KNYGA K. Khodabandehloo Robotics in Meat, Fish and Poultry Processing

1 Capabilities and potential of robotics.- 1.1 Robotic technology and capability.- 1.2 Current robotic devices in use in the food sector.- 1.3 Production of primal cuts from carcasses.- 1.3.1 Manual methods for pig and sheep butchery.- 1.3.2 Primal cuts and the need for automation.- 1.3.3 Robotics and vision integration for the production of primal cuts.- 1.3.4 Automatic handling and constraints in manipulation.- 1.3.5 System trials and successes in automated production of primal cuts.- 1.4 Concluding remarks.- References.- 2 Fish processing using computer vision and robots.- 2.1 Introduction.- 2.2 Current procedures in fish processing.- 2.2.1 Work procedure.- 2.2.2. Production control.- 2.3 Implementation aspects.- 2.3.1 Fish characteristics.- 2.3.2 Image acquisition.- 2.3.3 Computer vision algorithms.- 2.3.4 Robotic manipulator.- 2.3.5 End-effectors.- 2.3.6 The environment.- 2.4 Robotic and vision systems in use for fish processing.- 2.4.1 Vision systems.- 2.4.2 Robots.- 2.5 New applications and technological needs.- 2.5.1 Handling.- 2.5.2 Sorting.- 2.5.3. Inspection.- 2.6 Concluding remarks.- References.- 3 Robotics and the poultry processing industry.- 3.1 Introduction.- 3.2 The typical poultry processing operation.- 3.3 Issues impacting the potential for robotics in poultry processing.- 3.4 Evolution of automation in processing plants.- 3.5 Traypack workcell.- 3.5.1 Manual operation.- 3.5.2 Cell design.- 3.5.3 System programming/path planning.- 3.5.4 End-effector design.- 3.5.5 Discussion.- 3.6 Parts transfer/loading workcell.- 3.6.1 Current operation.- 3.6.2 Workcell design.- 3.6.3 Gripper design.- 3.6.4 Software design/programming.- 3.6.5 Cycle time optimization.- 3.6.6 Grip reliability.- 3.6.7 Discussion.- 3.7 Vision for quality and machine control.- 3.7.1 Introduction.- 3.7.2 Grey-scale analysis.- 3.7.3 Color analysis.- 3.7.4 Machine guidance.- 3.7.5 Discussion.- 3.8 Future directions and development needs.- References.- 4 Robotic packaging of poultry products.- 4.1 Introduction.- 4.2 The end-effector.- 4.2.1 Parallel action base.- 4.2.2 Finger assemblies.- 4.3 The vision system.- 4.3.1 Object recognition.- 4.3.2 Recognition algorithms.- 4.3.3 Comparison of recognition algorithms.- 4.4 Vision system software.- 4.4.1 Training and recognition.- 4.4.2 Sensitivity.- 4.4.3 Grey-scale resolution.- 4.4.4 Threshold setting.- 4.4.5 Bruise detection.- 4.5 Robot system integration.- 4.6 Poultry weight saving simulation.- 4.6.1 The product type simulated.- 4.6.2 FWFP production without a picking strategy.- 4.6.3 FWFP production using a picking strategy.- 4.6.4 Results of the simulation programs.- 4.6.5 Refinement of the picking strategy.- 4.7 Conclusions.- Acknowledgements.- References.- 5 Robotic cutting of beef and deboning.- 5.1 Introduction.- 5.2 Robotic butchery system requirements.- 5.3 Butchery system operation scheme.- 5.3.1 Forequarter clamping.- 5.3.2 Cutting scheme.- 5.3.3 Forequarter database (FQDB).- 5.3.4 Cutting devices.- 5.3.5 Cutting trials.- 5.3.6 Cutting control algorithm.- 5.4 Further work.- 5.5 Conclusions.- Acknowledgements.- Appendix 1: Cutting scheme definition.- Appendix 2: Forequarter measurement points.- References.- 6 Automation in the production of pork meat.- 6.1 Processes in pig carcass production and handling.- 6.1.1 Handling and stunning.- 6.1.2 Sticking, bleeding and surface treatment.- 6.1.3 Evisceration and trimming.- 6.1.4 Meat inspection and carcass classification.- 6.1.5 Chilling, selection and further processing.- 6.2 Current trends in mechanisation and automation in the pork industry.- 6.2.1 Single process automation.- 6.2.2 Transport and handling automation.- 6.2.3 Integrated systems.- 6.3 Potential for improving quality by automation.- 6.3.1 Welfare and meat quality.- 6.3.2 Hygiene and process control.- 6.3.3 Potential for classification technology.- 6.4 Automatic grading system and description of a current system in use.- 6.4.1 Measurement of anatomical dimensions.- 6.4.2 Probe posit...