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One of the challenges in the future of food production, amidst increasing population and decreasing resources, is developing a sustainable food production system. It is anticipated that robotics will play a significant role in maintaining the food production system, specifically in labor-intensive operations. Therefore, the main goal of this project is to develop a robotic fruit harvesting system, initially focused on the harvesting of apples. The robotic harvesting system is composed of a six-degrees-of-freedom (DOF) robotic manipulator, a two-fingered gripper, a color camera, a depth sensor, and a personal computer. This paper details the development and performance of a visual servo system that can be used for fruit harvesting. Initial test evaluations were conducted in an indoor laboratory using plastic fruit and artificial trees. Subsequently, the system was tested outdoors in a commercial fruit orchard. Evaluation parameters included fruit detection performance, response time of the visual servo, and physical time to harvest a fruit. Results of the evaluation showed that the developed visual servo system has the potential to guide the robot for fruit harvesting.

Like other clinical phenomena, repetitive hair pulling in African-Americans has attracted little systematic investigation. Slightly over 200 participants were recruited from a historically black university. Participants completed the Hair Pulling Scale [Stanley, M. A., Borden, J. W., Bell, G. E., & Wagner, A. L. (1994). Nonclinical hair pulling: phenomenology and related psychopathology. Journal of Anxiety Disorders, 8, 119-130], the Beck Depression Inventory, and the Beck Anxiety Inventory (BAI). Ten percent of the African-American sample thought about pulling out hair and 6.3% actually pulled out hair. A variety of types of affect was reported before, during, and after pulling or picking. Several statistically significant relationships were found: status as a person who thinks about pulling out hair is significantly correlated with anxiety as measured by the BAI (r=.265, p=.000), status as a person who pulls hair is significantly correlated with anxiety as measured by the BAI (p=.192, r=.007). Implications are discussed.

The insulin-like growth factors are broadly distributed in the human conceptus and are thought to play a role in the growth and differentiation of tissues during development. Using in situ hybridization we have shown that a wide variety of specific cell types within tissues express the gene for insulin-like growth factor II at times of development from 18 days to 14 weeks of gestation. Examination of blastocysts produced by in vitro fertilization showed no expression, thus bracketing the time of first accumulation of IGF-II mRNA to between 5 and 18 days postfertilization. The pattern of IGF-II expression shows specific age-related differences in different tissues. In the kidney, for example, expression is found in the cells of the metanephric blastema which is dramatically reduced as the blastema differentiates. The reverse is also seen, and we have noted an increase in expression of IGF-II in the cytotrophoblast layer of the placenta with gestational age. The sites of expression do not correlate with areas of either high mitotic activity or specific types of differentiation, but the observed pattern of expression in the kidney, adrenal glands and liver suggests an explanation for the abnormally high IGF-II mRNA expression in developmental tumours such as Wilms' tumour.