Development of Handling Robot System for Agricultural Products Having Capability of Quality Evaluation

1.研制了冲击器上的抓取器，并用于评价贮存过程中的质量变化。以弹性模量为评价指标。2.设计了冲击力作用于水果的试验装置，并对不同种类农产品的冲击波传播方式进行了研究。（1）苹果、番茄和柑橘可以看作是弹性谢雷，其运动方向与冲击力方向平行，没有宏观变形。（2）甜瓜可以看作是空心球，表现为球体模式。也就是说，产品的形状在扁长和消融之间周期性地变化。（3）洋葱和萝卜基本上可以看作是弹性球，具有与（1）相似的模态。建立了球形产品的波动方程，并将有限元法数值模拟结果与冲击波的数值模拟结果进行了比较，结果表明，球形产品的冲击波的波动方程与冲击波的波动方程吻合较好 ...更多信息 CT实验结果如下。（1）模拟波形与实验波形基本一致，说明非均质粘弹性模型能够较好地描述苹果的动态特性。（2）为了解释实验结果，应将苹果的果心视为空心。（3）萝卜的实验波形无法模拟，动力学模型考虑了内部结构的各向异性;（4）建立了判断玫瑰花开度的神经网络系统，并能像农民一样准确地评价玫瑰花开度;（5）设计了近红外反射光谱系统，并对糖、苹果酸等化学成分进行了评价。通过液相色谱分析，对光谱结果进行了关联，得到了很高的相关性。特别是发现，除葡萄糖外，总糖的实际值与预测值的相关系数都很高，其中总糖的相关系数最高，其次是苹果酸、果糖和蔗糖。6.利用超声波测量液体食品的非线性参数。利用电子显微镜对精米表面结构的分形维数进行了测量，并分析了其与加工条件的关系。少

1.The handling gripper equipned the impactor was developed and used to evaluate the quality change during storage. The index for evaluation was the elastic modulus.2.The apparatus for application of impact force to the fruit was designed and the propagation mode of impact wave were investigated for various kinds of the agricultural products.(1)Apple, tomato and citrus could be considered as the elastic shere and moved parallel to the direction of impact force without macroscopic deformation.(2)Melon could be considered as the hollow sphere and showed the pheroidal mode. That is, the shape of the product changed periodically between prolate and ablate.(3)Onion and radish could be considered as the elastic sphere basically and had the similar mode as (1). The wave form was complex due to the anisotropy and heterogeneity of the internal structure.3.The wavw equation for the spherical products was proposed and the numerical simulation by the finite element method was compared with the impa … More ct experiment. The results are as follows.(1)The simulated andvexperimental wave forms were similar and it could be justified that the heterogeneous visco-elastic model could describe the dynamic behavior of the apple.(2)The core of the apple should be considered as the hollow in order to explain the experimental results.(3)The experimental wave form of radish could not be simulated and the dynamic model considering the anisotropy of the internal structure.4.The neural network system was developed for judging the degree of bloom of rose and evaluate the flowering degree of rose as correctly as the farmers.5.The system for near infrared reflectance spetctroscopy was designed and evaluated the chemical composition such as sugars and malic acid. Analysis by the liquid chromatography was performed for relating the spectroscopic results and the very high correlations were obtained. Especially, it was found that except for the glucose the total the correlation coefficients between the actual and the predicted values were fairly high and the highest correlation was obtained for the total sugar followed by malic acid, fructose and sucrose.6.The ultrasound wave was used to measure the non-linear parameter of the liquid food. The fat concentration could be estimated by this parameter.7.The electron microscopic photograph of the milled rice was used to measured fractional dimension of the surface structure and the relationship between the dimension and the milling conditions was examined. Less