To replace the manual operations in the fat/lean grading process and to enhance the objectivity of the grading operation, an automated pork grading system (APGS) is under development. The initial task was to identify the major functions of the APGS and the methodologies to achieve these functions. Consequently, four major components: a Sensing Unit (SU), a Probing Unit (PU), a robot subsystem (RS) and a carcass clamping subsystem (CCS) have been developed to comprise the overall automated grading system. The SU uses several kinds of sensors including potentiometers, infrared sensors and ultrasonic sensors to find a specific probing location. The PU performs insertion and retraction operations of a probe at the probing location. The RS carries the SU and PU to their required locations and orientations with respect to the carcass, while the CCS holds the carcass firmly during the sensing and probing stages to prevent it from moving with respect to the SU and PU. A real time multi-tasking system has been developed to control the overall system.
