Improvement of a testing apparatus for dynamometry: procedures for penetrometry and influence of strain rate to quantify the tensile strength of soil aggregates

Soil penetration resistance (PR) and the tensile strength of aggregates (TS) are commonly used to characterize the physical and structural conditions of agricultural soils. This study aimed to assess the functionality of a dynamometry apparatus by linear speed and position control automation of its mobile base to measure PR and TS. The proposed equipment was used for PR measurement in undisturbed samples of a clayey "Nitossolo Vermelho eutroférrico" (Kandiudalfic Eutrudox) under rubber trees sampled in two positions (within and between rows). These samples were also used to measure the volumetric soil water content and bulk density, and determine the soil resistance to penetration curve (SRPC). The TS was measured in a sandy loam "Latossolo Vermelho distrófico" (LVd) - Typic Haplustox - and in a very clayey "Nitossolo Vermelho distroférrico" (NVdf) - Typic Paleudalf - under different uses: LVd under "annual crops" and "native forest", NVdf under "annual crops" and "eucalyptus plantation" (> 30 years old). To measure TS, different strain rates were applied using two dynamometry testing devices: a reference machine (0.03 mm s-1), which has been widely used in other studies, and the proposed equipment (1.55 mm s-1). The determination coefficient values of the SRPC were high (R² > 0.9), regardless of the sampling position. Mean TS values in LVd and NVdf obtained with the proposed equipment did not differ (p > 0.05) from those of the reference testing apparatus, regardless of land use and soil type. Results indicate that PR and TS can be measured faster and accurately by the proposed procedure.

Soil compaction by machine traffic and least limiting water range related to soybean yield

The research aimed to evaluate machine traffic effect on soil compaction and the least limiting water range related to soybean cultivar yields, during two years, in a Haplustox soil. The six treatments were related to tractor (11 Mg weight) passes by the same place: T0, no compaction; and T1*, 1; T1, 1; T2, 2; T4, 4 and T6, 6. In the treatment T1*, the compaction occurred when soil was dried, in 2003/2004, and with a 4 Mg tractor in 2004/2005. Soybean yield was evaluated in relation to soil compaction during two agricultural years in completely randomized design (compaction levels); however, in the second year, there was a factorial scheme (compaction levels, with and without irrigation), with four replicates represented by 9 m² plots. In the first year, soybean [Glycine max (L.) Merr.] cultivar IAC Foscarim 31 was cultivated without irrigation; and in the second year, IAC Foscarim 31 and MG/BR 46 (Conquista) cultivars were cultivated with and without irrigation. Machine traffic causes compaction and reduces soybean yield for soil penetration resistance between 1.64 to 2.35 MPa, and bulk density between 1.50 to 1.53 Mg m-3. Soil bulk density from which soybean cultivar yields decrease is lower than the critical one reached at least limiting water range (LLWR =/ 0).

Seeder-fertilizer machine: energetic demand as a function of vegetal covering handling and manure deposition shank depth in no-tillage system

The purpose of this work was evaluating the energetic demand of a seeder-fertilizer machine as a function of the type and handling of vegetal covering culture and of the fertilizer deposition shank depth. A Valtra BM100 tractor was used implemented to pull a high precision seeder-fertilizer machine with four ranks of seeding, spaced 0.9 m for maize culture. Experiment was conducted with design in randomized blocks in factorial plots, in the Laboratory of Machines and Agricultural Mechanization experimental area (LAMMA) of UNESP-Jaboticabal, using two covering cultures (black-mucuna and crotalaria), three handlings of this covering, two mechanical (straw crusher and roller knife) and one chemical (pulverization of herbicide), performed 120 days after seeding of covering cultures and three depths of fertilizer deposition shank, completing 18 treatments, with four repetitions, totaling 72 observations. Parameters of displacement speed, gliding, force on traction bar, peak force, power on pulling bar and fuel consumption were evaluated. It was possible to conclude that force on traction bar was less for depths of 0.11 and 0.14 m of fertilizer plough shank, the same occurring for peak force, power on traction bar and volumetric consumption. The specific consumption was lower at a depth of 0.17 m of fertilizer plough shank. Covering cultures and their handlings did not interfere in the performance of machines under inquiry.

Application of a Pid+fuzzy controller on the motion control system in machine tools

This work deals with an hybrid PID+fuzzy logic controller applied to control the machine tool biaxial table motions. The non-linear model includes backlash and the axis elasticity. Two PID controllers do the primary table control. A third PID+fuzzy controller has a cross coupled structure whose function is to minimise the trajectory contour errors. Once with the three PID controllers tuned, the system is simulated with and without the third controller. The responses results are plotted and compared to analyse the effectiveness of this hybrid controller over the system. They show that the proposed methodology reduces the contour error in a proportion of 70:1.

Analysis of open CNC architecture for machine tools

The evolution of digital circuit technology, leadind to higher speeds and more reliability allowed the development of machine controllers adapted to new production systems (e.g., Flexible Manufacturing Systems - FMS). Most of the controllers are developed in agreement with the CNC technology of the correspondent machine tool manufacturer. Any alterations or adaptation of their components are not easy to be implemented. The machine designers face up hardware and software restrictions such as lack of interaction among system's elements and impossibility of adding new function. This is due to hardware incompatibility and to software not allowing alterations in the source program. The introduction of open architecture philosophy propitiated the evolution of a new generation of numeric controllers. This brought the conventional CNC technology to the standard IBM - PC microcomputer. As a consequence, the characteristics of the CNC (positioning) and the microcomputer (easy of programming, system configuration, network communication etc) are combined. Some researchers have addressed a flexible structure of software and hardware allowing changes in the hardware basic configuration and all control software levels. In this work, the development of open architecture controllers in the OSACA, OMAC, HOAM-CNC and OSEC architectures is described.

Weed mapping using a machine vision system

Weed mapping is a useful tool for site-specific herbicide applications. The objectives of this study were (1) to determine the percentage of land area covered by weeds in no-till and conventionally tilled fields of common bean using digital image processing and geostatistics, and (2) to compare two types of cameras. Two digital cameras (color and infrared) and a differential GPS were affixed to a center pivot structure for image acquisition. Sample field images were acquired in a regular grid pattern, and the images were processed to estimate the percentage of weed cover. After calculating the georeferenced weed percentage values, maps were constructed using geostatistical techniques. Based on the results, color images are recommended for mapping the percentage of weed cover in no-till systems, while infrared images are recommended for weed mapping in conventional tillage systems.