Effect of Shaking Location and Duration on Mechanical Harvesting of Fresh Market Apples

2019 ◽  
Vol 35 (2) ◽  
pp. 175-183 ◽  
Author(s):  
Long He ◽  
Xin Zhang ◽  
Yunxiang Ye ◽  
Manoj Karkee ◽  
Qin Zhang
Keyword(s):  
Removal Efficiency ◽  
Fruit Quality ◽  
Performance Test ◽  
Horizontal Plate ◽  
Fresh Market ◽  
Fruit Removal ◽  
Apple Trees ◽  
System A ◽  
Fruit Damage ◽  
Removal Efficiencies

Abstract. With adopting the modern high-density tree architectures, localized shake-and-catch harvesting is becoming more promising for fresh market apples. To investigate the shaking inputs for an effective harvesting system, a multi-tier shake-and-catch harvesting platform was developed and evaluated in a commercial orchard. The platform composes of a shaker and two three-tier catching surfaces. Performance test was conducted in ‘Jazz’ apple trees trained to a vertical fruiting wall architecture (two horizontal branches at each tier). Two harvesting sections were defined in the test trees, namely, Section I - two neighboring branches at the same tier from two adjacent trees; and Section II - two branches at the same tier of a tree. For Section I, shaking was applied to the middle of each branch (location P1), and for Section II, shaking was applied at the location close to the trunk (location P2). Shaking frequency was set to 20 Hz, and two shaking durations (i.e., 5 and 2 s) were used. In the test, the catching angle relative to the horizontal plate was set to 15°. The results indicated that the fruit removal efficiencies (2nd to 4th tiers of trees were used in the analysis) were 76.6% and 78.1% for shaking at middle of each branch in 2 and 5 s shaking, respectively; those numbers were 86.3% and 89.5% for shaking at location P2. The percentage of marketable fruits were 89.7% and 90.6% for the Section I shaking in two durations, and 84.5% and 84.4% in the Section II shaking. Overall, this study revealed that 2 s shaking duration is sufficient to remove majority of fruits in the tested variety, and the section II shaking had higher overall fruit removal efficiency but also caused slightly more fruit damage. Keywords: Fresh market apples, Fruit quality, Fruit removal efficiency, Mechanical harvesting, Multi-tier shake-and-catch.

Evaluation of Shake-and-Catch Methods on Harvesting of Tall Spindle Apples

2020 ◽  
Vol 63 (4) ◽  
pp. 857-863
Author(s):  
Haiqian Xing ◽  
Shaochun Ma ◽  
Ming Liu ◽  
Menglong Wang ◽  
Yi Wei ◽  
...  
Keyword(s):  
Physical Properties ◽  
Removal Efficiency ◽  
Removal Rate ◽  
Test System ◽  
List Type ◽  
Labor Costs ◽  
Fresh Market ◽  
Fruit Removal ◽  
Apple Trees ◽  
Fruit Damage

HighlightsBoth frequency and amplitude were influencing factors in analyzing the fruit removal efficiency and fruit damage.This research focused on tall spindle ‘Fuji’ apple trees, which enriched the study of the variety and architecture resources of apple trees.The advice for shake-and-catch harvesting was based on the analysis of amplitude and frequency from the perspective of energy consumption.Abstract. Almost all fresh-market apples are picked manually, and these apples rank among the most labor-intensive fruit crops to produce. Due to declining labor supply and rising labor costs, fresh-market apple growers are seeking mechanical harvesting solutions. Shake-and-catch is a potential method that has been well studied. However, because of fruit damage, this method cannot be widely used for fresh-market apples. The primary goal of this study was to investigate how the physical properties of the fruit tree and the shaker parameters affect fruit removal efficiency and fruit damage in an effort to help growers find solutions to the above-mentioned issues. A test system was developed, and its performance was evaluated in certain shaking modes. Based on the experimental results, the physical properties of the tree (length and diameter of limb, length and diameter of twig, and apple weight) and the frequency and amplitude of the shaker influenced the effectiveness of fruit detachment. When the amplitude of the shaker was 14.3 mm and the frequency was less than 15 Hz, the length of the twig had the greatest effect on fruit harvesting. However, with increasing frequency and amplitude, the effect of tree properties on fruit harvesting declined, and amplitude had a more significant effect on fruit harvesting than frequency. Moreover, the fruit removal rate reached 91.43% when the amplitude was 14.3 mm and the frequency was 20 Hz. The results of this study contribute to the development of an effective mechanical harvester that is adapted to tall spindle apple trees. Keywords: Amplitude, Apple fresh market, Frequency, Physical properties, Shake-and-catch, Tall spindle.

A Precision Pruning Strategy for Improving Efficiency of Vibratory Mechanical Harvesting of Apples

2018 ◽  
Vol 61 (5) ◽  
pp. 1565-1576 ◽  
Author(s):  
Xin Zhang ◽  
Long He ◽  
Yaqoob Majeed ◽  
Matthew David Whiting ◽  
Manoj Karkee ◽  
...  
Keyword(s):  
Removal Efficiency ◽  
Fruit Quality ◽  
Negative Relationship ◽  
Fresh Market ◽  
Fruit Removal ◽  
Vibratory System ◽  
Significant Difference ◽  
Labor Requirements ◽  
Lateral Branches ◽  
Canopy Management

Abstract. The state of Washington is the biggest fresh market apple ( Borkh.) producer in the U.S., and the state’s annual apple production has exceeded 60% of the national production. Due to the extensive labor requirements for harvesting fresh market apples, there is burgeoning demand for mechanical harvest solutions. Our transdisciplinary studies on mechanical harvest systems for apples have shown that fruit removal efficiency (FRE) with a vibratory system can be improved with precision canopy management. In this study, we evaluated the effect of precision pruning strategies on FRE in two groups (106 and 107, respectively) of randomly selected horizontal branches of ‘Jazz/M.9’ apple trees in a commercial orchard. Fruiting lateral branches were pruned to either shorter than 15 cm (guideline 1, G1) or 23 cm (guideline 2, G2). Harvest tests were conducted using a shake-and-catch harvester prototype developed by Washington State University with a fixed vibrating frequency of 20 Hz and shaking duration of 5 s. FRE for branches treated with G1 was significantly higher (91%) than FRE for branches treated with G2 (81%). We recorded a negative relationship between FRE and lateral shoot length. FRE was up to 98% when shoots were shorter than 5 cm, and FRE was only 56% for shoots of 25 cm or longer. We developed a shoot diameter-to-length index (S-index) to better understand the effect of shoot size on FRE. FRE was as high as 98% when the S-index was greater than 0.15. In addition, mechanically harvested fruit quality was assessed by categorizing the fruit into Extra Fancy, Fancy, and Downgrade fresh market classes based on USDA standards; however, no significant difference was found between the two treated groups. These results suggest that pruning lateral fruiting branches to less than 15 cm or to an S-index greater than 0.03 is required to achieve FRE of 85% with no negative impacts on fruit quality. Keywords: Canopy management, Fresh market fruit, Fruit removal efficiency, Mechanical harvest, Shoot pruning severity.

Field Evaluation of Targeted Shake-and-Catch Harvesting Technologies for Fresh Market Apple

2020 ◽  
Vol 63 (6) ◽  
pp. 1759-1771
Author(s):  
Xin Zhang ◽  
Long He ◽  
Manoj Karkee ◽  
Matthew David Whiting ◽  
Qin Zhang
Keyword(s):  
Removal Efficiency ◽  
Fruit Quality ◽  
Washington State ◽  
Automated System ◽  
List Type ◽  
Agricultural Crop ◽  
Continuous Linear ◽  
Fresh Market ◽  
Fruit Removal ◽  
Harvesting Systems

HighlightsThree shaking methods and vibratory harvesting systems were evaluated and compared.Multi-year field evaluations were performed with up to six cultivars trained to formal architectures.The updated semi-automated system achieved the highest fruit removal efficiency and the best fruit quality.Abstract. Apple is the most economically important agricultural crop in Washington State. In 2018, Washington State produced ~3.3 billion kg of apple, accounting for approximately 63% of U.S. production. Fresh-market apple is currently harvested manually, requiring large numbers seasonal semi-skilled workers for a small harvest window. To overcome the increasing challenges of uncertain labor availability and raising labor costs, a promising mechanical harvesting system, using a targeted shake-and-catch approach, is under development at Washington State University. This study evaluated the system by analyzing its fruit harvest efficiency and fruit quality with three shaking methods, i.e., continuous non-linear, continuous linear, and intermittent linear shaking, on up to six apple cultivars trained to formal tree architectures. Results showed that intermittent linear shaking achieved 90% fruit removal efficiency for ‘Scifresh’ cultivar, while continuous linear shaking achieved only 63% removal efficiency for ‘Gala’. This study also compared three vibratory systems: a hand-held system, a hydraulically driven system, and a semi-automated hydraulic system. The semi-automated system achieved the highest fruit removal efficiency (90%), followed by the hand-held (87%) and hydraulic (84%) systems, mainly due to the different shaking methods employed. However, the differences were statistically insignificant. Fruit catching efficiency varied among the harvesting systems, with the hand-held system achieving the highest efficiency (97%), followed by the hydraulic (91%) and semi-automated (88%) systems. Among the three tested technologies, the prototype semi-automated system achieved the highest level of mechanization, as well as high fruit removal efficiency and the best fruit quality. Because the semi-automated system did not include an auto-positioning function, positioning its shaker head took about eight times longer (~103 s) than the actual shaking time (~13 s), which suggests that a fully automated system is desirable to further increase productivity. This study showed that the shake-and-catch approach has great potential for practical adoption in harvesting of fresh-market apple and therefore can have a positive economic impact on the U.S. apple industry. Keywords: Automation in apple production, Bulk mechanical harvest, Semi-automated system, Shaking method, Time efficiency.

scholarly journals Mechanical Harvestability of Y-shaped and Pyramid-shaped `Empire' and `Delicious' Apple Trees

1990 ◽  
Vol 115 (3) ◽  
pp. 368-374
Author(s):  
Terence L. Robinson ◽  
William F. Millier ◽  
James A. Throop ◽  
Stephen G. Carpenter ◽  
Alan N. Lakso
Keyword(s):  
Malus Domestica ◽  
Storage Period ◽  
Fruit Rot ◽  
Fruit Removal ◽  
Apple Trees ◽  
Single Plane ◽  
Lower Tier ◽  
Fruit Damage ◽  
Low Levels ◽  
Better Than

Mature `Empire' and `Redchief Delicious' apple trees (Malus domestica Borkh.) trained to a Y-shaped trellis (Y/M.26) or trained as pyramid-shaped central leaders (CL/M.7) were mechanically harvested with the Cornell trunk recoil-impact shaker during 4 years. With `Empire', fruit removal from the Y/M.26 trees (85% to 90%) was significantly less than from the CL/M.7 trees (95% to 97%). With `Delicious' there were no differences in fruit removal (90% to 95%) between the two tree forms in any year. When the catching pad was on the ground, fruit grade based on damage was only slightly better for the Y/M.26 trees than for the CL/M.7 trees. When the catching pad was raised up near the Y/M.26 canopy, fruit grade was significantly improved for the Y/M.26 trees and was better than the CL/M.7 trees. Fruit grade for both cultivars ranged from 83% to 94% Extra Fancy with 5% to 16% culls for the Y/M.26 trees and from 74% to 88% Extra Fancy and 11% to 21% culls for the CL/M.7 trees. Skin punctures, skin breaks, and number of large and small bruises were lower and the percentage of nondamaged fruit was higher with the Y/M.26 trees when the pads were close to the canopy than when the pads were on the ground. The CL/M.7 trees had higher levels of all types of fruit damage than did the Y/M.26 trees. Damaged fruit from the CL/M.7 trees was mainly from the top half of the tree, while fruit from lower-tier scaffold branches had low levels of damage. Mechanically harvested fruit from the Y/M.26 trees had lower incidences of fruit rot and flesh breakdown after a 6-month storage period than did fruit from the CL/M.7 trees. Stem pulling was high with both systems and averaged 60% for `Delicious' and 30% for `Empire'. The advantage of the single plane Y-trellis system for mechanical harvesting appears to be that the catching pads can be placed close to the fruit, thereby reducing fruit damage.

scholarly journals Modified Over-the-Row Machine Harvesters to Improve Northern Highbush Blueberry Fresh Fruit Quality

Agriculture ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 13 ◽  
Author(s):  
Lisa Wasko DeVetter ◽  
Wei Qiang Yang ◽  
Fumiomi Takeda ◽  
Scott Korthuis ◽  
Changying Li
Keyword(s):  
Fruit Quality ◽  
Cold Storage ◽  
Fresh Fruit ◽  
Market Quality ◽  
Highbush Blueberry ◽  
Fruit Firmness ◽  
Fresh Market ◽  
Fruit Removal ◽  
Northern Highbush Blueberry ◽  
Rotary Drum

Improved blueberry mechanical harvesting (MH) equipment that maintains fresh market quality are needed due to rising costs and decreasing availability of laborers for harvesting by hand. In 2017, a modified over-the-row (OTR) blueberry harvester with experimental catch surfaces and plates designed to reduce fruit bruising was evaluated. The catch surfaces were made of neoprene (soft catch surface; SCS) or canvas (hard catch surface; HCS) and compared to hand-picked fruit (control). Early- and early/mid-season ‘Duke’ and ‘Draper’, respectively, were evaluated in Oregon, while late-season ‘Elliott’ and ‘Aurora’ were evaluated in Washington. Harvested berries were run through commercial packing lines with fresh pack out recorded and bruise incidence or fresh fruit quality evaluated during various lengths of cold storage. The fresh pack out for ‘Duke’ and ‘Draper’ were 83.5% and 73.2%, respectively, and no difference was noted between SCS and HCS. ‘Duke’ fruit firmness was highest among MH berries with SCS, but firmness decreased in storage after one week. Firmness was highest among hand harvested ‘Draper’ followed by MH with SCS. For ‘Elliott’ and ‘Aurora’, fruit firmness was the same across harvesting methods. ‘Draper’ exhibited more bruising than ‘Duke’, but bruise ratings and the incidence of bruising at ≤10% and ≤20% were similar between hand and MH ‘Draper’ with SCS after 24 h of harvest. ‘Aurora’ berries had similar bruise ratings after 24 h between hand harvesting and MH with SCS, while ‘Elliott’ showed more bruise damage by MH with both SCS and HCS than hand harvested fruit. Although our studies showed slightly lower fresh market blueberry pack outs, loss of firmness, and increased bruise damage in fruit harvested by the experimental MH system compared to hand harvested fruit, higher quality was achieved using SCS compared to HCS. We demonstrated that improved fresh market quality in northern highbush blueberry is achievable by using modified OTR harvesters with SCS and fruit removal by either hand-held pneumatic shakers or rotary drum shakers.

scholarly journals Assessment of the V45 Blueberry Harvester on Rabbiteye Blueberry and Southern Highbush Blueberry Pruned to V-Shaped Canopy

2008 ◽  
Vol 18 (1) ◽  
pp. 130-138 ◽  
Author(s):  
Fumiomi Takeda ◽  
Gerard Krewer ◽  
Elvin L. Andrews ◽  
Benjamin Mullinix ◽  
Donald L. Peterson
Keyword(s):  
Fruit Quality ◽  
Weather Conditions ◽  
Lower Percentage ◽  
Highbush Blueberry ◽  
Fresh Market ◽  
Harvesting Systems ◽  
Harvest Efficiency ◽  
Fruit Damage ◽  
Highbush Blueberries ◽  
Southern Highbush

Mechanical harvesting systems for processed blueberries (Vaccinium spp.) are available. However, low harvest efficiency and high fruit damage have limited the use of mechanical harvesters for picking blueberries for fresh market to specific cultivars under good weather conditions. New harvesting technology for fresh-market blueberries is needed. The V45 harvester was developed by the U.S. Department of Agriculture in 1994 to harvest fresh-market-quality northern highbush (V. corymbosum) blueberries in Michigan. The current study was performed in Georgia to evaluate the V45 harvester on specially pruned rabbiteye blueberry [V. virgatum (syn. V. ashei)] and southern highbush blueberry (V. darrowi × V. corymbosum) and included analysis of harvest efficiency and fruit quality (percent blue fruit, percent bloom, percent split skin, and internal bruise damage). Six-year-old, 6- to 8-ft-tall ‘Brightwell’ and ‘Powderblue’ rabbiteye blueberry plants were winter pruned to remove vertically growing and overarching canes in the center of the bush in Jan. 2004 and Feb. 2005 respectively. Three-year-old, 3- to 5-ft-tall ‘FL 86-19’ and ‘Star’ southern highbush blueberry plants were similarly pruned in summer (June 2004) or in winter (Feb. 2005). Pruning removed an estimated 30% to 50% of the canopy and opened the middle, resulting in V-shaped plants in both rabbiteye and southern highbush blueberries. Yield of winter-pruned ‘Brightwell’ rabbiteye blueberry was lower compared with unpruned plants during both years, but winter-pruned ‘Powderblue’ rabbiteye blueberry plants produced as much as unpruned plants in 2005. In ‘FL 86-19’ southern highbush blueberry, plants that were summer pruned in June 2004 produced as much as unpruned plants in 2005, but plants that were winter pruned in Feb. 2005 had lower yields than unpruned plants in 2005. The V45 harvester caused little cane damage on pruned blueberry plants. In rabbiteye blueberries, internal fruit damage and skin splitting was less in V45-harvested fruit than in fruit harvested by a sway harvester and nearly that of hand-harvested fruit. However, in ‘FL 86-19’ southern highbush blueberry, the V45 harvester detached a lower percentage of blue fruit and excessive amounts of immature and stemmed fruit. These findings suggest that the V45 harvester has the potential to harvest some rabbiteye blueberry cultivars mechanically with fruit quality approaching that of hand-harvested fruit.

scholarly journals Evaluation of Multipass Mechanical Harvesting on ‘Skeena’ Sweet Cherries Trained to Y-trellis

HortScience ◽  
2015 ◽  
Vol 50 (8) ◽  
pp. 1178-1182 ◽  
Author(s):  
Long He ◽  
Jianfeng Zhou ◽  
Qin Zhang ◽  
Manoj Karkee
Keyword(s):  
Removal Rate ◽  
Maturity Level ◽  
Fresh Market ◽  
Mature Fruit ◽  
Fruit Removal ◽  
Single Pass ◽  
Damage Rate ◽  
Fruit Maturity ◽  
Sweet Cherries ◽  
Fruit Damage

A study on multipass harvesting using a mechanical harvesting prototype was proposed for mechanical harvesting of fresh market sweet cherries. Fruit damage rate, fruit removal rate, and fruit maturity level were three of the measures used to compare the performance of the multipass harvesting method against single-pass harvesting. The multipass harvesting was conducted in four consecutive days with short duration of 2.5 seconds at each day, while the single-pass harvesting was one-time harvesting with long duration of 10 seconds at a single day. To generate baseline information for comparison, single-pass harvestings were performed on the first and the last days of the multipass harvesting. Fruit maturity level was determined by comparing the fruit skin color against a standard color chart with seven color levels. Field test results showed that the percentage of under-mature fruit (maturity levels ≤ 5) was substantially lower with multipass harvesting than that with day 1 single-pass harvesting. Similarly, the percentage of over-mature fruit (maturity level 7) was noticeably lower with multipass harvesting than that with day 4 single-pass harvesting. Multipass harvesting achieved a fruit removal rate of 83.4% ± 10.3% and a harvest-induced fruit damage rate of 5.0% ± 4.4%. The corresponding fruit removal rates from single-pass harvesting tests were 48.0% ± 16.1% on day 1 and 66.7% ± 16.2% day 4. Harvest-induced fruit damage rates with single-pass harvesting were 20.1% ± 9.9% on day 1 and 11.8% ± 6.0% on day 4. The results supported the hypothesis that multipass of short-duration shaking offer a potential to achieve a higher overall harvesting efficiency with better fruit quality, and therefore could lead to an optimal solution for mechanical harvesting of fresh market sweet cherries. It is noted that comprehensive economic analysis will be necessary to establish commercial viability of the system in comparison with single-pass solutions.

Uncertainty in air stripping tower design: implications of the air-to-water ratio

2001 ◽  
Vol 1 (4) ◽  
pp. 177-184
Author(s):  
B.I. Dvorak ◽  
J.W. Schauble
Keyword(s):  
Mass Transfer ◽  
Removal Efficiency ◽  
Cost Effective ◽  
Air Stripping ◽  
Henry's Constant ◽  
True Value ◽  
Risk Of Failure ◽  
Process Failure ◽  
Removal Efficiencies ◽  
Water Ratio

Environmental engineers are frequently faced with uncertainty in making design decisions because the true value of many process parameters is unknown. In this study, the design of countercurrent air stripping towers was modeled using fuzzy numbers, taking into account uncertainties in mass transfer and Henry's constant. It was found that, in addition to cost, the risk of failure is an important design consideration for stripping tower design. A significant over-design is both cost-effective and results in less risk of design failure. The air-to-water ratio that yielded the least risk of failure switched from low to high as the removal efficiency of the tower increased. An important result is that at lower removal efficiencies, tower design and operation is most sensitive to uncertainties in mass transfer and at higher removal efficiencies, tower design and operation is most sensitive to uncertainties in Henry's constant . The implication is that low air-to-water ratios are best when the regulatory target removal efficiency is low and/or when the uncertainty in the value of the contaminant's Henry's constant is larger than the uncertainty in the mass transfer coefficient value. Otherwise a high air-to-water ratio results in the least risk of process failure.

Radon removal by aeration: observations on testing, installation and maintenance of domestic treatment units

2009 ◽  
Vol 9 (4) ◽  
pp. 469-475
Author(s):  
T. Turtiainen
Keyword(s):  
Water Quality ◽  
Water Flow ◽  
Removal Efficiency ◽  
Flow Rate ◽  
Test Protocol ◽  
Household Water ◽  
Medium Flow ◽  
Removal Efficiencies ◽  
Frequent Sampling

Radon is one of the contaminants that sometimes impair the water quality of wells, especially those drilled in bedrock. Domestic radon removal units based on aeration have been commercially available for more than ten years. In order to determine how effectively these units remove radon a new test protocol applying frequent sampling while letting 100 litres of water flow, was developed. This way, removal efficiencies can be more accurately calculated and possible malfunctions detected. Seven models of domestic aerators designed for removing radon from household water were tested. The aerators were based on diffused bubble aeration, spray aeration or jet aeration. The average removal efficiencies for 100 litres with a medium flow rate were 86–100% except for a unit that circulated the aerated water back to the well that had removal efficiency of 80% at the maximum. By conducting a questionnaire study usual problems related to the aeration units were localized and recommendations on maintenance and installation are given accordingly.

Modelling the performance of anaerobic wastewater stabilization ponds

1995 ◽  
Vol 31 (12) ◽  
pp. 171-183 ◽  
Author(s):  
M. M. Saqqar ◽  
M. B. Pescod
Keyword(s):  
Wastewater Treatment ◽  
Water Temperature ◽  
Removal Efficiency ◽  
Wastewater Treatment Plant ◽  
Suspended Solids ◽  
Treatment Plant ◽  
Pond Water ◽  
Removal Efficiencies ◽  
Wastewater Stabilization Ponds ◽  
Raw Wastewater

The performance of the primary anaerobic pond at the Alsamra Wastewater Treatment Plant in Jordan was monitored over 48 months. Overall averages for the removal efficiencies of BOD5, COD and suspended solids were 53%, 53% and 74%, respectively. An improvement in removal efficiency with increase in pond water temperature was demonstrated. A model, which takes into account the variability of raw wastewater at different locations, has been developed to describe the performance of a primary anaerobic pond in terms of a settleability ratio for the raw wastewater. The model has been verified by illustrating the high correlation between actual and predicted pond performance.

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