• Journal of Biosystems Engineering
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• 제36권3호
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• pp.223-230
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• 2011

Physiological signals such as body temperature, heart rate, blood pressure and heart rate variability and biomechanical workload for stress analysis were investigated during the cherry tomato harvesting work in a greenhouse. The skin temperatures raised $0.05^{\circ}C$/min, $0.03^{\circ}C$/ min, and $0.08^{\circ}C$/min in standing, stooping and squatting postures, respectively. Breath rate significantly increased from 18 to 28 breaths/min during the cherry tomato harvesting work. As the heart rate during the work ranged from about 72 to 110 beats/min (bpm), the cherry tomato harvesting work appeared to be a light intensity task of less than 110 bpm. The worker's average energy consumption rate in three positions during 43 min working time was 65.74 kcal (91 kcal/h in 70 kg). This was a light intensity of work, compared to 75 kcal/h in 70 kg of basic metabolic energy consumption rate of a worker with 70 kg weight; The maximum shear force on the disk (L5/ S1) due to static workload in the cherry tomato harvesting work was 446 N in the stooping posture, 321 N in the squatting posture and 287 N in the standing posture. Acute stress index expressed with the heart rate variability, increased parasympathetic activation up to about 70 while workers were doing most agricultural work in this study. This study provided a system to measure quantitatively workers' physiological change, kinematics and kinetic factors without any restrictions of space in the greenhouse works.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.621-631
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• 1996

It is said that robot can be used for multi-purpose use by changing end effector or/and visual sensor with its software. In this study, it was investigated what multi-purpose robot for fruit-production was using a tomato harvesting robot and a robot to work in vineyard. Tomato harvesting robot consisted of manipulator, end-effector, visual sensor and traveling device. Plant training system of larger size tomato is similar with that of cherry-tomato. Two end-effectors were prepared for larger size tomato and cherry-tomato fruit harvesting operations, while the res components were not changed for the different work objects. A color TV camera could be used for the both work objects, however fruit detecting algorithm and extracted features from image should be changed. As for the grape-robot , several end-effector for harvesting , berry thinning , bagging and spraying were developed and experimented after attaching each end-effector to manipulator end. The manipulator was a polar coordinate type and had five degrees of freedom so that it could have enough working space for the operations. It was observed that visual sensor was necessary for harvesting, bagging and berry-thinning operations and that spraying operation requires another sensor for keeping certain distance between trellis and end-effector. From the experimental results, it was considered that multi-operations by the same robot could be appropriately done on the same or similar plant training system changing some robot components . One of the important results on having function of multi-operation was to be able to make working period of the robot longer.