„RFID - Systematische Versuche für den zuverlässigen Einsatz in der Logistik“

Mit zunehmender Komplexität und Vielfalt der Logistikprozesse steigt der Stellenwert der eingesetzten Informationstechnologien. Die den Warenfluss begleitenden bzw. vorhereilenden Informationen sind erforderlich, um Waren identifizieren und Unternehmensressourcen optimal einsetzen zu können. Als Beispiel ist der klassische Wareneingang zu nennen. Durch die Avisierung von Menge und Art eingehender Waren können der Einsatz des Personals zur Entladung und Vereinnahmung sowie die erforderlichen Ressourcen (Ladehilfsmittel, Flurförderzeuge, usw.) im Vorfeld geplant und bereitgestellt werden. Der Informationsfluss ist demnach als Qualitätsmerkmal und als Wirtschaftlichkeitsfaktor zu verstehen. Die Schnittstelle zwischen dem physischen Warenfluss und dem Informationsfluss auf EDV-Basis bildet die Identifikationstechnologien. In der Industrie verbreitete Identifikationstechnologien bestehen in der Regel aus einem Datenträger und einem Erfassungsgerät. Der Datenträger ist am physischen Objekt fixiert. Das Erfassungsgerät liest die auf dem Datenträger befindlichen Objektinformationen und wandelt sie in einen Binär-Code um, der durch nachgelagerte EDV weiterverarbeitet wird. Die momentan in der Industrie und im Handel am häufigsten verwendete Identifikationstechnologie ist der Barcode. In den letzten Jahren tritt die RFID-Technologie in den Fokus der Industrie und des Handels im Bereich Materialfluss und Logistik. Unter „Radio Frequency IDentification“ wird die Kommunikation per Funkwellen zwischen Datenträger (Transponder) und Lesegerät verstanden. Mittels der RFID-Technologie ist der Anwender, im Gegensatz zum Barcode, in der Lage, Informationen auf dem Transponder ohne Sichtkontakt zu erfassen. Eine Ausrichtung der einzelnen Artikel ist nicht erforderlich. Zudem können auf bestimmten Transpondertypen weitaus größere Datenmengen als auf einem Barcode hinterlegt werden. Transponder mit hoher Speicherkapazität eignen sich in der Regel, um die auf ihnen hinterlegten Daten bei Bedarf aktualisieren zu k��nnen. Eine dezentrale Datenorganisation ist realisierbar. Ein weiterer Vorteil der RFID-Technologie ist die Möglichkeit, mehrere Datenträger im Bruchteil einer Sekunde zu erfassen. In diesem Fall spricht man von einer Pulkerfassung. Diese Eigenschaft ist besonders im Bereich Warenein- und -ausgang von Interesse. Durch RFID ist es möglich, Ladeeinheiten, z. B. Paletten mit Waren, durch einen Antennenbereich zu fördern, und die mit Transpondern versehenen Artikel zu identifizieren und in die EDV zu übertragen. Neben der Funktionalität einer solchen Technologie steht in der Industrie vor allem die Wirtschaftlichkeit im Vordergrund. Transponder sind heute teuerer als Barcodes. Zudem müssen Investitionen in die für den Betrieb von RFID erforderliche Hard- und Software einkalkuliert werden. Daher muss der Einsatz der RFID-Technologie Einsparungen durch die Reorganisation der Unternehmensprozesse nach sich ziehen. Ein Schwachpunkt der RFID-Technologie ist momentan je nach Anwendung die mangelnde Zuverlässigkeit und Wiederholgenauigkeit bei Pulklesungen. Die Industrie und der Handel brauchen Identifikationstechnologien, deren Erfassungsrate im Bereich nahe 100 % liegt. Die Gefahr besteht darin, dass durch ein unzuverlässiges RFID-System unvollständige bzw. fehlerhafte Datensätze erzeugt werden können. Die Korrektur der Daten kann teurer sein als die durch die Reorganisation der Prozesse mittels RFID erzielten Einsparungen. Die Erfassungsrate der Transponder bei Pulkerfassungen wird durch mehrere Faktoren beeinflusst, die im Folgenden detailliert dargestellt werden. Das Institut für Fördertechnik und Logistik (IFT) in Stuttgart untersucht m��gliche Einflussgrößen auf die Erkennungsraten bei Pulkerfassungen. Mit den gewonnenen Erkenntnissen sollen mögliche Schwachstellen bei der Erkennung mehrerer Transponder im Vorfeld einer Implementierung in die Logistikprozesse eines Unternehmens eliminiert werden. With increasing complexity and variety of the logistics processes the significance of the used information technologies increases. The information accompanying the material flow is necessary in order to be able to identify goods and to be able to use corporate resources optimally. The classical goods entrance is to be mentioned as an example. The notification of amount and kind of incoming goods can be used for previously planning and providing of the personnel and necessary resources. The flow of information is to be understood accordingly as a high-quality feature and as an economic efficiency factor. With increasing complexity and variety of the logistics processes the significance of the used information technologies increases. The information accompanying the material flow is necessary in order to be able to identify goods and to be able to use corporate resources optimally. The classical goods entrance is to be mentioned as an example. The notification of amount and kind of incoming goods can be used for previously planning and providing of the personnel and necessary resources. The flow of information is to be understood accordingly as a high-quality feature and as an economic efficiency factor.

Prüftechnik für RFID bei Hochgeschwindigkeitsanwendungen im Transportwesen

Im Rahmen des Forschungsprojektes TagDrive wird die Applikation von passiven Transpondern auf 13,56 MHz-Basis untersucht, die auf der Fahrbahn befestigt und zur Spurführung und Navigation von Fahrzeugen verwendet werden. Um den Einsatz von Folientranspondern (Smart Labels) bei hohen Fahrzeuggeschwindigkeiten in Zusammenhang mit Transponderlesegeräten am Fahrzeug zu testen, wurde ein Hochgeschwindigkeitsprüfstand für Relativgeschwindigkeiten zwischen Transponder und Lesegerät von bis zu 100 km/h entwickelt und Versuche bei variierenden Leseabständen durchgeführt. Für mechanische Prüfungen der applizierten Transponder inklusive Gehäuse wurden Druckprüfungen mit Hilfe einer servohydraulischen Prüfeinrichtung durchgeführt und ein neuer pneumatischer Prüfstand entwickelt, der den Überrollvorgang durch ein Rad nachbildet. Für klimatische Tests unter anderem nach DIN EN 60068-2-67 bzw. IEC 68-2-67 wurde ein Klimaschrank verwendet.

RFID-Technologie : Bindeglied zwischen Informationsfluss und Materialfluss. Wie zuverlässig sind die Identifikationsvorgänge?

Mit der zunehmenden Komplexität der Logistikketten ist auch der Anspruch an die Informationstransparenz gestiegen. Hier ergibt sich durch den Einsatz intelligenter RFID -Technologie eine weitere Möglichkeit zur Op-timierung und Steuerung der eingesetzten Kapazitäten, denn so ist eine Identifikation und Verfolgung von Waren und Gütern entlang der gesamten Supply Chain möglich. Jedes Produkt ist zu jeder Zeit genau lokalisierbar und kann eine Fülle an aktuellen und historischen Daten liefern. Durch den Einsatz der RFID-Technologie kann das Zusammenspiel von Materialfluss und Informationsfluss zwischen den einzelnen Prozessschritten optimiert werden. Damit ist gewährleistet, dass alle erforderlichen Daten zum richtigen Zeitpunkt am richtigen Ort sind. Die dezentrale Bereitstellung und Veränderung von Daten ermöglicht eine flexible, dezentrale Steuerung logistischer Systeme. Weitere Vorteile der RFID - Komponenten sind beispielsweise, dass sie individuell beschreibbar sind und ihre Identifikation selbst über begrenzte Entfernungen und ohne Sichtkontakt zwischen Tag und Lesegerät möglich ist. Durch den Einsatz von RFID-Transpondern eröffnen sich Potentiale in Richtung Prozesssicherheit, Reduzierung der Logistikkosten oder auch Verfügbarkeit der Produkte. Diese Vorteile hängen jedoch nicht zuletzt von der Zuverlässigkeit der Identifikationsvorgänge ab. Die unbestrittenen Potentiale, die durch Einsatz von RFID-Elementen erschlossen werden können, sind nur dann nutzbar, wenn die nun dezentral an den Waren oder Ladeeinheiten zugeordneten Informationen an den benötigten Stellen zuverlässig abgerufen werden können. Die Kommunikation zwischen Transponder und Lese- /Schreibeinrichtung wird durch unterschiedliche Materialen, wie z.B. Metall, die die Funkverbindung beeinflussen erschwert. Die Zuverlässigkeit dieser Kommunikation wird anhand von Versuchen, mit unterschiedlichen Füllmaterialien und unterschiedlichen Anordnungen der Transponder an den Ladeeinheiten, ermittelt.

RFID Transponders : Link between information and material flows. How reliable are identification procedures?

Along with the growing complexity of logistic chains the demand for transparency of informations has increased. The use of intelligent RFID-Technology offers the possibility to optimize and control all capacities in use, since it enables the identification and tracking of goods alongside the entire supply chain. Every single product can be located at any given time and a multitude of current and historical data can be transferred. The interaction of the flow of material and the flow of information between the various process steps can be optimized by using RFID-Technology since it guarantees that all required data is available at the right time and at the right place. The local accessibility and convertibility of data allows a flexible, decentralised control of logistic systems. As additional advantages of RFID-Components can be considered that they are individually writable and that their identification can be achieved over considerable distances even if there is no intervisibility between tag and reader. The use of RFID-Transponder opens up new potentials regarding process security, reduction of logistic costs or availability of products. These advantages depend on reliability of the identification processes. The undisputed potentials that are made accessible by the use of RFID-Elements can only be beneficial when the informations that are decentralised and attached to goods and loading equipment can be reliably retrieved at the required points. The communication between tag and reader can be influenced by different materials such as metal, that can disturbed or complicate the radio contact. The communications reliability is subject of various tests and experiments that analyse the effects of different filling materials as well as different alignments of tags on the loading equipment.

Portable low profile antenna at X-band

An antenna which has been conceived as a portable system for satellite communications based on the recommendations ITU-R S.580-6 and ITU-R S.465-5 for small antennas, i.e., with a diameter lower than 50 wavelengths, is introduced. It is a planar and a compact structure with a size of 40×40×2 cm. The antenna is formed by an array of 256 printed elements covering a large bandwidth (14.7%) at X-Band with a VSWR of 1.4:1. The specification includes transmission (Tx) and reception (Rx) bands simultaneously. The printed antenna has a radiation pattern with a 3dB beamwidth of 5°, over a 31dBi gain, and a dual and an interchangeable circular polarization.

Assessing the dynamic behavior of wsn motes and rfid semi-passive tags for temperature monitoring.

A notorious advantage of wireless transmission is a significant reduction and simplification in wiring and harness. There are a lot of applications of wireless systems, but in many occasions sensor nodes require a specific housing to protect the electronics from hush environmental conditions. Nowadays the information is scarce and nonspecific on the dynamic behaviour of WSN and RFID. Therefore the purpose of this study is to evaluate the dynamic behaviour of the sensors. A series of trials were designed and performed covering temperature steps between cold room (5 °C), room temperature (23 °C) and heated environment (35 °C). As sensor nodes: three Crossbow motes, a surface mounted Nlaza module (with sensor Sensirion located on the motherboard), an aerial mounted Nlaza where the Sensirion sensor stayed at the end of a cable), and four tags RFID Turbo Tag (T700 model with and without housing), and 702-B (with and without housing). To assess the dynamic behaviour a first order response approach is used and fitted with dedicated optimization tools programmed in Matlab that allow extracting the time response (?) and corresponding determination coefficient (r2) with regard to experimental data. The shorter response time (20.9 s) is found for the uncoated T 700 tag which encapsulated version provides a significantly higher response (107.2 s). The highest ? corresponds to the Crossbow modules (144.4 s), followed by the surface mounted Nlaza module (288.1 s), while the module with aerial mounted sensor gives a response certainly close above to the T700 without coating (42.8 s). As a conclusion, the dynamic response of temperature sensors within wireless and RFID nodes is dramatically influenced by the way they are housed (to protect them from the environment) as well as by the heat released by the node electronics itself; its characterization is basic to allow monitoring of high rate temperature changes and to certify the cold chain. Besides the time to rise and to recover is significantly different being mostly higher for the latter than for the former.

Accurate pedestrian indoor navigation by tightly coupling foot-mounted IMU and RFID measurements

We present a new method to accurately locate persons indoors by fusing inertial navigation system (INS) techniques with active RFID technology. A foot-mounted inertial measuring units (IMUs)-based position estimation method, is aided by the received signal strengths (RSSs) obtained from several active RFID tags placed at known locations in a building. In contrast to other authors that integrate IMUs and RSS with a loose Kalman filter (KF)-based coupling (by using the residuals of inertial- and RSS-calculated positions), we present a tight KF-based INS/RFID integration, using the residuals between the INS-predicted reader-to-tag ranges and the ranges derived from a generic RSS path-loss model. Our approach also includes other drift reduction methods such as zero velocity updates (ZUPTs) at foot stance detections, zero angular-rate updates (ZARUs) when the user is motionless, and heading corrections using magnetometers. A complementary extended Kalman filter (EKF), throughout its 15-element error state vector, compensates the position, velocity and attitude errors of the INS solution, as well as IMU biases. This methodology is valid for any kind of motion (forward, lateral or backward walk, at different speeds), and does not require an offline calibration for the user gait. The integrated INS+RFID methodology eliminates the typical drift of IMU-alone solutions (approximately 1% of the total traveled distance), resulting in typical positioning errors along the walking path (no matter its length) of approximately 1.5 m.

Bifocal reflector antenna system for radar imaging at 300 GHz

A 300 GHz radar imaging system is presented, including descriptions of the radar sensor and antenna subsystems. The antenna consists of a Bifocal Ellipsoidal Gregorian Reflector whose beam is scanned by a combination of the rotation and vertical tilting of a flat small secondary mirror. A prototype is being mounted and its characterization will be presented.

Diffusion of Eco-innovations: exploring the literature

In recent years, the importance of the management of eco-innovations has been growing, more in practice than in academia. However, although in the literature there are already some evidences focussed on management of eco-innovations, there is no comprehensive review on the knowledge base of diffusion of eco-innovations. This paper provides a current overview of the existing body of literature, identifying the most active scholars and relevant publications in this field, and deepening in the major disciplines and research streams. Results show that the theory of diffusion of innovations which provided the philosophical underpinnings of how innovations are diffused is not the main knowledge base to explain the diffusion of eco-innovations. Lead market hypothesis, sustainable transitions and the ecological modernization appear as the initial base of the cognitive platform that can contribute to the understanding of diffusion of eco-innovations.

On the design of a planar phased array radar antenna architecture for space debris situational awareness

The Space Situational Awareness (SSA) program from the European Space Agency (ESA) protects Europe's citizens and their satellite-based services by detecting space hazards. ESA Ground Systems (GS) division is currently designing a phased array radar composed of thousands of radiating elements for future stages of the SSA program [1]. The radar shall guarantee the detection of most of the Low Earth Orbit (LEO) space debris, providing a general map of space junk. While range accuracy is mainly dictated by the radar waveform, the detection and tracking of small objects in LEO regimes is highly dependent on the angular accuracy achieved by the smart phased array antenna, demonstrating the important of the performance of this architecture.

A reflection suppression technique for far field antenna measurements

This paper presents a reflection suppression technique for far field antenna measurements. The technique is based on a source reconstruction over a surface greater than the antenna itself. To be able to perform the reflection construction the next steps are required: the complete far field antenna pattern is obtained through interpolation of the acquired cuts, the currents are obtained through a holographic technique, the field out of the antenna area is filtered, and the pattern is reconstructed. The algorithm is used with measurements in the LEHA-UPM antenna measurement facilities and in the outdoor far field facility of LIT INPE in Brazil.

Analysis and suppression of reflections in far-field antenna measurement ranges

This paper presents the analysis of the reflections in two kind of spherical far field ranges: one if the classical acquisition where the AUT is rotated and the second one corresponds to the systems where the AUT is fixed and the antenna probe is rotated. In large far field systems this is not possible, but this can be used to the measurement of small antennas, for instance, with the SATIMO StarGate system. In both cases, it is assumed that only one frequency is acquired and the results should be improved cut by cut, in order not to lose the advantages or far field measurements. Finally, some practical results are studied using measurements of one antenna in the outdoor far field facility of LIT INPE in Brazil.

Experimental and numerical study of cw green laser crystallization of a-Si:H thin films

Crystallization and grain growth technique of thin film silicon are among the most promising methods for improving efficiency and lowering cost of solar cells. A major advantage of laser crystallization and annealing over conventional heating methods is its ability to limit rapid heating and cooling to thin surface layers. Laser energy is used to heat the amorphous silicon thin film, melting it and changing the microstructure to polycrystalline silicon (poly-Si) as it cools. Depending on the laser density, the vaporization temperature can be reached at the center of the irradiated area. In these cases ablation effects are expected and the annealing process becomes ineffective. The heating process in the a-Si thin film is governed by the general heat transfer equation. The two dimensional non-linear heat transfer equation with a moving heat source is solve numerically using the finite element method (FEM), particularly COMSOL Multiphysics. The numerical model help to establish the density and the process speed range needed to assure the melting and crystallization without damage or ablation of the silicon surface. The samples of a-Si obtained by physical vapour deposition were irradiated with a cw-green laser source (Millennia Prime from Newport-Spectra) that delivers up to 15 W of average power. The morphology of the irradiated area was characterized by confocal laser scanning microscopy (Leica DCM3D) and Scanning Electron Microscopy (SEM Hitachi 3000N). The structural properties were studied by micro-Raman spectroscopy (Renishaw, inVia Raman microscope).

Desarrollo sostenible de la construcción naval: dinámica evolutiva y eco-innovación en el sector de reparaciones europeo

El impacto ambiental directo de la construcción naval, que se refiere a la construcción, mantenimiento y reparación de buques, no es de ninguna manera pequeño. La construcción de buques depende de un gran número de procesos que por sí mismos constituyen un riesgo significativo de daño medio ambiental en el entorno de los astilleros y que conducen a emisiones significativas de gases de efecto invernadero. Además, la construcción naval utiliza algunos materiales que no sólo puede llevar a graves consecuencias para el daño ambiental durante su producción y su uso en el proceso de construcción de la nave, sino también posteriormente durante la reparación de buques, el funcionamiento y las actividades de reciclaje. (OECD 2010) El impacto ambiental directo de la construcción naval constituye de por sí, un desafío importante para la industria. Pero este impacto no queda limitado a su entorno inmediato, aunque la Construcción Naval no es directamente responsable de la repercusión en el medio ambiente de la operación y el reciclaje de buques comerciales, si es una parte integral de estas actividades. (OECD 2010) En esta tesis se sugiere que el sector de la construcción naval puede y debe aceptar sus responsabilidades ambientales no solo en el entorno del astillero; también en la operación de los buques, sus productos; tomando conciencia, a través de un enfoque de ciclo de vida, del desempeño ambiental de la industria en su conjunto. Es necesario intensificar esfuerzos a medida que el impacto ambiental de la industria es cada vez más visible en el dominio público, en pro de un crecimiento verde que permita aumentar la capacidad de actividad o producción económica al tiempo que reduce o elimina, los impactos ambientales. Este será un imperativo para cualquier futura actividad industrial y exigirá naturalmente conocimiento ambiental intrincado perteneciente a todos los procesos asociados. Esta tesis - aprovechando como valiosa fuente de información los desarrollos y resultados del proyecto europeo: “Eco_REFITEC”. FP7-CP-266268, coordinado por el autor de esta Tesis, en nombre de la Fundación Centro Tecnológico SOERMAR - tiene como primer objetivo Investigar la interpretación del concepto de Construcción Naval y Transporte Marítimo sostenible así como las oportunidades y dificultades de aplicación en el sector de la Construcción y reparación Naval. Ello para crear o aumentar el entendimiento de la interpretación del concepto de transporte marítimo sostenible y la experiencia de su aplicación en particular en los astilleros de nuevas construcciones y reparación. Pretende también contribuir a una mejor comprensión de la industria Marítima y su impacto en relación con el cambio climático, y ayudar en la identificación de áreas para la mejora del desempeño ambiental más allá de las operaciones propias de los astilleros; arrojando luz sobre cómo puede contribuir la construcción naval en la mejora de la eficiencia y en la reducción de emisiones de CO2 en el transporte marítimo. Se espera con este enfoque ayudar a que la Industria de Construcción Naval vaya abandonando su perspectiva tradicional de solo mirar a sus propias actividades para adoptar una visión más amplia tomando conciencia en cuanto a cómo sus decisiones pueden afectar posteriormente las actividades aguas abajo, y sus impactos en el medio ambiente, el cambio climático y el crecimiento verde. Si bien cada capítulo de la tesis posee su temática propia y una sistemática específica, a su vez retoma desde una nueva perspectiva cuestiones importantes abordadas en otros capítulos. Esto ocurre especialmente con algunos ejes que atraviesan toda la tesis. Por ejemplo: la íntima relación entre el transporte marítimo y el sector de construcción naval, la responsabilidad de la política internacional y local, la invitación a buscar nuevos modos de construir el futuro del sector a través de la consideración de los impactos ambientales, económicos y sociales a lo largo de ciclo de vida completo de productos y servicios. La necesidad de una responsabilidad social corporativa. Estos temas no se cierran ni terminan, sino que son constantemente replanteados tratando de enriquecerlos. ABSTRACT The direct environmental impact of shipbuilding, which refers to construction, maintenance and repair of vessels, is by no means small. Shipbuilding depends on a large number of processes which by themselves constitute significant risks of damage to the shipyards‘ surrounding environment and which lead to significant emissions of greenhouse gases. In addition, shipbuilding uses some materials which not only may carry serious implications for environmental harm during their production and usage in the ship construction process, but also subsequently during ship repairing, operation, and recycling activities. (OECD 2010) The direct environmental impact of shipbuilding constitutes a major challenge for the industry. But this impact is not limited on their immediate surroundings, but while not being directly responsible for the impact on the environment from the operation and final recycling of commercial ships, shipbuilding is an integral part of these activities. (OECD 2010) With this in mind, this thesis is suggested that the shipbuilding industry can and must take up their environmental responsibilities not only on their immediate surroundings, also on the ships operation, becoming aware through a “life cycle” approach to ships, the environmental performance of the industry as a whole. As the environmental impact of the industry is becoming increasingly visible in the public domain much more effort is required for the sake of “green growth” which implies the ability to increase economic activity or output while lowering, or eliminating, environmental impacts. This will be an imperative for any future industrial activity and will naturally demand intricate environmental knowledge pertaining to all associated processes. This thesis making use as a valuable source of information of the developments and results of an European FP7-collaborative project called "Eco_REFITEC, coordinated by the author of this thesis on behalf of the Foundation Center Technology SOERMAR, has as its primary objective to investigate the interpretation of a sustainable Shipbuilding and Maritime Transport concept and the challenges and opportunities involved in applying for the Shipbuilding and ship repair Sector. It is done to improve the current understanding regarding sustainable shipping and to show the application experience in shipbuilding and ship repair shipyards. Assuming that sustainability is more than just an act but a process, this academic work it also aims to contribute to a much better understanding of the maritime industry and its impact with respect to climate change, and help in identifying areas for better environmental performance beyond the shipyard's own operations; shedding light on how shipbuilding can contribute in improving efficiency and reducing CO2 emissions in shipping. It is my hope that this thesis can help the Shipbuilding Industry to abandon its traditional perspective where each simply looks at its own activities to take a broader view becoming aware as to how their decisions may further affect downstream activities and their impacts on the environment, climate change and green growth. Although each chapter will have its own subject and specific approach, it will also take up and re-examine important questions previously dealt with. This is particularly the case with a number of themes which will reappear as the thesis unfolds. As example I will point to the intimate relationship between the shipping and shipbuilding industry, the responsibility of international and local policy, the call to seek other ways of building the future of the sector through the consideration of the environmental, economic and social impacts over the full life cycle of the products and services, the need for a corporate social responsibility. These questions will not be dealt with once and for all, but reframed and enriched again and again.

Independent evolution of the prochlorophyte and green plant chlorophyll a/b light-harvesting proteins

The prochlorophytes are oxygenic prokaryotes differing from other cyanobacteria by the presence of a light-harvesting system containing both chlorophylls (Chls) a and b and by the absence of phycobilins. We demonstrate here that the Chl a/b binding proteins from all three known prochlorophyte genera are closely related to IsiA, a cyanobacterial Chl a-binding protein induced by iron starvation, and to CP43, a constitutively expressed Chl a antenna protein of photosystem II. The prochlorophyte Chl a/b protein (pcb) genes do not belong to the extended gene family encoding eukaryotic Chl a/b and Chl a/c light-harvesting proteins. Although higher plants and prochlorophytes share common pigment complements, their light-harvesting systems have evolved independently.