In this study, the flow by impingement at water dust collector with movable nozzle was analyzed by computational fluid technique. The velocity and vorticity of the dust collector were compared by positioning the nozzle to up and down. Also, the mean velocity were compared through three specific locations that were the diffuser inlet, movable nozzle surface and dust collector outlet. It can be checked that the vorticity and velocity magnitude are verified by the fluid solver of Fluent. As the result of this study, the movable nozzle located at 4cm down from initial position of the nozzle shows the great characteristics of vorticity and velocity distribution for dust collection.

Fruit and vegetable harvesting robots have been widely studied and developed in recent years to reduce the cost of harvesting tasks such as labor and time. However, harvesting robots have many challenges due to the difficulty and uncertainty of task. In this paper, we characterize the crop environment related to the harvesting robot and analyzes state-of-the-art of the harvesting robot especially, in the viewpoint of robotic end-effector. The end-effector, an one of most important element of the harvesting robot, was classified into gripper and harvesting module, which were reviewed in more detail. Performance measures for the evaluation of harvesting robot such as test, detachment success, harvest success, and cycle time were also introduced. Furthermore, we discuss the current limitations of the harvesting robot and challenges and directions for future research.