechanical Thinning of Peaches. Ohio Produce Growers and Marketers Conference, Sandusky, OH.
- K. Ellis. 2010. Engineering Solutions for Specialty Crops-Overview of New Opportunities. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- P. Heinemann and J. Schupp. 2010. Innovative Technologies for Peach Thinning. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- T. Baugher. 2010. Results from 2009 Thinning Trials. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- J. Schupp, B. Knouse, K. Lesser, D. Lott, D. Mickey, E. Spycher. 2010. Grower Experiences with Mechanical Thinners (A Panel). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- S. Kuhn, J. Baugher, B. Hollabaugh, B. Keim, J. Weaver. (Young Grower Alliance panel). 2010. A New Generation's Peach Growing Innovations. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- K. Ellis and J. Remcheck. 2010. Impact of Specialty Crops Innovations Initiative on the Adams County Fruit Belt. Gettysburg and Adams County Chamber of Commerce Annual Breakfast Meeting, Gettysburg, PA.
- J. Schupp. 2010. Preparing for Orchard Mechanization. International Fruit Tree Association Conference, Grand Rapids, MI.
- Lehman, B., L. Hull, V. Jones, J. Park, G. Holguin, K. Ellis. 2010. A novel automated trap design-Initial tests with codling moth and oriental fruit moth. Entomological Society of America Conference Proceedings Abstract.
- Schupp, J., T. Auxt Baugher, R. Crassweller, K. Ellis, E. Winzeler, J. Remcheck, T. Kon. 2010. Labor efficient production systems. PA Fruit News 90(2).
- Baugher, T. Auxt., J. Schupp, P. Heinemann, S. Miller, K. Ellis, E. Winzeler, K. Reichard, J. Remcheck, C. Musselman, A. Leslie, R. Rohrbaugh, S. Wolford, M. Schupp, C. Kuntz, E. Moore, J. Koan, C. Anders, T. Kon. 2010. Innovative technologies for thinning fruit. PA Fruit News 90(3).
- 1. Research Papers/Written Reports, 2009-2010
- Singh, S., T. Baugher, M. Bergerman, K. Ellis, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, 2009. Automation for specialty crops: A comprehensive strategy, current results, and future goals. Paper #501. Proc. 4th IFAC International Workshop on Bio-Robotics, Information Technology, and Intelligent Control for Bioproduction Systems. Champaign, IL.
- Singh, S., T. Baugher, M. Bergerman, B. Grocholsky, J. Harper, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert. 2009. Automation for specialty crops: a comprehensive strategy, current results, and future goals. HortScience 44(4):1109-1110.
- Heinemann, P., J. Liu, T. Baugher, J. Schupp. 2009. Mechanized fruit thinning. Proc. Northeast Agricultural and Biological Engineering Conference. Halifax, NS.
- Lehman, B. L., L. A. Hull J. Park, G. Holguin, V.P. Jones. 2010. An automated sex pheromone trap for monitoring adult CM and OFM and the influence of trap color on moth and non-target captures. Proc. Cumberland Shenandoah Fruit Workers Conference. Winchester, VA.
- B. Kliethermes, W. Messner, A. Leslie, T. Baugher, D. M. Glenn, R. Rohrbaugh, J. Koan, K. Lewis, P. Heinemann. 2010. Performance of energy absorbing materials for passive bulk bin filling. Proc. Cumberland-Shenandoah Fruit Workers Conference, Winchester, VA.
- K. Ellis. 2010. Developments in Technology and Automation for Tree Fruit. Proc. Great Lakes Fruit, Vegetable, and Farm Market Expo, Grand Rapids, MI.
- N. Milburn, M. Reid, J. Snavely, B. Wenk, S. Kuhn. 2010. Exploring Tree Fruit Innovations for the Future (Young Grower Alliance panel discussion). Proc. Great Lakes Fruit, Vegetable, and Farm Market Expo, Grand Rapids, MI.
- Baugher, T. Auxt, J. Schupp, K. Ellis, J. Remcheck, E. Winzeler, R. Duncan, S. Johnson, K. Lewis, G. Reighard, G. Henderson, M. Norton, A. Dhaddey, P. Heinemann. 2010. String blossom thinner designed for variable tree forms increases crop load management efficiency in trials in four U.S. peach growing regions. HortTechnology 20:409-414. Listed as #1 read article for April 2010.
- M. Bergerman. 2010. Toward Intelligent, Automated Specialty Crops Production. Ontario Fruit and Vegetable Convention, St. Catharines, Ontario.
- Schupp, J., P. Heinemann, T. Baugher, S. Miller, J. Liu, R. Dise, A. Leslie. 2010. Innovative technologies for thinning of fruit. 2010. Ohio Produce Growers and Marketers Association Today. Pataskala, OH.
- L. Hull. 2010. Taking IPM to the Next Level (included explanation of information-driven systems and new tools for monitoring). President's Day Fruit Growers Educational Meeting, Biglerville, PA.
- K. Ellis and N. Halbrendt. 2010. PSU Pest and Weather Alert Systems (included preliminary information that relates to sensor networks). President's Day Fruit Growers Educational Meeting, Biglerville, PA.
- S. Singh, T. Baugher, M. Bergerman, B. Grocholsky, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert, D. Ames. 2010. Comprehensive Automation for Specialty Crops-Year 1 Results (Poster). The South Mountain Summit-Growing Quality Communities that Benefit from the Resources of the Region, Newville, PA.
- J. Schupp. 2010. Current and Future Mechanization in Fruit orchards. International Fruit Tree Association Conference, Grand Rapids, MI.
- M. Bergerman. 2010. Innovations in Crop Intelligence and Agricultural Automation for Tree Fruit Production (Round Table). Ontario Fruit and Vegetable Convention, Brock University, St. Catharines, Ontario.
- J. Schupp, T. Baugher, K. Ellis, Young Grower Alliance. 2010. Vision, Technology, Innovation and Passion. Special Session of Tours and Forums for Nuffield International Farming Scholars Programs' Contemporary Scholars Conference, Gettysburg, PA.
- T. Baugher. 2010. Mechanical Thinning and Other New Technologies Being Explored for Peach Production. New Jersey Tree Fruit IPM Meeting, Clayton, NJ.
- J. Schupp. 2010. Getting Your Orchard Operation Ready for Mechanization and Automation. International Fruit Tree Association Conference, Grand Rapids, MI.
- H. E. Winzeler and J. Schupp. 2010. Uncertainty Analysis of Visual Estimates of Apple Blush. American Society for Horticultural Science Annual Conference, Palm Desert, CA. Poster.
- H. E. Winzeler and J. Schupp. 2010. Digital Analysis for Estimating Honeycrisp Blush Coverage. American Society for Horticultural Science Annual Conference, Palm Desert, CA. Poster.
- P. Heinemann, J. Schupp, T. Auxt Baugher. 2010. Innovative Technologies for Thinning of Fruit. American Society for Horticultural Science Annual Conference, Palm Desert, CA.
- J. Schupp, T. A. Baugher, K. Ellis, J. Remcheck, E. Winzeler, R. Duncan, S. Johnson, K. Lewis, G. Reighard, G. Henderson, M. Norton, A. Dhaddey, and P. Heinemann. 2010. String Blossom Thinner Designed for Variable Tree Forms Increases Crop Load Management Efficiency in Trials in Four Peach Growing Regions. American Society for Horticultural Science Annual Conference, Palm Desert, CA. Poster.
- T. M. Kon, W. E. Winzeler, J. R. Schupp. 2010. 'Golden Delicious' Crop Load Adjustment with the Equilifruit disk. American Society for Horticultural Science Annual Conference, Palm Desert, CA. Poster.
- R. Dise. 2010. Development of an Autonomous Sensing and Positioning System for Use with Fruit Production Equipment. 2010. Northeast Agricultural and Biological Engineering Conference (NABEC), Geneva, NY.
- P. Heinemann. 2010. Mechanized Fruit Thinning-Progress and Challenges. 2010. Northeast Agricultural and Biological Engineering Conference (NABEC), Geneva, NY.
- B. Grocholsky and M. Aasted. 2010. A User-Friendly Interface for the CASC Automated Prime Mover. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- T. Baugher, J. Schupp, E. Winzeler, K. Ellis. 2010. New Partnerships to Develop a Cost-Effective Harvest Assist System. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- P. Heinemann, Schupp, T. Auxt Baugher. 2010. Innovative Technologies for Thinning of Fruit. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- D. Ciolkosz, K. Ellis, R. Hilton. 2010. Innovative Energy Programming for Specialty Crop Enterprises. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- L. Hull. 2010. An Automated Insect Monitoring Trap for Specialty Crops. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- R. Dise, P. Heinemann, M. Aasted. 2010. Autonomous Sensing and Positioning of a String Blossom Thinner. Penn State Fruit Research and Extension Center Technology Showcase, Biglerville, PA.
- Baugher, T. Auxt, J. Schupp, E. Winzeler, K. Ellis, and M. Wherley (ACTV). 2010. Assessment of String Patterns for Mechanical Blossom Thinning. Penn State Cooperative Extension Video Production.
- Baugher, T. Auxt, J. Schupp, L. Hull, H. Ngugi, and K. Ellis. 2010. Specialty Crop Innovations-Progress and Future Directions. Penn State Cooperative Extension Ag Innovations Pub. 4.
- Hoheisel, G., S. Singh, M. Bergerman, I. Yung, CASC Project Members. 2010. Comprehensive Automation for Specialty Crops SCRI Website. http://www.cascrop.com/.
- 5. Workshops, Tours, Field Days, and Reports to Grower Organizations, 2009-2010
- September 24, 2009-Dean of Agriculture Tour for PA Legislators and Agricultural Leaders-P. Heinemann, T. Baugher, J. Schupp, J. Liu, R. Dice, and A. Leslie presented impacts from Specialty Crop research initiative projects to 80 legislators and agricultural leaders.
- October 21, 2009-Tour for University of Maryland Advanced Technologies in Horticulture Class-T. Baugher, K. Ellis, J. Schupp, and Young Grower Alliance provided orchard demonstrations on innovations for specialty crops.
- 4. Bulletins, Fact Sheets, Computer Software and Videos, 2009-2010
- Baugher, T. Auxt. 2009. Innovation for Specialty Crops-Pilot Orchards Provide Laboratories in the Field to Increase Environmental Sustainability and Production Efficiency. Penn State Cooperative Extension Pub.
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Progress 09/01/08 to 08/31/09
Outputs
OUTPUTS: More details on all material presented in this AD-421 form can be found in our Year 1 report available at http://www.cascrop.com/Annual%20Reports/Forms/AllItems.aspx. Outputs for the period 09/2008 to 09/2009 include the following. 1. First instantiation of the Autonomous Prime Mover family of automated vehicles. The first APM is a modified Toro eworkman electric vehicle capable of autonomously traversing orchard and nursery blocks. 2. Geographical information system software that displays georeferenced sensor data on Google Earth. 3. Two prototype dry bin fillers. 4. Multimodal sensor system and associated algorithms for water stress and fire blight detection. 5. Prototype digital trap and image processing algorithms for insect infestation detection and monitoring. 6. Prototype nursery tree counting and caliper measurement devices. 7. Pre-commercial Scout crop load estimation system. 8. Agriculture's Profitability Model (AgProfit), a computer program designed to help agricultural producers make long-term technology adoption decisions. 9. Socioeconomic surveys of Eastern growers on barriers to technology adoption. 10. Outreach and collaboration web site http://www.cascrop.com launched in September 2009. 11. Invited presentations on SCRI automation projects at: California Canning Peach Association, New York Fruit Expo, Great Lakes Hort Expo, Washington State Horticultural Convention, Mid-Atlantic Fruit and Vegetable Convention, Southeastern Peach Convention, Missouri Horticultural Convention, and Ontario Fruit and Vegetable Convention. 12. Workshop on Tree Architecture Adaptations for Automation. Ninety specialty crop producers attended the workshop, and 140 growers received a notebook of class materials. Workshop participants were surveyed via Survey Monkey. 13. Field days and field demonstrations held in PA on June 25th and July 22nd, 2009, and in WA on July 28th, 2009. 14. Engineering Solutions Workshops held in PA on July 22nd, 2009, and in OR on August 2-4, 2009. 15. Horticultural/management efficiency trials conducted in both PA and WA pilot orchards. 16. Fifteen undergraduate and eight graduate engineering, horticulture, social science, and economics student interns were involved in CASC field and laboratory research trials, in addition to one post-doctoral researcher in electrical and computer engineering. PARTICIPANTS: Participants for the period 09/2008 to 09/2009 include the following. 1. Institutions: Carnegie Mellon University Robotics Institute (CMU), Pennsylvania State University (PSU), Washington State University (WSU), Oregon State University (OSU), Purdue University (PU), USDA Agricultural Research Service (ARS), Vision Robotics Corp. (VRC), IONco Inc., The Toro Company, Trimble Navigation Ltd. 2. Project director: Prof. Sanjiv Singh, CMU. 3. Co-directors: Tara Baugher (PSU), Marcel Bergerman (CMU), Katie Ellis (PSU), David Michael Glenn (ARS), Ben Grocholsky (CMU), Brad Hamner (CMU), Gwen-Alyn Hoheisel (WSU), Larry Hull (PSU), Vincent Jones (WSU), George Kantor (CMU), Harvey Koselka (VRC), Karen Lewis (WSU), William Messner (CMU), Henry Ngugi (PSU), James Owen (OSU), Johnny Park (PU), Clark Seavert (OSU). 4. Other professionals: Alain Samaha (Trimble), Amy Tabb (ARS), Art Lange (Trimble), Bret Wallach (VRC), Brian Lee Lehman (PSU), Dana Lonn (Toro), Derek Morikawa (VRC), Dorene Ames (WSU), Grzegorz Krawczyk (PSU), Gurcan Aral (Trimble), Heather Stoven (OSU), James Julian (OSU), James Remcheck (PSU), James Teza (CMU), James Travis (PSU), Jillian Cannons (VRC), Jorge Heraud (Trimble), Robin Rosetta (OSU), Wenfan Shi (CMU), William C. Kleiner (PSU), Yunseop Kim (Purdue). 5. Graduate students: Jacqueline Libby (CMU), Brian Kliethermes (CMU), Gwendolyn Barr (CMU), Guiqin Li (Purdue), German Holguin (Purdue), Reuben Dise (PSU), Tom Kon (PSU), Katie Reichard (PSU). 6. Undergraduate students: Emily Thompson (Purdue), Caleb Tan (Purdue), Alex Leslie (PSU), Russell Rohrbaugh (PSU), Jacob Koan (Michigan State University), Cody Musselman (PSU), Celine Kuntz (PSU), Evan Moore (PSU), Matthew Hartwig (PSU), Juliet Hulse (PSU), Bethany Ely (PSU), Mattie Kuntz (PSU), Art Flores (Columbia Basin Community College), Jackson Kowalski (University of Puget Sound), Brian Moore (Clackamas Community College). Training opportunities in the period 09/2008 to 09/2009 include the following; for more detail please see the section Publications of this form AD-421. October 2008: PA Pilot Orchard Field Classroom Session. November 2008: Report for Industry Stakeholders; PA Classroom in the Field; Mid-Atlantic Young Grower Alliance Tour of Intensive Fruit Production Systems; Comprehensive Automation Round Table for New York Growers. December 2008: Comprehensive Automation Tour for New York Growers. January 2009: In-Depth Workshop on Tree Architectures for Automation. April 2009: Orchard Automation Open House. May 2009: PA Pilot Orchard Session Field Classroom Session. June 2009: Classroom in the Field at Hollabaugh Orchards Conservation Innovation Grant (CIG) Planting; Engineering Solutions Field Day at C&G Orchards and Penn State FREC; Cherry Day at Washington State University Prosser Research and Extension Center. July 2009: Comprehensive Engineering Solutions for Tree Fruit Workshop; Washington State University Field Day; Penn State Fruit Research and Extension Center Field Day. August 2009: One Year into It - Engineering Solutions for PNW Specialty Crops. September 2009: Dean of Agriculture Tour for PA Legislators and Agricultural Leaders. TARGET AUDIENCES: Target audiences were identified and engaged throughout the period of 09/2008 to 09/2009. They include the following: 1. Tree fruit producers: This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 2. Specialty crop producers (other than tree fruit, including tree fruit nursery producers and ornamental nursery producers): This sector includes farm owner-operators and their family members. This sector includes racial and ethnic minorities. 3. Tree fruit orchard managers: This sector includes on-farm managers and includes racial and ethnic minorities. 4. Agricultural field advisors: This sector includes both public and private sector agricultural advisors. 5. Researchers: Both public and private individuals involved in a wide range of work that contributes to or benefits from the CASC project. This sector includes racial and ethnic minorities. 6. Graduate and undergraduate students: Includes racial and ethnic minorities. 7. Industry leadership: Includes individuals and groups that identify needs, set research and outreach priorities, collaborate in activities, and provide funding. 8. Equipment design engineers, manufacturers and distributors: This includes private sector communities, both those who have historically worked with agricultural industry and those who have recently been identified as potential technology/equipment providers. PROJECT MODIFICATIONS: Nothing significant to report during this reporting period.
Impacts
Outcomes and impacts for the period 09/2008 to 09/2009 include the following. 1. APM applications in autonomous crop load scouting, autonomous spraying, and autonomous mowing were demonstrated in field trials and field days conducted in WA and PA. 2. Positioning of the APM to sub-meter accuracy without the use of GPS was demonstrated in PA and WA orchards. 3. Energy-absorbing dry bin filler prototypes demonstrated the potential to reduce bruising to under a 5% orchard industry threshold. 4. Hyperspectral response to water stress was correlated with water, photochemical reflectance, and normalized difference vegetation indices. 5. An orange bucket trap was found in WA and PA field trials to perform best as a digital monitoring device. Internal feeding worm detection accuracy with an image-based algorithm was 92%. 6. Automated trunk caliper measurements compared to manual measurements were within a 1 mm nursery industry threshold. 7. Strategies were developed to improve crop load estimation in existing orchard designs by a production-level Scout from 60% to over 95%. 8. Economic models for the CASC thematic areas indicated that the technologies being developed could result in economic impacts of $20 to $1047 per acre per year. 9. Barriers to technology adoption identified in socio-economic surveys were cost, efficiency, and perceived reliability of equipment. To overcome identified barriers, survey participants suggested field trials and economic analyses to present evidence of increased net income, increased management efficiency, and improved fruit quality. 10. There were 604 visits to the http://wwww.cascrop.com web site during the first two months and stakeholder feedback was positive. 11. Six papers or abstracts have been published in refereed journals. Professional papers were presented at national and international engineering conferences. 12. Of the stakeholders surveyed following the workshop on tree architecture for mechanization, 82% indicated workshop outcomes included planting new competitive orchard systems at higher tree densities. 13. Industry partners who attended field days and workshops identified CASC work in harvesting and targeted plant protection applications as areas of need to improve precision and efficiency in orchard enterprises. Monitoring of plant stress and targeted sprays were identified as areas of need for improving environmental stewardship and sustainability. 14. Management efficiency trials with sensors to detect weeds indicated the potential to reduce herbicide use by 50 to 75%. 15. Trials with augmented harvest from an autonomous platform compared to a ladder indicated the potential to increase efficiency (bushels harvested per unit time) by 43%. 16. An energy calculator designed to assess the amount of fuel used for the high density pilot orchards compared to conventional plantings demonstrated that smaller tractors and implements can result in 25-45% reduction in fuel usage. 17. As a result of internship with CASC, one undergraduate and two graduate students decided to pursue advanced degrees in agricultural engineering with a focus on emerging technologies.
Publications
- Good Fruit Grower, June 2009. "Labor-Saving Thinner" by Geraldine Warner.
- Good Fruit Grower, June 2009. "Stone Fruit Thinning - Mechanical Thinning Gives Stone Fruit Growers More Options" by Geraldine Warner.
- Penn State Agriculture, Winter/Spring 2009. "Bearing Fruit-College Researchers Tap New Specialty Crop Funding." by Steve Williams.
- American/Western Fruit Grower, February 2009. "Tree Fruit: Precision Ag Coming Into Focus" by Jim McFerson. (also on growingproduce.com)
- Good Fruit Grower, June 2009. "Labor - An Eastern Perspective" by Dan Boyer, International Fruit Tree Association Report.
- November 6, 2008 - Orchard Tour for Carnegie Mellon Engineers - T. Baugher, H. Ngugi, and grower representatives Joy Cline, Sergio Aguilar (CASC advisory panel member), Chris Baugher, Neil Starner, Corey McCleaf, Phil Baugher, John Rice, Daniel Rice, Lee Showalter, and Bruce Hollabaugh hosted the Carnegie Mellon SCRI-CASC team of engineers for tours/discussions of vertical axis orchard systems, work platforms, mechanical thinning, GPS guided planting, fruit handling systems, and automated nursery tree caliper measurements.
- November 6 - 12, 2008 - Participation in International Orchard Technology Trade Show - K. Lesser, J. Schupp and 9 growers traveled to Bolzano, Italy to attend Interpoma - an international tradeshow on the production, storage, and marketing of apples. Vendors included: nursery companies; tree training, support system, and hail net providers; manufacturers of orchard platforms, mowers, sprayers, tractors, and mechanical thinners; chemical companies; packing line and cold storage facilities; businesses for marketing and packaging solutions. After the tradeshow, the group visited two apple orchards in the South Tyrol region of Italy, and then traveled to the Bodensee region of Germany. The European growers were innovative - having high density tall slender spindle trees and using new technologies such as orchard/harvest assist platforms, tunnel and tower sprayers, and advanced IPM practices. They also visited a packing facility which packs and sells Kiku apples, and the Bodensee tree fruit research station.
- November 13, 2008 - Report for Industry Stakeholders - T. Baugher, R. Crassweller, and J. Travis met with the State Horticultural Association of Pennsylvania Board of Directors and provided an update on the three SCRI grants received by Penn State.
- November 17, 2008 - PA Classroom in the Field - PA Pilot Orchard Session at Penn State Fruit Research and Extension Center - J. Schupp, R. Crassweller, J. Halbrendt, T. Baugher, and K. Lesser provided training on advanced IPM strategies for orchard floor management and wildlife control, minimal pruning strategies to reduce labor requirements, and tree architectures for automation observed during a Mid-Atlantic Young Grower Alliance Tour of Italian and German orchards.
- November 18, 2008 - Mid-Atlantic Young Grower Alliance Tour of Intensive Fruit Production Systems - T. Baugher, A. Michael, L. Kime, and growers Aimee Rohrbaugh, Dave Musselman, Sidney Kuhn, Dave Kuhn, Mary Margaret Kuhn, Tom Child, and Michael King provided training on risk management, precision agriculture technologies, and tree architectures for automation.
- November 30, 2008 - Comprehensive Automation Round Table for New York Growers - T. Baugher and Interpoma tour representatives K. Lesser, Eddie Rankin, and Megan Rankin hosted a dinner discussion/slide presentation on innovations observed at Interpoma for a delegation from Western New York growers/educators.
- December 1, 2008 - Comprehensive Automation Tour for New York Growers - T. Baugher, K. Lesser, L. Hull, H. Ngugi and grower representatives Maggie Reid, John Baugher, and Bruce Hollabaugh hosted a comprehensive automation/innovative thinning tour for two Cornell extension educators and four New York growers.
- January 28, 2009 - In-Depth Workshop on Tree Architectures for Automation - T. Baugher, J. Schupp, R. Crassweller, R. Marini, and PA Pilot Orchard Cooperators Neil Starner, Corey McCleaf, Justin Weaver, and Bill Gardenhour conducted an in-depth workshop on tree architectures adaptable to orchard automation. Ninety growers attended the workshop, and 140 workshop notebooks were distributed. Workshop participants were surveyed via Survey Monkey and 78% indicated they learned a great deal about new strategies of pruning for efficiency in intensive fruit plantings. Also 78% are making the following plans as an outcome of what they learned at the workshop: 1) planting new competitive orchard systems at higher tree densities, 2) establishing new competitive orchard support systems, and 3) adopting peach pruning and training strategies for targeting fruit size and yield. As a result of attending the workshop, 88% rated their level of comfort with transitioning to high value cultivars planted in competitive orchard systems as "very comfortable."
- April 22, 2009 - Orchard Automation Open House - J. Schupp, T. Baugher, K. Ellis, S. Miller, J. Remcheck, and Grower Cooperators J. Cline, E. Haller, and K. Lesser conducted a mechanical thinning open house -"Spotlight on Mechanical Thinning." Thirty growers and extension professionals attended from PA, NJ, Ontario, Nova Scotia, and MD. Participants observed the new PT 250 dual string thinner thinning an open center peach orchard, the Darwin 300 vertical string thinner in a perpendicular V orchard, and the new USDA peach drum shaker thinning a perpendicular V orchard.
- May 20, 2009 - PA Pilot Orchard Session at Hollabaugh Orchards - J. Schupp, T. Baugher, B. Hollabaugh, B. Hollabaugh, and K. Ellis provided training on minimal pruning/tree training strategies to reduce labor requirements, increase tree physiology efficiency, and enhance opportunities for automation.
- June 2, 2009 - Classroom in the Field at Hollabaugh Orchards Conservation Innovation Grant (CIG) Planting - J. Schupp, R. Crassweller, T. Baugher, L. Hull, and H. Ngugi discussed advanced integrated orchard management strategies and two tree architecture systems for adaptability with automation for an audience of 50 growers.
- June 25, 2009 - Cherry Day at Washington State University Prosser Research and Extension Center. G. Hoheisel and K. Lewis organized a field day for 60 growers and allied industry members that included a discussion on mechanical harvest for stem free cherries, worker augmentation, mechanical thinning and over the row platforms.
- July 13, 2009 - Invited Presentation for Meeting of Northeast Deans of Land Grant Institutions - S. Singh discussed benefits of multi-disciplinary and multi-institutional collaboration on USDA-SCRI grants.
- July 22, 2009 - Comprehensive Engineering Solutions for Tree Fruit Workshop - K. Ellis, J. Schupp, T. Baugher, S. Singh, J. Travis, M. Glenn, A. Leslie, S. Wolford, R. Rohrbaugh, T. Kon, R. Dise, H. Ngugi, and B. Lehman discussed preliminary results from two Specialty Crop Research Initiative Grants awarded in 2008.
- July 22, 2009 - Washington State University Field Day - K. Lewis, G. Hoheisel, V. Jones, C. Seavert, J. Owen, S. Singh, B. Grocholsky, G. Kantor, W. Messner, B. Hamner, J. Libby, and R. Dice presented field demonstrations relevant to the PNW fruit industry on Comprehensive Automation for Specialty Crops.
- July 22, 2009 - Penn State Fruit Research and Extension Center Field Day - J. Schupp, L. Hull, H. Ngugi, T. Baugher, K. Ellis, S. Singh, B. Grocholsky, G. Kantor, W. Messner, B. Hamner, J. Libby, and R. Dice presented field demonstrations relevant to the Mid-Atlantic fruit industry on Comprehensive Automation for Specialty Crops.
- August 2-4, 2009 - One Year into It: Engineering Solutions for PNW Specialty Crops - C. Seavert, K. Lewis, S. Singh, and P. Heinemann led strategic planning sessions on utilizing engineering technologies to address challenges faced by Pacific Northwest Specialty Crop industries.
- September 21-22, 2009 - Two-Day Meeting with USDA-SCRI Administrators - CMU and Purdue members of CASC team presented first year results from the CASC project and gave a tour of a demonstration orchard.
- September 24, 2009 - Dean of Agriculture Tour for PA Legislators and Agricultural Leaders - T. Baugher, J. Schupp, P. Heinemann, R. Dice, and A. Leslie presented impacts from Specialty Crop Research Initiative projects to 80 legislators and agricultural leaders.
- June 25, 2009 - Engineering Solutions Field Day at C&G Orchards and Penn State FREC - Carnegie Mellon, USDA-ARS Appalachian Fruit Research Station, Purdue University and Penn State engineers and plant scientists demonstrated SCRI Comprehensive Automation strategies including autonomous row following, stress sensing, localization, autonomous spraying and mowing for an audience of 20 growers.
- RESEARCH PAPERS AND WRITTEN REPORTS 2008-2009
- Baugher, T. Auxt, K. Lesser, J. Schupp, J. Halbrendt, M. Harsh, R. Crassweller, R. Marini. 2008. NRCS innovative orchard systems project in twelve commercial orchards - An opportunity to investigate optimum management programs for intensively-managed Honeycrisp and Cameo. PA Fruit News 88(3).
- T.A. Baugher, K. Lewis, J. Schupp, K. Lesser, M. Harsh, C. Seavert, T. Auvil. 2009. Mobile platforms increase orchard management efficiency and profitability. ACTA Horticulturae 824:361-364.
- Lewis, K.L., T.A. Baugher, J. Schupp, M. Harsh, C. Seavert, K. Lesser, T. Auvil. 2008. Mobile platforms increase orchard management efficiency and profitability. ACTA Horticulturae. Proc. International Society for Horticultural Science - Application of Precision Agriculture for Fruits and Vegetables. Abstract.
- Ngugi, H. and J. Schupp. 2009. Evaluation of the risk of spreading fire blight in apple orchards with a mechanical string blossom thinner. HortScience 44(3):1-4.
- Messner, W. and B. Kliethermes. 2009. Augmented fruit harvesting. CMU-RI-TR-09-20, Carnegie Mellon University Robotics Institute.
- Singh, S., T. Baugher, M. Bergerman, K. Ellis, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert. 2009. Automation for specialty crops: A comprehensive strategy, current results, and future goals. Paper #501. Proc. 4th IFAC International Workshop on Bio-Robotics, Information Technology, and Intelligent Control for Bioproduction Systems. Champaign, IL.
- Schupp, J., T. Auxt Baugher, S. Miller, R.M. Harsh, K. Lesser, K. Reichard. 2008. Mechanical thinning of peach trees reduces labor inputs and increases fruit size. HortTechnology 18:660-670.
- Singh, S., T. Baugher, M. Bergerman, B. Grocholsky, J. Harper, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert. 2009. Automation for specialty crops: a comprehensive strategy, current results, and future goals. HortScience 44(4):1109-1110.
- Heinemann, P., J. Liu, T. Baugher, J. Schupp. 2009. Mechanized fruit thinning. Proc. Northeast Agricultural & Biological Engineering Conference. Halifax, NS.
- Baugher, T. Auxt, J. Schupp, K. Lesser, and K. Reichard. 2009. Horizontal string blossom thinner reduces labor input and increases fruit size in peach trees trained to open-center systems. HortTechnology 19:755-761.
- INVITED PRESENTATIONS 2008-2009
- Lesser, K., T. Auxt Baugher, J. Schupp, S. Miller, M. Harsh, K. Reichard. 2008. Mobile Platforms Increase Orchard Management Efficiency and Profitability. International Society for Horticultural Science - Application of Precision Agriculture for Fruits & Vegetables, Orlando, FL.
- Baugher, T. Auxt., K. Lesser, A. Tougas. 2008. Update on the Use of Platforms in Orchards. Mid-Atlantic Fruit & Vegetable Convention, Hershey, PA.
- Leslie, A. K. Lesser, P. Heinemann, J. Schupp, T. Baugher. 2008. Accuracy of GPS Guidance and its Potential Use in Orchards. Cumberland-Shenandoah Fruit Workers Conference, Winchester, VA.
- Leslie, A. 2008. Accuracy of GPS Guidance and its Potential Use in Orchards. American Society of Agricultural and Biological Engineers, Northeast Region, Aberdeen, MD.
- J. Schupp, T. Auxt Baugher, S. Miller, M. Harsh, K. Lesser, K. Reichard. 2008. Mechanical Thinning of Stone and Pome Fruit. Great Lakes Hort Expo, Grand Rapids, MI
- J. Schupp, T. Auxt Baugher, S. Miller, M. Harsh, K. Lesser, K. Reichard. 2008. Mechanical Peach Thinners Reduce Labor Inputs and Increase Fruit Size. Great Lakes Hort Expo, Grand Rapids, MI.
- J. Schupp, T. Auxt Baugher, S. Miller, K. Lesser, K. Reichard, M. Harsh, M. Reid, S. Wolford, M. Schupp, C. Musselman, A. Leslie, M. Tindall, E. Moore, C. Witt, C. Sollenberger, M. Price. 2008. Mechanical String and Drum Shaker Thinners-New Options for Reducing Labor Inputs and Increasing Fruit Size. Washington State Horticultural Convention, Yakima, WA. Poster.
- T. Auxt Baugher, J. Schupp, S. Miller, M. Harsh, K. Lesser, K. Reichard. 2009. Increasing Fruit Size and Reducing labor Inputs with Mechanical Thinning. California Peach Canning Association Annual Conference, Sacramento, CA.
- T. Auxt Baugher, J. Schupp, S. Miller, M. Harsh, K. Lesser, K. Reichard. 2009. Increasing Fruit Size and Reducing labor Inputs with Mechanical Thinning. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- L. Hull. 2009. Advanced Approaches to IPM (included explanation of automated scouting research). President's Day Fruit Growers Educational Meeting, Biglerville, PA.
- California Canning Peach Association, Cling Peach Review, Fall 08/Winter 08, 2008. "A Time for Innovative Thinking-All Segments of Peach Industry Excited by Innovative Mechanization Research" by Ann Schmidt-Fogarty.
- Lancaster Farmer, February 2009. "New Orchard Technologies Emerging - Apple Tour in Italy, Orchard Robotics are Topics at Convention."
- Fruit Growers News, March 2009. "Carnegie Mellon Gets Grant to Develop Automation."
- Good Fruit Grower, April, 2009. "Innovations are transforming the industry" by Jim McFerson, Washington Tree Fruit Commission.
- Cling Peach Review, Winter/Spring 2009. "Mechanized Thinning Research Results in Pennsylvania" by Ann Schmidt-Fogarty.
- Voice of America News, May 2009. "Robots Spread Seeds of Change in Fruit Orchards" by Rosanne Skirble.
- Country Folks Grower, May 2009. "Mechanical Thinning Shows Promise for Peach Growers" by Jon Casey.
- Gettysburg Times, July 2009. "Preview of Future - Robots Come to Biglerville" by Cody Musselman.
- Gettysburg Times, July 2009. "Field Day is Time for Researchers and 'Grower' Community to Communicate" by Cody Musselman and Russell Rohrbaugh.
- Lancaster Farmer, July 2009. "Robots Come to Biglerville" by Cody Musselman.
- Penn State College of Agricultural Sciences Dean's Blog, July 2009. "Our Land Grant Bears Fruit" by Bruce McPheron.
- Popular Science, August 2009. "The Future of Farming: Eight Solutions for a Hungry World (Number 6 - Use Robot Labor)" by Nicole Dyer.
- American/Western Fruit Grower, August 2009. "Comprehensive Automation for Specialty Crops" by Marcel Bergerman.
- PA Fruit News, September 2009. "FREC Field Day - Communicating with the Grower Community" by Cody Musselman and Russell Rohrbaugh.
- BULLETINS AND FACT SHEETS 2008-2009
- Baugher, T. Auxt, J. Schupp, M. Harsh, L. Hull, J. Travis, and K. Lesser. 2008. Ag Innovations - Progress and Future Directions. Penn State Cooperative Extension Pub.
- Baugher, T. Auxt, and K. Lesser (Editors). 2008. Orchard and Vineyard Spray Application Field Day - Improving Deposition While Reducing Drift. Penn State Pomology Workshop Pub.
- Baugher, T. Auxt. (Editor). 2008. Innovative "CIG" Orchards - What We've Learned So Far. Penn State Extension Pub.
- Baugher, T. Auxt, J. Schupp, L. Hull, H. Ngugi, J. Travis, and K. Ellis. 2009. Specialty Crop Innovations - Progress and Future Directions. Penn State Cooperative Extension Pub.
- Singh, S., T. Baugher, M. Bergerman, B. Grocholsky, J. Harper, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert. 2009. Automation for specialty crops: a comprehensive strategy, current results, and future goals. Oregon State University/Washington State University Fact Sheet.
- Baugher, T. Auxt. 2009. Innovation for Specialty Crops - Pilot Orchards Provide Laboratories in the Field to Increase Environmental Sustainability and Production Efficiency. Penn State Cooperative Extension Pub.
- WORKSHOPS, TOURS, FIELD DAYS, AND REPORTS TO GROWER ORGANIZATIONS 2008-2009
- October 23, 2008 - PA Pilot Orchard Field Classroom Session - J. Schupp, T. Baugher, K. Lesser, J. Travis, L. Hull, R. Crassweller, and D. McFarland led discussions explaining final plans prior to planting, advising growers of best management practices, and answering grower questions.
- Lesser, K. 2009. Retooling Orchards with Innovative Technologies. New York Fruit Schools - East and West.
- Mid-Atlantic Young Grower Alliance. 2009. Investigating New Technologies at Interpoma (panel discussion). Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- T. Auxt Baugher, J. Schupp, S. Miller, M. Harsh, K. Lesser, K. Reichard. 2009. Increasing Fruit Size and Reducing labor Inputs with Mechanical Thinning. Ontario Fruit and Vegetable Convention, St. Catharines, Ontario.
- T. Auxt Baugher. 2009. Innovations for the Management of Intensive Apple Production Systems. Ontario Fruit and Vegetable Convention, St. Catharines, Ontario.
- Mid-Atlantic Young Grower Alliance. 2009. Exploring New Technologies for Retooling the Fruit Industry (panel discussion). Ontario Fruit and Vegetable Convention, St. Catharines, Ontario.
- J. Travis, H. Ngugi, N. Halbrendt. 2009. Disease Management-A 5-Year Strategic Plan (included explanation of sensor network research). President's Day Fruit Growers Educational Meeting, Biglerville, PA.
- K. Lewis, T. Auvil. 2009. Orchard Automation and Mechanization in Washington State Orchards. Mid-Atlantic Fruit and Vegetable Convention, Hershey, PA.
- K. Lewis, T. Auvil. 2009. Orchard Automation and Mechanization in Washington State Orchards. New York Fruit and Vegetable Expo, Syracuse, NY.
- Singh, S., T. Baugher, M. Bergerman, B. Grocholsky, J. Harper, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen*, J. Park, C. Seavert. 2009. Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals. American Society of Horticultural Sciences Annual Convention, St. Louis, IL.
- J. Schupp and P. Heinemann. 2009. Experiences with the Specialty Crop Research Initiative. Penn State Horticulture Seminar Series, State College, PA.
- Singh, S., T. Baugher, M. Bergerman, K. Ellis, G. Hoheisel, L. Hull, V. Jones, G. Kantor, H. Koselka, K. Lewis, W. Messner, H. Ngugi, J. Owen, J. Park, C. Seavert. 2009. Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals. 4th IFAC International Workshop on Bio-Robotics, Information Technology, and Intelligent Control for Bioproduction Systems, Champaign, IL.
- Heinemann, P., J. Liu, T. Baugher, J. Schupp. 2009. Mechanized Fruit Thinning. Northeast Agricultural & Biological Engineering Conference, Halifax, NS.
- Schupp, J. and T. Auxt Baugher. 2009. Innovative ThinKing-Progress with Two Mechanical Fruit Thinners. Engineering Solutions Workshop, Biglerville, PA.
- Singh, S. 2009. Automation for Specialty Crops-A Comprehensive Strategy, Current Results, and Future Goals. Engineering Solutions Workshop, Biglerville, PA.
- Travis, J. and S. Singh. 2009. Sensor Networks. Engineering Solutions Workshop, Biglerville, PA.
- Glenn, M., A. Leslie, S. Wolford, R. Rohrbaugh. 2009. Harvest Assist Strategies for Improved Efficiency. Engineering Solutions Workshop, Biglerville, PA.
- Kon, T., A. Leslie, R. Rohrbaugh, R. Dise. 2009. Reducing Herbicide Use with the Weed Seeker. Engineering Solutions Workshop, Biglerville, PA.
- Glenn, M., H. Ngugi, B. Lehman. 2009. Towards Automated Detection of Stress and Disease in Tree Fruit Production. Engineering Solutions Workshop, Biglerville, PA.
- Baugher, T. Auxt., S. Miller, J. Schupp, K. Ellis. 2009. SCRI Fruit Thinning: Mechanical Thinner Demonstration. Penn State Fruit Research and Extension Center's Grower Field Day, Biglerville, PA.
- Heinemann, P. and Y. Tao. 2009. SCRI Fruit Thinning: Selective Thinning. Penn State Fruit Research and Extension Center's Grower Field Day, Biglerville, PA.
- Hull, L. 2009. Automating Pheromone Traps and Visually Detecting Fruit Injury for Internal Worms - What are the Prospects Penn State Fruit Research and Extension Center's Grower Field Day, Biglerville, PA.
- TRADE MAGAZINE AND NEWSPAPER FEATURE STORIES 2008-2009
- Gettysburg Times, May 2008. "The Latest Extension Effort with Adams County Fruit Growers - Classrooms in the Orchard," by Tara Baugher.
- R.C. Hoffman Foundation Annual Report Feature Article, May 2008. "The Penn State Ag Innovations Initiative"
- Gettysburg Times, July 2008. "Is GPS Technology on its Way to the Farm" by Alex Leslie.
- Tender Fruit Grape Vine, September/October 2008. "Reducing Labour in the Orchard" by Ken Slingerland
- Pennsylvania Ag Connection, October 2008. "USDA Awards Over $28 Million in Specialty Crop Research" by USDA.
- Pennsylvania Fruit News, October 2008. "USDA Awards More Than $28 Million In Specialty Crop Research" by Jennifer Martin.
- Peach Fuzz, October 2008 USDA Awards More than $28 Million in Specialty Crops Research by California Canning Peach Association.
- Penn State Live, November 2008. "Penn State a Major Player in Specialty Crop Research Initiative" by The Pennsylvania State University.
- Country Folks Grower, November 2008. "USDA Awards More than $28 Million in Specialty Crop Research" by USDA
- Gettysburg Times, November 2008. "On-Farm Research Provides Many Opportunities" by Tara Baugher.
- Fruit Notes, Lake Ontario, NY Fruit Extension Program, November 2008. "Pennsylvania Orchard Mechanization Opportunity" by A. DeMarree.
- Good Fruit Grower, December 2008. "Versatile Robotic Scout should be able to Detect Pests and Diseases and Estimate the Crop, as well as Guide Robotic Pruners and Harvesters" by Geraldine Warner.
- Good Fruit Grower, December 2008. "$9 Million for Tree Fruit Research - A Project Led by Carnegie Mellon Focuses on Automating Orchard Tasks" by Geraldine Warner.
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