Tomato picking is a time-consuming and laborious work.The use of intelligent equipment of picking instead of manual picking can improve the production efficiency.The end-effector is an important element in direct cont...Tomato picking is a time-consuming and laborious work.The use of intelligent equipment of picking instead of manual picking can improve the production efficiency.The end-effector is an important element in direct contact with tomato fruit,and it is the key to realize automatic tomato harvest.This paper introduces a rigid-flexible coupling end-effector with a telescopic pneumatic sucker.The end-effector first extends the vacuum sucker of the adhesion mechanism to hold the target tomato and pull it out for a certain distance,and then grips the tomato with a clamping component.The target tomato picking operation was completed through the movement mode of spiral and pull combination.The physical characteristics of tomato and the mechanical characteristics of fruit stem were investigated,aiming at providing a solid theoretical basis for the design and mechanical analysis of end-effector.Then,the stability of suction and pulling force in the process of holding and pulling tomato were analyzed,so as to clarify the specifications of suction and picking parts.Finally,a composite force analysis of the adhesion mechanism and the holding mechanism was undertaken to achieve the mechanical design goal of the tomato adhesion and picking movement process.The picking performance test of the end-effector showed that the picking time of single fruit was about 5.4s and the success rate of picking could reach 88%.This study provides sufficient theoretical basis for the development of tomato picking robot and the design of end-effector.展开更多
Pesticides and DBPs coexist in tap waters at trace levels,demanding attention for long term health protection.To allocate resource for water contaminant control,regulated chemicals need to be prioritized.The current p...Pesticides and DBPs coexist in tap waters at trace levels,demanding attention for long term health protection.To allocate resource for water contaminant control,regulated chemicals need to be prioritized.The current prioritization is primarily based on the toxicity additivity assumption that ranks toxicity-weighted concentration of chemicals.However,recent findings revealed that the nonadditive synergistic and antagonistic toxicological interactions are also prevalent in waters,potentially biasing previous prioritization rankings.To demonstrate a possible framework for improved prioritization,we identified the cytotoxic interactions,component contributions,and forcing compounds among six common toxic pesticides and DBPs based on the Chou-Talalay approach.In the“Malathion+DBPs”combination,the interaction type shifted from additivity to antagonism as the concentration increased,indicating concentration dependency.In the“Chlorothalonil+DBPs”combination,the strong antagonism led to a convergence of cytotoxicity value among the three mixtures.A comparison of cytotoxicity of“Deltamethrin+IAN/BAN”revealed that the interaction type affected the mixtureinduced cytotoxicity.To unravel the cytotoxic interactions and forcing chemicals at both environmentally-relevant and bioaccumulation-attainable concentrations,we analyzed the componential contributions among“pesticides+DBPs”mixtures at LC_(0.1) and LC_(50) levels and identified the forcing cytotoxic compounds in each.At LC_(0.1),pesticides need to be prioritized in only two combinations out of nine;at LC_(50),DBPs should be prioritized only in“Chlorothalonil+DBPs”combinations.These results provide a framework for the prioritization among“pesticides+DBPs”in water and possibly other classes of contaminants.展开更多
基金supported by the 2023 Open Project of Key Laboratory of Modern Agricultural Equipment and Technology(Jiangsu University),Ministry of Education and High-tech Key Laboratory of Agricultural Equipment and Intelligence of Jiangsu Province of China(MAET202319 and MAET 202327)the Key Agricultural Science and Technological Independent Innovation Fund of Jiangsu Province of China(CX(24)3032 and CX(21)1007).
文摘Tomato picking is a time-consuming and laborious work.The use of intelligent equipment of picking instead of manual picking can improve the production efficiency.The end-effector is an important element in direct contact with tomato fruit,and it is the key to realize automatic tomato harvest.This paper introduces a rigid-flexible coupling end-effector with a telescopic pneumatic sucker.The end-effector first extends the vacuum sucker of the adhesion mechanism to hold the target tomato and pull it out for a certain distance,and then grips the tomato with a clamping component.The target tomato picking operation was completed through the movement mode of spiral and pull combination.The physical characteristics of tomato and the mechanical characteristics of fruit stem were investigated,aiming at providing a solid theoretical basis for the design and mechanical analysis of end-effector.Then,the stability of suction and pulling force in the process of holding and pulling tomato were analyzed,so as to clarify the specifications of suction and picking parts.Finally,a composite force analysis of the adhesion mechanism and the holding mechanism was undertaken to achieve the mechanical design goal of the tomato adhesion and picking movement process.The picking performance test of the end-effector showed that the picking time of single fruit was about 5.4s and the success rate of picking could reach 88%.This study provides sufficient theoretical basis for the development of tomato picking robot and the design of end-effector.
基金supported by the National Natural Science Foundation of China(Nos.52370020 and 52000184)the Zhuhai Basic and Applied Basic Research Foundation,China(No.2220004002894).
文摘Pesticides and DBPs coexist in tap waters at trace levels,demanding attention for long term health protection.To allocate resource for water contaminant control,regulated chemicals need to be prioritized.The current prioritization is primarily based on the toxicity additivity assumption that ranks toxicity-weighted concentration of chemicals.However,recent findings revealed that the nonadditive synergistic and antagonistic toxicological interactions are also prevalent in waters,potentially biasing previous prioritization rankings.To demonstrate a possible framework for improved prioritization,we identified the cytotoxic interactions,component contributions,and forcing compounds among six common toxic pesticides and DBPs based on the Chou-Talalay approach.In the“Malathion+DBPs”combination,the interaction type shifted from additivity to antagonism as the concentration increased,indicating concentration dependency.In the“Chlorothalonil+DBPs”combination,the strong antagonism led to a convergence of cytotoxicity value among the three mixtures.A comparison of cytotoxicity of“Deltamethrin+IAN/BAN”revealed that the interaction type affected the mixtureinduced cytotoxicity.To unravel the cytotoxic interactions and forcing chemicals at both environmentally-relevant and bioaccumulation-attainable concentrations,we analyzed the componential contributions among“pesticides+DBPs”mixtures at LC_(0.1) and LC_(50) levels and identified the forcing cytotoxic compounds in each.At LC_(0.1),pesticides need to be prioritized in only two combinations out of nine;at LC_(50),DBPs should be prioritized only in“Chlorothalonil+DBPs”combinations.These results provide a framework for the prioritization among“pesticides+DBPs”in water and possibly other classes of contaminants.
