Development of an integrated 3R end-effector with a cartesian manipulator for pruning apple trees. - Azlan Zahid; Md. Sultan Mahmud; Long He; Daeun Choi; Paul H. Heinemann; James Schupp (Comput. Electron. Agric., 2020)

Technological advancements towards developing a robotic pruner for apple trees: A review. - Azlan Zahid; Md. Sultan Mahmud; Long He; Paul H. Heinemann; Daeun Choi; James Schupp (Comput. Electron. Agric., 2021)

Green fruit segmentation and orientation estimation for robotic green fruit thinning of apples. - Magni Hussain; Long He; James Schupp; David Lyons; Paul H. Heinemann (Comput. Electron. Agric., 2023)