Hillmann, L., Gonzalez Nieto, L., Kon, T., Larson, J., Musacchi, S., Robinson, T., Serra, S., & Einhorn, T. C. (2025). An Apple Fruit Set Prediction Model From Distributions of Fruitlet Mass Accurately Estimates Abscission in Four Disparate Regions of the United States. HortScience, 60(11), 2007–2017. https://doi.org/10.21273/HORTSCI18854-25
Gonzalez, L., A. Wallis, J. Clements, M. Miranda Sazo, C. Kahlke, T. Kon and T. Robinson. 2024. Predicting fruit set based on the fruit growth rate model with vision systems. Acta Hortic. 1395, 409-416 DOI: 10.17660/ActaHortic.2024.1395.54 https://doi.org/10.17660/ActaHortic.2024.1395.54
Robinson, T.L., L. Gonzalez, Y. Jiang, M. Miranda Sazo, C. Kahlke, 2024. Precision Crop Load Management of Apple Using Digital Technology. Acta Hortic. 1395, 257-266 DOI: 10.17660/ActaHortic.2024.1395.34 https://doi.org/10.17660/ActaHortic.2024.1395.34
Basedow, M, A. Galimberti, G. Peck, and T. Robinson. 2024. Assessing the pollen tube growth model in Northern New York apple orchards. Fruit Quarterly 32(2): 23-29. https://nyshs.org/wp-content/uploads/2024/08/NYFQ-BOOK-Summer-2024_FINAL_CC_052524.pdf
Gonzalez Nieto, L. and T.L. Robinson. 2024. Fruit thinning and flower induction with 1-aminocyclopropane-1-carboxylic acid (ACC Accede). Fruit Quarterly 32(3):25-28. https://nyshs.org/wp-content/uploads/2024/11/NYFQ-BOOK-Fall-2024_v3.pdf
Jiang, Y., B. Xu, T. Robinson, M. Miranda Sazo, C. Kahlke, B. Lawrence. 2024. Technologies in the box for precision orchard management: Global navigation satellite system. Fruit Quarterly 32(2): 36-39. https://nyshs.org/wp-content/uploads/2024/08/NYFQ-BOOK-Summer-2024_FINAL_CC_052524.pdf
Jiang, Y., T. Qui, T. Robinson, L. Cheng, K. Kuehn, K. Xu. 2024. 3D characterization of apple tree architecture for precision pruning and crop load management. Fruit Quarterly 32(3):22-24. https://nyshs.org/wp-content/uploads/2024/11/NYFQ-BOOK-Fall-2024_v3.pdf
Hussain, M., He, L., Schupp, J., Lyons, D. and Heinemann, P. 2023. Green fruit segmentation and orientation estimation for robotic green fruit thinning of apples. Computers and Electronics in Agriculture, 207, p.107734. https://doi.org/10.1016/j.compag.2023.107734
Tian Qiu, Tao Wang, Tao Han, Kaspar Kuehn, Lailiang Cheng, Cheng Meng, Xiangtao Xu, Kenong Xu, and Jiang Yu. 2024. AppleQSM: Geometry-Based 3D Characterization of Apple Tree Architecture in Orchards Plant Phenomics, 8 May 2024, Vol 6, Article ID: 0179. DOI: 10.34133/plantphenomics.0179 https://spj.science.org/doi/10.34133/plantphenomics.0179
Hussain, M., He, L., Schupp, J., Lyons, D. and Heinemann, P. 2024. Green Fruit‐Stem Pairing and Clustering for Machine Vision System in Robotic Thinning of Apples. Journal of Field Robotics. November 2024. https://onlinelibrary.wiley.com/doi/10.1002/rob.22465?af=R
Zakalik, D., Brown, M. G., & Peck, G. M. (2024). Fruitlet Thinning Reduces Biennial Bearing in Seven High-tannin Cider Apple Cultivars. HortScience, 59(1), 26-35. Retrieved Jan 27, 2025, from https://doi.org/10.21273/HORTSCI17455-23
Zakalik, D. L., Brown, M. G., & Peck, G. M. (2023). Fruitlet Thinning Improves Juice Quality in Seven High-tannin Cider Cultivars. HortScience, 58(10), 1119-1128. Retrieved Jan 27, 2025, from https://doi.org/10.21273/HORTSCI17096-23
David L. Zakalik, Michael G. Brown, Craig J. Kahlke, and Gregory M. Peck 2023. Summer Applications of Plant Growth Regulators, Ethephon And 1-Naphthaleneacetic Acid, Do Not Promote Return Bloom or Reduce Biennial Bearing in Seven High-Tannin Cider Apple Cultivars. J Am Pom Soc. (APS) 77:75-92
http://www.pubhort.org/aps/77/v77_n2_a2.htm
Gonzalez Nieto, L.; Wallis, A.; Clements, J.; Miranda Sazo, M.; Kahlke, C.; Kon, T.M.; Robinson, T.L. Evaluation of Computer Vision Systems and Applications to Estimate Trunk Cross-Sectional Area, Flower Cluster Number, Thinning Efficacy and Yield of Apple. Horticulturae 2023, 9, 880. https://doi.org/10.3390/horticulturae9080880
Wallis, A., J. Clements, M. M. Sazo, C. Kahlke, K. Lewis, T. Kon, L. Gonzalez, Y. Jiang, and T. Robinson. 2023. Digital Technologies for Precision Apple Crop Load Management (PACMAN) Part I: Experiences with Tools for Predicting Fruit Set Based on the Fruit Growth Rate Model. Fruit Quarterly, Volume 31, Number 1, Spring 2023. https://nyshs.org/spring-2023/
Xinyang Mu, Long He, Paul Heinemann, James Schupp, Manoj Karkee, Mask R-CNN based apple flower detection and king flower identification for precision pollination, Smart Agricultural Technology, Volume 4, 2023, https://doi.org/10.1016/j.atech.2022.100151.
T.L. Robinson, L. Gonzalez, L. Cheng, Y. Ziang, G. Peck, B. Arnoldson, M. Gomez, M. Guerra, Mario Miranda Sazo, C. Kahlke, T. Einhorn, A. Wallis, S. Musacchi, S. Serra, K. Lewis, T. Schmidt, P. Heinemann, L. He, T. Kon, S. Sherif10, J. Clements, and C. Layer. 2022. IHC 2022, 31st International Horticultural Congress, 14-20 August, 2022, Angers, France. https://www.ihc2022.org/
Hillmann, L., L. Gonzalez Nieto, T. Kon, S. Musacchi, T. Robinson, S. Serra, and T. Einhorn. 2022. A Modified Apple Fruit Set Prediction Model to Guide Repeat Thinner Applications. Fruit Quarterly, Volume 30, Number 2, Summer 2022. https://nyshs.org/wp-content/uploads/2022/08/NYFQ-BOOK-Summer-2022_PRINT.pdf
Gonzalez Nieto, L., Einhorn, T., Kon, T. M., Musacchi, S., Serra, S., & Robinson, T. L. 2026. Impact of Crop Load on Fruit Size, Color and Return Bloom of ‘Honeycrisp’ Apple across Four US Locations. HortScience, 61(1), 1–13. https://doi.org/10.21273/HORTSCI19058-25
Hillmann, L., Nieto, Kon, T., Larson, J., Musacchi, S., Robinson, T., Serra, S. and Einhorn, T. 2025. An apple fruit set prediction model from distributions of fruitlet mass accurately estimates abscission in four disparate regions of the United States. HortScience, 60(11), 2007-2017. DOI: https://doi.org/10.21273/HORTSCI18854-25
Hillman, L., Sharkey, T., Robinson, T., Kon, T., Musacchi, S., Serra, S., Nieto, L., Larson, J. Einhorn, T. Accepted 2025. Physiology of apple fruit set and abscission: Effect of flower position and growth on fruitlet carbohydrate status and predicted fruit set. Acta Horticulturae…
Larson, J.E., T. Zuber, and T.M. Kon. 2025. Apple fruitlet physiological characteristics and their influence on diffuse Vis/NIR reflectance spectroscopy. Annals of Botany. 136:733-744. DOI: https://doi.org/10.1093/aob/mcaf124
Larson, J., T. Kon, T. Robinson, T. Einhorn, L. Gonzalez Nieto, L. Hillmann. 2025. Development of a reflectance spectroscopy model to predict chemical thinner efficacy in the eastern United States. Acta Hort. Submitted.
Guerra, M., Gómez, M.I., Gonzalez Nieto, L., Einhorn, T., Kon, T., Musacchi, S., Serra, S., and Robinson, T.L. 2025. The economic impact of adopting precision crop load management in apple production. Scientia Hort. (submitted)
Guerra, M., Gómez, M.I., Schmidt, T., Clements, J., Lewis, K., Kahlke, C.J., Miranda Sazo, M., Robinson, T.L. 2025. Apple Growers’ Crop-Load Technology Preferences Scientia Hort. (submitted)
Clements, J. 2024. Precision Apple Cropload MANagement (PACMAN): Optimizing Profitability by Optimizing Apple Crop Load. New England Vegetable & Fruit Conference, Manchester, NH. December, 2024. https://newenglandvfc.org/wp-content/uploads/2025/01/Tree-Fruit-Tech_PACMANforNEVFC1224-Jon-Clements.pptx.pdf
Fallahi, E, Kiester, MJ, Fallahi, B, Cheng L. 2024. Effects of tree spacing and branch configuration on production, fruit quality, and leaf minerals of ‘Aztec Fuji’ apple trees in a Tatura trellis system over five years. Journal of the American Society for Horticultural Science https://doi.org/10.21273/JASHS05444-24
Pawikhum, K., Yang, Y., He, L., & Heinemann, P. (2025). Development of a machine vision system for apple bud thinning in precision crop load management. Computers and Electronics in Agriculture, 236, 110479
Pawikhum, K., He, L., Heinemann, P., & Bock, R.G. (2025). Design of end-effectors for thinning apple in the green fruit stage. Journal of the ASABE, 68 (3), 465-476.
Arthur, L., Mahnan, S., He, L., Hussain, M., Heinemann, P. & Brunharo, C. (2025). YOLOv7-CBAM and DeepSORT with pixel grid analysis for Real-Time weed localization and Intra-Row density estimation in apple orchards. Computers and Electronics in Agriculture, 239, p.111071.
Pawikhum, K., He, L., Heinemann, P., & Kumar, S. (2025). Decision support framework for robotic apple bud thinning based on bud density and spatial distribution. Biosystems Engineering (under review).
Pawikhum, K., He, L., & Heinemann, P. (2025). Machine vision-guided multi-DoF cutting end-effector for early apple crop load management. Journal of the ASABE (under review).
Arthur, L., Mahnan, S., He, L., Hussain, M., Heinemann, P., & Brunharo, C. (2025) Real-time Weed Species Localization and Tracking for IntraRow Weed Density Estimation in Apple Orchards. ASABE Annual Meeting Paper No. 2500681. ASABE, St. Joseph, MI.
T. Qiu, A. Zoubi, N. Spine, L. Cheng and Y. Jiang, “(Real2Sim)−1: 3D Branch Point Cloud Completion for Robotic Pruning in Apple Orchards,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 23-30, https://doi.org/10.1109/IROS58592.2024.10803058.
T. Qiu, R. Du, N. Spine, L. Cheng and Y. Jiang, “Joint 3D Point Cloud Segmentation Using Real-Sim Loop: From Panels to Trees and Branches,” 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 7131-7138, https://doi.org/10.1109/ICRA55743.2025.11128189.
Jiang, Y., Qiu, T., Robinson, T., Cheng, L., Kuehn, K., & Xu, K. (2024). 3D Characterization of Apple Tree Architecture for Precision Pruning and Crop Load Management. Fruit Quarterly, Fall 2024.
Jiang, Y., Lin, Y., Bates, O., Lawrence, T. B., Bates, T., & Robinson, T. (2025). Affordable RTK GPS Solutions to Precision Management of Perennial Crops. Fruit Quarterly, 32(3): 28-31.
González Nieto, L., P. Francescatto and T.L. Robinson 2025. Thinning efficacy of the new chemical thinner Brevis in New York state. Fruit Quarterly 32(2): 3-7.
Lawrence, B.T., Y. Jiang, and T.L. Robinson. 2025. Technologies in the box for precision orchard management: 2-Year update on crop load monitoring and mapping. Fruit Quarterly 32(2): 28-32.
Basedow, M., A. Galimberti, G. Peck, and T. Robinson. 2024. Assessing the pollen tube growth model in Northern New York apple orchards. Fruit Quarterly 32(2):23–29.
Kon, T. 2025. Apple thinning update: 04.18.25. Southern Appalachian Apples. https://apples.ces.ncsu.edu/2025/04/apple-thinning-update-04-18-25/
Sherif, S.M. (2025). Thinning Update: Week of May 6 – Winchester and Central Virginia. https://tree-fruit-horticulture.vaes.vt.edu/2025/05/06/thinning-update-week-of-may-6-winchester-and-central-virginia/
Sherif, S.M. (2025). Ideal Conditions for Apple Fruit Thinning This Week: Model Results for Winchester and Central Virginia. https://tree-fruit-horticulture.vaes.vt.edu/2025/04/28/ideal-conditions-for-apple-fruit-thinning-this-week-model-results-for-winchester-and-central-virginia/
Sherif, S.M. (2025). Apple Carbohydrate Thinning Model Outputs – Central Virginia – Roseland, VA. https://tree-fruit-horticulture.vaes.vt.edu/2025/04/24/apple-carbohydrate-thinning-model-outputs-central-virginia-roseland-va/