A scheme for automatic package grading, researched in the 1980s by SKTB, involves the automation of package removal, transportation, grading, and packing, as well as the electronic checking of fiber surface quality. The Gualcierani company also has suggested a process for the automatic doffing, transporting, grading, and packing of yarn packages. The scheme involves a robot doffer, a take-up and winding machine, a transport module, a storage unit, a reloader, a transporter, and grading and packing zones. The objective of the scheme is to increase the speed of labor-intensive manual operations. Electronic instruments inspect the packages.