Basically the fruits runs in a lane of cups which is analyzed with aid of FireWire cameras, and distributed along different exits with some actuator which are controlled with an industrial bus called Ether Cat (BeckHoff), this was implemented with Microsoft Visual Studio 2008 .Net 3.5 Framework, Visual C++ solution. The software runs up to 25 fruits per second.
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Saul Cuen-Rochin
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