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The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage.

This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction.

After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81°, the apple picking success rate was 82% and the picking cycle was 11.1 s.

This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.

This research outlines the Hong Kong film industry with examination of key actors, directors, films, and production companies within the martial arts genre of Hong Kong Action Cinema. Hong Kong Film Award winners and nominees, core films within genres, and core reference works both general and theoretical from experts in the field of Hong Kong martial arts film research have been highlighted. Web sites are suggested that provide reviews of Hong Kong martial arts films, biographical information on a variety of actors and actresses as well as comprehensive bibliographic information on select films. Also included are commercial Web sites that provide Hong Kong martial arts films.