Large Tractors Research Articles

Fault Diagnosis Method for Tractor Transmission System Based on Improved Convolutional Neural Network–Bidirectional Long Short-Term Memory

In response to the problems of limited algorithms and low diagnostic accuracy for fault diagnosis in large tractor transmission systems, as well as the high noise levels in tractor working environments, a defect detection approach for tractor transmission systems is proposed using an enhanced convolutional neural network (CNN) and a bidirectional long short-term memory neural network (BILSTM). This approach uses a one-dimensional convolutional neural network (1DCNN) to create three feature extractors of varying scales, directly extracting feature information from different levels of the raw vibration signals. Simultaneously, in order to enhance the model’s predicted accuracy and learn the data features more effectively, it presents the multi-head attention mechanism (MHA). To overcome the issue of high noise levels in tractor working environments and enhance the model’s robustness, an adaptive soft threshold is introduced. Finally, to recognize and classify faults, the fused feature data are fed into a classifier made up of bidirectional long short-term memory (BILSTM) and fully linked layers. The analytical findings demonstrate that the fault recognition accuracy of the method described in this article is over 98%, and it also has better performance in noisy environments.

Towards inclusive mechanization? Two-wheel tractor-based service markets in Ethiopia, Burkina Faso, and Zimbabwe

PurposeAfrican agricultural mechanization could lead to a mechanization divide, where only large farms have access to machines. Technological solutions such as scale-appropriate machines and institutional solutions like service markets offer hope for more inclusive mechanization. Two-wheel tractor-based service markets combine both technological and institutional elements, but there is limited research on their economic viability and challenges.Design/methodology/approachWe analyze the economic viability of two-wheel tractor-based service provision based on data from service providers in Ethiopia, Burkina Faso, and Zimbabwe. We also examine the institutional framework conditions for such service providers based on qualitative interviews with these service providers and stakeholders such as machinery dealers, spare parts providers, and banks.FindingsTwo-wheel tractor-based service provision is economically highly viable, largely due to multifunctionality. Post-production services such as threshing and transportation are particularly lucrative. However, the emergence and economic sustainability of service providers can be undermined by bottlenecks such as access to finance, knowledge and skills development, access to fuel and spare parts, and infrastructure problems.Originality/valueThis is the first study on the economics of two-wheel tractor-based service provider models. Past studies have focused on large four-wheel tractors, but two-wheel tractors are different in many aspects, including regarding investment costs, repair and maintenance costs, capacity, and multifunctionality.

Effect of Soil Properties and Powertrain Configuration on the Energy Consumption of Wheeled Electric Agricultural Robots

Agricultural emissions can be significantly reduced with smart farming, which includes moving away from large conventional tractors to fleets of compact wheeled electric robots. This paper presents a novel simulation modeling approach for an ATV-sized wheeled electric agricultural robot pulling an implement on deformable terrain. The 2D model features a semiempirical tire–soil interaction model as well as a powertrain model. Rear-wheel drive (RWD), front-wheel drive (FWD), and all-wheel drive (AWD) versions were developed. Simulations were carried out on two different soils to examine the energy consumption and tractive performance of the powertrain options. The results showed that energy consumption varies the least with AWD. However, RWD could provide lower energy consumption than AWD with light workloads due to lower curb weight. However, with the heaviest workload, AWD had 7.5% lower energy consumption than RWD. FWD was also found to be capable of lower energy consumption than AWD on light workloads, but it was unsuited for heavy workloads due to traction limitations. Overall, the results demonstrated the importance of taking the terrain characteristics and workload into account when designing electric agricultural robots. The developed modeling approach can prove useful for designing such machines and their fleet management.

Optimization of parameters and operating modes of the unit for preparing soil for planting rice in Burundi

In Burundi, according to ISTEEBU projections, the area of arable land per household could be around 0.3-0.5 ha over 20-25 years. In modern conditions, the use of large tractors is possible only on the Imbo plain and in the Kumoso basins in the east of the country. At the same time, the practice of polyculture does not contribute to the mechanization of agriculture. Under these conditions, the use of walk-behind tractors will facilitate the work, since instead of machines with passive plow and disk working bodies, it is more rational to use machines with active, rotary working bodies, such as tillage cutters, which are characterized by high quality loosening of the arable layer and soil mixing with fertilizers. However, when working with a walk-behind tractor, the operator is subject to high physical stress and vibration, which affects his health. There is also no fertilization operation.

White buildings, Red Dust: Brasilia in Ektachrome Colour

Brasília’s red dust is everywhere. Regularly tinting the white surfaces of Brasília’s modernist buildings red, a great effort of human labor is required every day to maintain their intended autonomy. Dust clouds first appeared in February 1957 due to massive earthworks and the clearing of the original landscape. While large tractors and caterpillars aggressively manipulated the ground following the forms of Lucio Costa’s Pilot Plan, a formless entropic dispersal of red soil microparticles filled the air. As the floating dust spread over Brasília’s construction site, it also filled the printed pages of newspapers and magazines. This article intends to discuss how dust tainted the representation of Brasília. As modernist architecture confronted the landscape, dust introduced a distortion in the pure image of Brasília, threatening not only the whiteness of the upcoming architectures but also contaminating drawings, cameras, lenses, printed photographs, clothes and lungs. While most of the architectural black and white photos of Brasília tended to produce clean images, the introduction of the newest color film Ektachrome by photojournalists made earthworks and dust visible. Associated with grainy reproduction in illustrated magazines and speckles of dust in the negatives themselves, the images enhanced the perception of Brasília’s total environmental design. If dust is, according to Richard Meyer, “an environment in miniature, a physical archive of our material surroundings,” this article analyzes how these fine particles of solid matter and their accidental reproduction, operated as visual dissonances that confuse the modern distinction between nature and culture. Cover image: Mário Fontenelle, Clearing, c.a. 1958, Arquivo Público do Distrito Federal

INTEGRATED RESEARCH OF MULTI-PURPOSE STANCHION BASKETS FOR TRANSPORTING TIMBER AND CONTAINERS

Analyses of cargo transport in 2021 show that despite the increased volume of cargo transported by all types of transport compared to 2020, road transport is still dominant compared to rail transport. Therefore, all actions aimed at improving these unfavorable relations (rail transport vs. road transport) in transport, particularly cargo transport, should be considered purposeful and justified. One such activity is the ongoing work on the design and construction of freight wagons for specialized transport. Unlike universal wagons, specialized wagons are characterized by a limited ability to transport a wide range of material groups. An example is the transport of timber. However, the development of new transport technologies, and above all, technical and organizational progress, force the organizers of these transport modes to look for new logistic and rolling stock solutions. The aforementioned transport of timber is an example of this. The transport of wood does not constitute a large volume of transport, but taking into account its transport issues (transport with large truck tractors, high axle loads, and high risks for other road users), it is a classic example of the fact that it should not be carried out by road over long distances. Therefore, all actions aimed at reducing these issues and improving efficiency by using rail transport are desirable and even necessary. The article presents an innovative design solution in the form of a stanchion basket installed on flat wagons, allowing the use of standard wagons of this type to transport both containers and timber as well as loads such as beams and pipes. Such a solution will allow the use of empty runs of these wagons after unloading wood at the destination station for further transport of containers and vice versa. The considerations described in the article show the research process at the construction stage and testing the prototype of the built basket and the wagon with the stanchion basket structure placed on it.

Evaluating the Operational Efficiency of a Combined Tillage Cultivator

Introduction. At present, the use of combined machines and aggregates makes it possible to significantly reduce the time for tillage, while ensuring the required quality. Combining operations in these machines also reduces the impact of adverse weather conditions on the performance of technological processes. The use of combined machines makes it possible to fully load large tractors, especially on the land plot of a small area, where working with wide web units is difficult. The combination of technological operations is most advantageous for intensive farming in fields free of weeds. Therefore, the development of technologies and means of mechanization, which allow preparing soil with high quality and the least energy and material costs, is an important task. The purpose of the study is to evaluate the efficiency of a combined cultivator for surface tillage and improve the quality of its work. Materials and Methods. Based on numerous studies and requirements for tillage machines with elastic struts, a combined cultivator for surface tillage has been developed. To assess the efficiency and study the cultivator performance, a multifactorial experiment of the first order was conducted. Traction resistance of the cultivator section and soil crumbling (fraction size from 0 to 25 mm) were taken as optimization parameters. Results. The use of an experimental cultivator, in comparison with serial ones, allows reducing the tractive resistance by 10–15%, and improving the quality of soil crumbling by 5–6%. Discussion and Conclusion. The conducted experimental studies have proved the developed combined cultivator to be effective. The use of this cultivator leads to a reduction in energy consumption and improvement of the quality of tillage.

A Study on the Utilization Rate and Influencing Factors of Small Agricultural Machinery: Evidence from 10 Hilly and Mountainous Provinces in China

Hilly and mountainous areas are weak places for the development of agricultural mechanization in China. The way to improve the utilization rate of small agricultural machinery widely used in hilly and mountainous areas is of positive significance for optimizing resource allocation efficiency of agricultural production and ensuring food security supply. Taking microtillers as a representative tool, this study systematically analyzed the main factors affecting the utilization rate of small agricultural machines and its influencing mechanism. Then, based on the survey data of 4905 farmers in 100 counties in 10 hilly and mountainous provinces of China, empirical analysis was carried out by some econometric models, such as censored regression and the mediating effect model. Results show the following.: (1) Among farmers in hilly and mountainous areas, the average use time of each microtiller is 218.41 h per year. (2) Age, social identity, terrain conditions, crop types, land area, the number of microtillers, the number of large tractors, and the machinery purchase subsidy policy are the significant factors affecting the utilization rate of microtillers. (3) The increase of cultivated land area not only directly improves the utilization rate of microtillers, but also indirectly improves the utilization rate of microtillers due to the increase in quantity.

The Impact of Traffic-Induced Compaction on Soil Bulk Density, Soil Stress Distribution and Key Growth Indicators of Maize in North China Plain

The traffic-induced soil compaction in the field has gradually become an important constraint to sustainable agricultural development. A field experiment was conducted to acquire the stress transmitted caused by multiple passes with different types of tractors and to investigate the impact of these stresses on soil bulk density and crop growth. The experiment applied two tractors with different masses: LOVOL M904 (HC) and John Deer 280 (LC), and six different treatments of 0 (C0), 1 (C1), 3 (C3), 5 (C5), 7 (C7), and 9 (C9) tractor passes for each tractor. The results showed that at each number of passes, tractors with small axle-loads at 0–20 cm depth generated higher soil additional stress, while tractors with large axle-loads at 20–80 cm depth generated higher soil additional stress. In the 0–20 cm soil layer, when the number of continuous passes is less than 7 times, the passes of a small axle-load tractor lead to larger soil bulk density, and when the number of continuous passes is more than 7, the compaction of large axle-load tractor leads to larger soil bulk density. At depths of 20–80 cm, compaction by large axle-load tractors results in larger soil bulk density. In this study, different levels of tractor compaction inhibited key growth indicators of maize, resulting in yield reductions. The effect of different tractor load compaction on maize yield increased significantly with the number of compaction passes, with 1–5 tractor passes having no significant effect on yield and 7–9 passes producing greater yield reductions for HC. This study will provide a theoretical basis and technical support for the selection of agricultural machinery and reasonable tillage technology.

Android Operated Mobile Robot for Agriculture Purpose

Abstract: The paper aims on the design and development of robot that is used in the field of agriculture. The robot helps the farmer to perform agriculture activities the robot will perform ploughing, seed sowing, mud levelling, water spraying and cutting the crop. It is mainly designed to minimize the labor of farmers in addition to increasing the speed and accuracy of the work. In this project android application is used to provide the input to the robot. By using Bluetooth, connection establish between the robot and the application. According to the instructions given the robot will perform the operations. In the field of agricultural autonomous vehicle, a concept is been developed to investigate if multiple small autonomous machines could be more efficient than traditional large tractors and human forces.

Design and Development of Agribot

The project aims on the design, development and the fabrication of the robot which can dig the soil, put the seeds, leveler to close the mud and sprayer to spray water, these whole systems of the robot work with the battery and the solar power. More than 40% of the population in the world chooses agriculture as the primary occupation, in recent years the development of the autonomous vehicles in the agriculture has experienced increased interest. The vehicle is controlled by Relay switch through IR sensor input. The language input allows a user to interact with the robot which is familiar to most of the people. The advantages of these robots are hands-free and fast data input operations. In the field of agricultural autonomous vehicle, a concept is been developed to investigate if multiple small autonomous machines could be more efficient than traditional large tractors and human forces. Keeping the above ideology in mind, a unit with the following feature is designed.

农用拖拉机与田间地面相互作用的研究

To study the interaction between the tractor and the field terrain on which the tractor operates, the characteristics of tractor vibrations excited by the measured profiles were analyzed by simulations and experiments. The results show that the theoretically calculated values of the tractor vibrations excited by the field road profiles, including the natural frequencies of the tractor’s center of gravity, acceleration RMS values of the tractor axles, and the wheel dynamic loads, were close to the measured values, with an error range of 3.5% to 10.9%. Considering the filtering effect of large tractor tires on the measured road profiles, these errors are within an acceptable range. The results confirm the validity of the methodology presented in this paper for investigating the tractor vibrations caused by measured profiles as excitations.

Bringing the Dead Sea to Life: Art and Nature at the Lowest Place on Earth

Bringing the Dead Sea to Life: Art and Nature at the Lowest Place on Earth

土地管理对植被变绿的潜在贡献——以中国东北农业区为例

植被变绿现象一般指绿度指标统计上呈现年际增加趋势。大尺度植被变绿现象及其归因与影响研究广泛开展中。其中, 量化各种驱动因素的贡献仍然十分困难, 特别是土地管理影响的研究尚显不足。选择了中国农业分布最广泛的东北农业区, 尝试从植被变绿的年际变化和季节特征对土地管理因素的潜在贡献进行了推断分析, 并选择增强植被指数EVI作为指标。在2000—2019年期间, EVI在农田和自然植被(林地和草地)的变化趋势分别为2.19×10^-3/a(P < 0.05)和1.86×10^-3/a(P < 0.05)(1.83×10^-3/a(P < 0.05)和1.94×10^-3/a(P < 0.05)), 即处于相同量级。但是, 农田EVI的增长主要集中在6—9月, 增长率为4.99×10^-3/a(P < 0.05), 而同期自然植被的增长速率仅为2.30×10^-3/a(P < 0.05)(林地和草地分别为1.79×10^-3/a(P < 0.05)和3.71×10^-3/a(P < 0.05)), 气候驱动因素很难解释这种季节性的不对称变化。土地管理选取种植类型变迁、农药与化肥施用量以及农业机械化等指标, 结果表明该地区农田的土地管理强度变化较大(数据范围2000—2018年)。其中, 小麦种植面积呈现下降(-85.61%), 同期玉米和水稻种植面积显著扩张, 增长率分别为144.64%和90.68%。化肥和农药施用量分别增加了112.61%和80.24%, 农业机械总功率与大中型拖拉机数量增长量分别为185.04%和1192.30%。这些农田土地管理活动对农作物生长起到显著促进作用, 能够较好解释农田植被在6—9月份相比自然植被具有更高的变绿速度。为了进一步量化相关机制, 模式需要优化土地管理过程, 完善其对变绿贡献的模拟。;The vegetation greening phenomenon usually refers to a statistical increase in annual vegetation greenness index. Researches on large-scale vegetation greening phenomenon, corresponding driving factors and their influence have been widely found. It is still difficult to quantify the contribution of the drivers, especially the research on the impact of land management is still insufficient. In this paper, the northeast agricultural region, which has the most extensive agricultural distribution in China, was selected to analyze the potential contribution of land management to greening through the inter-annual variation and seasonal characteristics of vegetation changes and Enhanced Vegetation Index (EVI) was applied to indicate vegetation condition. During 2000—2019, the interannual trends of EVI over croplands and natural vegetation (forest and grassland) were 2.19×10^-3/a (P < 0.05) and 1.86×10^-3/a (P < 0.05) (1.83×10^-3/a (P < 0.05) and 1.94×10^-3/a (P < 0.05), respectively, that is, at the same magnitude. However, the growth of cropland EVI was mainly concentrated in June to September, with a growth rate of 4.99×10^-3/a (P < 0.05), while the growth rate of natural vegetation was only 2.30×10^-3/a (P < 0.05) (forest and grassland were 1.79×10^-3/a (P < 0.05) and 3.71×10^-3/a (P < 0.05), respectively)at the same time. Climate driving factors are difficult to explain the seasonal asymmetric growth alone. The land management here mainly contains the change of planting type, the use of pesticides and chemical fertilizers and agricultural mechanization. Results demonstrate that the intensity of land management of croplands in this area has changed greatly during 2000—2018. The sowing area of wheat decreases (-85.61%), and that of corn and rice increased significantly by 144.64% and 90.68%, respectively. During the same period, the use of chemical fertilizer and pesticide increased by 112.61% and 80.24%, respectively. The total power of agricultural machinery and the number of large and medium-sized tractors increased by 185.04% and 1192.30% respectively. These land management activities have played a significant role in promoting the growth of crops, which can better explain the higher rate of greening of cropland vegetation compared with natural vegetation during June to September. It is suggested that to further clarify this mechanism, models need to optimize the land management process, and improve the simulation of land management contribution to greening.

Multipurpose Agriculture Robot

The development and the fabrication of the robot which can dig the soil, put the seeds, leveler to close the mud and sprayer to spray water, these whole systems of the robot works with the battery and the solar power. More than 40% of the population in the world chooses agriculture as the primary occupation, in recent years the development of the autonomous vehicles in the agriculture has experienced increased interest. The vehicle is controlled by Relay switch through IR sensor input. The language input allows a user to interact with the robot which is familiar to most of the people. The advantages of these robots are hands-free and fast data input operations. In the field of agricultural autonomous vehicle, a concept is been developed to investigate if multiple small autonomous machine could be more efficient than traditional large tractors and human forces. Keeping the above ideology in mind, a unit with the following feature is designed: Ploughing is one of the first steps in farming. During this process we till the land and make it ready for the seed sowing. By tilling we mean that a plough will be used which will have teeth’s like structure at the end and will be able to turn the top layer of soil down and vice-versa. Seed sowing comes next where the seeds need to be put in ground at regular intervals and these needs to be controlled automatically. Limiting the flow of seeds from the seeds chamber is typically doing this. Mud leveler is fitted to close the seeds to the soil and to level the ground.

Farmers’ perspectives on field crop robots – Evidence from Bavaria, Germany

Farmers’ attitudes toward field crop robots in a European setting have hardly been studied despite an increasing availability of the technology. Given the relevance of robots for small-scale agriculture, however, their acceptability in regions dominated by small-scale agriculture such as Bavaria, Germany, is of particular interest. Based on a sample of 174 farmers, an exploratory investigation of factors influencing the preference for large or small field crop robots in general and in specific settings and for mode of operation was carried out. Data were gathered using questionnaires at two events including lectures and field demonstrations and analyzed using bivariate tests. Farm size, farming system (organic/conventional), and occupational structure (part-time/full-time) were relevant attributes influencing the evaluation of advantages and disadvantages of field crop robots. Generally, respondents from larger farms focus more on financial benefits from robots and prefer large autonomous tractors. Conversely, small-scale or organic farmers consider environmental benefits of field crop robots relatively more important and favor small robots. Organic farming also positively correlates with the intent to purchase field crop robots within the next five years. More farmers can generally imagine owning small robots as opposed to an autonomous tractor in ten years, but at the same time view autonomous tractors as more suitable for most specified agronomic tasks. Non-purchase options such as contractor services and machinery sharing represent the preferred modes of robot deployment.

Tractor vs. animal: Rural reforms and technology adoption in China

Better institutions do not always advance technologies. China’s rural reforms during the early 1980s secured land tenure for peasants and dismantled large collective farms into small household farms, which transformed tillage technology. Using a novel data set of 1755 counties from 1976 to 1988, our event study exploits the county-by-county rollout of the reform. We find that the use of tractors plummeted after the reform, while the use of draft animals surged. Post-reform tractor use was more suitable to local factor endowments and farm size. Small tractors became more popular while the number of large tractors declined.

Autonomous Navigation of a Center-Articulated and Hydrostatic Transmission Rover using a Modified Pure Pursuit Algorithm in a Cotton Field.

This study proposes an algorithm that controls an autonomous, multi-purpose, center-articulated hydrostatic transmission rover to navigate along crop rows. This multi-purpose rover (MPR) is being developed to harvest undefoliated cotton to expand the harvest window to up to 50 days. The rover would harvest cotton in teams by performing several passes as the bolls become ready to harvest. We propose that a small robot could make cotton production more profitable for farmers and more accessible to owners of smaller plots of land who cannot afford large tractors and harvesting equipment. The rover was localized with a low-cost Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS), encoders, and Inertial Measurement Unit (IMU)s for heading. Robot Operating System (ROS)-based software was developed to harness the sensor information, localize the rover, and execute path following controls. To test the localization and modified pure-pursuit path-following controls, first, GNSS waypoints were obtained by manually steering the rover over the rows followed by the rover autonomously driving over the rows. The results showed that the robot achieved a mean absolute error (MAE) of 0.04 m, 0.06 m, and 0.09 m for the first, second and third passes of the experiment, respectively. The robot achieved an MAE of 0.06 m. When turning at the end of the row, the MAE from the RTK-GNSS-generated path was 0.24 m. The turning errors were acceptable for the open field at the end of the row. Errors while driving down the row did damage the plants by moving close to the plants’ stems, and these errors likely would not impede operations designed for the MPR. Therefore, the designed rover and control algorithms are good and can be used for cotton harvesting operations.

Large site prep tractors for fire line establishment in southern pine stands in Alabama

ABSTRACTTrials of fire line establishment with a mulcher were conducted with a 261 kW Caterpillar 586C site prep tractor and Cat HM825 mulcher head (2.5 m cutting path). The fire lines were intended for the application of prescribed fire. The trials were on three sites and in two stand types (cutover and thinned pine), and at three production speeds (0.6, 0.8, and 1.2 km h−1). The slowest speed (0.6) was a two-pass application at 1.2 km h−1. Treatments were applied in 16 blocks to 48 segments which ranged from 100 to 300 m in length. Mineral soil exposure ranged from 50% to 80% of the treatment width for all but one block. Slower speeds produced significantly greater mineral soil exposure with some significant interactions of site and treatment. Productive delays were caused by maneuvering and retreatment of skips, due to sudden changes in terrain or obstacles. Productive delays were 9% and 27% of the total time in cutover and thinned stands, respectively. Even with productive delays, most design speeds could be achieved. At the higher speeds, mulched fire line costs ($ km−1) were near current costs for bladed trails. However, mulcher productivity (km h−1) could be 2 to 3 times greater than dozers in open woodlands or young stands where the mulcher can easily navigate. Opportunities for using a wheeled mulcher to create fire lines might include locations that can take advantage of on-road travel between sites or locations that require spot treatments of high fuel loads in high-risk locations.

Optimized design and field experiment of a staggered vibrating subsoiler for conservation tillage

Soil compaction is a common problem facing conservation fields that restricts crop root growth and causes yield decrease. Subsoil techniques have been developed to break up the compaction layer. However, subsoil implement requires large draft power that hampered the development of subsoil techniques for most of developing countries due to lack of large scale tractors. Aiming to optimize the penetration resistance of the subsoiler and create a good working environment for the operators, a staggered vibrating subsoiler was developed. A new staggered vibrating mechanism was designed to generate the staggered vibration of the shanks meanwhile the V-shape shanks arrangement was adopted to keep relative balance for the subsoiler. In order to obtain optimum working parameters of the vibration frequency and forward speed, the trajectory of shanks was simulated by using the MATLAB software. The forward speed of 2-3 km/h with vibration frequency of 12 Hz was recommended to acquire an effective decrease in draft force. Field performance of this subsoiler was evaluated in terms of the draft force, power requirement and tractor wheel slippage. By comparing the two operation modes, staggered vibrating (SV) and rigid (NV) of shanks, the decrease ratios of draft force for SV were determined by 16.97%, 12.12% and 9.02% at forward speeds of 2.2 km/h, 2.6 km/h and 3.1 km/h, respectively. This is better than the research for the 1SZ-460 vibratory subsoiler that was decreased by 9.09% in draft force. The power requirement for SV was not significantly greater than that for NV. The obviously decreased wheel slippage was observed for SV by decrease of 12.47%, 17.96% and 21.79% at forward speeds of 2.2 km/h, 2.6 km/h and 3.1 km/h, respectively. In conclusion, the staggered vibrating subsoiler presents preferable working performance and is recommended to be applied in subsoil tillage process for developing countries. Keywords: vibrating subsoiler, staggered vibrating mechanism, V-shape arrangement, field experiment DOI: 10.25165/j.ijabe.20191201.4297 Citation: Wang Y X, Osman A N, Zhang D X, Yang L, Cui T, Zhong X J. Optimized design and field experiment of a staggered vibrating subsoiler for conservation tillage. Int J Agric & Biol Eng, 2019; 12(1): 59–65.