2005 Annual Report 4d.Progress report. This report serves to document research conducted under a non-funded cooperative agreement between ARS and Washington State University. Additional details of this research can be found in the report for the parent project 1931-21440-003-00D, Harvest Automation/Mechanization for Tree Fruits and Automated Sorting Systems for Apples. Redesigned rapid displacement actuator and tree pad to improve reliability and reduce down time during harvest. Cooperating growers, and WSU horticulturist are developing tree-training systems that will be compatible with machine harvesting. First field tests of new orchards are expected in 2006.