TY  - JOUR
AU  - Milovanović, Bojana
AU  - Tomović, Vladimir
AU  - Đekić, Ilija
AU  - Miočinović, Jelena
AU  - Solowiej, Bartosz G.
AU  - Lorenzo, José M.
AU  - Barba, Francisco J.
AU  - Tomašević, Igor
PY  - 2021
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/5850
AB  - A computer vision system (CVS) and a colorimeter were compared for their abilities to measure the colour of twenty-seven different milks and milk products. The frequency of similarity test showed that CVS-generated colour chips were similar to the actual sample colour in all trials (100%). The CVS-obtained colours were found to be more similar to the colour of sample visualised on the monitor, compared with colorimeter-generated colour chips, with values of 83.3–100.0% depending on the milk product. The third test showed that there was difference between colour measured by CVS and the colorimeter; colorimeter readings resulted in a darker and yellower colour based on average L∗a∗b∗ values, while CVS readings resulted in lighter and less yellow appearance. Compared with a colorimeter, measuring colour by CVS was, therefore, found to be reliable and should be considered as a superior tool for replacing traditional devices by offering improved representativeness and accuracy.
PB  - Elsevier Ltd
T2  - International Dairy Journal
T1  - Colour assessment of milk and milk products using computer vision system and colorimeter
SP  - 105084
VL  - 120
DO  - 10.1016/j.idairyj.2021.105084
ER  - 

@article{
author = "Milovanović, Bojana and Tomović, Vladimir and Đekić, Ilija and Miočinović, Jelena and Solowiej, Bartosz G. and Lorenzo, José M. and Barba, Francisco J. and Tomašević, Igor",
year = "2021",
abstract = "A computer vision system (CVS) and a colorimeter were compared for their abilities to measure the colour of twenty-seven different milks and milk products. The frequency of similarity test showed that CVS-generated colour chips were similar to the actual sample colour in all trials (100%). The CVS-obtained colours were found to be more similar to the colour of sample visualised on the monitor, compared with colorimeter-generated colour chips, with values of 83.3–100.0% depending on the milk product. The third test showed that there was difference between colour measured by CVS and the colorimeter; colorimeter readings resulted in a darker and yellower colour based on average L∗a∗b∗ values, while CVS readings resulted in lighter and less yellow appearance. Compared with a colorimeter, measuring colour by CVS was, therefore, found to be reliable and should be considered as a superior tool for replacing traditional devices by offering improved representativeness and accuracy.",
publisher = "Elsevier Ltd",
journal = "International Dairy Journal",
title = "Colour assessment of milk and milk products using computer vision system and colorimeter",
pages = "105084",
volume = "120",
doi = "10.1016/j.idairyj.2021.105084"
}

Milovanović, B., Tomović, V., Đekić, I., Miočinović, J., Solowiej, B. G., Lorenzo, J. M., Barba, F. J.,& Tomašević, I.. (2021). Colour assessment of milk and milk products using computer vision system and colorimeter. in International Dairy Journal
Elsevier Ltd., 120, 105084.
https://doi.org/10.1016/j.idairyj.2021.105084

Milovanović B, Tomović V, Đekić I, Miočinović J, Solowiej BG, Lorenzo JM, Barba FJ, Tomašević I. Colour assessment of milk and milk products using computer vision system and colorimeter. in International Dairy Journal. 2021;120:105084.
doi:10.1016/j.idairyj.2021.105084 .

Milovanović, Bojana, Tomović, Vladimir, Đekić, Ilija, Miočinović, Jelena, Solowiej, Bartosz G., Lorenzo, José M., Barba, Francisco J., Tomašević, Igor, "Colour assessment of milk and milk products using computer vision system and colorimeter" in International Dairy Journal, 120 (2021):105084,
https://doi.org/10.1016/j.idairyj.2021.105084 . .

TY  - JOUR
AU  - Milovanović, Bojana
AU  - Tomović, Vladimir
AU  - Đekić, Ilija
AU  - Solowiej, Bartosz G.
AU  - Lorenzo, José M.
AU  - Barba, Francisco J.
AU  - Tomašević, Igor
PY  - 2021
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/5914
AB  - The scientific journal articles (n = 150) were examined to obtain instrumental egg color data published in the period 2009–2020. The majority of articles originated from Asia (42.0%), investigated yolk color (45.3%), selected Minolta device (65.3%). The greatest part of papers failed to include parameters such as port size (92.0%), observer (90.0%), illuminant (84.0%), technical replicates (70.0%) and calibration method (66.7%), and, therefore, this represents a key matter in conducting comparative research to ensure equivalence in order to trace and compare different research data. Furthermore, the usage of a computer vision system (CVS) for egg color analysis was investigated. The color of five egg species (chicken, goose, duck, quail and turkey) was estimated using a CVS and a traditional colorimeter. The CVS-produced color was highly similar to the actual color of egg sample (ranging from 75.0 to 100.0%). The color of eggshell gathered through the Minolta depicts brighter, less “red” and more “yellow” appearance than CVS. Regarding the color of yolk samples, Minolta had lighter (except the goose's yolk), more “green” and less “yellow” color, whereas CVS indicated the appearance of albumen as lighter (except quail's), more “red” and less “yellow” than colorimeter. Those results read by Minolta showed a non-real color of egg samples, whereas CVS-obtained color was highly similar to the actual egg color sample. Considering these results, it could be concluded that the CVS is a superior alternative for replacing traditional devices by providing better accuracy.
PB  - Springer
T2  - Journal of Food Measurement and Characterization
T1  - Color assessment of the eggs using computer vision system and Minolta colorimeter
DO  - 10.1007/s11694-021-01085-4
ER  - 

@article{
author = "Milovanović, Bojana and Tomović, Vladimir and Đekić, Ilija and Solowiej, Bartosz G. and Lorenzo, José M. and Barba, Francisco J. and Tomašević, Igor",
year = "2021",
abstract = "The scientific journal articles (n = 150) were examined to obtain instrumental egg color data published in the period 2009–2020. The majority of articles originated from Asia (42.0%), investigated yolk color (45.3%), selected Minolta device (65.3%). The greatest part of papers failed to include parameters such as port size (92.0%), observer (90.0%), illuminant (84.0%), technical replicates (70.0%) and calibration method (66.7%), and, therefore, this represents a key matter in conducting comparative research to ensure equivalence in order to trace and compare different research data. Furthermore, the usage of a computer vision system (CVS) for egg color analysis was investigated. The color of five egg species (chicken, goose, duck, quail and turkey) was estimated using a CVS and a traditional colorimeter. The CVS-produced color was highly similar to the actual color of egg sample (ranging from 75.0 to 100.0%). The color of eggshell gathered through the Minolta depicts brighter, less “red” and more “yellow” appearance than CVS. Regarding the color of yolk samples, Minolta had lighter (except the goose's yolk), more “green” and less “yellow” color, whereas CVS indicated the appearance of albumen as lighter (except quail's), more “red” and less “yellow” than colorimeter. Those results read by Minolta showed a non-real color of egg samples, whereas CVS-obtained color was highly similar to the actual egg color sample. Considering these results, it could be concluded that the CVS is a superior alternative for replacing traditional devices by providing better accuracy.",
publisher = "Springer",
journal = "Journal of Food Measurement and Characterization",
title = "Color assessment of the eggs using computer vision system and Minolta colorimeter",
doi = "10.1007/s11694-021-01085-4"
}

Milovanović, B., Tomović, V., Đekić, I., Solowiej, B. G., Lorenzo, J. M., Barba, F. J.,& Tomašević, I.. (2021). Color assessment of the eggs using computer vision system and Minolta colorimeter. in Journal of Food Measurement and Characterization
Springer..
https://doi.org/10.1007/s11694-021-01085-4

Milovanović B, Tomović V, Đekić I, Solowiej BG, Lorenzo JM, Barba FJ, Tomašević I. Color assessment of the eggs using computer vision system and Minolta colorimeter. in Journal of Food Measurement and Characterization. 2021;.
doi:10.1007/s11694-021-01085-4 .

Milovanović, Bojana, Tomović, Vladimir, Đekić, Ilija, Solowiej, Bartosz G., Lorenzo, José M., Barba, Francisco J., Tomašević, Igor, "Color assessment of the eggs using computer vision system and Minolta colorimeter" in Journal of Food Measurement and Characterization (2021),
https://doi.org/10.1007/s11694-021-01085-4 . .

TY  - CONF
AU  - Milovanović, Bojana
PY  - 2021
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/5979
AB  - Color assessment of animal source foods was investigated using a computer vision system (CVS) and a traditional colorimeter. With the same measurement conditions, color readings varied between these two approaches. The color measured by CVS was highly similar to the actual color of animal source foods, and ranged from 75.0%-100.0% of actual colors, whereas colors read by a Minolta colorimeter showed non-typical appearances. The CVS-obtained colors were more similar to the color of food visualized on the monitor, compared to colorimeter-generated color chips. Considering these results, it could be concluded that the CVS is a superior alternative for replacing traditional devices by providing better accuracy.
PB  - IOP Publishing Ltd
C3  - IOP Conference Series: Earth and Environmental Science
T1  - The feasibility of animal source foods’ color measurement using CVS
IS  - 1
SP  - 012060
VL  - 854
DO  - 10.1088/1755-1315/854/1/012060
ER  - 

@conference{
author = "Milovanović, Bojana",
year = "2021",
abstract = "Color assessment of animal source foods was investigated using a computer vision system (CVS) and a traditional colorimeter. With the same measurement conditions, color readings varied between these two approaches. The color measured by CVS was highly similar to the actual color of animal source foods, and ranged from 75.0%-100.0% of actual colors, whereas colors read by a Minolta colorimeter showed non-typical appearances. The CVS-obtained colors were more similar to the color of food visualized on the monitor, compared to colorimeter-generated color chips. Considering these results, it could be concluded that the CVS is a superior alternative for replacing traditional devices by providing better accuracy.",
publisher = "IOP Publishing Ltd",
journal = "IOP Conference Series: Earth and Environmental Science",
title = "The feasibility of animal source foods’ color measurement using CVS",
number = "1",
pages = "012060",
volume = "854",
doi = "10.1088/1755-1315/854/1/012060"
}

Milovanović, B.. (2021). The feasibility of animal source foods’ color measurement using CVS. in IOP Conference Series: Earth and Environmental Science
IOP Publishing Ltd., 854(1), 012060.
https://doi.org/10.1088/1755-1315/854/1/012060

Milovanović B. The feasibility of animal source foods’ color measurement using CVS. in IOP Conference Series: Earth and Environmental Science. 2021;854(1):012060.
doi:10.1088/1755-1315/854/1/012060 .

Milovanović, Bojana, "The feasibility of animal source foods’ color measurement using CVS" in IOP Conference Series: Earth and Environmental Science, 854, no. 1 (2021):012060,
https://doi.org/10.1088/1755-1315/854/1/012060 . .

TY  - JOUR
AU  - Milovanović, Bojana
AU  - Đekić, Ilija
AU  - Miočinović, Jelena
AU  - Djordjević, Vesna
AU  - Lorenzo, José M.
AU  - Francisco, J.Barba
AU  - Mörlein, Daniel
AU  - Tomašević, Igor
PY  - 2020
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/5423
AB  - Exactly six-hundred (600) scientific articles that report milk and milk products’ color results in scientific journals in the last couple of decades were reviewed. Thereof, the greatest part of the articles derived from Europe (36.3%) and Asia (29.5%). The greatest share of researchers used Minolta colorimeters (58.8%), while 26.3% of them used Hunter devices. Most reports were on cheese (31.0%) followed by fermented products (21.2%). Moreover, the highest number of papers reported color data of milk and milk products made from cow’s milk (44.81%). As expected, goat’s cheese was the brightest (L* = 87.1), while cow’s cheese was the yellowest (b* = 17.4). Most importantly, it appeared that color research results reported were often impossible to replicate or to interpret properly because of incomplete description of the methodology. In some of the manuscripts reviewed, illuminant source (61.0%), aperture size (93.8%), observer angle, and number of readings (over 70% of all cases) were not reported. It is therefore critical to set rules regarding the description of the methodology for (milk) color research articles in order to ensure replicability and/or comparison of studies.
PB  - MDPI AG
T2  - Foods
T1  - What Is the Color of Milk and Dairy Products and How Is It Measured?
IS  - 1629
SP  - 1629
VL  - 9
DO  - 10.3390/foods9111629
ER  - 

@article{
author = "Milovanović, Bojana and Đekić, Ilija and Miočinović, Jelena and Djordjević, Vesna and Lorenzo, José M. and Francisco, J.Barba and Mörlein, Daniel and Tomašević, Igor",
year = "2020",
abstract = "Exactly six-hundred (600) scientific articles that report milk and milk products’ color results in scientific journals in the last couple of decades were reviewed. Thereof, the greatest part of the articles derived from Europe (36.3%) and Asia (29.5%). The greatest share of researchers used Minolta colorimeters (58.8%), while 26.3% of them used Hunter devices. Most reports were on cheese (31.0%) followed by fermented products (21.2%). Moreover, the highest number of papers reported color data of milk and milk products made from cow’s milk (44.81%). As expected, goat’s cheese was the brightest (L* = 87.1), while cow’s cheese was the yellowest (b* = 17.4). Most importantly, it appeared that color research results reported were often impossible to replicate or to interpret properly because of incomplete description of the methodology. In some of the manuscripts reviewed, illuminant source (61.0%), aperture size (93.8%), observer angle, and number of readings (over 70% of all cases) were not reported. It is therefore critical to set rules regarding the description of the methodology for (milk) color research articles in order to ensure replicability and/or comparison of studies.",
publisher = "MDPI AG",
journal = "Foods",
title = "What Is the Color of Milk and Dairy Products and How Is It Measured?",
number = "1629",
pages = "1629",
volume = "9",
doi = "10.3390/foods9111629"
}

Milovanović, B., Đekić, I., Miočinović, J., Djordjević, V., Lorenzo, J. M., Francisco, J.Barba, Mörlein, D.,& Tomašević, I.. (2020). What Is the Color of Milk and Dairy Products and How Is It Measured?. in Foods
MDPI AG., 9(1629), 1629.
https://doi.org/10.3390/foods9111629

Milovanović B, Đekić I, Miočinović J, Djordjević V, Lorenzo JM, Francisco J, Mörlein D, Tomašević I. What Is the Color of Milk and Dairy Products and How Is It Measured?. in Foods. 2020;9(1629):1629.
doi:10.3390/foods9111629 .

Milovanović, Bojana, Đekić, Ilija, Miočinović, Jelena, Djordjević, Vesna, Lorenzo, José M., Francisco, J.Barba, Mörlein, Daniel, Tomašević, Igor, "What Is the Color of Milk and Dairy Products and How Is It Measured?" in Foods, 9, no. 1629 (2020):1629,
https://doi.org/10.3390/foods9111629 . .

TY  - CONF
AU  - Tomašević, Igor
AU  - Tomović, Vladimir
AU  - Milovanović, Bojana
AU  - Lorenzo, José M.
AU  - Djordjević, Vesna
AU  - Karabasil, Nedjeljko
AU  - Đekić, Ilija
PY  - 2019
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/5019
PB  - Elsevier Sci Ltd, Oxford
C3  - Meat Science
T1  - Comparison of a computer vision system vs. traditional colorimeter for color evaluation of meat products with various physical properties
EP  - 12
SP  - 5
VL  - 148
DO  - 10.1016/j.meatsci.2018.09.015
ER  - 

@conference{
author = "Tomašević, Igor and Tomović, Vladimir and Milovanović, Bojana and Lorenzo, José M. and Djordjević, Vesna and Karabasil, Nedjeljko and Đekić, Ilija",
year = "2019",
publisher = "Elsevier Sci Ltd, Oxford",
journal = "Meat Science",
title = "Comparison of a computer vision system vs. traditional colorimeter for color evaluation of meat products with various physical properties",
pages = "12-5",
volume = "148",
doi = "10.1016/j.meatsci.2018.09.015"
}

Tomašević, I., Tomović, V., Milovanović, B., Lorenzo, J. M., Djordjević, V., Karabasil, N.,& Đekić, I.. (2019). Comparison of a computer vision system vs. traditional colorimeter for color evaluation of meat products with various physical properties. in Meat Science
Elsevier Sci Ltd, Oxford., 148, 5-12.
https://doi.org/10.1016/j.meatsci.2018.09.015

Tomašević I, Tomović V, Milovanović B, Lorenzo JM, Djordjević V, Karabasil N, Đekić I. Comparison of a computer vision system vs. traditional colorimeter for color evaluation of meat products with various physical properties. in Meat Science. 2019;148:5-12.
doi:10.1016/j.meatsci.2018.09.015 .

Tomašević, Igor, Tomović, Vladimir, Milovanović, Bojana, Lorenzo, José M., Djordjević, Vesna, Karabasil, Nedjeljko, Đekić, Ilija, "Comparison of a computer vision system vs. traditional colorimeter for color evaluation of meat products with various physical properties" in Meat Science, 148 (2019):5-12,
https://doi.org/10.1016/j.meatsci.2018.09.015 . .

TY  - CONF
AU  - Milovanović, B.
AU  - Đekić, Ilija
AU  - Djordjević, Vesna
AU  - Tomović, V
AU  - Barba, Francisco J.
AU  - Tomašević, Igor
AU  - Lorenzo, José M.
PY  - 2019
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/4985
AB  - The ability of a computer vision system to evaluate the color of meat and meat products was investigated by a comparison study with color measurements from a traditional colorimeter. Pros and cons of using a computer vision system for color evaluation of meat and meat products were evaluated. Statistical analysis revealed significant differences between the instrumental values in all three dimensions (L*, a*, b*) between the computer vision system and the colorimeter. The computer vision system-generated colors were perceived as being more similar to the sample of the meat products visualized on the monitor, compared to colorimeter-generated colors in all (100%) individual trials performed. The use of the computer vision system is, therefore, considered a superior and less expensive alternative to the traditional method for measuring color of meat and meat products. The disadvantages of the computer vision system are its size, which makes it stationary, and the lack of official manufacturers that can provide ready-to-use systems. This type of computerized system still demands experts for its assembly and utilization.
PB  - IOP Publishing Ltd, Bristol
C3  - 60th International Meat Industry Conference (Meatcon2019)
T1  - Pros and cons of using a computer vision system for color evaluation of meat and meat products
VL  - 333
DO  - 10.1088/1755-1315/333/1/012008
ER  - 

@conference{
author = "Milovanović, B. and Đekić, Ilija and Djordjević, Vesna and Tomović, V and Barba, Francisco J. and Tomašević, Igor and Lorenzo, José M.",
year = "2019",
abstract = "The ability of a computer vision system to evaluate the color of meat and meat products was investigated by a comparison study with color measurements from a traditional colorimeter. Pros and cons of using a computer vision system for color evaluation of meat and meat products were evaluated. Statistical analysis revealed significant differences between the instrumental values in all three dimensions (L*, a*, b*) between the computer vision system and the colorimeter. The computer vision system-generated colors were perceived as being more similar to the sample of the meat products visualized on the monitor, compared to colorimeter-generated colors in all (100%) individual trials performed. The use of the computer vision system is, therefore, considered a superior and less expensive alternative to the traditional method for measuring color of meat and meat products. The disadvantages of the computer vision system are its size, which makes it stationary, and the lack of official manufacturers that can provide ready-to-use systems. This type of computerized system still demands experts for its assembly and utilization.",
publisher = "IOP Publishing Ltd, Bristol",
journal = "60th International Meat Industry Conference (Meatcon2019)",
title = "Pros and cons of using a computer vision system for color evaluation of meat and meat products",
volume = "333",
doi = "10.1088/1755-1315/333/1/012008"
}

Milovanović, B., Đekić, I., Djordjević, V., Tomović, V., Barba, F. J., Tomašević, I.,& Lorenzo, J. M.. (2019). Pros and cons of using a computer vision system for color evaluation of meat and meat products. in 60th International Meat Industry Conference (Meatcon2019)
IOP Publishing Ltd, Bristol., 333.
https://doi.org/10.1088/1755-1315/333/1/012008

Milovanović B, Đekić I, Djordjević V, Tomović V, Barba FJ, Tomašević I, Lorenzo JM. Pros and cons of using a computer vision system for color evaluation of meat and meat products. in 60th International Meat Industry Conference (Meatcon2019). 2019;333.
doi:10.1088/1755-1315/333/1/012008 .

Milovanović, B., Đekić, Ilija, Djordjević, Vesna, Tomović, V, Barba, Francisco J., Tomašević, Igor, Lorenzo, José M., "Pros and cons of using a computer vision system for color evaluation of meat and meat products" in 60th International Meat Industry Conference (Meatcon2019), 333 (2019),
https://doi.org/10.1088/1755-1315/333/1/012008 . .

TY  - JOUR
AU  - Tomašević, Igor
AU  - Stanišić, Nikola
AU  - Novaković, Saša
AU  - Milovanović, Bojana
AU  - Kljajević, Nemanja
AU  - Milojević, Lazar
PY  - 2017
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/4618
AB  - This study was conducted to investigate the effects of raw material, pork and beef meat, ratio on the physicochemical characteristics of emulsion-type sausage. Five different frankfurter formulations were calculated as follows: B100 (40% beef meat); B75 (30% beef and 10% pork meat); B50 (20% beef and 20% pork meat); B25 (10% beef and 30% pork meat) and B0 (40% pork meat). Frankfurters made solely from beef meat (B100) showed significantly better emulsion stability than those made with pork meat (B0). The increase in the fat content also decreased gel strength, leading to lower values of hardness, cohesiveness, gumminess and chewiness. The optimal ratios between pork and beef meat to enhance the textural properties of frankfurters were B50 and B75. The lightness values (L*) increased with increasing pork meat content, while the redness values (a*) demonstrated the opposite trend. Protein, fat and total pigments displayed a positive relation, whereas water content exhibited a negative relation with a* values.
PB  - Institute of meat hygiene and technology
T2  - Meat technology
T1  - Effect of pork to beef meat ratio on the physicochemical properties of frankfurters
EP  - 31
IS  - 1
SP  - 26
VL  - 58
UR  - https://hdl.handle.net/21.15107/rcub_agrospace_4618
ER  - 

@article{
author = "Tomašević, Igor and Stanišić, Nikola and Novaković, Saša and Milovanović, Bojana and Kljajević, Nemanja and Milojević, Lazar",
year = "2017",
abstract = "This study was conducted to investigate the effects of raw material, pork and beef meat, ratio on the physicochemical characteristics of emulsion-type sausage. Five different frankfurter formulations were calculated as follows: B100 (40% beef meat); B75 (30% beef and 10% pork meat); B50 (20% beef and 20% pork meat); B25 (10% beef and 30% pork meat) and B0 (40% pork meat). Frankfurters made solely from beef meat (B100) showed significantly better emulsion stability than those made with pork meat (B0). The increase in the fat content also decreased gel strength, leading to lower values of hardness, cohesiveness, gumminess and chewiness. The optimal ratios between pork and beef meat to enhance the textural properties of frankfurters were B50 and B75. The lightness values (L*) increased with increasing pork meat content, while the redness values (a*) demonstrated the opposite trend. Protein, fat and total pigments displayed a positive relation, whereas water content exhibited a negative relation with a* values.",
publisher = "Institute of meat hygiene and technology",
journal = "Meat technology",
title = "Effect of pork to beef meat ratio on the physicochemical properties of frankfurters",
pages = "31-26",
number = "1",
volume = "58",
url = "https://hdl.handle.net/21.15107/rcub_agrospace_4618"
}

Tomašević, I., Stanišić, N., Novaković, S., Milovanović, B., Kljajević, N.,& Milojević, L.. (2017). Effect of pork to beef meat ratio on the physicochemical properties of frankfurters. in Meat technology
Institute of meat hygiene and technology., 58(1), 26-31.
https://hdl.handle.net/21.15107/rcub_agrospace_4618

Tomašević I, Stanišić N, Novaković S, Milovanović B, Kljajević N, Milojević L. Effect of pork to beef meat ratio on the physicochemical properties of frankfurters. in Meat technology. 2017;58(1):26-31.
https://hdl.handle.net/21.15107/rcub_agrospace_4618 .

Tomašević, Igor, Stanišić, Nikola, Novaković, Saša, Milovanović, Bojana, Kljajević, Nemanja, Milojević, Lazar, "Effect of pork to beef meat ratio on the physicochemical properties of frankfurters" in Meat technology, 58, no. 1 (2017):26-31,
https://hdl.handle.net/21.15107/rcub_agrospace_4618 .