Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Restoration of a degraded area using soil tillage systems in Campinas, São Paulo, Brazil

In Brazil the intensive agriculture use, mainly pasture, is the main cause of the presence of extensive areas of degraded lands. This study aimed to assess the impact of different soil management practices in a pasture degraded area used as garbage disposal. The experiment was performed at the Faculdade de Engenharia Agrícola, Universidade Estadual de Campinas - UNICAMP, in Campinas, state of São Paulo, Brazil, from 1990 to 1996. This area has undergone a process of recovery through removal of trash deposited on the surface, in 1985, levelling of soil, followed by application of limestone, subsoiling, planting of legumes (Crotalaria juncea) and crop rotation (soybean and maize). Since 1990 only popcorn maize was grown and established plots managed with different soil tillage systems, including harrow, chisel plow, moldboard plow, no tillage, disk plow and revolving hoe. One plot was planted exclusively with guinea grass (Panicum maximum) to serve as a reference for minimum loss of soil and another grown on a downhill direction to correspond to the expected maximum erosion. There were differences in sediment loss, nutrient loss and productivity of the popcorn maize in the period analyzed. The chisel plow and no tillage treatments caused the slightest loss of soil and nutrients, compared to other tillage systems. The results show that the soil management systems influenced the physical and chemical characteristics of soil, allowing an economical and environmental recovery of the area, providing the conditions for grain agricultural production.

Water productivity assessment by using MODIS images and agrometeorological data in the Petrolina municipality, Brazil

The municipality of Petrolina, located in the semi-arid region of Brazil, is highlighted as an important agricultural growing region, however the irrigated areas have cleared natural vegetation inducing a loss of biodiversity. To analyze the contrast between these two ecosystems the large scale values of biomass production (BIO), evapotranspiration (ET) and water productivity (WP) were quantified. Monteithś equation was applied for estimating the absorbed photosynthetically active radiation (APAR), while the new SAFER (Simple Algorithm For Evapotranspiration Retrieving) algorithm was used to retrieve ET. The water productivity (WP) was analysed by the ratio of BIO by ET at monthly time scale with four bands of MODIS satellite images together with agrometeorological data for the year of 2011. The period with the highest water productivity values were from March to April in the rainy period for both irrigated and not irrigated conditions. However the largest ET rates were in November for irrigated crops and April for natural vegetation. More uniformity of the vegetation and water variables occurs in natural vegetation, evidenced by the lower values of standard deviation when comparing to irrigated crops, due to the different crop stages, cultural and irrigation managements. The models applied with MODIS satellite images on a large scale are considered to be suitable for water productivity assessments and for quantifying the effects of increasing irrigated areas over natural vegetation on regional water consumption in situations of quick changing land use pattern. © 2012 SPIE.

At least two indigenous species of the Bemisia tabaci complex are present in Brazil

Bemisia tabaci is one of the most important global agricultural insect pests, being a vector of emerging plant viruses such as begomoviruses and criniviruses that cause serious problems in many countries. Although knowledge of the genetic diversity of B. tabaci populations is important for controlling this pest and understanding viral epidemics, limited information is available on this pest in Brazil. A survey was conducted in different locations of São Paulo and Mato Grosso states, and the phylogenetic relationships of B. tabaci individuals from 43 populations sampled from different hosts were analysed based on partial mitochondrial cytochrome oxidase 1 gene (mtCOI) sequences. According to the recently proposed classification of the B. tabaci complex, which employs the 3.5% mtCOI sequence divergence threshold for species demarcation, most of the specimens collected were found to belong to the Middle East-Asia Minor 1 species, which includes the invasive populations of the commonly known B biotype, within the Africa/Middle East/Asia Minor high-level group. Three specimens collected from Solanun gilo and Ipomoea sp. were grouped together and could be classified in the New World species that includes the commonly known A biotype. However, six specimens collected from Euphorbia heterophylla, Xanthium cavanillesii and Glycine maxima could not be classified into any of the 28 previously proposed species, although according to the 11% mtCOI sequence divergence threshold, they belong to the New World high-level group. These specimens were classified into a new recently proposed species named New World 2 that includes populations from Argentina. Middle East-Asia Minor 1, New World and New World 2 were differentiated by RFLP analysis of the mtCOI gene using TaqI enzyme. Taq I analysis in silico also differentiates these from Mediterranean species, thus making this method a convenient tool to determine population dynamics, especially critical for monitoring the presence of this exotic pest in Brazil. © 2012 Blackwell Verlag, GmbH.

Spatial distribution and architecture of acromyrmex landolti forel (Hymenoptera, Formicidae) nests in pastures of Southwestern Bahia, Brazil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Soil and crop residue CO2-C emission under tillage systems in sugarcane-producing areas of southern Brazil

Appropriate management of agricultural crop residues could result in increases on soil organic carbon (SOC) and help to mitigate gas effect. To distinguish the contributions of SOC and sugarcane (Saccharum spp.) residues to the short-term CO2-C loss, we studied the infl uence of several tillage systems: heavy offset disk harrow (HO), chisel plow (CP), rotary tiller (RT), and sugarcane mill tiller (SM) in 2008, and CP, RT, SM, moldboard (MP), and subsoiler (SUB) in 2009, with and without sugarcane residues relative to no-till (NT) in the sugarcane producing region of Brazil. Soil CO2-C emissions were measured daily for two weeks after tillage using portable soil respiration systems. Daily CO2-C emissions declined after tillage regardless of tillage system. In 2008, total CO2-C from SOC and/or residue decomposition was greater for RT and lowest for CP. In 2009, emission was greatest for MP and CP with residues, and smallest for NT. SOC and residue contributed 47% and 41%, respectively, to total CO2-C emissions. Regarding the estimated emissions from sugarcane residue and SOC decomposition within the measurement period, CO2-C factor was similar to sugarcane residue and soil organic carbon decomposition, depending on the tillage system applied. Our approach may define new emission factors that are associated to tillage operations on bare or sugarcane-residue-covered soils to estimate the total carbon loss.

Greenhouse gas mitigation potential from green harvested sugarcane scenarios in São Paulo State, Brazil

Brazil is a major sugarcane producer and São Paulo State cultivates 5.5 million hectares, close to 50% of Brazil's sugarcane area. The rapid increase in production has brought into question the sustainability of biofuels, especially considering the greenhouse gas (GHG) emissions associated to the agricultural sector. Despite the significant progress towards the green harvest practices, 1.67 million hectares were still burned in São Paulo State during the 2011 harvest season. Here an emissions inventory for the life cycle of sugarcane agricultural production is estimated using IPCC methodologies, according to the agriculture survey data and remote sensing database. Our hypothesis is that 1.67 million hectares shall be converted from burned to green harvest scenarios up to years 2021 (rate 1), 2014 (rate 2) or 2029 (rate 3). Those conversions would represent a significant GHG mitigation, ranging from 50.5 to 70.9 megatons of carbon dioxide equivalent (Mt CO2eq) up to 2050, depending on the conversion rate and the green harvest systems adopted: conventional (scenario S1) or conservationist management (scenario S2). We show that a green harvest scenario where crop rotation and reduced soil tillage are practiced has a higher mitigation potential (70.9 Mt CO2eq), which is already practiced in some of the sugarcane areas. Here we support the decision to not just stop burning prior to harvest, but also to consider other better practices in sugarcane areas to have a more sustainable sugarcane based ethanol production in the most dense cultivated sugarcane region in Brazil. © 2013 Elsevier Ltd. All rights reserved.

Ferramentas matemáticas para modelagem da temperatura com aplicação em graus-dias para otimização da produção agrícola

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Crítica à noção de multifuncionalidade rural em assentamentos de reforma agrária no Pontal do Paranapanema – SP

Pós-graduação em Geografia - FCT

The structural heterogeneity of family farming in Brazil

Includes bibliography.

The Geography of Brazilian External Trade: Right Option for a BRIC?

Words can make a difference sometimes.Brazil is – together with the other ´BRIC´- a large economy, with an increasingly high profile in the international scenario. Large domestic market makes it more likely to obtain ‘growth-led exports’ rather than ‘export-led growth’, which implies a pro-active role in international relations. The option for intensifying regional trade links is a reasonable one and perhaps even inevitable, taking into account the experience elsewhere, but the actual regional conditions raise a number of questions that have to do both with further empirical assessment and to more specific identification of expectations with regard to probable achievements. This article has shown that the road to reach significant progress in this direction is not flat and requires more clear signalling to economic agents, strong political will and a good deal of specific measures. But it has also suggested that it might provide positive results.

História ambiental no Brasil: o percurso historiográfico de Warren Dean

Pós-graduação em História - FCLAS

Configurações contemporâneas do complexo agroindustrial do leite: produção, industrialização e consumo no Estado de São Paulo

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A geografia dos conflitos agrários no campo brasileiro: os dados do Governo Lula

Este texto apresenta uma breve reflexão sobre a Geografia dos conflitos agrários no Brasil entre os anos 2003 e 2006, enfatizando o período do primeiro Governo de Lula da Silva. Baseiase nos dados levantados pela Comissão Pastoral da Terra – CPT, que desde 1985 vem compilando informações sobre os conflitos no campo brasileiro. A análise dos dados nos dá a dimensão das medidas mais significativas ocorridas no âmbito das políticas relativas à agricultura brasileira, sobretudo no que se refere à política de reforma agrária. A presença significativa da violência e dos conflitos no campo brasileiro evidencia a persistência da reprodução de um modelo agrário-agrícola baseado na concentração de terra, da riqueza e de poder. Demonstra, sobretudo, a resistência das populações do campo – camponeses, sem terra, indígenas, seringueiros, quilombolas, dentre outras –, impelidas a protagonizar as mais diversas lutas sociais no país para manterem suas terras. A presença dos movimentos sociais na cena política demonstra a importância da realização da Reforma Agrária no contexto do desenvolvimento da sociedade brasileira.

Effect of pH on boron adsorption in some soils of Parana, Brazil

Temporary B deficiency can be triggered by liming of acid soils because of increased B adsorption at higher soil pH. Plants respond directly to the activity of B in soil solution and only indirectly to B adsorbed on soil constituents. Because the range between deficient and toxic B concentration is relatively narrow, this poses difficulty in maintaining appropriate B levels in soil solution. Thus, knowledge of the chemical behavior of B in the soil is particularly important. The present study investigated the effect of soil pH on B adsorption in four soils of Parana State, and to correlate these values with the physical and chemical properties of the soils. Surface samples were taken from a Rhodic Hapludox, Arenic Hapludalf, Arenic Hapludult, and one Typic Usthorthent. To evaluate the effect of pH on B adsorption, subsamples soil received the application of increasing rates of calcium carbonate. Boron adsorption was accomplished by shaking 2.0 g soil, for 24 h, with 20 mL of 0.01 mol L-1 NaCl solution containing different concentrations (0.0, 0.1, 0.2, 0.4, 0.8, 1.2, 1.6, 2.0, and 4.0 mg B L-1). Sorption was fitted to non-linear form of the Langmuir adsorption isotherm. Boron adsorption increased as concentration increased. Boron adsorption was dependent on soil pH, increasing as a function of pH in the range between 4.6 and 7.4, although the bonding energy has decreased. Maximum adsorption capacity (MAC) of B was observed in the Arenic Hapludalf (49.8 mg B kg(-1) soil) followed by Arenic Hapludult (22.5 mg kg(-1)), Rhodic Hapludox (17.4 mg kg(-1)), and Typic Usthorthent (7.0 mg kg(-1)). The organic matter content, clay content, and aluminum oxide content (Al2O3) were the soils properties that affecting the B adsorption on Parana soils.