Non invasive moisture measurement in agricultural fiel using a rolling spherical robot

Irrigation management in large crop fields is a very important practice. Since the farm management costs and the crop results are directly connected with the environmental moisture, water control optimization is a critical factor for agricultural practices, as well as for the planet sustainability. Usually, the crop humidity is measured through the water stress index (WSI), using imagery acquired from satellites or airplanes. Nevertheless, these tools have a significant cost, lack from availability, and dependability from the weather. Other alternative is to recover to ground tools, such as ground vehicles and even static base stations. However, they have an outstanding impact in the farming process, since they can damage the cultivation and require more human effort. As a possible solution to these issues, a rolling ground robot have been designed and developed, enabling non-invasive measurements within crop fields. This paper addresses the spherical robot system applied to intra-crop moisture measurements. Furthermore, some experiments were carried out in an early stage corn field in order to build a geo-referenced WSI map.

Piedra de toque de la verdad, peso fiel de la razon que examina el fundamento con que Valencia y Huesca contienden sobre qual es la verdadera patria del inuicto martyr San Lorenzo ...

Olvidos del amanuense..., Q5

Festivas demonstraciones con que la real, fiel y coronada villa de ALzira celebro la feliz proclamacion de nuestro ... Monarca Luis I ..., cuya relacion, con la Oracion Panegirica y gratulatoria en Accion de Gracias, ofrece la misma villa ... [dixola ... Bartholome Casses ...]

Autor de la Oración tomado de port. propia en E1

Verdadera y fiel relacion de todo lo sucedido en el sitio de la ciudad de Tarragona, desde 28 de Iulio hasta 13 de Setiembre 1644

El texto alude al sitio de Tarragona de 1644