Development of CAN-based distributed control system for variable rate technology in agricultural machinery

The number of electronic devices connected to agricultural machinery is increasing to support new agricultural practices tasks related to the Precision Agriculture such as spatial variability mapping and Variable Rate Technology (VRT). The Distributed Control System (DCS) is a suitable solution for decentralization of the data acquisition system and the Controller Area Network (CAN) is the major trend among the embedded communications protocols for agricultural machinery and vehicles. The application of soil correctives is a typical problem in Brazil. The efficiency of this correction process is highly dependent of the inputs way at soil and the occurrence of errors affects directly the agricultural yield. To handle this problem, this paper presents the development of a CAN-based distributed control system for a VRT system of soil corrective in agricultural machinery. The VRT system is composed by a tractor-implement that applies a desired rate of inputs according to the georeferenced prescription map of the farm field to support PA (Precision Agriculture). The performance evaluation of the CAN-based VRT system was done by experimental tests and analyzing the CAN messages transmitted in the operation of the entire system. The results of the control error according to the necessity of agricultural application allow conclude that the developed VRT system is suitable for the agricultural productions reaching an acceptable response time and application error. The CAN-Based DCS solution applied in the VRT system reduced the complexity of the control system, easing the installation and maintenance. The use of VRT system allowed applying only the required inputs, increasing the efficiency operation and minimizing the environmental impact.

Optical crop sensor for variable-rate nitrogen fertilization in corn: i - plant nutrition and dry matter production

Variable-rate nitrogen fertilization (VRF) based on optical spectrometry sensors of crops is a technological innovation capable of improving the nutrient use efficiency (NUE) and mitigate environmental impacts. However, studies addressing fertilization based on crop sensors are still scarce in Brazilian agriculture. This study aims to evaluate the efficiency of an optical crop sensor to assess the nutritional status of corn and compare VRF with the standard strategy of traditional single-rate N fertilization (TSF) used by farmers. With this purpose, three experiments were conducted at different locations in Southern Brazil, in the growing seasons 2008/09 and 2010/11. The following crop properties were evaluated: above-ground dry matter production, nitrogen (N) content, N uptake, relative chlorophyll content (SPAD) reading, and a vegetation index measured by the optical sensor N-Sensor® ALS. The plants were evaluated in the stages V4, V6, V8, V10, V12 and at corn flowering. The experiments had a completely randomized design at three different sites that were analyzed separately. The vegetation index was directly related to above-ground dry matter production (R² = 0.91; p<0.0001), total N uptake (R² = 0.87; p<0.0001) and SPAD reading (R² = 0.63; p<0.0001) and inversely related to plant N content (R² = 0.53; p<0.0001). The efficiency of VRF for plant nutrition was influenced by the specific climatic conditions of each site. Therefore, the efficiency of the VRF strategy was similar to that of the standard farmer fertilizer strategy at sites 1 and 2. However, at site 3 where the climatic conditions were favorable for corn growth, the use of optical sensors to determine VRF resulted in a 12 % increase in N plant uptake in relation to the standard fertilization, indicating the potential of this technology to improve NUE.

Test procedure for variable rate fertilizer on coffee

The objective was to develop and test a procedure for applying variable rates of fertilizers and evaluate yield response in coffee (Coffea arabica L.) with regard to the application of phosphorus and potassium. The work was conducted during the 2004 season in a 6.4 ha field located in central Sao Paulo state. Two treatments were applied with alternating strips of fixed and variable rates during the whole season: one following the fertilizing procedures recommended locally, and the other based on a grid soil sampling. A prototype pneumatic fertilizer applicator was used, carrying two conveyor belts, one for each row. Harvesting was done with a commercial harvester equipped with a customized volumetric yield monitor, separating the two treatments. Data were analyzed based on geostatistics, correlations and regressions. The procedure showed to be feasible and effective. The area that received fertilizer applications at a variable rate showed a 34% yield increase compared to the area that received a fixed rate. The variable rate fertilizer resulted in a savings of 23% in phosphate fertilizer and a 13% increase in potassium fertilizer, when compared to fixed rate fertilizer. Yield in 2005, the year after the variable rate treatments, still presented residual effect from treatments carried out during the previous cycle.

Use efficiency of variable rate of nitrogen prescribed by optical sensor in corn

ABSTRACT The efficiency of nitrogen fertilizer in corn is usually low, negatively affecting plant nutrition, the economic return, and the environment. In this context, a variable rate of nitrogen, prescribed by crop sensors, has been proposed as an alternative to the uniform rate of nitrogen traditionally used by farmers. This study tested the hypothesis that variable rate of nitrogen, prescribed by optical sensor, increases the nitrogen use efficiency and grain yield as compared to uniform rate of nitrogen. The following treatments were evaluated: 0; 70; 140; and 210 kg ha-1 under uniform rate of nitrogen, and 140 kg ha -1 under variable rate of nitrogen. The nitrogen source was urea applied on the soil surface using a distributor equipped with the crop sensor. In this study, the grain yield ranged from 10.2 to 15.5 Mg ha-1, with linear response to nitrogen rates. The variable rate of nitrogen increased by 11.8 and 32.6% the nitrogen uptake and nitrogen use efficiency, respectively, compared to the uniform rate of nitrogen. However, no significant increase in grain yield was observed, indicating that the major benefit of the variable rate of nitrogen was reducing the risk of environmental impact of fertilizer.

Inverted Haavelmo Effects in a General Equilibrium Analysis of the Impact of Implementing the Scottish Variable Rate of Income Tax.

The Scottish Parliament has the authority to make a balanced-budget expansion or contraction in public expenditure, funded by corresponding local changes in the basic rate of income tax of up to 3p in the pound. This fiscal adjustment is known as the Scottish Variable Rate of income tax, though it has never, as yet, been used. In this paper we attempt to identify the impact on aggregate economic activity in Scotland of implementing these devolved fiscal powers. This is achieved through theoretical analysis and simulation using a Computable General Equilibrium (CGE) model for Scotland. This analysis generalises the conventional Keynesian model so that negative balanced-budget multipliers values are possible, reflecting a regional “inverted Haavelmo effect”. Key parameters determining the aggregate economic impact are the extent to which the Scottish Government create local amenities valuable to the Scottish population and the extent to which this is incorporated into local wage bargaining.

Optical crop sensor for variable-rate nitrogen fertilization in corn: II - indices of fertilizer efficiency and corn yield

Generally, in tropical and subtropical agroecosystems, the efficiency of nitrogen (N) fertilization is low, inducing a temporal variability of crop yield, economic losses, and environmental impacts. Variable-rate N fertilization (VRF), based on optical spectrometry crop sensors, could increase the N use efficiency (NUE). The objective of this study was to evaluate the corn grain yield and N fertilization efficiency under VRF determined by an optical sensor in comparison to the traditional single-application N fertilization (TSF). With this purpose, three experiments with no-tillage corn were carried out in the 2008/09 and 2010/11 growing seasons on a Hapludox in South Brazil, in a completely randomized design, at three different sites that were analyzed separately. The following crop properties were evaluated: aboveground dry matter production and quantity of N uptake at corn flowering, grain yield, and vegetation index determined by an N-Sensor® ALS optical sensor. Across the sites, the corn N fertilizer had a positive effect on corn N uptake, resulting in increased corn dry matter and grain yield. However, N fertilization induced lower increases of corn grain yield at site 2, where there was a severe drought during the growing period. The VRF defined by the optical crop sensor increased the apparent N recovery (NRE) and agronomic efficiency of N (NAE) compared to the traditional fertilizer strategy. In the average of sites 1 and 3, which were not affected by drought, VRF promoted an increase of 28.0 and 41.3 % in NAE and NRE, respectively. Despite these results, no increases in corn grain yield were observed by the use of VRF compared to TSF.

Sistemas de comutação de pontas na barra de pulverização para ajuste do tamanho de gotas às condiçoes climáticas e aplicação em taxas variáveis

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Performance and radial distribution profiles of a variable flow rate sprinkler developed for precision irrigation

Variable rate sprinklers (VRS) have been developed to promote localized water application of irrigated areas. In Precision Irrigation, VRS permits better control of flow adjustment and, at the same time, provides satisfactory radial distribution profiles for various pressures and flow rates are really necessary. The objective of this work was to evaluate the performance and radial distribution profiles of a developed VRS which varies the nozzle cross sectional area by moving a pin in or out using a stepper motor. Field tests were performed under different conditions of service pressure, rotation angles imposed on the pin and flow rate which resulted in maximal water throw radiuses ranging from 7.30 to 10.38 m. In the experiments in which the service pressure remained constant, the maximal throw radius varied from 7.96 to 8.91 m. Averages were used of repetitions performed under conditions without wind or with winds less than 1.3 m s-1. The VRS with the four stream deflector resulted in greater water application throw radius compared to the six stream deflector. However, the six stream deflector had greater precipitation intensities, as well as better distribution. Thus, selection of the deflector to be utilized should be based on project requirements, respecting the difference in the obtained results. With a small opening of the nozzle, the VRS produced small water droplets that visually presented applicability for foliar chemigation. Regarding the comparison between the estimated and observed flow rates, the stepper motor produced excellent results.

Efecto de una intervención sobre la carga física durante el proceso de coquización en una empresa de Colombia

Se realizó estudio cuasi experimental con el fin de comparar el efecto sobre la carga física de una intervención tecnológica y en la organización del trabajo en trabajadores en el cargo de horneros en la tarea de extracción de coque en Colombia. Se midió la carga física mediante frecuencia cardiaca e índice de costo cardiaco relativo en una población de trabajadores expuestos (37) y no expuestos (66) a una intervención tecnológica. La monitorización de la frecuencia cardiaca se realizó con 7 pulsímetros Polar RS 800cx debidamente calibrados. Las variables numéricas se describieron con base en la media aritmética, su desviación estándar, y el rango. Para evaluar la diferencia entre las medias de los grupos con respecto a la frecuencia cardiaca en reposo, media, máxima, índice de costo cardiaco relativo, gasto energético de trabajo se aplicó análisis de varianza de una vía. Se estableció a priori un nivel de significación estadística α = 0,05. Se encontraron diferencias estadísticamente significativas en el comportamiento de la frecuencia cardiaca media, frecuencia cardiaca máxima e índice de costo cardiaco relativo, entre los grupos de estudio. Se concluyó que este estudio valida la frecuencia cardiaca como una variable sensible para la medición del riesgo por carga física y a su utilidad en la evaluación intervenciones ergonómica. El estudio demostró que la intervención ergonómica logró controlar la carga física con una disminución significativa la frecuencia cardiaca, en el grupo de intervención.

A geostatistical analysis of the spatial variation of soil mineral nitrogen and potentially available nitrogen within an arable field.

The technology for site-specific applications of nitrogen (N) fertilizer has exposed a gap in our knowledge about the spatial variation of soil mineral N, and that which will become available during the growing season within arable fields. Spring mineral N and potentially available N were measured in an arable field together with gravimetric water content, loss on ignition, crop yield, percentages of sand, silt, and clay, and elevation to describe their spatial variation geostatistically. The areas with a larger clay content had larger values of mineral N, potentially available N, loss on ignition and gravimetric water content, and the converse was true for the areas with more sandy soil. The results suggest that the spatial relations between mineral N and loss on ignition, gravimetric water content, soil texture, elevation and crop yield, and between potentially available N and loss on ignition and silt content could be used to indicate their spatial patterns. Variable-rate nitrogen fertilizer application would be feasible in this field because of the spatial structure and the magnitude of variation of mineral N and potentially available N.

Variabilidade espacial de atributos químicos do solo em Araguari-MG

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Desenvolvimento e avaliação de pulverizador florestal com detecção eletrônica de plantas daninhas e aplicação em doses variáveis

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Active crop sensor to detect variability of nitrogen supply and biomass on sugarcane fields

Nitrogen management has been intensively studied on several crops and recently associated with variable rate on-the-go application based on crop sensors. Such studies are scarce for sugarcane and as a biofuel crop the energy input matters, seeking high positive energy balance production and low carbon emission on the whole production system. This article presents the procedure and shows the first results obtained using a nitrogen and biomass sensor (N-Sensor (TM) ALS, Yara International ASA) to indicate the nitrogen application demands of commercial sugarcane fields. Eight commercial fields from one sugar mill in the state of Sao Paulo, Brazil, varying from 15 to 25 ha in size, were monitored. Conditions varied from sandy to heavy soils and the previous harvesting occurred in May and October 2009, including first, second, and third ratoon stages. Each field was scanned with the sensor three times during the season (at 0.2, 0.4, and 0.6 m stem height), followed by tissue sampling for biomass and nitrogen uptake at ten spots inside the area, guided by the different values shown by the sensor. The results showed a high correlation between sensor values and sugarcane biomass and nitrogen uptake, thereby supporting the potential use of this technology to develop algorithms to manage variable rate application of nitrogen for sugarcane.

3.0-T MRI evaluation of patients with chronic liver diseases: initial observations

Purpose: To describe the use of 3.0-T magnetic resonance imaging (MRI) for the evaluation of chronic liver diseases. Materials and Methods: Two groups of patients who had chronic liver diseases and underwent 3.0-T MRI for evaluation of the liver were included in the study. The first group of patients included 66 consecutive patients (33 male, 33 female; mean age +/- standard deviation, 56 +/- 11). The second group of patients included 30 consecutive patients (18 males, 12 females; mean age +/- standard deviation, 53 +/- 10) in whom Variable-Rate Selective Excitation (VERSE) pulses and improved adjustments procedure were used during the acquisitions. Imaging findings of chronic liver diseases, predetermined artifacts and image quality of all individual sequences in the first group and predetermined artifacts and image quality of T2-weighted sequences in the second group were reviewed retrospectively and independently by two reviewers. chi-Square tests were used to compare the findings between two groups of patients and individual sequences. Kappa statistics were used to determine the extent of agreement between the reviewers. Results: Fifteen dysplastic nodules in 6 of 66 (9%) patients and 12 hepatocellular carcinomas in 11 of 66 (17%) patients were detected. Excluding motion artifacts, three-dimensional (313) T1-weighted gradient-echo (GE) sequence was the least affected sequence by the artifacts. Image quality of T1-weighted 3D-GE sequences was excellent in 43 of 66 (65%) patients. In-phase and out-of-phase T1-weighted spoiled GE (SGE) images were fair in 62 of 66 (94%) and 61 of 66 (92%) patients, respectively. The image quality of short tau inversion recovery (STIR) and half-Fourier rapid acquisition with relaxation enhancement (RARE) sequences were fair in 31 of 66 (47%) and 53 of 66 (80%) patients. STIR and half-Fourier RARE sequences in the second group demonstrated significantly better image quality (P=.03 and P<.0001). Conclusion: 3.0-T MRI allows the acquisition of very high quality postgadolinium 3D-GE sequence, which permitted the detection and characterization of lesions in the setting of chronic liver diseases. The use of VERSE pulses and improved adjustments procedure improved the image quality of T2-weighted sequences. In-phase/out-of-phase SGE sequences are at present of fair quality. (C) 2008 Elsevier Inc. All rights reserved.

Performance Characteristics of an Axial-Flux Solid-Rotor-Core Induction Motor

The integration of electric motors and industrial appliances such as pumps, fans, and compressors is rapidly increasing. For instance, the integration of an electric motor and a centrifugal pump provides cost savings and improved performance characteristics. Material cost savings are achieved when an electric motor is integrated into the shaft of a centrifugal pump, and the motor utilizes the bearings of the pump. This arrangement leads to a smaller configuration that occupies less floor space. The performance characteristics of a pump drive can be improved by using the variable-speed technology. This enables the full speed control of the drive and the absence of a mechanical gearbox and couplers. When using rotational speeds higher than those that can be directly achieved by the network frequency the structure of the rotor has to be mechanically durable. In this thesis the performance characteristics of an axial-flux solid-rotor-core induction motor are determined. The motor studied is a one-rotor-one-stator axial-flux induction motor, and thus, there is only one air-gap between the rotor and the stator. The motor was designed for higher rotational speeds, and therefore a good mechanical strength of the solid-rotor-core rotor is required to withstand the mechanical stresses. The construction of the rotor and the high rotational speeds together produce a feature, which is not typical of traditional induction motors: the dominating loss component of the motor is the rotor eddy current loss. In the case of a typical industrial induction motor instead the dominating loss component is the stator copper loss. In this thesis, several methods to decrease the rotor eddy current losses in the case of axial-flux induction motors are presented. A prototype motor with 45 kW output power at 6000 min-1 was designed and constructed for ascertaining the results obtained from the numerical FEM calculations. In general, this thesis concentrates on the methods for improving the electromagnetic properties of an axial-flux solid-rotor-core induction motor and examines the methods for decreasing the harmonic eddy currents of the rotor. The target is to improve the efficiency of the motor and to reach the efficiency standard of the present-day industrial induction motors equipped with laminated rotors.