The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the har...The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the harvested fruits had an effect on the use of robotic systems. Parameters such as weight, height, width, thickness and surface area were identified as the main effect in robotic fruit harvesting. Image processing techniques also had direct effect on robotic systems operation which therefore requires careful selection procedure to achieve results accuracy. It was observed that the C# programming language used in robotic systems fruit harvesting should be parallel with the image processing to ensure accurate conversion of kinematic calculation, system input parameters and constant values. The use of hobby-type parts of a robot in the prototype study showed reliable results. However, to ensure functionality of the robotic systems application, industrial robots and servo engines should be used. It was also observed that the use of a gripper for picking the fruits from the branch must The engines that make the system work should be strong and the be made considering the physicomechanical properties of the fruit. cutting system should also be appropriate.展开更多
Experimental tests were conducted to evaluate the hydrodynamic performance of an L-type podded propulsor in straight-ahead motion and off-design conditions using an open-water measuring instrument developed by the aut...Experimental tests were conducted to evaluate the hydrodynamic performance of an L-type podded propulsor in straight-ahead motion and off-design conditions using an open-water measuring instrument developed by the authors for podded propulsors, a ship model towing tank, and under water particle image velocimetry （PIV） measurement systems. Under the three types of conditions, the main parameters of an L-type podded propulsor were measured, including the propeller thrust and torque, as well as the thrust, side force, and moment of the whole pod unit.In addition, the flow field on the section between the propeller and the strut was analyzed. Experimental results demonstrate that the dynamic azimuthing rate and direction and the turning direction affect the forces on the propeller and the whole pod unit. Forces are asymmetrically distributed between the left and right azimuthing directions because of the effect of propeller rotation. The findings of this study provide a foundation for further research on L-type podded propulsors.展开更多
文摘The study was aimed to identify the problems and also to suggest some solutions for robotic systems applications in harvesting of kiwi and apples. The results obtained show that physicomechanical properties of the harvested fruits had an effect on the use of robotic systems. Parameters such as weight, height, width, thickness and surface area were identified as the main effect in robotic fruit harvesting. Image processing techniques also had direct effect on robotic systems operation which therefore requires careful selection procedure to achieve results accuracy. It was observed that the C# programming language used in robotic systems fruit harvesting should be parallel with the image processing to ensure accurate conversion of kinematic calculation, system input parameters and constant values. The use of hobby-type parts of a robot in the prototype study showed reliable results. However, to ensure functionality of the robotic systems application, industrial robots and servo engines should be used. It was also observed that the use of a gripper for picking the fruits from the branch must The engines that make the system work should be strong and the be made considering the physicomechanical properties of the fruit. cutting system should also be appropriate.
基金Foundation item： Supported by the National Natural Science Foundation of China （Grant Nos. 41176074, 51379043 and 51409063）Acknowledgement This project was supported by the National Natural Science Foundation of China （Grant Nos. 41176074,51379043 and 51409063） and was conducted in response to the great support received from a basic research project entitled ＂Multihull Ship Technology Key Laboratory of Fundamental Science for National Defence＂, which was conducted at Harbin Engineering University. The authors would like to extend their sincere gratitude to their colleagues in the towing tank laboratory.
文摘Experimental tests were conducted to evaluate the hydrodynamic performance of an L-type podded propulsor in straight-ahead motion and off-design conditions using an open-water measuring instrument developed by the authors for podded propulsors, a ship model towing tank, and under water particle image velocimetry （PIV） measurement systems. Under the three types of conditions, the main parameters of an L-type podded propulsor were measured, including the propeller thrust and torque, as well as the thrust, side force, and moment of the whole pod unit.In addition, the flow field on the section between the propeller and the strut was analyzed. Experimental results demonstrate that the dynamic azimuthing rate and direction and the turning direction affect the forces on the propeller and the whole pod unit. Forces are asymmetrically distributed between the left and right azimuthing directions because of the effect of propeller rotation. The findings of this study provide a foundation for further research on L-type podded propulsors.
