Progress 02/11/04 to 09/30/05
Outputs
1. What major problem or issue is being resolved and how are you resolving it (summarize project aims and objectives)? How serious is the problem? What does it matter? This project focused on two main areas. The first area was to develop principles and systems for harvesting tree fruits to improve labor productivity and reduce grower costs. Main emphases are to develop: a) an automated harvester and compatible production system for fresh market quality apples grown on narrow trellises, b) a mechanical picking aid to work in narrow trellis orchards, and c) a harvester for fresh market quality stemless sweet cherries. The second area is to develop nondestructive sensors for objectively assessing the post-harvest quality of apples and incorporating these sensing techniques into an automatic inspection system for sorting apples based on surface and internal defects. The availability of a skilled workforce to harvest and grade fruit is a major concern of the U. S. Fruit
Industry. The gradual tightening of labor supplies has led to recent shortages. Competition from countries with significantly lower labor costs will also force U. S. producers to reduce cost or lose valuable markets. The quality of fresh market apples is an important part of the consumer's decision to buy apples. The fresh market apple industry realizes that it is critical to their well being that they deliver to the consumer a high quality apple free of defects. The apple process industry would also benefit from an online sorting system by reducing labor costs and improving product quality. 2. List the milestones (indicators of progress) from your Project Plan. Year 1 (FY 2004) Identify factors causing fruit damage from ARS prototype apple harvester that uses a rapid displacement impactor on Y-trellised trees. For sweet cherry harvester improve in-field handling of bins and extensively test harvester under commercial conditions. Identify ideal tree training scheme. Design and
construct apple harvest aid and determine optimum picker positioning location. Extensively test and refine apple orientation detector, lighting system, and machine performance for detecting surface defects. Year 2 (FY 2005) Test sweet cherry harvester on new plantings that were developed for this harvesting concept. Transfer technology to industry. Design efficient bin handling system for harvest aid, conduct extensive tests in commercial orchards, and determine commercial potential. Begin laboratory evaluation of sensing techniques for internal fruit defects and establish procedure for taste measurements. Year 3 (FY 2006) This project is being merged with the Integrated Orchard Management and Automation for Deciduous Fruit Crops, CRIS #1931-21000-015-00D, as of 10/01/2005. Please see the referenced CRIS documentation. Year 5 (FY 2008) Develop and test components for robotic harvester including fruit sensor and manipulator arm. Extensively test internal defect detection and taste
sensors technology on online system. 3a List the milestones that were scheduled to be addressed in FY 2005. For each milestone, indicate the status: fully met, substantially met, or not met. If not met, why. 1. Test sweet cherry harvester on new plantings that were developed for this harvesting concept. Transfer technology to industry. Milestone Not Met Progress slowed by resource limitation (human,fiscal,equipment, etc. 2. Design efficient bin handling system for harvest aid, conduct extensive tests in commercial orchards, and determine commercial potential. Milestone Substantially Met 3. Begin laboratory evaluation of sensing techniques for internal fruit defects and establish procedure for taste measurements. SY position is being filled by SCEP employee. Milestone Not Met Critical SY Vacancy 3b List the milestones that you expect to address over the next 3 years (FY 2006, 2007, and 2008). What do you expect to accomplish, year by year, over the next 3 years under each
milestone? This project is being merged with The Integrated Orchard Management and Automation for Deciduous Fruit Crops CRIS #1931-21000-015-00D, as of 10/01/2005. See the referenced CRIS documentation. 4d Progress report. 1931-21440-003-01T: This report serves to document research conducted under a trust agreement between ARS and Washington Tree Fruit Research Commission. A mechanical harvester was developed that successfully harvested stemless sweet cherries with quality nearly as good as commercial hand harvesting. Ethrel worked effectively to reduce fruit- removal-force on treated trees to one-third of untreated trees. An efficient bin handling system was developed. In simulated commercial harvest trials, harvest rates of 1.5 to 2 trees/minute were obtained which improved worker productivity by a factor of 15. A cooperating horticulturist is continuing to develop tree-training systemes that are compatible with the machine harvester. 1931-21440-003-03T: This report serves to
document research conducted under a trust agreement between ARS and Washington Tree Fruit Research Commission. A mechanical harvest aid was developed for narrow inclined trellises that allowed pickers free movement in order to optimize their picking time. The harvest aid featured auto-steer, continuous creep ground speed, a fruit sorting section, and automated bin filling. Field tests demonstrated the potential to improve worker productivity up to 22%, and effectively remove culls in the orchard. Fruit damage was unacceptable and a new concept in bin filling is under development. The harvest aid was modified to be used as a pruning aid. In extensive field tests, worker productivity improved by 25%. 1931-21440-003-04N: This report serves to document research conducted under a Non-Funded Cooperative Agreement between ARS and Lerew Brothers Orchards, Gardner, PA. The experimental over-the-row sprayer was tested at Lerew Brothers Orchards during 2004 and 2005. Lerew Brothers
determined that the sprayer did an excellent job of providing spray coverage and reduction of drift. They concluded that the most limiting factor against widespread commercial use of the over-the-row sprayer was the inability to safely perform on many of the steep slopes that orchards are grown on in Pennsylvania. 1931-21440-003-05N: This report serves to document research conducted under a non-funded cooperative agreement between ARS and Washington State University. Redesigned rapid displacement actuator and tree pad to improve reliability and reduce down time during harvest. Cooperating growers, and WSU horticulturist are developing tree-training systems that will be compatible with machine harvesting. First field tests of new orchards are expected in 2006. 1931-21440-003-06N: This report serves to document research conducted under a non-funded cooperative agreement between ARS and Michigan State University. ARS's experimental canopy shaker was mounted on a test frame and
tested on experimental plantings of both tart and sweet cherries at MSU's Clarksville experimental orchards. Field tests demonstrated very effective fruit removal at speeds up to 3 kph. Plant characteristics and tree structures were identified for capability with the canopy-shaking concept. 5. Describe the major accomplishments over the life of the project, including their predicted or actual impact. This is the second year of this project. Refer to 1931-21440-002-00D for past accomplishments. 6. What science and/or technologies have been transferred and to whom? When is the science and/or technology likely to become available to the end- user (industry, farmer, other scientists)? What are the constraints, if known, to the adoption and durability of the technology products? Industry cooperators and contacts are kept informed of progress through grower presentations and field days; and their advice is used to keep project objectives relevant. Technology to mechanically harvest
fresh market quality stemless sweet cherries is being transferred to the industry with the most significant obstacles being compatible trained orchards, and marketing a "new' product. Technology to improve worker productivity by use of a harvest aid is being transferred to the industry with the most significant obstacles being compatible trained orchards. 7. List your most important publications in the popular press and presentations to organizations and articles written about your work. (NOTE: List your peer reviewed publications below). Gunter, Dan. Mechanism on the move. Florida Grower p.40, January 2005. Stern, Renee. Move over R2D2, Researchers search for robots that will harvest fruit economically. The Grower 38(3):16-17 March 2005 Schmitz, John, Mechanical aids have multiple uses. Good Fruit Grower 56(7):27. April 1, 2005. Hansen, Melissa, Self-propelled platform has many uses. Good Fruit Grower 56(7):35. April 1, 2005. Reinert, Bill, Labor-saving platform interest
growers. Good Fruit Grower 56(8): 13-14. April 15, 2005.
Impacts
(N/A)
Publications
- Peterson, D.L., Bennedsen, B. 2005. Isolating damage from mechanical harvesting of apples. Transactions of the ASAE. Vol. 21(1): 31-34 2005 American Society of Agricultural Engineers ISSN 0883-8542 April 2005
- Janisiewicz, W.J., Peterson, D.L., Yoder, K.S., Miller, S.S. Control of blue mold of apple with metschnikowia pulcherrima and sodium bicarbonate using a small scale bin drencher. Phytopathology 94. Abstract S45.
- Bennedsen, B.S., Peterson, D.L. 2005. Performance of a system for apple surface defects identification in near infrared images. Biosystems Engineering. (2005) 90(4). 419-431 doi: 10.1016/j.biosystemseng.2004.12. 005 PH-Postharvest Technology. 1537-5110
- Janisiewicz, W.J., Peterson, D.L., Yoder, K., Miller, S.S. 2005. Bin drenching system for testing biocontrol agents and chemicals for control of postharvest decay of apples under commercial conditions. Plant Disease. 89:487-490
- Bennedsen, B., Peterson, D.L., Tabb, A. 2005. Identifying defects in images of rotating apples. Computers and Electronics in Agriculture. Published by Elsevier B.V. doi: 10.1016/j.compag.2005.01.003.
- TAKEDA, F., PETERSON, D.L. HORTICULTURAL CONSIDERATIONS AND NEW MACHINE HARVESTING CONCEPTS FOR FRESH MARKET QUALITY BERRIES. GEORGIA FRUIT & VEGETABLE GROWERS ASSOCIATION WINTER CONFERENCE PROCEEDINGS. 2004. P. 85- 92 January 2004; p. 85-92.
|
Progress 10/01/03 to 09/30/04
Outputs
1. What major problem or issue is being resolved and how are you resolving it (summarize project aims and objectives)? How serious is the problem? What does it matter? This project focused on two main areas. The first area was to develop principles and systems for harvesting tree fruits to improve labor productivity and reduce grower costs. Main emphases are to develop: a) an automated harvester and compatible production system for fresh market quality apples grown on narrow trellises, b) a mechanical picking aid to work in narrow trellis orchards, and c) a harvester for fresh market quality stemless sweet cherries. The second area is to develop nondestructive sensors for objectively assessing the post-harvest quality of apples and incorporating these sensing techniques into an automatic inspection system for sorting apples based on surface and internal defects. The availability of a skilled workforce to harvest and grade fruit is a major concern of the U.S. Fruit
Industry. The gradual tightening of labor supplies led to worker shortages from 2000 to 2003 and is expected to worsen. Competition from countries with significantly lower labor costs will also force U.S. producers to reduce cost or lose valuable markets. The surface quality of fresh market apples is an important part of the consumer's decision to buy an apple. The fresh market apple industry realizes that it is critical to their well being that they deliver to the consumer a high quality apple free of defects. The apple process industry would also benefit from an online sorting system by reducing labor costs and improving product quality. The research program falls under National Program 305 (60%),Crop Production- Agroengineering, Agrochemical, and Related Technologies and National Program 306 (40%), Quality and Utilization of Agricultural Products. Specific goals are: GOAL 1: Enhance economic opportunities for agricultural producers. Objective 1.1: Provide the Science-Based
Knowledge and Technologies To Generate New or Improved High Quality, Value-Added Products and Processes To Expand Domestic and Foreign Markets for Agricultural Commodities. 1.1.2: Provide higher quality, healthy foods that satisfy consumer needs in the United States and abroad. Objective 1.2: Contribute to the Efficiency of Agricultural Production Systems. 1.2.5: Provide producers with scientific information and technology that increase production efficiency, safeguard the environment, and reduce production risks and product losses. 2. List the milestones (indicators of progress) from your Project Plan. Year 1 (FY 2004) Identify factors causing fruit damage from ARS prototype apple harvester that uses a rapid displacement impactor on Y-trellised trees. For sweet cherry harvester improve in-field handling of bins and extensively test harvester under commercial conditions. Identify ideal tree training scheme. Design and construct apple harvest aid and determine optimum picker
positioning location. Extensively test and refine apple orientation detector, lighting system, and machine performance for detecting surface defects. Year 2 (FY 2005) Extensively test prototype apple harvester in experimental block to determine commercial potential. Identify training scheme and cultivars that are compatible with harvest concept Test sweet cherry harvester on new plantings that were developed for this harvesting concept. Transfer technology to industry. Design efficient bin handling system for harvest aid, conduct extensive tests in commercial orchards, and determine commercial potential. Begin laboratory evaluation of sensing techniques for internal fruit defects and establish procedure for taste measurements. Year 3 (FY 2006) Finish sweet cherry harvesting technology transfer to industry. Transfer technology of apple harvest aid to industry. Complete technology transfer process for online surface defect detection. Continue laboratory evaluation of sensing techniques
for internal fruit quality. Year 4 (FY 2007) Explore sensor for fruit identification, location, and maturity. Propose robotic harvesting scheme and compatible orchard design. Add internal quality detection and taste sensors and technology to online system. Year 5 (FY 2008) Develop and test components for robotic harvester including fruit sensor and manipulator arm. Extensively test internal defect detection and taste sensors technology on online system. Finish sweet cherry harvesting technology transfer to industry. Transfer technology of apple harvest aid to industry. Complete technology transfer process for online surface defect detection. Continue laboratory evaluation of sensing techniques for internal fruit quality. Year 4 (FY 2007) Explore sensor for fruit identification, location, and maturity. Propose robotic harvesting scheme and compatible orchard design. Add internal quality detection and taste sensors and technology to online system. Year 5 (FY 2008) Develop and test
components for robotic harvester including fruit sensor and manipulator arm. Extensively test internal defect detection and taste sensors technology on online system. 3. Milestones: QUESTION 3A: Milestones that were scheduled to be addressed in FY 2004. How many milestones did you fully or substantially meet in FY 2004 and indicate which ones were not fully or substantially met, briefly explain why not, and your plans to do so. All Year 1 milestones were met in the first year of this project. They are: Identify factors causing fruit damage from ARS prototype apple harvester that uses a rapid displacement impactor on Y-trellised trees. For sweet cherry harvester improve in-field handling of bins and extensively test harvester under commercial conditions. Identify ideal tree training scheme. Design and construct apple harvest aid and determine optimum picker positioning location. Extensively test and refine apple orientation detector, lighting system, and machine performance for
detecting surface defects. In addition, Year 2 milestone concerning, laboratory evaluation of sensing techniques for internal fruit defects was initiated. QUESTION 3B. List the milestones that you expect to address over the next 3 years (FY 2005, 2006, & 2007). What do you expect to accomplish, year by year, over the next 3 years under each milestone? Year 2 (FY 2005) The research on the ARS prototype apple harvester will be discontinued since FY 2004 results showed that this concept has limited potential for commercial success. Research will continue with tests of the ARS sweet cherry harvester on new plantings that are being developed for this harvesting concept. Transfer technology to Industry will continue. The complete harvest aid system will be evaluated in extensive tests in commercial orchards to determine commercial potential. Research will be transferred to the Industry. Continue laboratory evaluation of sensing techniques for internal fruit defects and determine
feasibility for using NIR for taste measurements. Accomplishments on the defect detection research are difficult to predict since the primary researcher for that work will be filled by an individual participating in the SCEP training program starting August 2004. Year 3 (FY 2006) Finish sweet cherry harvesting technology transfer to industry. Transfer technology of apple harvest aid to industry. Continue laboratory evaluation of sensing techniques for internal fruit quality. Explore sensor for fruit identification, location, and maturity. Propose robotic harvesting scheme and compatible orchard design. This milestone has been moved from Year 4 since the research on the ARS harvester that used a rapid branch displacement technique for fruit removal was discontinued. Year 4 (FY 2007) Continue evaluation of robotic harvesting scheme and sensors and systems need to develop a feasible system. Add internal quality detection and taste sensors and technology to online system. 4. What were
the most significant accomplishments this past year? A. Single most significant accomplishment during FY 2004: Watercore and mealiness in 'Red Delicious' apples were effectively identified using spectral reflection in the near infrared. If these internal defects can be identified and removed during grading, the consumer will receive a higher quality product. Watercore was successfully identified in 96% of the cases for apples tested shortly after harvest, and mealiness was detected in 100% of the cases in apples stored about a month after harvest. With more extensive testing on more cultivars, this system could improve commercial inspection systems. B. Other significant accomplishments. Four improved methods for identifying defects in images of apples were developed and quantitatively tested. Automated sorting systems are needed to provide more consistent, high quality fruit to the consumer. Using eight apple varieties, the detection system successfully identified an average of
87.7% of all the defects presented to the system, and detection of bruises ranged from 85 to 100%. The performance of the detection system is such that it could probably be implemented for process apples, but needs improvement for fresh market apples. No factors were identified in either canopy training or harvester modification that would significantly improve harvested fruit quality from an experimental apple harvester. Harvested fruit quality from the experimental harvester needs to be improved before commercialization will be feasible. A detailed study was conducted to determine the effect of fruit location, branch characteristics, and distance the from rapid branch displacement impactor on the ARS experimental harvester to identify deficiencies in apple removal and quality. Mechanically harvested damage-free apples ranged from 53 to 73%, depending on cultivar, but probably not high enough for commercialization, therefore and the research will be discontinued. C: Significant
activities that support special target populations. None D. Progress Report. In subordinate project 21440-003-01T with Washington Tree Fruit Research Commission, we developed a mechanical harvester for stemless sweet cherries with quality nearly as good as commercial hand harvesting. Ethrel worked effectively to reduce fruit-removal-force. An efficient bin handling system was developed. In simulated commercial harvest trials, harvest rates of 1.5 to 2 trees/minute were obtained which improved worker productivity by a factor of 15. A cooperating horticulturist from Washington State University is continuing to develop tree-training systems that are compatible with the machine harvester. In subordinate project 21440-003-03T with Washington Tree Fruit Research Commission, an experimental apple harvest aid was developed and tested. Picker mobility was determined to be the most important factor in improving picking efficiency. Design changes were incorporated into the harvest aid and will
be tested during the 2004 apple harvest season. In subordinate project 21440-003-04N with Lerew Brothers Orchards, Gardner, PA, an experimental over-the-row sprayer was refurbished and delivered to Lerew Brothers Orchards for testing. Lerew Brothers will conduct full season spray tests to determine operating parameters and commercial potential. In subordinate project 21440-003-05N with Washington State University, an experimental mechanical harvester for sweet cherries was refurbished and delivered to Washington for testing. Cooperating WSU horticulturist is developing tree-training systems that are compatible with the machine harvester. Field tests to determine harvesting efficiency and capacity were conducted in June 2004 and results are being analyzed. Data will be used to help determine harvester economics. In subordinate project 21440-003-02S with Cornell University we determined that our apple-orienting conveyor yields 95% to 99% proper orientation on a wide range of
cultivars. However 1% to 5% are not oriented and therefore would potentially be improperly graded. A self- adapting image processing method was developed to identify the stem/calyx end of apples. The performance of the image processing routine corresponded to 99% correct classification under practical implementation. A method was developed for setting the region of interest (ROI) to determine defects on apples of varying size. By measuring the diameter and height of each apple from the captured image, the ROI was selected based on apple size, to minimize overlap or missed area being evaluated. This change in technique will allow the automated sorter to evaluate a wider range of apple sizes. 5. Describe the major accomplishments over the life of the project, including their predicted or actual impact. This is the first year of this project. Refer to 1931-21440-002-00D for past accomplishments. 6. What science and/or technologies have been transferred and to whom? When is the
science and/or technology likely to become available to the end- user (industry, farmer, other scientists)? What are the constraints, if known, to the adoption and durability of the technology products? Technology to mechanically harvest fresh market quality stemless sweet cherries is being transferred to the industry through field days and industry magazine articles. Potential cherry harvester manufactures have studied the experimental harvester in operation and discussions held. The most significant obstacles to commercialization are compatible trained orchards, and marketing a "new" product. 7. List your most important publications in the popular press and presentations to organizations and articles written about your work. Crawford, B., Mechanical harvesting is needed to keep Florida competitive. Florida Grower page 39. February 2004. Schmitz, J., Easy does it; Cherry harvester, training system work wonders in test orchards. Capital Press page 23, March 5, 2004. Porter, E., In
Florida groves cheap labor means machines. The New York Times CLIII(52796):A1 &A18. March 22, 2004. Warner, G., Cherry harvester will be put to the test Good Fruit Grower 55(11):15. June 2004
Impacts
(N/A)
Publications
- PETERSON, D.L., WHITING, M.D., WOLFORD, S.D. FRESH MARKET QUALITY TREE FRUIT HARVESTER, PART I: SWEET CHERRY. APPLIED ENGINEERING IN AGRICULTURE. 2003. 19(5):539-543.
- PETERSON, D.L., WOLFORD, S.D. FRESH MARKET QUALITY TREE FRUIT HARVESTER, PART II: APPLES. APPLIED ENGINEERING IN AGRICULTURE. 2003. 19(5):545-548.
|