title: Workspace analysis of Cartesian robot system for kiwifruit harvesting

authors: Au, Chi Kit

subjects: Science & Technology

abstract: Purpose – This paper aims to investigate if a Cartesian robot system for kiwifruit harvesting works more effectively and efficiently than an articulated robot system. The robot is a key component in agricultural automation. For instance, multiple robot arm system has been developed for kiwifruit harvesting recently because of the significant labor shortage issue. The industrial robots for factory automation usually have articulated configuration which is suitable for the tasks in the manufacturing and production environment. However, this articulated configuration may not fit for agricultural application due to the large outdoor environment.
Design/methodology/approach – The kiwifruit harvesting tasks are completed step by step so that the robot workspace covers the canopy completely. A two-arm, Cartesian kiwifruit harvesting robot system and several field experiments are developed for the investigation. The harvest cycle time of the Cartesian robot system is compared to that of an articulated robot system. The difference is analyzed based on the workspace geometries of these two robot configurations.
Findings – It is found that the kiwifruit harvesting productivity is increased by using a multiple robot system with Cartesian configuration owing to its regular workspace geometry.
Originality/value – An articulated robot is a common configuration for manufacturing because of its simple structure and the relatively static factory environment. Most of the agricultural robotics research studies use single articulated robot for their implementation. This paper pinpoints how the workspace of a multiple robot system affects the harvest cycle time for kiwifruit harvesting in a pergola style kiwifruit orchard.

text: Workspace analysis of Cartesian robot system for kiwifruit harvesting Purpose – This paper aims to investigate if a Cartesian robot system for kiwifruit harvesting works more effectively and efficiently than an articulated robot system. The robot is a key component in agricultural automation. For instance, multiple robot arm system has been developed for kiwifruit harvesting recently because of the significant labor shortage issue. The industrial robots for factory automation usually have articulated configuration which is suitable for the tasks in the manufacturing and production environment. However, this articulated configuration may not fit for agricultural application due to the large outdoor environment.
Design/methodology/approach – The kiwifruit harvesting tasks are completed step by step so that the robot workspace covers the canopy completely. A two-arm, Cartesian kiwifruit harvesting robot system and several field experiments are developed for the investigation. The harvest cycle time of the Cartesian robot system is compared to that of an articulated robot system. The difference is analyzed based on the workspace geometries of these two robot configurations.
Findings – It is found that the kiwifruit harvesting productivity is increased by using a multiple robot system with Cartesian configuration owing to its regular workspace geometry.
Originality/value – An articulated robot is a common configuration for manufacturing because of its simple structure and the relatively static factory environment. Most of the agricultural robotics research studies use single articulated robot for their implementation. This paper pinpoints how the workspace of a multiple robot system affects the harvest cycle time for kiwifruit harvesting in a pergola style kiwifruit orchard.

year: 2020

title: What’s that bug? Community participation in biosecurity in Mount Maunganui, New Zealand

authors: Payne, Penny R.

abstract: Biosecurity is essential to protect against the negative effects of non-native invasive species. As part of the government’s ‘Biosecurity 2025’ Initiative to enlist all New Zealanders as biosecurity risk managers, Tauranga Moana has been named the ‘biosecurity capital’ of New Zealand. The initiative will involve large-scale citizen science, for reporting and management of pest and disease threats. In this context we measured baseline awareness, perceptions and behaviour around biosecurity among two key groups of respondents, the local community at Mount Maunganui (surrounding Tauranga’s port) and school children. An online survey was completed by 324 members of the local community, while 120 school children completed a survey about their biosecurity knowledge and behaviours after using a biosecurity education kit. Results indicate that while both groups report a relatively high level of understanding about the concept of biosecurity, and acknowledge it as extremely important, knowledge of current pest threats and correct biosecurity behaviours could be improved. Mount Maunganui community members rate their understanding of biosecurity as better than the average New Zealander, but are less likely to have taken regular biosecurity action in the past year. For school children, improved biosecurity efforts could be evidenced by more active pest monitoring, and greater discussion about biosecurity outside of school (e.g. with their family at home). Key enablers for achieving more impactful citizen science for biosecurity among these groups are targeted education, and practical advice about what they can do to help.

text: What’s that bug? Community participation in biosecurity in Mount Maunganui, New Zealand Biosecurity is essential to protect against the negative effects of non-native invasive species. As part of the government’s ‘Biosecurity 2025’ Initiative to enlist all New Zealanders as biosecurity risk managers, Tauranga Moana has been named the ‘biosecurity capital’ of New Zealand. The initiative will involve large-scale citizen science, for reporting and management of pest and disease threats. In this context we measured baseline awareness, perceptions and behaviour around biosecurity among two key groups of respondents, the local community at Mount Maunganui (surrounding Tauranga’s port) and school children. An online survey was completed by 324 members of the local community, while 120 school children completed a survey about their biosecurity knowledge and behaviours after using a biosecurity education kit. Results indicate that while both groups report a relatively high level of understanding about the concept of biosecurity, and acknowledge it as extremely important, knowledge of current pest threats and correct biosecurity behaviours could be improved. Mount Maunganui community members rate their understanding of biosecurity as better than the average New Zealander, but are less likely to have taken regular biosecurity action in the past year. For school children, improved biosecurity efforts could be evidenced by more active pest monitoring, and greater discussion about biosecurity outside of school (e.g. with their family at home). Key enablers for achieving more impactful citizen science for biosecurity among these groups are targeted education, and practical advice about what they can do to help.

year: 2023-02

title: Surplus Public Works Land: The Crown's Special Duty to Maori

authors: Grayson, Michael Robert

subjects: Maori

abstract: The Crown's obligations to Maori regarding the offer back of surplus Crown land under s40 of the Public Works Act 1981.

text: Surplus Public Works Land: The Crown's Special Duty to Maori The Crown's obligations to Maori regarding the offer back of surplus Crown land under s40 of the Public Works Act 1981.

year: 2017