Robotic Platform for Horticulture: Assessment Methodology and Increasing the Level of Autonomy.

The relevance of the study is confirmed by the rapid development of automation in agriculture, in particular, horticulture; the lack of methodological developments to assess the effectiveness of the introduction of robotic technologies; and the need to expand the functionality of mobile robots. The purpose of the study was to increase the level of autonomy of a robotic platform for picking apple fruits based on a new method, develop a system of factors to determine the effectiveness of the introduction of robots in horticulture, and develop a control system using integrated processing of onboard data. The article discussed the efficiency factors for the introduction of robotic systems and technologies in agricultural enterprises specializing in horticulture within the framework of projects with different budgets. The study sample consisted of 30 experts-enterprises that have implemented robotic platforms and scientists specializing in this field. Based on an expert survey of enterprise specialists, a ranked list of 18 efficiency factors was obtained. To select an evaluation factor that determines the effectiveness of robotization and the developed control system, a method for calculating the concordance coefficient (method of expert analysis) was applied as a measure of the consistency of a group of experts for each group of factors. An analysis of the results of the expert evaluation showed that three factors are the most significant: the degree of autonomy of work; positioning accuracy; and recognition accuracy. The generalized indicator of local autonomy of task performance was estimated based on the analysis of a set of single indicators. A system for controlling the movement of an autonomous robotic wheeled platform based on inertial and satellite navigation and calculation of the path to be overcome was developed. The developed software allows for the design of a route for the robotic platform in apple horticulture to automatically perform various technological operations, such as fertilization, growth and disease control, and fruit harvesting. With the help of the software module, the X, Y coordinates, speed and azimuth of movement were given, and the movement of the platform along the given typical turn trajectories in an intensive horticulture environment was visualized.

Immobilisation of metals from bottom sediments using two additives and thermal treatment.

A major problem associated with the land-based management of bottom sediments is their contamination with metals. The aims of the study were: 1) to use two additives for the immobilisation of metals; and 2) to evaluate the effect of three combustion temperatures on metal content and bottom sediment properties. The mixtures were prepared using contaminated bottom sediment and the following waste materials: cellulosic waste and biomass ash. In the second experiment, the bottom sediment samples were subjected to a thermal process, and three temperatures were chosen 500/800/950 °C. Overall, the addition of cellulosic waste and biomass ash to acidic, metal-contaminated bottom sediments significantly improved the properties of the resulting mixtures, including an increase in the pH value, sorption capacity, macronutrient content, and a decrease in the content and mobility of metals (Cd, Zn, Pb, Cr). The study confirmed the effectiveness of the thermal process on a significant reduction in the ecotoxicity of the sediments, a reduction in total content of elements, and a decrease in their leachability, and thus mobility, with increasing process temperature. The study results revealed that the converted contaminated bottom sediments can be effectively managed, provided that further studies on their technical application are carried out.

Sustainable Drying and Torrefaction Processes of Miscanthus for Use as a Pelletized Solid Biofuel and Biocarbon-Carrier for Fertilizers.

Miscanthus is resistant to dry, frosty winters in Poland and most European Union countries. Miscanthus gives higher yields compared to native species. Farmers can produce Miscanthus pellets after drying it for their own heating purposes. From the third year, the most efficient plant development begins, resulting in a yield of 25-30 tons of dry matter from an area of 1 hectare. Laboratory scale tests were carried out on the processes of drying, compacting, and torrefaction of this biomass type. The analysis of the drying process was conducted at three temperature levels of the drying agent (60, 100, and 140 °C). Compaction on a hydraulic press was carried out in the pressure range characteristic of a pressure agglomeration (130.8-457.8 MPa) at different moisture contents of the raw material (0.5% and 10%). The main interest in this part was to assess the influence of drying temperature, moisture content, and compaction pressure on the specific densities (DE) and the mechanical durability of the pellets (DU). In the next step, laboratory analyses of the torrefaction process were carried out, initially using the Thermogravimetric Analysis TGA and Differential Scaning Calorimeter DSC techniques (to assess activation energy (EA)), followed by a flow reactor operating at five temperature levels (225, 250, 275, 300, and 525 °C). A SEM analysis of Miscanthus after torrefaction processes at three different temperatures was performed. Both the parameters of biochar (proximate and ultimate analysis) and the quality of the torgas (volatile organic content (VOC)) were analyzed. The results show that both drying temperature and moisture level will affect the quality of the pellets. Analysis of the torrefaction process shows clearly that the optimum process temperature would be around 300-340 °C from a mass loss ratio and economical perspective.