Paul Heinemann
Professor of Agricultural and Biological Engineering
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105 Ag Engineering
University Park, PA - hzh@psu.edu
- 814-865-7792
Huck Affiliations
Most Recent Publications
Frost management in agriculture with advanced sensing, modeling, and artificial intelligent technologies: A review
Weiyun Hua, Paul Heinemann, Long He, 2025, Computers and Electronics in Agriculture
Precision heating strategy based dynamic heater path planning for frost protection in apple orchards
Weiyun Hua, Long He, Paul Heinemann, Minghui Zhu, 2025, Biosystems Engineering on p. 117-132
Heat transfer modeling with fixed and mobile heaters for frost protection in apple orchards
Weiyun Hua, Paul Heinemann, He Long, 2024, Computers and Electronics in Agriculture
Canopy protection cyber-physical system (CPCPS) for smart agricultural management of frost damage in apple orchards
Weiyun Hua, Paul Heinz Heinemann, Long He, 2024, Computers and Electronics in Agriculture
Presymptomatic Detection of Fire Blight in Apple Orchards Using Portable Diffuse Reflectance Spectroscopy: A Machine Learning Approach
Yanqiu Yang, Paul H. Heinemann, Kittiphum Pawikhum, Kari A. Peter, 2024, ASABE
UGV-Based Precision Spraying System for Chemical Apple Blossom Thinning on Trellis Trained Canopies
Xinyang Mu, Long He, Paul Heinemann, James Rawlinson Schupp, Manoj Karkee, Minghui Zhu, 2024, Journal of Field Robotics on p. 1-12
Green Fruit-Stem Pairing and Clustering for Machine Vision System in Robotic Thinning of Apples
Magni Hussain, Long He, James Rawlinson Schupp, David Lyons, Paul Heinemann, 2024, Journal of Field Robotics on p. 1-28
Detection and infected area segmentation of apple fire blight using image processing and deep transfer learning for site-specific management
Md Sultan Mahmud, Long He, Azlan Zahid, Paul Heinemann, Daeun Choi, Grzegorz Krawczyk, Heping Zhu, 2023, Computers and Electronics in Agriculture
Green fruit segmentation and orientation estimation for robotic green fruit thinning of apples
Magni Hussain, Long He, James Rawlinson Schupp, David Lyons, Paul Heinemann, 2023, Computers and Electronics in Agriculture on p. 107734
Studies in precision crop load management of apple
T. L. Robinson, L. Gonzalez, L. Cheng, Y. Ziang, G. Peck, B. Arnoldussen, 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. Sherif, J. Clements, C. Layer, 2023, Acta Horticulturae on p. 219-225
Most-Cited Papers
The development of mechanical apple harvesting technology: A review
Zhao Zhang, Paul Heinemann, Jude Liu, James Schupp, Tara Baugher, 2016, Transactions of the ASABE on p. 1165-1180
Technological advancements towards developing a robotic pruner for apple trees: A review
Azlan Zahid, Md Sultan Mahmud, Long He, Paul Heinemann, Daeun Choi, James Schupp, 2021, Computers and Electronics in Agriculture
Development of a LiDAR-guided section-based tree canopy density measurement system for precision spray applications
Md Sultan Mahmud, Azlan Zahid, Long He, Daeun Choi, Grzegorz Krawczyk, Heping Zhu, Paul Heinemann, 2021, Computers and Electronics in Agriculture
On-tree apple fruit size estimation using stereo vision with deep learning-based occlusion handling
Omeed Mirbod, Daeun Choi, L He, Paul Heinemann, Paul Heinemann, Long He, Richard P. Marini, Richard Marini, 2022, Biosystems Engineering on p. 27-42
Design and field test of a low-cost apple harvest-assist unit
Z. Zhang, P. H. Heinemann, J. Liu, J. R. Schupp, T. A. Baugher, 2016, Transactions of the ASABE on p. 1149-1156
Development of an integrated 3R end-effector with a cartesian manipulator for pruning apple trees
Azlan Zahid, Md Mahmud, Long He, Daeun Choi, James Schupp, Paul Heinemann, Paul Heinemann, James Schupp, 2020, Computers and Electronics in Agriculture on p. 105837
Mask R-CNN based apple flower detection and king flower identification for precision pollination
Xinyang Mu, Long He, Paul Heinemann, James Schupp, Manoj Karkee, 2022, Smart Agricultural Technology on p. 10
Green fruit segmentation and orientation estimation for robotic green fruit thinning of apples
Magni Hussain, Long He, James Rawlinson Schupp, David Lyons, Paul Heinemann, 2023, Computers and Electronics in Agriculture on p. 107734
Economic analysis of a low-cost apple harvest-assist unit
Zhao Zhang, Paul H. Heinemann, 2017, HortTechnology on p. 240-247
Development of a robotic end-effector for apple tree pruning
Azlan Zahid, L. He, Lihua Zeng, D. Choi, J. Schupp, P. Heinemann, 2020, Transactions of the ASABE on p. 847-856
News Articles Featuring Paul Heinemann
Oct 25, 2024
Research team gets grant to study precision chemical thinning of apple blossoms
To assist apple producers and mitigate environmental harm, the USDA has awarded a three-year, $601,125 grant to a team of Penn State researchers for the development of a robotic precision spraying system.
Full Article
Jan 26, 2023
Machine vision system developed capable of locating king flowers on apple trees
A machine vision system capable of locating and identifying apple king flowers within clusters of blossoms on trees in orchards was devised by Penn State researchers — a critical early step in the development of a robotic pollination system — in a first-of-its-kind study.
Full Article
Jul 18, 2022
Agricultural engineers design early step for robotic, green-fruit thinning
Penn State agricultural engineers have developed, for the first time, a prototype “end-effector” capable of deftly removing unwanted apples from trees — the first step toward robotic, green-fruit thinning.
Full Article
Aug 15, 2019
Automation on display at Ag Progress Days
A shrinking labor pool has forced farmers both locally and nationally to seek other measures to ensure high yields on their crops while also maintaining human-level efficiency. Researchers at Penn State are looking at ways to mitigate the dwindling labor workforce, and they’ve collaborated with local farmers through automation to help compensate.
Full Article