Publications

Book Chapters

  • He, L., Zahid, A. and Mahmud, M.S. (2022). Robotic Tree Fruit Harvesting: Status, Challenges, and Prosperities. In Sensing, Data Managing, and Control Technologies for Agricultural Systems (pp. 299-332). Cham: Springer International Publishing.
  • He, L., Zhang, X. and Zahid, A. (2023). Mechanical Management of Modern Planar Fruit Tree Canopies. In Advanced Automation for Tree Fruit Orchards and Vineyards (pp. 25-57). Cham: Springer International Publishing.
  • He, L. (2022). Variable rate Technologies for Precision Agriculture. In Zhang, Q. (eds) Encyclopedia of Smart Agriculture Technologies. (pp. 1-9). Springer, Cham.
  • Gohil, H., & He, L. (2022). Smart Irrigation in Orchards. In Zhang, Q. (eds) Encyclopedia of Smart Agriculture Technologies.

Peer-Reviewed Journal Articles

2023

  • Mu, X., Hussain, M., He, L., Heinemann, P., Schupp, J., Karkee, M., and Zhu, M. 2023. An advanced robotic system for precision chemical thinning of apple blossoms. Journal of the ASABE, 66(5), 1125-1134. PDF LINK
  • Hua, W., Heinemann, P., He, L., and Yuan, W. 2023. CFD simulation of porous canopy heat transfer in apple orchard-based frost protection. Journal of the ASABE, 66(4), 825-837. PDF LINK
  • Mu, X., He, L., Heinemann, P., Schupp, J., and Karkee, M. 2023. Mask R-CNN based apple flower detection and king flower identification for precision pollination. Smart Agricultural Technology 4, 100151. | PDF LINK
  • Mahmud, M.S., He, L., Heinemann, P., Choi, D., and Zhu, H. 2023. Unmanned Aerial Vehicle based Tree Canopy Characteristics Measurement for Precision Spray Applications. Smart Agricultural Technology, 100153. | PDF LINK
  • Mahmud, M.S., He, L., Zahid A., Heinemann P., Choi D., Krawczyk G., Zhu H. 2023. Detection and infected area segmentation of apple fire blight using image processing and deep transfer learning for site-specific management. Computers and Electronics in Agriculture 209, 107862. | PDF LINK
  • Hussain M., He L., Schupp J., Lyons D., Heinemann P. 2023. Green fruit segmentation and orientation estimation for robotic green fruit thinning of apples. Computers and Electronics in Agriculture 207, 107734. | PDF LINK
  • Yuan W., Hua W., Heinemann P., He L. 2023. UAV Photogrammetry-Based Apple Orchard Blossom Density Estimation and Mapping. Horticulturae 9 (2), 266. | PDF LINK
  • Mirbod O., Choi, D., Heinemann P., Marini, R., He L. 2023. On-tree apple fruit size estimation using stereo vision with deep learning-based occlusion handling. Biosystems Engineering 226, 27-42. | PDF LINK

2022

  • Zhang, H., He, L., Di Gioia, F., Choi, D., Elia, A., and Heinemann P. 2022. LoRaWAN based internet of things (IoT) system for precision irrigation in plasticulture fresh-market tomato. Smart Agricultural Technology 2, 100053. | PDF LINK
  • Xiao, D., Pan, Y., Feng, J., Yin, J., Liu, Y., & He, L. (2022). Remote sensing detection algorithm for apple fire blight based on UAV multispectral image. Computers and Electronics in Agriculture 199, 107137. | PDF LINK
  • Yuan, W., Choi, D., Bolkas, D., Heinemann, P., & He, L. (2022). Sensitivity examination of YOLOv4 regarding test image distortion and training dataset attribute for apple flower bud classification. International Journal of Remote Sensing 43(8), 3106-3130. | PDF LINK
  • Zahid, A., Mahmud, M.S., He, L., Schupp, J., Choi, D., and Heinemann, P. 2022. An Apple Tree Branch Pruning Analysis. HortTechnology, 32(2), 90-98. | PDF LINK
  • Hussain, M., He, L., Schupp, J., and Heinemann, P. 2022. Green fruit removal dynamics for development of robotic green fruit thinning end-effector. Journal of the ASABE, 65(4): 779-788. | PDF LINK
  • Mahmud, M.S., Zahid, A., He, L., Zhu, H., Choi, D., Krawczyk, G. and Heinemann, P. 2022. Development of an automatic airflow control system for precision sprayers based on tree canopy density. Journal of the ASABE, 65(6): 1225-1240. | PDF LINK

2021

  • Mahmud, M.S., Zahid, A., He, L., Choi, D., Krawczyk, G. and Zhu, H. 2021. LiDAR-sensed tree canopy correction in uneven terrain conditions using a sensor fusion approach for precision sprayers. Computers and Electronics in Agriculture, 191, 106565. | PDF LINK
  • Zahid, A., Mahmud, M.S., He, L., Heinemann, P., Choi, D. and Schupp, J. 2021. Technological advancements towards developing a robotic pruner for apple trees: A review. Computers and Electronics in Agriculture, 189, 106383. | PDF LINK
  • Zahid, A., He, L., Choi, D., Schupp, J. and Heinemann, P. 2021. Investigation of branch accessibility with a robotic pruner for pruning apple trees. Transactions of the ASABE, 64(5), 1459-1474. | PDF LINK
  • Huang, M., He, L., Choi, D., Pecchia, J. and Li, Y. 2021. Picking dynamic analysis for robotic harvesting of Agaricus bisporus mushrooms. Computers and Electronics in Agriculture, 185, 106145. | PDF LINK
  • Huang, M., Jiang, X., He, L., Choi, D., Pecchia, J. and Li, Y. 2021. Development of A Robotic Harvesting Mechanism for Button Mushrooms. Transactions of the ASABE, 64(2), 565-575. | PDF LINK
  • Mahmud, M.S., Zahid, A., He, L., Choi, D., Krawczyk, G., Zhu, H. and Heinemann, P. 2021. Development of a LiDAR-guided section-based tree canopy density measurement system for precision spray applications. Computers and Electronics in Agriculture, 182, 106053. | PDF LINK
  • Jiang, X. and He, L. 2021. Investigation of Effective Irrigation Strategies for High-Density Apple Orchards in Pennsylvania. Agronomy, 11(4), 732. | PDF LINK
  • Mahmud, M.S., Zahid, A., He, L., and Martin, P. 2021. Opportunities and Possibilities of Developing an Advanced Precision Spraying System for Tree Fruits. Sensors, 21(9), 3262. | PDF LINK
  • Mirbod, O., Choi, D., Thomas, R. and He, L. 2021. Overcurrent-driven LEDs for consistent image colour and brightness in agricultural machine vision applications. Computers and Electronics in Agriculture, 187, 106266. | PDF LINK

2020

  • Zahid, A., Mahmud, M.S., He, L., Choi, D., Heinemann, P., and Schupp, J. 2020. Development of an integrated 3R end-effector with a cartesian manipulator for pruning apple trees. Computers and Electronics in Agriculture, 179, 105837. | PDF LINK
  • Zeng, L., Feng, J., and He, L. 2020. Semantic segmentation of sparse 3D point cloud based on geometrical features for trellis-structured apple orchard. Biosystems Engineering, 196, 46-55. | PDF LINK
  • Zhang, X., He, L., Zhang, J., Whiting, MD., Karkee, M., and Zhang, Q. 2020. Determination of key canopy parameters for mass mechanical apple harvesting using supervised machine learning and principal component analysis (PCA). Biosystems Engineering, 193, 247-263. | PDF LINK
  • Zahid A., He, L., Choi, D., Schupp, J., and Heinemann, P. 2020. Development of a robotic end-effector for apple tree pruning. Transactions of the ASABE, 63(4), 847-856. | PDF LINK
  • Zhang, X., He, L., Whiting, MD., Karkee, M., and Zhang, Q. 2020. Field evaluation of targeted shake-and-catch harvesting technologies for fresh market apples. Transactions of the ASABE, 63(6), 1759-1771. | PDF LINK
  • Fu, H., Karkee, M., He, L., Duan, J., and Zhang, Q. 2020. Bruise patterns of fresh market apples caused by fruit-to-fruit impact. Agronomy, 10(1), 59. | PDF LINK

2019

  • He, L., Zhang, X., Ye, Y., Karkee, M. and Zhang, Q., 2019. Effect of shaking location and duration on mechanical harvesting of fresh market apples. Applied Engineering in Agriculture, 35(2), 175-183. | PDF LINK
  • Feng, J., Zeng, L., and He, L. 2019. Apple fruit recognition algorithm based on multi-spectral dynamic image analysis. Sensors, 19(4), 949. | PDF LINK

2018

  • He, L. and Schupp, J., 2018. Sensing and Automation in Pruning of Apple Trees: A Review. Agronomy, 8(10), p.211. | PDF LINK
  • Zhang, J., He, L., Karkee, M., Zhang, Q., Zhang, X. and Gao, Z., 2018. Branch detection for apple trees trained in fruiting wall architecture using depth features and Regions-Convolutional Neural Network (R-CNN). Computers and Electronics in Agriculture, 155, pp.386-393. | PDF LINK
  • Zhang, X., He, L., Majeed, Y., Whiting, M.D., Karkee, M. and Zhang, Q., 2018. A Precision Pruning Strategy for Improving Efficiency of Vibratory Mechanical Harvesting of Apples. Transactions of the ASABE, 61(5), 1565-1576. | PDF LINK
  • Ye, Y., L. He, Z. Wang, G. Hollinger, M. Taylor, and Q. Zhang. 2018. Orchard maneuvering strategy for a robotic bin-handling machine. Biosystems Engineering, 169, 85-103. | PDF LINK

2017

  • He, L., H. Fu, D. Sun, M. Karkee, and Q. Zhang. 2017. Shake-and-catch harvesting for fresh market apples in trellis-trained trees. Transactions of the ASABE, 60(2), 353-360. | PDF LINK
  • He, L., H. Fu, M. Karkee, and Q. Zhang. 2017. Effect of fruit location on apple detachment with mechanical shaking. Biosystems Engineering, 157, 63-71. | PDF LINK
  • He L., H. Fu, H. Xia, M. Karkee, Q. Zhang, and M. Whiting. 2017. Evaluation of a localized shake-and-catch harvesting for fresh market apples. Agricultural Engineering International: CIGR Journal,19(4), pp.36-44. | PDF LINK
  • Fu, H., He, L., Ma, S., Karkee, M., Chen, D., Zhang, Q., Wang, S. 2017. ‘Jazz’ apple impact bruise responses to different cushioning materials. Transactions of the ASABE, 60(2), 327-336. | PDF LINK
  • Ye, Y., Z. Wang, D. Jones, L. He, M.E. Taylor, G.A. Hollinger, and Q. Zhang. 2017. Bin-Dog: A Robotic Platform for Bin Management in Orchards. Robotics, 6(2), 17. | PDF LINK

2016

  • He, L., J. Zhou, Q. Zhang, and H. J. Charvet. 2016. A string twining robot for high trellis hop production. Computers and Electronics in Agriculture, 121, 207-214. | PDF LINK
  • Zhou, J., L. He, M. Karkee, and Q. Zhang. 2016. Effect of catching surface and tilt angle on bruise damage of sweet cherry due to mechanical impact. Computers and Electronics in Agriculture, 121, 282-289. | PDF LINK
  • Vougioukas, S. G., L. He, R. Arikapudi. 2016. Orchard worker localization relative to a vehicle using radio ranging and trilateration. Biosystems Engineering, 147, 1-16. | PDF LINK
  • Zhou, J., L. He, M. Karkee, and Q. Zhang. 2016. Analysis of shaking-induced cherry fruit motion and damage. Biosystems Engineering, 144, 105-114. | PDF LINK
  • Zhou, J., L. He, M. Whiting, S. Amatya, P. Larbi, M. Karkee, and Q. Zhang. 2016. Field evaluation of a mechanical-assist Cherry harvesting system. Engineering in Agriculture, Environment and Food, 9(4), 324-331. | PDF LINK

2015

  • He, L., J. Zhou, Q. Zhang, and M. Karkee. 2015. Evaluation of multipass mechanical harvesting on ‘Skeena’ sweet cherries trained to Y-trellis. HortScience, 50(8), 1178-1182. | PDF LINK

2014

  • Zhou, J., L. He, Q. Zhang, and M. Karkee. 2014. Effect of Excitation Position of a Handheld Shaker on Fruit Removal Efficiency and Damage in Mechanical Harvesting of Sweet Cherry. Biosystems Engineering, 125, 36-44. | PDF LINK

2013

  • He, L., Q. Zhang, and H. J. Charvet. 2013. A knot-tying end-effector for robotic hop twining. Biosystems Engineering, 114(3), 344-350. | PDF LINK
  • He, L., J. Zhou, X. Du, D. Chen, Q. Zhang, and M. Karkee. 2013. Energy efficacy analysis of a mechanical shaker in sweet cherry harvesting. Biosystems Engineering, 116(4), 309-315. | PDF LINK
  • Zhou, J., L. He, Q. Zhang, X. Du, D. Chen, and M. Karkee. 2013. Evaluation of the influence of shaking frequency and duration in mechanical harvesting of sweet cherry. Applied Engineering in Agriculture, 29(5), 607-612. | PDF LINK

2012

  • He, L., Q. Zhang, X. Du, R. Luo, and M. Karkee. 2012. A twining robot for high-trellis string tying in hops production. Transactions of the ASABE, 55(5), 1667-1673. | PDF LINK

Patents

  • Zhang, Q., L. He, H. J. Charvet. 2013. Knot-tying device and method. U.S. Patent. US 8,573,656 B1
  • Vougioukas, S., D. Slaughter, D. Sadowski, L. He, A. Durand-Petiteville. 2015/2020. Automated strawberry orientating and capping machine. International Patent No. WO/2017/019775 A1 (2015); U.S. Patent. US 10,729,167 (2020).