ABSTRACT
Pulses are annual leguminous crops yielding from 1 to 12 grains or seeds of variable size, shape, and color within a pod. The grain is composed of both organic and inorganic substances, such as carbohydrates, proteins, vitamins, fats, ash, water, mineral salts, and enzymes. Grain-grading systems used around the world are similar and depend mainly on visual inspection and comparison of samples. A fast and objective grain-grading and classification system would reduce the inaccuracy caused by inspector subjectivity. Harvesting of cereal grains and pulses refers to the activities performed to obtain the kernels of the plant for grain, or the entire plant for forage and/or silage uses. Grain harvesting and handling procedures have undergone dramatic changes, particularly with the development of the combine harvester. Conventional combine harvesting systems harvest only grains and leave the straw and chaffs on the field.
