Language：English  

The chlorophyll fluorescence imaging technique is useful for evaluating photosynthetic functions of plants without actually touching the plant. In our previous study, we developed a chlorophyll fluorescence imaging system for tomato plants cultivated in greenhouses. This imaging system measures the chlorophyll fluorescence induction phenomenon, a dynamic change in chlorophyll fluorescence intensity induced by illuminating a dark-adapted leaf with a stable intensity excitation light, and analyzes the shape of the induction curve, i.e., the temporal course of chlorophyll fluorescence intensity during this phenomenon. The shape of the induction curve is characterized by an initial maximum peak (P), subsequent transient dip (S), and secondary small peak (M). We defined an index, the photosynthetic function index (PFI
fluorescence intensity of P divided by the average fluorescence intensity from S to M), to evaluate the shape of the induction curve. In this study, we applied this system to detect drought stress in tomato plants cultivated in a semi-commercial greenhouse. PFI was clearly lower in stressed plants than in healthy plants. The decreased PFI in stressed plants is probably attributable to photosynthetic dysfunction in these plants. © 2011 IFAC.

DOI： 10.3182/20110828-6-IT-1002.01490

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Language：English   Publisher：INT SOC HORTICULTURAL SCIENCE  

The chlorophyll fluorescence imaging technique is useful to evaluate the photosynthetic functions of living plants. In our previous study, we developed a chlorophyll fluorescence imaging system for full-size tomato plants in a greenhouse. This system images the chlorophyll fluorescence induction phenomenon, a dynamic change in chlorophyll fluorescence intensity induced by an excitation light under dark condition and analyzes the shape of the induction curve, i.e., the time course of the chlorophyll fluorescence intensity during this phenomenon. The shape of the induction curve is characterized with the initial maximum peak (P), the following transient dip (S) and secondary small peak (M). We defined a photosynthetic function index (PFI; the fluorescence intensity of P divided by the average fluorescence intensity from S to M) to evaluate the shape of the induction curve. In this study, we applied this system to evaluate the photosynthetic functions of tomato plants grown under different night air temperatures during winter and to detect the difference in photosynthetic functions of two tomato cultivars, i.e., 'Reika' and 'Tomimaru', in a greenhouse. The PFI of the plants grown under relatively low night air temperature (11 degrees C) was significantly lower than that of the plants grown under normal night air temperature (15 degrees C). The PFI of 'Tomimaru' was significantly higher than that of 'Reika'. The differences in PFIs would be partly due to the differences in the chlorophyll pigments compositions.

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Language：Japanese  

DOI： 10.2525/shita.21.59

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Language：Japanese   Publisher：The Society of Eco-Engineering  

Chlorophyll fluorescence imaging is a useful tool to assess photosynthetic ability of plant leaf without contact. By applying an actinic light of stable intensity to dark adapted leaf, a dynamic change in chlorophyll fluorescence intensity can be induced. This dynamic change in chlorophyll fluorescence intensity is called &ldquo;Induction phenomenon&rdquo;. &ldquo;Induction method&rdquo; is a representative way to detect photosynthetic dysfunction in plant leaf by analyzing the induction phenomenon. In this study, we investigated whether imaging of chlorophyll fluorescence induction phenomenon induced by weak actinic light at a PPFD of 10 &mu;mol m<SUP>-2</SUP>s<SUP>-1</SUP> can detect photoinhibition, which is caused by strong light irradiation treatments at PPFDs of 500, 1000 and 2000 &mu;mol m<SUP>-2</SUP>s<SUP>-1</SUP> for 1 hour. As a result, the photoinhibition in individual tomato leaves caused by the strong light irradiation treatments could be detected by measuring chlorophyll fluorescence induction phenomena that were induced by the weak actinic light. Furthermore, continuous measurement of chlorophyll fluorescence induction phenomena during a relaxation of photoinhibition under dark condition for 24 hours proved that P value, i.e. maximum chlorophyll fluorescence intensity in chlorophyll fluorescence induction phenomenon, can be used as an index of photoinhibition.

DOI： 10.11450/seitaikogaku.21.69

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DOI： 10.2525/shita.19.19

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In this paper, to introduce the gantry to strawberry house, the permissible limit of gauge irregularity for gantry was clarified. In this experiment, the lateral and wheel loads acting on the track were measured. Both-flanged wheel with flange angle 90° that was conventionally used could travel at a gauge irregularity of 16mm because of side-frame deformation. Side-flanged wheel with flange angle 65.3° could travel along the rail with the gauge irregularity until it finally got derailed at a gauge irregularity of 12mm. This experimental value agreed well with the gauge irregularity value of 11.7mm computed from the theoretical derailment quotient 1.02. In addition, the power consumption of the driving motor with side-flanged wheel was proven to be low. Consequently side flanged wheel was suitable for practical use.

DOI： 10.11357/jsam1937.67.2_111

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In part 1 of this series, a harvesting robot consisting of a 5 DOF polar-coordinate manipulator, a harvesting end-effector using sucking force, a visual sensor and a traveling device was manufactured and tested with strawberry grown on table top culture. From the results, it was observed that the table top culture was a suitable cultivation method for robotic operations because there were few obstacles around the target fruits, and that harvesting using a sucking force inflicted no damage on the fruits. However, it took the robot 14 to 20 seconds to harvest a single fruit because of the complicated construction and control method of the manipulator. <BR>In this study, a cartesian coordinate manipulator suspended under the planting bed of strawberry was employed in order to simplify construction and control method of the manipulator intended for practical use. The robot was capable of moving along the planting bed without a traveling device because one prismatic joint of the manipulator played the role of a traveling device. Furthermore, depth measurement by a visual sensor was simplified because distance between the robot and the fruits was kept approximately constant by suspending the robot under the planting bed. Harvesting experiments were conducted in a greenhouse by using the manipulator equipped with an improved end-effector and a visual sensor. From the results, time required to harvest a fruit was reduced to around 10 seconds because of the simplified construction and control method of the manipulator.

DOI： 10.2525/jshita.15.162

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

In part 1 of this series, a harvesting robot consisting of a 5 DOF polar-coordinate manipulator, a harvesting end-effector using sucking force, a visual sensor and a traveling device was manufactured and tested with strawberry grown on table top culture. From the results, it was observed that the table top culture was a suitable cultivation method for robotic operations because there were few obstacles around the target fruits, and that harvesting using a sucking force inflicted no damage on the fruits. However, it took the robot 14 to 20 seconds to harvest a single fruit because of the complicated construction and control method of the manipulator. <BR>In this study, a cartesian coordinate manipulator suspended under the planting bed of strawberry was employed in order to simplify construction and control method of the manipulator intended for practical use. The robot was capable of moving along the planting bed without a traveling device because one prismatic joint of the manipulator played the role of a traveling device. Furthermore, depth measurement by a visual sensor was simplified because distance between the robot and the fruits was kept approximately constant by suspending the robot under the planting bed. Harvesting experiments were conducted in a greenhouse by using the manipulator equipped with an improved end-effector and a visual sensor. From the results, time required to harvest a fruit was reduced to around 10 seconds because of the simplified construction and control method of the manipulator.

DOI： 10.2525/jshita.15.162

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DOI： 10.2525/jshita.15.162

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DOI： 10.2525/jshita.15.205

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A robotic harvesting system was developed to realize selective harvesting for eggplants (<I>Solanum melongena</I> L.) trained in V-shape in a greenhouse. The purpose of the first part of this study is to explain the system components and the global sensing for detecting fruit and to examine the image scanning. The system was composed of control unit, sensing unit, manipulator unit, end-effector unit, and traveling vehicle. The system could run at an inter-ridge space and scan the image of eggplants set at both sides with a combination of the vehicle traveling and manipulator control. The global sensing could detect the existence of fruit from approximately 500 mm away using an image processing technique. The basic experiment of image scanning was conducted to evaluate the global sensing. The success detection ratio was 69.3%. However, unsuccessful detections were observed, such as fruit on an adjacent plant, under-sized fruit, and shade. The scanning time, which includes traveling, image capture, and manipulator motion, within 4 m in length and 1.7 m in height was 317 s. The manipulator motion occupied most of the total scanning time. The fruit direction could be calculated from the centroids of the detected fruit.

DOI： 10.2525/jshita.15.205

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A robotic harvesting system was developed to realize selective harvesting for eggplants (<I>Solanum melongena</I> L.) trained in V-shape in a greenhouse. The purpose of the first part of this study is to explain the system components and the global sensing for detecting fruit and to examine the image scanning. The system was composed of control unit, sensing unit, manipulator unit, end-effector unit, and traveling vehicle. The system could run at an inter-ridge space and scan the image of eggplants set at both sides with a combination of the vehicle traveling and manipulator control. The global sensing could detect the existence of fruit from approximately 500 mm away using an image processing technique. The basic experiment of image scanning was conducted to evaluate the global sensing. The success detection ratio was 69.3%. However, unsuccessful detections were observed, such as fruit on an adjacent plant, under-sized fruit, and shade. The scanning time, which includes traveling, image capture, and manipulator motion, within 4 m in length and 1.7 m in height was 317 s. The manipulator motion occupied most of the total scanning time. The fruit direction could be calculated from the centroids of the detected fruit.

DOI： 10.2525/jshita.15.205

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In previous report (Part I), two gantries were prototyped, and it became clear that the prototyped sprayer and strawberry picker on gantry are effective in saving labor for spraying and picking work. In this paper, to enhance general-purpose properties of gantry, the applicability of gantry to rotary tillage and ridging work, using a commercially available rotary tiller and ridger, was studied. The working performance test of the gantry showed that with a 7-kW motor for driving operation machine, a running speed of gantry for rotary tillage at less than 30cm/s and that for 25cm high ridging work at less than 14cm/s, the gantry works flawlessly. The soil pulverizing performance, theoretical field capacity, and ridge shaping accuracy of the gantry were equivalent to conventional operation. In addition, a prototype truck controlled by a programmable device for transferring the gantry to a neighboring ridge was developed, and its performance was confirmed.

DOI： 10.11357/jsam1937.65.5_108

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Language：English   Publisher：IEEE  

In this paper, a multi-operation robot to work in a strawberry field was designed and a traceability system based on information from the robot was explained. The multi-operation robot consisted of sections of a spraying robot, a harvesting robot and a grading robot. These robot sections recorded information on products as well as conducted precise operations. This information can be used for precision farming and traceability system opened to consumers.

DOI： 10.1109/AIM.2003.1225514

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Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A robotic harvesting system was developed to realize selective harvesting for eggplants. The purpose of the second part is to explain the local sensing for fruit-size judgment and picking control and to examine the harvesting performance. After the system approached the fruit, which was detected by the global sensing, the local sensing judged the fruit size with a fusion of the vision sensor and distance sensor. The end-effector then approached the peduncle. The harvesting scissors cut the peduncle, and the lower blades held it simultaneously. Therefore, the system conveyed it to a container without contact with the fruit. The harvesting experiment was done for eggplants trained in V-shape to examine the harvesting performance. The system could harvest the fruit with a successful harvesting ratio of 29.1%. The main cause of unsuccessful harvesting was that the fruit was invisible owing to leaves or stems. Moreover, it was found that the system misjudged fruit size or dropped fruit during conveyance to the container. The picking method using the lower blades was effective, since no damage to the fruit was observed. The picking time per fruit was 43.2 s/fruit. The work efficiency, including traveling time, was 14.9 m/h. In the future, it will be necessary to develop a more effective fruit-size judgment technique and a traveling method to the adjacent inter-ridge in the future.

DOI： 10.2525/jshita.15.211

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

In order to save labor in strawberry cultivation, two types of gantries, for a single-span greenhouse and a wide-span greenhouse, a fungicide sprayer and workbenches for picking operation were manufactured and tested. Furthermore, a simple hand truck to transfer the gantry to a neighboring ridge in the multi-span greenhouse was made. From the results of spraying experiments, it was observed that the gantries could accomplish effective spraying with less fungicide consumption and the necessary time was reduced to 58% compared with manual spraying. In addition, physical burden for picking operation was decreased by using the workbench.

DOI： 10.11357/jsam1937.64.2_122

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DOI： 10.2525/jshita.13.159

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DOI： 10.2525/jshita.13.159

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Language：English   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

Weeding is an essential operation for maintaining the beauty of lawn fields such as golf course and garden. Since intensive chemical spray is not desirable, it is necessary that the weed area is discriminated from lawn area. However, both weed and lawn usually have similar green color in summer. A method using textural features extracted from an image was investigated for detecting weed area in this paper.<br>Three textural features, Contrast Angular Second Moment, and Inverse Difference Moment were extracted from 9 or 16 regions in an image with and without image smoothing. The results showed that the features extracted from weeds' size well-fitted segmented image area with image smoothing could discriminate weed regions from lawn regions in lawn field.

DOI： 10.11357/jsam1937.61.2_61

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Language：English   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

A method on uniformity analysis made weed detection in lawn field possible. The method could detect weeds based on their surfaces which were more uniform in gray-scale values compared with lawn surface, regardless of their color. The result of uniformity analysis, however, was far from ready to be used as a target decision for weeding because it was a binary image with many noises and broken parts. Morphological image processing was applied to the result of uniformity analysis to obtain stronger and clearer binary images. In addition, the detected weed center location which was expected to correspond with the main root of the weed, was determined for minimum chemical weeding. The techniques on how to do that was also described in this paper.

DOI： 10.2525/jshita.11.127

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Other Link： https://jlc.jst.go.jp/DN/JALC/00060743442?from=CiNii

Language：English   Publisher：PERGAMON PRESS LTD  

In this paper, robotic components were developed for harvesting strawberry grown on a hydroponic system. The robot mainly consisted of a manipulator, an end-effector and a visual sensor and could harvest fruits which hung down from hydroponic flumes. The manipulator was a polar coordinate type with five degrees of freedom, since there were few obstacles around the strawberry fruits. The end-effector could suck the fruit into it by a blower so that detecting errors caused by a visual sensor could be compensated From a fundamental experimental result in laboratory, feasibility to harvest strawberry fruits by robot was found. Copyright (C) 1998 IFAC.

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Language：English   Publisher：Japanese Society of Agricultural, Biological and Environmental Engineers and Scientists  

It is necessary that the weed area is discriminated from lawn area if selective spraying is applied to maintain a lawn field. However, both weed and lawn usually have similar green color in summer. In this paper, a color independent method using gray-scale uniformity in image was proposed for detecting the weed area. This method works based on different levels of uniformity for weed and lawn surfaces and could precisely detect only the weed leaves. The analysis results showed that a weed could be detected if its leaves are at least 5 pixels wide in image, while its length is enough to generate a minimum size blob. It was also found that the image had to be acquired at a short camera distance so that the soil among the lawn was visible and the lawn area had less uniformity. After weed leaf detection, a morphological image analysis was performed on a group the adjacent blobs as result of leaf detection. It was observed that the morphological image analysis was useful in locating a representative center-point for grouped blobs in correspondence to main root location of the weeds.

DOI： 10.2525/ecb1963.36.227

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

DOI： 10.11357/jsam1937.58.6_158

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Language：English   Publisher：TROPICAL AGRICULTURE RES CENTR  

Cucumber plant is widely cultivated in Japan, and its fruit grows rapidly. Automation for cucumber fruit harvesting is more important than for other fruits. In this paper, a cucumber harvesting robot which consisted of a visual sensor, manipulator, hand and traveling device was described. First, the visual sensor should be able to discriminate green fruit from leaves and stems. However, the color of leaves and stems is similar to that of fruit. In addition, the 3-D position of fruit should be detected. Two sensor systems were, therefore, combined for use of the robot: one was a monochrome TV camera with both 550 mm and 850 nm wavelength interference filters to discriminate fruit using spectral reflectance; the other was a photo-electric sensor in which a PSD (position-sensitive device) array was used to measure the distance. Secondly, the robot needs to approach the fruit. The mechanism of the manipulator was investigated based on the morphological properties of cucumber plant so as to adapt a harvesting configuration with high manipulatability and the 6 DOF (degree of freedom) manipulator was manufactured on an experimental basis. Thirdly, the harvesting hand must grip the fruit as well as detect and cut the peduncle. The hand was also constructed experimentally based on the physical properties of cucumber plant. Finally, a harvesting experiment was conducted, after the robotic components were mounted on the traveling device with 4 wheels. The results obtained showed that the use of the robot was suitable for harvesting.

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

A sensor system which had functions of discrimination, recognition and distance measurement was developed for visual sensor of cucumber harvesting robot. The sensor system consisted of a monochrome TV camera to which 850nm interference filter was attached and a photo-electric sensor which measured the three dimensional shape of not only fruit but leaves and stems. Fruit detecting experiment was done in greenhouse using this sensor system and the following results were obtained. The TV camera could satisfactorily discriminate and recognize fruits which were not hidden by obstacles. The photo-electric sensor could detect distances of fruits and objects which would obstruct the robot when harvesting. It was considered this sensor system would be effective when two sensors were used in combination.

DOI： 10.11357/jsam1937.57.51

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Language：Japanese  

DOI： 10.2525/ecb1963.33.237

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DOI： 10.11357/jsam1937.56.55

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Language：English   Publisher：AMER SOC AGRICULTURAL ENGINEERS  

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Language：English   Publisher：AMER SOC AGRICULTURAL ENGINEERS  

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Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

Part 1 of this series reported effectiveness of inclined trellis training in which robot could detect and approach fruit easily. In this report, physical properties of cucumber plant were measured in the first place in order to investigate the basic mechanism of harvesting hand. Based on this result, two hands to harvest cucumber cultivated in inclined trellis training were made. The first prototype hand had threefunctions, namely, grasping fruit and detecting and cutting peduncle. From the results of harvesting experiment by using the manipulator reported in part 1, it was observed that the hand sometimes could not harvest fruits when a peduncle was short or positioned near leaf stalk or stem. Therefore, the second prototype hand was made, in which detector and cutting device were improved, and the fruits were harvested satisfactorily by this hand.

DOI： 10.11357/jsam1937.56.6_69

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DOI： 10.11357/jsam1937.56.55

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DOI： 10.2525/ecb1963.31.93

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DOI： 10.2525/ecb1963.31.93

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Applicant：国立大学法人愛媛大学

Application no：特願2009-187627  Date applied：2009.8

Announcement no：特開2011-036199  Date announced：2011.2

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Applicant：国立大学法人愛媛大学, 井関農機株式会社

Application no：特願2009-166429  Date applied：2009.7

Announcement no：特開2011-019438  Date announced：2011.2

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Applicant：国立大学法人愛媛大学, 井関農機株式会社

Application no：特願2009-166429  Date applied：2009.7

Announcement no：特開2011-019438  Date announced：2011.2

Patent/Registration no：特許第5407056号  Date issued：2013.11

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Applicant：国立大学法人愛媛大学

Application no：特願2009-101126  Date applied：2009.4

Announcement no：特開2010-246488  Date announced：2010.11

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Applicant：国立大学法人愛媛大学

Application no：特願2009-101126  Date applied：2009.4

Announcement no：特開2010-246488  Date announced：2010.11

Patent/Registration no：特許第5263744号  Date issued：2013.5

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Applicant：国立大学法人愛媛大学

Application no：特願2008-217109  Date applied：2008.8

Announcement no：特開2010-051190  Date announced：2010.3

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Applicant：国立大学法人愛媛大学

Application no：特願2008-217109  Date applied：2008.8

Announcement no：特開2010-051190  Date announced：2010.3

Patent/Registration no：特許第5470667号  Date issued：2014.2

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Applicant：国立大学法人愛媛大学

Application no：特願2007-167769  Date applied：2007.6

Announcement no：特開2009-005587  Date announced：2009.1

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Applicant：井関農機株式会社, 国立大学法人愛媛大学

Application no：特願2007-167769  Date applied：2007.6

Announcement no：特開2009-005587  Date announced：2009.1

Patent/Registration no：特許第5407020号  Date issued：2013.11

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Applicant：井関農機株式会社, 国立大学法人愛媛大学

Application no：特願2007-045730  Date applied：2007.2

Announcement no：特開2008-206438  Date announced：2008.9

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Applicant：井関農機株式会社, 国立大学法人愛媛大学

Application no：特願2007-045730  Date applied：2007.2

Announcement no：特開2008-206438  Date announced：2008.9

Patent/Registration no：特許第5119392号  Date issued：2012.11

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Applicant：井関農機株式会社

Application no：特願2003-324848  Date applied：2003.9

Announcement no：特開2004-000287  Date announced：2004.1

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Applicant：井関農機株式会社

Application no：特願2003-324848  Date applied：2003.9

Announcement no：特開2004-000287  Date announced：2004.1

Patent/Registration no：特許第3674621号  Date issued：2005.5

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Applicant：生物系特定産業技術研究推進機構, 井関農機株式会社

Application no：特願2001-335387  Date applied：2001.10

Announcement no：特開2003-134943  Date announced：2003.5

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Applicant：井関農機株式会社

Application no：特願2001-183541  Date applied：2001.6

Announcement no：特開2003-000072  Date announced：2003.1

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Applicant：井関農機株式会社

Application no：特願2001-183541  Date applied：2001.6

Announcement no：特開2003-000072  Date announced：2003.1

Patent/Registration no：特許第4724958号  Date issued：2011.4

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Applicant：井関農機株式会社

Application no：特願2001-090276  Date applied：2001.3

Announcement no：特開2002-281831  Date announced：2002.10

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Applicant：井関農機株式会社

Application no：特願2001-090275  Date applied：2001.3

Announcement no：特開2002-281836  Date announced：2002.10

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Applicant：井関農機株式会社

Application no：特願2001-090275  Date applied：2001.3

Announcement no：特開2002-281836  Date announced：2002.10

Patent/Registration no：特許第4770042号  Date issued：2011.7

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Applicant：井関農機株式会社

Application no：特願2001-030197  Date applied：2001.2

Announcement no：特開2002-233250  Date announced：2002.8

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Applicant：井関農機株式会社

Application no：特願2000-395652  Date applied：2000.12

Announcement no：特開2002-191238  Date announced：2002.7

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Applicant：井関農機株式会社

Application no：特願2000-395652  Date applied：2000.12

Announcement no：特開2002-191238  Date announced：2002.7

Patent/Registration no：特許第4649737号  Date issued：2010.12

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Applicant：井関農機株式会社

Application no：特願2000-387090  Date applied：2000.12

Announcement no：特開2002-186936  Date announced：2002.7

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Applicant：井関農機株式会社

Application no：特願2000-378846  Date applied：2000.12

Announcement no：特開2002-176858  Date announced：2002.6

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Applicant：井関農機株式会社

Application no：特願2000-378846  Date applied：2000.12

Announcement no：特開2002-176858  Date announced：2002.6

Patent/Registration no：特許第4483078号  Date issued：2010.4

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Applicant：生物系特定産業技術研究推進機構, 井関農機株式会社

Application no：特願2000-367416  Date applied：2000.12

Announcement no：特開2002-171839  Date announced：2002.6

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Applicant：井関農機株式会社, 生物系特定産業技術研究推進機構

Application no：特願2000-325459  Date applied：2000.10

Announcement no：特開2002-125465  Date announced：2002.5

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Applicant：井関農機株式会社

Application no：特願2000-263378  Date applied：2000.8

Announcement no：特開2002-065052  Date announced：2002.3

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Applicant：井関農機株式会社

Application no：特願2000-158524  Date applied：2000.5

Announcement no：特開2001-333645  Date announced：2001.12

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Applicant：井関農機株式会社

Application no：特願2000-158524  Date applied：2000.5

Announcement no：特開2001-333645  Date announced：2001.12

Patent/Registration no：特許第4465813号  Date issued：2010.3

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Applicant：井関農機株式会社

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Applicant：井関農機株式会社

Application no：特願2000-117290  Date applied：2000.4

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Applicant：井関農機株式会社

Application no：特願平11-330267  Date applied：1999.11

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2001-145412

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Application no：特願平11-330268  Date applied：1999.11

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Application no：特願平11-330267  Date applied：1999.11

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Application no：特願平11-330268  Date applied：1999.11

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Application no：特願平11-266629  Date applied：1999.9

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Application no：特願平11-251715  Date applied：1999.9

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Application no：特願平10-268468  Date applied：1998.9

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Application no：特願平5-225414  Date applied：1993.9

Announcement no：特開平7-079502  Date announced：1995.3

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Applicant：井関農機株式会社

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Applicant：井関農機株式会社

Application no：特願平5-144103  Date applied：1993.6

Announcement no：特開平7-006240  Date announced：1995.1

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Applicant：井関農機株式会社

Application no：特願平5-099426  Date applied：1993.4

Announcement no：特開平6-309540  Date announced：1994.11

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Applicant：井関農機株式会社

Application no：特願平5-099426  Date applied：1993.4

Announcement no：特開平6-309540  Date announced：1994.11

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Applicant：井関農機株式会社

Application no：特願平5-094768  Date applied：1993.4

Announcement no：特開平6-303828  Date announced：1994.11

Patent/Registration no：特許第3446238号  Date issued：2003.7

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Applicant：井関農機株式会社

Application no：特願平5-094768  Date applied：1993.4

Announcement no：特開平6-303828  Date announced：1994.11

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Applicant：井関農機株式会社

Application no：特願平5-075464  Date applied：1993.4

Announcement no：特開平6-284810  Date announced：1994.10

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Applicant：井関農機株式会社

Application no：特願平5-075464  Date applied：1993.4

Announcement no：特開平6-284810  Date announced：1994.10

Patent/Registration no：特許第3239280号  Date issued：2001.10

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Applicant：井関農機株式会社

Application no：特願平5-073792  Date applied：1993.3

Announcement no：特開平6-276828  Date announced：1994.10

Patent/Registration no：特許第3443865号  Date issued：2003.6

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Applicant：井関農機株式会社

Application no：特願平5-073792  Date applied：1993.3

Announcement no：特開平6-276828  Date announced：1994.10

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Applicant：井関農機株式会社

Application no：特願平5-049035  Date applied：1993.3

Announcement no：特開平6-261622  Date announced：1994.9

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Applicant：井関農機株式会社

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Announcement no：特開平6-261622  Date announced：1994.9

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Applicant：井関農機株式会社

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Applicant：井関農機株式会社

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Application no：特願平4-306804  Date applied：1992.11

Announcement no：特開平6-162216  Date announced：1994.6

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Application no：特願平4-295287  Date applied：1992.11

Announcement no：特開平6-150099  Date announced：1994.5

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Announcement no：特開平6-139424  Date announced：1994.5

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Applicant：井関農機株式会社

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Announcement no：特開平6-139424  Date announced：1994.5

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Applicant：井関農機株式会社

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Applicant：井関農機株式会社

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Announcement no：特開平5-176631  Date announced：1993.7

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Applicant：井関農機株式会社

Application no：特願平3-354722  Date applied：1991.12

Announcement no：特開平5-168332  Date announced：1993.7

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Applicant：井関農機株式会社

Application no：特願平3-354722  Date applied：1991.12

Announcement no：特開平5-168332  Date announced：1993.7

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Application no：特願平3-235366  Date applied：1991.8

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Applicant：井関農機株式会社

Application no：特願平3-235366  Date applied：1991.8

Announcement no：特開平5-054124  Date announced：1993.3

Patent/Registration no：特許第3139074号  Date issued：2000.12

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Applicant：井関農機株式会社

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Applicant：井関農機株式会社

Application no：特願平3-232333  Date applied：1991.8

Announcement no：特開平5-049332  Date announced：1993.3

Patent/Registration no：特許第3052471号  Date issued：2000.4

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Applicant：井関農機株式会社

Application no：特願平3-232332  Date applied：1991.8

Announcement no：特開平5-049331  Date announced：1993.3

Patent/Registration no：特許第3052470号  Date issued：2000.4

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Applicant：井関農機株式会社

Application no：特願平3-232333  Date applied：1991.8

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Applicant：井関農機株式会社

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Announcement no：特開平4-166013  Date announced：1992.6

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Applicant：井関農機株式会社

Application no：特願平2-136566  Date applied：1990.5

Announcement no：特開平4-030718  Date announced：1992.2

Patent/Registration no：特許第2893864号  Date issued：1999.3

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