Fig. 6: Colored seed sorting experiments.

a Experiment setup. Seeds are hit at the end of the conveyor with acoustic radiation force from the phased array transducer board, with the force applied depending on the color detected by the camera. Plain seeds are ignored, with red seeds being ejected into the middle bin, and green seeds into the furthest bin from the belt. b (i) In the experiment, we have 60 seeds total, 20 of each color in the layout shown. (ii) The resulting trajectories, showing a success rate overall of 95%, with output purities for plain, red, and green seeds being 100%, 94.7%, and 90.9% respectively, and corresponding yields of 95%, 90%, and 100%.