Fuente: WIPO "tomato" A system for sorting heterogeneous materials into homogeneous output is disclosed. The system comprises a conveyor, at least one sensor, an ejection means, a multi-axis arm for accurately positioning the ejection means (and optionally, rotating the ejection means), and a processor that controls the actuation of the multi-axis arm and the actuation of the ejection means based upon sensor input acquired when the stream of heterogenous materials passes into an inspection region located underneath the sensor on the conveyor surface.