Search Results (4,296)

Apple harvesting faces increasing challenges owing to rising labor costs and the limited seasonal workforce availability, highlighting the need for robotic harvesting solutions in precision agriculture. This study presents a 6-DOF robotic arm system designed for harvesting in dwarf hedge-planted orchards, featuring a lightweight perception module, a task-adaptive motion planner, and an adaptive soft gripper. A lightweight approach was introduced by integrating the Faster module within the C2f module of the You Only Look Once (YOLO) v8n architecture to optimize the real-time apple detection efficiency. For motion planning, a Dynamic Temperature Simplified Transition Adaptive Cost Bidirectional Transition-Based Rapidly Exploring Random Tree (DSA-BiTRRT) algorithm was developed, demonstrating significant improvements in the path planning performance. The adaptive soft gripper was evaluated for its detachment and load-bearing capacities. Field experiments revealed that the direct-pull method at 150 mN·m torque outperformed the rotation-pull method at both 100 mN·m and 150 mN·m. A custom control system integrating all components was validated in partially controlled orchards, where obstacle clearance and thinning were conducted to ensure operation safety. Tests conducted on 80 apples showed a 52.5% detachment success rate and a 47.5% overall harvesting success rate, with average detachment and full-cycle times of 7.7 s and 15.3 s per apple, respectively. These results highlight the system’s potential for advancing robotic fruit harvesting and contribute to the ongoing development of autonomous agricultural technologies. Full article

In this paper, we presents a case study involving the implementation experience and a methodological framework through a comprehensive comparative analysis of the YOLOX and YOLOv12 object detection models for agricultural automation systems deployed in the Jetson AGX Orin edge computing platform. We examined the architectural differences between the models and their impact on detection capabilities in data-imbalanced potato-harvesting environments. Both models were trained on identical datasets with images capturing potatoes, soil clods, and stones, and their performances were evaluated through 30 independent trials under controlled conditions. Statistical analysis confirmed that YOLOX achieved a significantly higher throughput (107 vs. 45 FPS, p < 0.01) and superior energy efficiency (0.58 vs. 0.75 J/frame) than YOLOv12, meeting real-time processing requirements for agricultural automation. Although both models achieved an equivalent overall detection accuracy (F1-score, 0.97), YOLOv12 demonstrated specialized capabilities for challenging classes, achieving 42% higher recall for underrepresented soil clod objects (0.725 vs. 0.512, p < 0.01) and superior precision for small objects (0–3000 pixels). Architectural analysis identified a YOLOv12 residual efficient layer aggregation network backbone and area attention mechanism as key enablers of balanced precision–recall characteristics, which were particularly valuable for addressing agricultural data imbalance. However, NVIDIA Nsight profiling revealed implementation inefficiencies in the YOLOv12 multiprocess architecture, which prevented the theoretical advantages from being fully realized in edge computing environments. These findings provide empirically grounded guidelines for model selection in agricultural automation systems, highlighting the critical interplay between architectural design, implementation efficiency, and application-specific requirements. Full article

Dark asphalt surfaces, absorbing about 95% of solar radiation and warming to 60–70 °C during summer, intensify urban heat while providing substantial prospects for energy extraction. This review evaluates four primary technologies—asphalt solar collectors (ASCs, including phase change material (PCM) integration), photovoltaic (PV) systems, vibration-based harvesting, thermoelectric generators (TEGs)—focusing on their principles, efficiencies, and urban applications. ASCs achieve up to 30% efficiency with a 150–300 W/m² output, reducing pavement temperatures by 0.5–3.2 °C, while PV pavements yield 42–49% efficiency, generating 245 kWh/m² and lowering temperatures by an average of 6.4 °C. Piezoelectric transducers produce 50.41 mW under traffic loads, and TEGs deliver 0.3–5.0 W with a 23 °C gradient. Applications include powering sensors, streetlights, and de-icing systems, with ASCs extending pavement life by 3 years. Hybrid systems, like PV/T, achieve 37.31% efficiency, enhancing UHI mitigation and emissions reduction. Economically, ASCs offer a 5-year payback period with a USD 3000 net present value, though PV and piezoelectric systems face cost and durability challenges. Environmental benefits include 30–40% heat retention for winter use and 17% increased PV self-use with EV integration. Despite significant potential, high costs and scalability issues hinder adoption. Future research should optimize designs, develop adaptive materials, and validate systems under real-world conditions to advance sustainable urban infrastructure. Full article

Sweet cherry (Prunus avium L.) is becoming increasingly popular in China, but its postharvest quality deteriorates significantly during harvest storage and transport. Here, we investigated the efficiency of different modified atmosphere packaging (MAP) treatments on the quality and physiology of ‘Meizao’ sweet cherry during 60 days of cold storage (0 ± 0.5 °C). Fruits were sealed in four types of MAP low-density polyethylene (LDPE) liners (PE20, PE30, PE40, and PE50), with unsealed 20 μm LDPE packaging bags used as the control. Our findings demonstrated that PE30 packaging established an optimal gas composition (7.0~7.7% O₂ and 3.6~3.9% CO₂) that effectively preserved ‘Meizao’ sweet cherry quality. It maintained the fruit color, firmness, soluble solid content (SSC), titratable acidity (TA), and vitamin C (Vc) content while simultaneously delaying deteriorative processes such as weight loss, pedicel browning, and fruit decay. These results indicate that PE30 was the most suitable treatment for preserving the quality of ‘Meizao’ sweet cherries during cold storage. Furthermore, physiological research showed that significant inhibition of respiration rate was achieved by PE30, accompanied by maintained activities of antioxidant enzymes (CAT, POD, and SOD), which consequently led to reduced accumulations of ethanol and malondialdehyde (MDA) during cold storage. To date, no systematic studies have investigated the physiological and biochemical responses of ‘Meizao’ to different thickness-dependent LDPE-MAP conditions. These observations highlight the power of the optimized PE30 packaging as an effective method for extending the fruit storage life, delaying postharvest senescence, and maintaining fruit quality of ‘Meizao’ sweet cherry. Full article

Papaya ripeness identification is a key task in orchard management. To achieve efficient deployment of this task on edge computing devices, this paper proposes a lightweight detection model, ABD-YOLO-ting, based on YOLOv8. First, the width factor of YOLOv8n is adjusted to construct a lightweight backbone network, YOLO-Ting. Second, a low-computation ADown module is introduced to replace the standard downsampling structure, aiming to enhance feature extraction efficiency. Third, an enhanced BiFPN is integrated into the neck structure to achieve efficient multi-scale feature fusion. Finally, to strengthen the model’s capability in identifying small objects, the dynamic detection head DyHead is introduced to improve ripeness recognition accuracy. On a self-constructed Japanese quince orchard dataset, ABD-YOLO-ting achieves a mAP50 of 94.7% and a mAP50–95 of 77.4%, with only 1.47 M parameters and 5.4 G FLOPs, significantly outperforming mainstream models such as YOLOv5, YOLOv8, and YOLOv11. On edge devices, the model achieves a well-balanced trade-off between detection speed and accuracy, demonstrating strong potential for practical applications in intelligent harvesting and orchard management. Full article

Evaluating the approach of the apple’s maturity is a crucial aspect of enhancing agricultural efficiency, especially in the context of harvesting. Traditional approaches depend on fixed criteria that fail to account for the natural growth conditions of the fruit. To address this limitation, a fuzzy logic-based system was introduced to evaluate apple ripeness. This model highlights a notable disparity between these factors and maturity. It incorporates the essential elements anticipated to correlate with ripeness, while maintaining the integrity of the inputs to create a holistic framework for assessing maturity. This system ensures that apples are harvested at the optimal time, thereby improving their overall quality. Full article

In this research, a single composite-type stretchable triboelectric nanogenerator (TENG) is proposed for efficient energy harvesting and handwriting recognition. The composite TENGs were fabricated by blending dielectric barium titanate (BT) and conductive carbon nanotubes (CNTs) in varying amounts into a styrene–butadiene rubber matrix. The energy harvesting efficiency depends on the type and amount of fillers, as well as their dispersion within the matrix. Stearic acid modification of BT enables near-nanoscale filler distribution, resulting in high energy conversion efficiencies. The composite achieved power efficiency, power density, charge efficiency, and charge density values of 1.127 nW/N, 8.258 mW/m³, 0.146 nC/N, and 1.072 mC/m³, respectively, under only 2% cyclic compressive strain at 0.85 Hz. The material performs better at low stress–strain ranges, exhibiting higher charge efficiency. The generated charge in the TENG composite is well correlated with the compressive stress, which provides a minimum activation pressure of 0.144 kPa, making it suitable for low-pressure sensing applications. A flat composite with dimensions of 0.02 × 6 × 5 cm³ can produce a power density of 26.04 W/m³, a charge density of 0.205 mC/m³, and an output voltage of 10 V from a single hand pat. The rubber composite also demonstrates high accuracy in handwriting recognition across different individuals, with clear differences in sensitivity curves. Repeated attempts by the same person show minimal deviation (<5%) in writing time. Additionally, the presence of reinforcing fillers enhances mechanical strength and durability, making the composite suitable for long-term cyclic energy harvesting and wearable sensor applications. Full article

Efficient and consistent DNA extraction is crucial for genotyping but often hindered by the limitations of traditional manual processes, which are labour-intensive, error-prone, and costly. We introduce a semi-automated, robotic-assisted DNA extraction (RoboCTAB) tailored for large-scale plant genotyping, leveraging advanced yet affordable liquid-handling robotic systems. The protocol/workflow integrates a CTAB extraction protocol specifically adapted for a robotic liquid-handling system, making it compatible with high-throughput genotyping techniques such as SNP genotyping and sequencing. Various plant parts (leaves, roots, manual seed chip) were explored as the source material for DNA extractions, with the aim of identifying the tissue best suited for collection on a large scale. Young roots (radicle) proved the easiest to harvest at scale, while the harvest of leaves and seed chips were more laborious and error-prone. DNA yield and quality from both leaves and roots (but not seed chips) were similar and sufficient for downstream analysis. Interestingly, root tissue could still be extracted from imbibed seeds, even if the seeds failed to germinate, thus proving useful for DNA extraction. Cost analysis indicates significant savings in labour costs, highlighting the approach’s suitability for large-scale projects. Quality assessments demonstrate that the robotic process yields high-quality DNA, maintaining integrity for downstream applications. This semi-automated DNA extraction system represents a scalable, reliable solution for large-scale genotyping that is accessible to many users who cannot implement highly sophisticated and costly systems as are known to exist in large multinational seed companies. RoboCTAB, a low-cost, optimized method for high-throughput DNA extraction, minimizes the risk of cross-contamination. RoboCTAB is capable of processing up to four 96-well plates (384 samples) simultaneously in a single run, improving cost-efficiency and providing seamless integration with laboratory workflows, potentially setting new standards for efficiency and quality in DNA processing and sequencing at scale. Full article

Terahertz (THz) communications and simultaneous wireless information and power transfer (SWIPT) hold the potential to energize battery-less Internet-of-Things (IoT) devices while enabling multi-gigabit data transmission. However, severe path loss, blockages, and rectifier nonlinearity significantly hinder both throughput and harvested energy. Additionally, high-power THz beams pose safety concerns by potentially exceeding specific absorption rate (SAR) limits. We propose a sensing-adaptive power-focusing (APF) framework in which a reconfigurable intelligent surface (RIS) embeds low-rate THz sensors. Real-time backscatter measurements construct a spatial map used for the joint optimisation of (i) RIS phase configurations, (ii) multi-tone SWIPT waveforms, and (iii) nonlinear power-splitting ratios. A weighted MMSE inner loop maximizes the data rate, while an outer alternating optimisation applies semidefinite relaxation to enforce passive-element constraints and SAR compliance. Full-stack simulations at 0.3 THz with 20 GHz bandwidth and up to 256 RIS elements show that APF (i) improves the rate–energy Pareto frontier by 30–75% over recent adaptive baselines; (ii) achieves a 150% gain in harvested energy and a 440 Mbps peak per-user rate; (iii) reduces energy-efficiency variance by half while maintaining a Jain fairness index of 0.999;; and (iv) caps SAR at 1.6 W/kg, which is 20% below the IEEE C95.1 safety threshold. The algorithm converges in seven iterations and executes within <3 ms on a Cortex-A78 processor, ensuring compliance with real-time 6G control budgets. The proposed architecture supports sustainable THz-powered networks for smart factories, digital-twin logistics, wire-free extended reality (XR), and low-maintenance structural health monitors, combining high-capacity communication, safe wireless power transfer, and carbon-aware operation for future 6G cyber–physical systems. Full article

Minor cereals are an important part of the Chinese grain industry, accounting for about 8 percent of the country’s total grain-growing area. Minor cereals include millet, buckwheat, Panicum miliaceum, and other similar grains. Influenced by topographical and climatic factors, the distribution of minor cereals in China is mainly concentrated in the plateau and hilly areas north of the Yangtze River. In addition, there are large concentrations of minor cereals in Inner Mongolia, Heilongjiang, and other areas with flatter terrain. However, the level of mechanized harvesting in these areas is still low, and there is little research on the whole process of mechanized harvesting of minor cereals. This paper aims to discuss the current status of the minor cereal industry and its mechanization level, with particular attention to the challenges encountered in research related to the mechanized harvesting of minor cereals, including limited availability of suitable machinery, high losses, and low efficiency. The article provides a comprehensive overview of the key technologies that must be advanced to achieve mechanized harvesting throughout the process, such as header design, threshing, cleaning, and intelligent modular systems. It also summarizes current research progress on advanced equipment for mechanized harvesting of minor cereals. In addition, the article puts forward suggestions to promote the development of mechanized harvesting of minor cereals, focusing on aspects such as crop variety optimization, equipment modularization, and intelligentization technology, aiming to provide a reference for the further development and research of mechanized harvesting technology for minor cereals in China. Full article

Rice lodging severely affects crop growth, yield, and mechanized harvesting efficiency. The accurate detection and quantification of lodging areas are crucial for precision agriculture and timely field management. However, Unmanned Aerial Vehicle (UAV)-based lodging detection faces challenges such as complex backgrounds, variable lighting, and irregular lodging patterns. To address these issues, this study proposes SWRD–YOLO, a lightweight instance segmentation model that enhances feature extraction and fusion using advanced convolution and attention mechanisms. The model employs an optimized loss function to improve localization accuracy, achieving precise lodging area segmentation. Additionally, a grid-based lodging ratio estimation method is introduced, dividing images into fixed-size grids to calculate local lodging proportions and aggregate them for robust overall severity assessment. Evaluated on a self-built rice lodging dataset, the model achieves 94.8% precision, 88.2% recall, 93.3% mAP@0.5, and 91.4% F1 score, with real-time inference at 16.15 FPS on an embedded NVIDIA Jetson Orin NX device. Compared to the baseline YOLOv8n-seg, precision, recall, mAP@0.5, and F1 score improved by 8.2%, 16.5%, 12.8%, and 12.8%, respectively. These results confirm the model’s effectiveness and potential for deployment in intelligent crop monitoring and sustainable agriculture. Full article

Recently, solar energy technologies are a cornerstone of the global effort to transition towards cleaner and more sustainable energy systems. However, in many rural areas of developing countries, unreliable electricity severely impacts healthcare delivery, resulting in reduced medical efficiency and increased risks to patient safety. This review explores the transformative potential of solar energy as a sustainable solution for powering healthcare facilities, reducing dependence on fossil fuels, and improving health outcomes. Consequently, energy harvesting is a vital renewable energy source that captures abundant solar and thermal energy, which can sustain medical centers by ensuring the continuous operation of life-saving equipment, lighting, vaccine refrigeration, sanitation, and waste management. Beyond healthcare, it reduces greenhouse gas emissions, lowers operational costs, and enhances community resilience. To address this issue, the paper reviews critical solar energy technologies, energy storage systems, challenges of energy access, and successful solar energy implementations in rural healthcare systems, providing strategic recommendations to overcome adoption challenges. To fulfill the aims of this study, a focused literature review was conducted, covering publications from 2005 to 2025 in the Scopus, ScienceDirect, MDPI, and Google Scholar databases. With targeted investments, policy support, and community engagement, solar energy can significantly improve healthcare access in underserved regions and contribute to sustainable development. Full article

The automated detection and classification of immature macauba (Acrocomia aculeata) fruits is critical for improving post-harvest processing and quality control. In this study, we present a comparative evaluation of two state-of-the-art YOLO architectures, YOLOv11x and YOLOv12x, trained on the newly constructed VIC01 dataset comprising 1600 annotated images captured under both background-free and natural background conditions. Both models were implemented in PyTorch and trained until the convergence of box regression, classification, and distribution-focal losses. Under an IoU (intersection over union) threshold of 0.50, YOLOv11x and YOLOv12x achieved an identical mean average precision (mAP₅₀) of 0.995 with perfect precision and recall or TPR (true positive rate). Averaged over IoU thresholds from 0.50 to 0.95, YOLOv11x demonstrated superior spatial localization performance (mAP_50–95 = 0.973), while YOLOv12x exhibited robust performance in complex background scenarios, achieving a competitive mAP_50–95. Inference throughput averaged 3.9 ms per image for YOLOv11x and 6.7 ms for YOLOv12x, highlighting a trade-off between speed and architectural complexity. Fused model representations revealed optimized layer fusion and reduced computational overhead (GFLOPs), facilitating efficient deployment. Confusion-matrix analyses confirmed YOLOv11x’s ability to reject background clutter more effectively than YOLOv12x, whereas precision–recall and F1-score curves indicated both models maintain near-perfect detection balance across thresholds. The public release of the VIC01 dataset and trained weights ensures reproducibility and supports future research. Our results underscore the importance of selecting architectures based on application-specific requirements, balancing detection accuracy, background discrimination, and computational constraints. Future work will extend this framework to additional maturation stages, sensor fusion modalities, and lightweight edge-deployment variants. By facilitating precise immature fruit identification, this work contributes to sustainable production and value addition in macauba processing. Full article

This study investigates the nonlinear aeroelastic behavior and energy harvesting performance of a two-degrees-of-freedom NACA 0012 airfoil under varying reduced velocities and electrical load resistances. The system exhibits a range of dynamic responses, including periodic and chaotic states, governed by strong fluid–structure interactions. Nonlinear oscillations first appear near the critical reduced velocity $U_r^{*}=6$, with large-amplitude limit-cycle oscillations emerging around $U_r^{*}=8$ in the absence of the electrical loading. As the load resistance increases, this transition shifts to higher $U_r^{*}$, reflecting the damping effect of the electrical load. Fourier spectra reveal the presence of odd and even superharmonics in the lift coefficient, indicating nonlinearities induced by fluid–structure coupling, which diminishes at higher resistances. Phase portraits and Poincaré maps capture transitions across dynamical regimes, from periodic to chaotic behavior, particularly at a low resistance. The voltage output correlates with variations in the lift force, reaching its maximum at an intermediate resistance before declining due to a suppressing nonlinearity. Flow visualizations identify various vortex shedding patterns, including single (S), paired (P), triplet (T), multiple-pair (mP) and pair with single (P + S) that weaken at higher resistances and reduced velocities. The results demonstrate that nonlinearity plays a critical role in efficient voltage generation but remains effective only within specific parameter ranges. Full article

The loss of hectares of forest areas has become a global issue that has worsened over recent years due to unsustainable human activities. In a context of limited availability of productive land, it is urgent to adopt efficient strategies to recover the affected natural areas. Actions based on a circular economy, such as the use of organic chemical matrices recovered from water waste treatment plant waste, have proven to be effective. In this regard, the addition of plant growth-promoting bacteria (PGPB), such as Bacillus pretiosus and Pseudomonas agronomica, can contribute to the chemical treatment, favoring the recovery of soils, accelerating the recovery of vegetation cover, and inducing an increase in biodiversity. In this research, the effect of bio-fertigation under controlled laboratory conditions in Quercus pyrenaica is evaluated. After a thirty-six-week trial, the biometric and nutritional parameters of the plants were harvested and measured, and the diversity and composition of the metagenomes of their rhizospheres were evaluated. As well, the cenoantibiogram and the metabolic diversity were measured. The results showed that the use of these biofertilizers increased the variables related to plant production, quality of plant composition as an indirect means of their resilience, as well as an increase in rhizospheric microbial diversity and a reduction in their MIC resistance to the most widely used antibiotics. For all these reasons, the use of the biofertilizer result of the combination of WWTP waste, Bacillus pretiosus, and Pseudomonas agronomica is postulated as an environmentally friendly strategy that can contribute to the recovery of potential oak forest areas. Full article