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SUMMARYA prototype robot for picking citrus is described which utilized real-time, color machine vision to vision-servo the robot on a targeted fruit. A programming technique is presented which simplified development of the task-level, robot control program. An economic evaluation of robotic harvesting in Florida determined that robotic harvesting would be approximately 50 percent more expensive than conventional hand harvesting. Harvest inefficiency was identified as the most influential factor affecting robotic harvesting economics. Field trial performance is summarized and the potential of commercial robotic harvesting discussed.

Callus Suspension Cultures of Ipomea batates Poir. cv. White Star were grown in an airlift bioreactor. A machine vision system was used to monitor nondestructively callus growth during a 10 day culture period. Growth data obtained with this system included the overall reactor population and population estimates for the 200-1200-microm fractions at 200-microm intervals. A model of callus growth was developed to explain the mechanics of callus enlargement. The model was based on the assumptions that (1) the calli could not subdivide or shrink, (2) there was a fixed percentage of the initial population for each fraction that was nonviable, and (3) growth rates did not vary with time during the culture period. It was determined that the growth rates and nonviable ratios decreased as fraction size increased.