Pineapple is mainly grown in tropical regions and consumed fresh worldwide due to its attractive flavor and health benefits. With increasing global production and trade volume, there is an urgent need for nondestructive techniques for accurate and efficient detection of the internal quality of pineapples. Therefore, this study is dedicated to developing a nondestructive method for real-time determining the internal quality of pineapples by using VIS/NIR transmittance spectroscopy technique and machine learning methodologies. The VIS/NIR transmittance spectrums ranging in 400–1100 nm of total 195 pineapples were collected from a dynamic experimental platform. The maturity grade and soluble solids content (SSC) of individual pineapples were then measured as indicators of internal quality. The qualitative model for discriminating maturity grades of pineapple achieved a high accuracy of 90.8% by the PLSDA model for unknown samples. Meanwhile, the quantitative model for determining SSC also reached a determination coefficient (${\mathrm{R}}_{\mathrm{P}}^2$) of 0.7596 and a root mean square error of prediction (RMSEP) of 0.7879 °Brix by the ANN-PLS model. Overall, high model performance demonstrated that using VIS/NIR transmittance spectroscopy technique coupled with machine learning methodologies could be a feasible method for nondestructive and real-time detection of the internal quality of pineapples.

If we define a mode as a set of specific configurations that hold the same constraint, and if we investigate their transitions beforehand, we can efficiently probe the configuration space by using a manipulation planner. However, when multiple mobile robots together manipulate an object by using the non-prehensile method, the candidates for the modes and their transitions become enormous because of the numerous contacts among the object, the environment, and the robots. In some cases, the constraints on the object, which include a combination of robot contacts and environmental contacts, are incapable of guaranteeing the object’s stability. Furthermore, some transitions cannot appear because of geometrical and functional restrictions of the robots. Therefore, in this paper, we propose a method to narrow down the possible modes and transitions between modes by excluding the impossible modes and transitions from the viewpoint of statics, kinematics, and geometry. We first generated modes that described an object’s contact set from the robots and the environment while ignoring their exact configurations. Each multi-contact set exerted by the robots and the environment satisfied the condition necessary for the force closure on the object along with gravity. Second, we listed every possible transition between the modes by determining whether or not the given robot could actively change the contacts with geometrical feasibility. Finally, we performed two simulations to validate our method on specific manipulation tasks. Our method can be used in various cases of non-prehensile manipulations by using mobile robots. The mode transition graph generated by our method was used to efficiently sequence the manipulation actions before deciding the detailed configuration planning.

The transportation of large-scale objects in a narrow space is a challenging, but useful application for mobile robots. We have developed a three-mobile-robot system to cooperatively lift, support, and transport a large object on a mobile robot system. To facilitate the manipulation involved with loading an object onto the robots, where the robots must maintain firm contact with the object and anchor at its location, we designed an adaptable mechanism for the object-loading platform and a liftable brake to ensure that the robot remains stationary when necessary. Furthermore, each robot is designed to act as an omnidirectional wheel; therefore, all three robots can work as an omnidirectional block when collectively loading an object. The kinematic constraints of the object–robot system and forward kinematics of the robots’ cooperative motion are proposed, and experiments are conducted to confirm the designed mechanisms and confirm that the robots can load an object and cooperatively transport it along the expected trajectory.

The flavor of Pomelo is highly variable and difficult to determine without peeling the fruit. The quality of pomelo flavor is due largely to the total soluble solid content (TSSC) in the fruit and there is a commercial need for a quick but nondestructive TSSC detection method for the industrial grading of pomelo. Due to the large size and thick mesocarp of pomelo, determining the internal quality of a pomelo fruit in a nondestructive manner is difficult, and the detection accuracy is further complicated by the noise typically generated by the common methods for the internal quality detection of other fruits. Thus, the aim of this study was to determine the optimal method to accurately detect pomelo TSSC and find a de-noising model which reduces the influence of noise on the optimal method’s results. After developing a full-transmission visible/near infrared (VIS/NIR) spectroscopy sampling method, the confirming experimental results showed that the optimal pomelo TSSC detection model was Savitzky Golay + standard normal variate + competitive adaptive reweighted sampling + partial least squares regression. The R² and RMSE of the calibration set for pomelo TSSC detection were 0.8097 and 0.8508, respectively, and the R² and RMSE of the validation set for pomelo TSSC detection were 0.8053 and 0.8888, respectively. Both reference and dark de-noising are important for pomelo internal quality detection and should be calibrated frequently to compensate for time drift. This study found that large sensor response translation noise can be reduced with an artificial horizontal shift. Data supplementation is efficient for improving the adaption of the detection model for batch differences in pomelo samples. Using this optimized de-noising model to compensate for time drift, sensor response translation, and batch differences, the developed detection method is capable of satisfying the requirements of the industry (TSSC detection R² was equal or larger than 0.9, RMSE was less than 1). These results indicate that full-transmission VIS/NIR spectroscopy can be exploited to realize the nondestructive detection of pomelo TSSC on an industrial scale, and that the methodologies used in this study can be immediately implemented in real-world production.