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Results of picking experiments.
| Group | Number of fruits per cluster | Number of fruit clusters per group | Total number of fruits |
Number of picking successes | Number of picking failures | Number of fruit damage | Picking success rate (%) |
Fruit damage rate (%) | Average picking time per cluster (s) |
|---|---|---|---|---|---|---|---|---|---|
| 1 | 3 | 5 | 15 | 15 | 0 | 0 | 100 | 0 | 7.3 |
| 2 | 4 | 5 | 20 | 20 | 0 | 0 | 100 | 0 | 7.8 |
| 3 | 5 | 5 | 25 | 22 | 3 | 2 | 88.0 | 9.1 | 9.3 |
| 4 | 6 | 5 | 30 | 25 | 5 | 3 | 83.3 | 12.0 | 11.6 |
| 5 | 7 | 5 | 35 | 28 | 7 | 3 | 80.0 | 10.7 | 12.5 |
| Total | 25 | 125 | 110 | 15 | 8 | 88.0 | 7.3 | 9.7 |
