Modeling, Estimation, and Control of Robot-Soil Interactions

This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of robotic systems interacting with soil, our objective is parameter estimation, not excavation. To this end, we design our manipulator with a flat plate for easy modeling of interactions. By using a flat plate, we take advantage of the wealth of research on the similar problem of earth pressure on retaining walls. There are a number of existing earth pressure models. These models typically provide estimates of force which are in uncertain relation to the true force. A recent technique, known as numerical limit analysis, provides upper and lower bounds on the true force. Predictions from the numerical limit analysis technique are shown to be in good agreement with other accepted models. Experimental methods for plate insertion, soil-tool interface friction estimation, and control of applied forces on the soil are presented. In addition, a novel graphical technique for inverting the soil models is developed, which is an improvement over standard nonlinear optimization. This graphical technique utilizes the uncertainties associated with each set of force measurements to obtain all possible parameters which could have produced the measured forces. The system is tested on three cohesionless soils, two in a loose state and one in a loose and dense state. The results are compared with friction angles obtained from direct shear tests. The results highlight a number of key points. Common assumptions are made in soil modeling. Most notably, the Mohr-Coulomb failure law and perfectly plastic behavior. In the direct shear tests, a marked dependence of friction angle on the normal stress at low stresses is found. This has ramifications for any study of friction done at low stresses. In addition, gradual failures are often observed for vertical tools and tools inclined away from the direction of motion. After accounting for the change in friction angle at low stresses, the results show good agreement with the direct shear values.

Estimating the spatial scale of herbicide and soil interactions by nested sampling, hierarchical analysis of variance and residual maximum likelihood

An unbalanced nested sampling design was used to investigate the spatial scale of soil and herbicide interactions at the field scale. A hierarchical analysis of variance based on residual maximum likelihood (REML) was used to analyse the data and provide a first estimate of the variogram. Soil samples were taken at 108 locations at a range of separating distances in a 9 ha field to explore small and medium scale spatial variation. Soil organic matter content, pH, particle size distribution, microbial biomass and the degradation and sorption of the herbicide, isoproturon, were determined for each soil sample. A large proportion of the spatial variation in isoproturon degradation and sorption occurred at sampling intervals less than 60 m, however, the sampling design did not resolve the variation present at scales greater than this. A sampling interval of 20-25 m should ensure that the main spatial structures are identified for isoproturon degradation rate and sorption without too great a loss of information in this field.

Plant-soil interactions and grassland diversity restoration

Restoration schemes aimed at enhancing plant species diversity of improved agricultural grassland have been a key feature of agri-environmental policy since the mid 1980s. Allied to this has been much research aimed at providing policy makers with guidelines on how best to manage grassland to restore botanical diversity. This research includes long-term studies of the consequences for grassland diversity of management techniques such as different hay cut dates, fertiliser additions, seed introductions and grazing regimes. Studies have also explored the role of introductions of Rhinanthus minor into species-poor swards to debilitate competitive grasses. While these studies have been successful in identifying some management features that control plant species diversity in agricultural grassland, they have taken a largely aboveground perspective on plant community dynamics.

Influence of Soil Biogeochemical Properties on the Invasiveness of Old World Climbing Fern (Lygodium microphyllum)

The state of Florida has one of the most severe exotic species invasion problems in the United States, but little is known about their influence on soil biogeochemistry. My dissertation research includes a cross-continental field study in Australia, Florida, and greenhouse and growth chamber experiments, focused on the soil-plant interactions of one of the most problematic weeds introduced in south Florida, Lygodium microphyllum (Old World climbing fern). Analysis of field samples from the ferns introduced and their native range indicate that L microphyllum is highly dependent on arbuscular mycorrhizal fungi (AMF) for phosphorus uptake and biomass accumulation. Relationship with AMF is stronger in relatively dry conditions, which are commonly found in some Florida sites, compared to more common wet sites where the fern is found in its native Australia. In the field, L. microphyllum is found to thrive in a wide range of soil pH, texture, and nutrient conditions, with strongly acidic soils in Australia and slightly acidic soils in Florida. Soils with pH 5.5 - 6.5 provide the most optimal growth conditions for L. microphyllum, and the growth declines significantly at soil pH 8.0, indicating that further reduction could happen in more alkaline soils. Comparison of invaded and uninvaded soil characteristics demonstrates that L. microphyllum can change the belowground soil environment, with more conspicuous impact on nutrient-poor sandy soils, to its own benefit by enhancing the soil nutrient status. Additionally, the nitrogen concentration in the leaves, which has a significant influence in the relative growth rate and photosynthesis, was significantly higher in Florida plants compared to Australian plants. Given that L. microphyllum allocates up to 40% of the total biomass to rhizomes, which aid in rapid regeneration after burning, cutting or chemical spray, hence management techniques targeting the rhizomes look promising. Over all, my results reveal for the first time that soil pH, texture, and AMF are major factors facilitating the invasive success of L. mcirophyllum. Finally, herbicide treatments targeting rhizomes will most likely become the widely used technique to control invasiveness of L. microphyllum in the future. However, a complete understanding of the soil ecosystem is necessary before adding any chemicals to the soil to achieve a successful long-term invasive species management strategy.

Conserved histidine of metal transporter AtNRAMP1 is crucial for optimal plant growth under manganese deficiency at chilling temperatures

Manganese (Mn) is an essential nutrient required for plant growth, in particular in the process of photosynthesis. Plant performance is influenced by various environmental stresses including contrasting temperatures, light or nutrient deficiencies. The molecular responses of plants exposed to such stress factors in combination are largely unknown. 

Screening of 108 Arabidopsis thaliana (Arabidopsis) accessions for reduced photosynthetic performance at chilling temperatures was performed and one accession (Hog) was isolated. Using genetic and molecular approaches, the molecular basis of this particular response to temperature (GxE interaction) was identified. 

Hog showed an induction of a severe leaf chlorosis and impaired growth after transfer to lower temperatures. We demonstrated that this response was dependent on the nutrient content of the soil. Genetic mapping and complementation identified NRAMP1 as the causal gene. Chlorotic phenotype was associated with a histidine to tyrosine (H239Y) substitution in the allele of Hog NRAMP1. This led to lethality when Hog seedlings were directly grown at 4 degrees C. 

Chemical complementation and hydroponic culture experiments showed that Mn deficiency was the major cause of this GxE interaction. For the first time, the NRAMP-specific highly conserved histidine was shown to be crucial for plant performance.

Causes of legume rotation induced yield increases in cereals grown on West African soils

This study was conducted to investigate soil biological and chemical factors that give rise to cereal yield enhancing effects of legume rotations on sandy, nutrient poor West African soils. The aim was not only to gain more information on the role of legume residues and microorganisms in the soil nutrient cycle. But the study aimed at evaluating if differences in substrate qualities (e.g. root residues) cause changes in the microbial community structure due to specific and highly complex microbe-root-soil interactions. Site and system specific reactions of microorganisms towards rewetting, simulating the onset of rainy season, were observed. Higher respiration rates, higher amounts of microbial biomass carbon (Cmic) and nitrogen (Nmic) as well as higher ergosterol, muramic acid, glucosamine and adenylate concentrations were measured in CL soils of Koukombo and in both soils from Fada. The immediate increase in ATP concentrations after rewetting was likely caused by rehydration of microbial cells where N was not immobilized and, thus, available for plants facilitating their rapid development. Legume root residues led only to slightly better plant performances compared to the control, while the application of cereal roots reduced seedling growth. In contrast to sorghum seedlings, the microbial community did not react to the mineral treatment. Thus the energy supply in form of organic amendments increased microbial indices compared to mineral P application and the control. The results of basal respiration rates, Cmic and Corg levels indicate that the microbial community in the soil from Koukombo is less efficient in substrate use compared to microorganisms in the soil from Fada. However, the continuous carbon input by legume root residues might have contributed to these differences in soil fertility. With the 33P isotopic exchange method a low buffering capacity was detected in both soils irrespective of treatments. Calculated E values (E1min to E1min-1d and E1d-3m) indicated a slowly release of P due to root turnover while applied mineral P is taken up by plants or fixed to the soil. Due to the fact that sorghum growth reacted mainly to the application of mineral P and the microorganisms solely to the organic inputs, the combination of both amendments seems to be the best approach to a sustainable increase of crop production on many nutrient-poor, sandy West African soils. In a pot experiment, were CC and CL soils from Fada and Koukombo were adjusted to the same level of P and N concentrations, crop growth was significantly higher on CL soils, compared to the respective treatments on CC soils. Mycorrhizal infection of roots was increased and the number of nematodes, predominantly free living nematodes, was almost halfed on rotation soils. In conclusion, increased nutrient availability (especially P and N) through the introduction of legumes is not the only reason for the observed yield increasing effects. Soil biological factors seem to also play an important role. In a root chamber experiment the pH gradient along the root-soil-interface was measured at three times using an antimony microelectrode. For Fada soils, pH values were higher on CL than CC soils while the opposite was true for the Koukombo soils. Site-specific differences between Fada and Koukombo soils in N content and microbial community structures might have created varying crop performances leading to the contrasting pH findings. However, the mechanisms involved in this highly complex microbe-root-soil interaction remain unclear.

Non-invasive imaging of roots with high resolution X-ray micro-tomography

ray micro-tomography is a well-established technique for non-invasive imaging and evaluation of heterogeneous materials. An inexpensive X-ray micro-tomography system has been designed and built for the specific purposes of examining root growth and root/soil interactions. The system uses a silver target X-ray source with a focal spot diameter of 80 mum, an X-ray image intensifier with a sampling aperture of about 100 mum, and a sample with a diameter of 25 mm. Pre-germinated wheat and rape seeds were grown for up to 8-10 days in plastic containers in a sandy loam soil sieved to < 250 μm, and imaged with the X-ray system at regular intervals. The quality of 3 D image obtained was good allowing the development and growth of both root axes and some first-order laterals to be observed. The satisfactory discrimination between soil and roots enabled measurements of root diameter (wheat values were 0.48-1.22 mm) in individual tomographic slices and, by tracking from slice to slice, root lengths were also measured. The measurements obtained were generally within 10% of those obtained from destructive samples measured manually and with a flat-bed scanner. Further developments of the system will allow more detailed examination of the root: soil interface.

Root phenomics of crops: opportunities and challenges

Reliable techniques for screening large numbers of plants for root traits are still being developed, but include aeroponic, hydroponic and agar plate systems. Coupled with digital cameras and image analysis software, these systems permit the rapid measurement of root numbers, length and diameter in moderate ( typically <1000) numbers of plants. Usually such systems are employed with relatively small seedlings, and information is recorded in 2D. Recent developments in X-ray microtomography have facilitated 3D non-invasive measurement of small root systems grown in solid media, allowing angular distributions to be obtained in addition to numbers and length. However, because of the time taken to scan samples, only a small number can be screened (typically<10 per day, not including analysis time of the large spatial datasets generated) and, depending on sample size, limited resolution may mean that fine roots remain unresolved. Although agar plates allow differences between lines and genotypes to be discerned in young seedlings, the rank order may not be the same when the same materials are grown in solid media. For example, root length of dwarfing wheat ( Triticum aestivum L.) lines grown on agar plates was increased by similar to 40% relative to wild-type and semi-dwarfing lines, but in a sandy loam soil under well watered conditions it was decreased by 24-33%. Such differences in ranking suggest that significant soil environment-genotype interactions are occurring. Developments in instruments and software mean that a combination of high-throughput simple screens and more in-depth examination of root-soil interactions is becoming viable.

Geo(anthropo)genic factors affecting the radioactivity in groundwaters from Guarani aquifer, Brazil

This investigation was carried out within the Paraná sedimentary basin, involved the sampling of 77 pumped tubular wells, and was realized with the puipose of evaluating the radioactivity in the Brazilian part of Guarani (Botucatu-Pirambóia, Tacuarembó, Misiones) aquifer. The radioactivity due to nuclides belonging to uranium and thorium series decay was investigated in terms of the uranium isotopes 234U and 238U, radon (222Rn), and the radium isotopes 226Ra and 228Ra. The obtained results were compared with the maximum permissible concentration limits in drinking water defined by the Brazilian national standard, as well with the guidelines for drinking water quality established by the World Health Organization. The importance of water-rock/soil interactions was considered in order to explain most of the obtained data.

Comportamento e variação de procedências de Corymbia citriodora em diferentes tipos de solos

The aim of this study was the selection of Corymbia citriodora provenances for three different kinds of soils occurring in Luiz Antônio Experimental Station, São Paulo, Brazil (Latossolo Vermelho, Areia Quartzosa and Latossolo Roxo). The provenance test was established in 1983, with ten Corymbia citriodora provenances and one Eucalyptus grandis as control, original from a seed production area. The trials were established in a random block design with 11 treatments, three repetition and square plots with 25 trees. In 2008, there were evaluations of height, diameter at breast height (DBH, 1.3 m), stem form and survival. Significant differences among soils and provenances were detected for the growth traits, stem form and survival in all those studied soils. Significant provenance and soil interactions were not detected. All provenances showed higher growth in height and DBH in Purple Latosol. The control had a higher growth rate in relation to highness, DBH and stem form than Corymbia citriodora provenances in all the studied soils, but it presented, generally, a lower survival rate than Corymbia citriodora provenances. Pederneiras (11) Corymbia citriodora provenance presented a higher performance in relation to highness and DBH in all kinds of soils, and Gilgandra (4) provenance, original from Australia, had the worst development. Therefore, Pederneiras (11) provenance is, therefore, the best choose for reforestations in all those studied soils.

Capacidade de suporte de carga de Latossolo Vermelho cultivado com cana-de-açúcar e efeitos da mecanização no solo

The objective of this work was to determine the load support capacity (LSC) of an Oxisol and, through compressibility models, relate it to wheel-soil interactions under management systems with one and three sugarcane crop cycles, with mechanized harvest. LSC evaluations were carried out on undisturbed soil samples, collected at planting row and bed, in four layers: 0.00-0.10, 0.10-0.20, 0.20-0.30, and 0.300.40 m. The contact area between wheels and soil was determined in order to estimate the contact pressure by agricultural machinery on the soil. Pre-consolidation pressures were used to determine LSC. The system with three cycles showed higher LSC than the system with only one cycle. The load support capacity of the soil evaluated in the range of friability is greater than the contact pressures applied to the soil by the wheels of the studied agricultural machines.

Hidrogeoquímica e qualidade das águas superficiais na Bacia do Alto Jacaré-Pepira (SP)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Floristic composition and pasture condition of Aristida/Bothriochloa pastures in central Queensland. II. Soil and pasture condition interactions

Sustainable management of native pastures requires an understanding of what the bounds of pasture composition, cover and soil surface condition are for healthy pastoral landscapes to persist. A survey of 107 Aristida/Bothriochloa pasture sites in inland central Queensland was conducted. The sites were chosen for their current diversity of tree cover, apparent pasture condition and soil type to assist in setting more objective bounds on condition ‘states’ in such pastures. Assessors’ estimates of pasture condition were strongly correlated with herbage mass (r = 0.57) and projected ground cover (r = 0. 58), and moderately correlated with pasture crown cover (r = 0.35) and tree basal area (r = 0.32). Pasture condition was not correlated with pasture plant density or the frequency of simple guilds of pasture species. The soil type of Aristida/Bothriochloa pasture communities was generally hard-setting, low in cryptogam cover but moderately covered with litter and projected ground cover (30–50%). There was no correlation between projected ground cover of pasture and estimated ground-level cover of plant crowns. Tree basal area was correlated with broad categories of soil type, probably because greater tree clearing has occurred on the more fertile, heavy-textured clay soils. Of the main perennial grasses, some showed strong soil preferences, for example Tripogon loliiformis for hard-setting soils and Dichanthium sericeum for clays. Common species, such as Chrysopogon fallax and Heteropogon contortus, had no strong soil preference. Wiregrasses (Aristida spp.) tended to be uncommon at both ends of the estimated pasture condition scale whereas H. contortus was far more common in pastures in good condition. Sedges (Cyperaceae) were common on all soil types and for all pasture condition ratings. Plants identified as increaser species were Tragus australianus, daisies (Asteraceae) and potentially toxic herbaceous legumes such as Indigofera spp. and Crotalaria spp. Pasture condition could not be reliably predicted based on the abundance of a single species or taxon but there may be scope for using integrated data for four to five ecologically contrasting plants such as Themeda triandra with daisies, T. loliiformis and flannel weeds (Malvaceae).