Abstract: A produce identifying apparatus for deriving positional data of an object based on a particular color corresponding to the object from image data provided by a video camera, and a guide apparatus for a produce handling machine equipped with the produce identifying apparatus. The produce identifying apparatus comprises a device for illuminating the object, a device for selecting variable density image data of a range corresponding to the particular color from the image data obtained under illumination by the illuminating device, and a device for detecting a luminance peak position from the variable density image data.

Abstract: A method and apparatus for use with an automatic working vehicle for detecting a boundary between a treated area and an untreated area. A predetermined range of working area including the treated area and the untreated area is photographed by a camera. Image data output from the camera is differentiated with respect to pixel to pixel brightness variations, which is then compared with a threshold value to produce edge image data on an X-Y plane showing, as binarized, a plurality of pixels regarded as representing a point of transition between the untreated area and the treated area, and other pixels. The boundary is calculated from the edge image data by means of HOUGH-transformation.

Abstract: A harvesting apparatus for automatically removing fruit from its growth source comprising a harvesting hand mounted at a distal end of an articulated arm assembly, a video camera for picking up a fruit image, and a control unit for guiding the harvesting hand to the fruit in response to information provided by the video camera. The harvesting hand includes a vacuum pad for drawing and catching the fruit, and a calyx cutting device. The vacuum pad and cutting device are movable relative to each other between a first position in which the vacuum pad is disposed forwardly of the cutting device for approaching and drawing the fruit and a second position in which the cutting device is disposed forwardly of the vacuum pad for removing the fruit from its tree.

Abstract: A chroma keying generator apparatus is disclosed having a monitor camera transmitting color signals to multipliers for separating a luminance signal from an image signal and amplifying same by selected gain levels, comparison circuits for comparing two color signals with pre-selected reference levels therefor having upper and lower limits and producing outputs denoting that the ratio of the color signal to the luminance signal for a given color falls within a pre-selected reference range, and a gate circuit which evaluates the outputs from the comparison circuits to produce pulses representing a logical "1" when the output is within the reference range and a logical "0" when the output is not within the reference range.

Abstract: A method for washing an inner surface of a tubular permeable membrane which comprises:a friction piece having a hardness of from about 10.degree. to 30.degree. measured according to JIS K6301, 5-2 attached to an end of an elastic rod-like support, andoperating the support to reciprocate the friction piece within the tubular permeable membrane to thereby act a rub-washing force of from about 0.1 to 1.0 kg/cm.sup.2 between the inner surface of the tubular permeable membrane and the friction piece so as to remove contaminants adhered to the inner surface of the tubular permeable membrane.

Abstract: A triarylmethyl methacrylate is produced by reacting methacrylic acid with a triarylmethylating agent in an inert, organic solvent containing therein an excess amount of an amine or in the presence of an anion exchanger.

Abstract: A method for producing of a polybutylene terephthalate by reacting a dicarboxylic acid component containing terephthalic acid as a main constituent directly with a glycol component containing 1,4-butanediol as a main constituent to form an esterification reaction product and subjecting the esterification reaction product to a polycondensation reaction, characterized in that 0.4 to 1.3 mole of 1,4-butanediol per mole of terephthalic acid is added in the presence of an esterification catalyst which is at least one member selected from the group consisting of titanium compounds and tin compounds, to start said esterification reaction and thereafter a required amount of 1,4-butanediol is supplied additionally to complete the esterification reaction.

Abstract: A process for preparing a polyester predominantly comprised of the units derived from terephthalic acid and butanediol-1,4 is provided. The esterification or transesterification is performed in the presence of minor amounts of a catalyst combination comprising an organo-titanium compound and an organo-tin compound. The undesirable formation of tetrahydrofuran can be avoided or minimized.