Investigating the causes of late fruit drop in ‘Regina’ sweet cherry (Prunus avium)

The presented study aimed to correctly describe the (late) fruit drop pattern of sweet cherry cv. Regina grafted on ‘Gisela 5’ and investigate its internal causes. In the first season, a method to describe the fruit drop pattern was defined and validated. The second season was devoted to a province-based screening of the phenomenon to identify potential influences of environmental, physiological and management factors. The multisite trial involved 6 commercial orchards located at different elevations, from 225 up to 1175m a.s.l. The third season was dedicated to find confirmation of the hypothesis formulated during the previous year. The multisite comparison was maintained but reduced to only two orchards to allow more frequent samplings. It emerged that late fruit drop is a complex phenomenon showing variable intensity: the percentage of late fruit drop ranged from 7 to 76% of the fruitlets set, depending on the orchard and on the year considered. Two main waves of fruitlets drop have been observed: the first one was composed by unfertilized parthenocarpic fruitlets, probably caused by late or missing fertilization, that immediately after bloom already showed smaller diameters and symptoms of senescence; the second one (the focus of this study) was composed by fully developed fruits that at a certain point decreased their growth rate and got senescent. All the late dropped cherries showed an aborted embryo. This sudden change has been observed to be concomitant both with prolonged periods of low temperatures (or sudden severe decreases in the daily Growing Degree Hours accumulation) and with extraordinary high temperatures close to or above 30°C. Other factors, such as the position of the limb within the canopy, its orientation (sunny vs. shady side) or nutrition played only a marginal role. Excessive vigor can increase late fruit drop intensity but is not its main cause.

Motion Control of an Advanced Electric Implement for Agricultural Autonomous Vehicles

Nowadays, the development of intelligent and autonomous vehicles used to perform agricultural activities is essential to improve quantity and quality of agricultural productions. Moreover, with automation techniques it is possible to reduce the usage of agrochemicals and minimize the pollution. The University of Bologna is developing an innovative system for orchard management called ORTO (Orchard Rapid Transportation System). This system involves an autonomous electric vehicle capable to perform agricultural activities inside an orchard structure. The vehicle is equipped with an implement capable to perform different tasks. The purpose of this thesis project is to control the vehicle and the implement to perform an inter-row grass mowing. This kind of task requires a synchronized motion between the traction motors and the implement motors. A motion control system has been developed to generate trajectories and manage their synchronization. Two main trajectories type have been used: a five order polynomial trajectory and a trapezoidal trajectory. These two kinds of trajectories have been chosen in order to perform a uniform grass mowing, paying a particular attention to the constrains of the system. To synchronize the motions, the electronic cams approach has been adopted. A master profile has been generated and all the trajectories have been linked to the master motion. Moreover, a safety system has been developed. The aim of this system is firstly to improve the safety during the motion, furthermore it allows to manage obstacle detection and avoidance. Using some particular techniques obstacles can be detected and recovery action can be performed to overcome the problem. Once the measured force reaches the predefined force threshold, then the vehicle stops immediately its motion. The whole project has been developed by employing Matlab and Simulink. Eventually, the software has been translated into C code and executed on the TI Lauchpad XL board.