Antonio Torregrosa

Spraying systems to protect crops against pests are still necessary to maintain food production at the rates demanded by the current population. However, today, it is crucial to use precision agriculture to reduce the negative effects of pesticides and other agrochemicals such as fungicides. In particular, pressure fluctuations related to transient states when using pulse-width-modulated nozzles (PMW) have been reported to decrease the accuracy of preset flow rates in air-assisted orchard sprayers. The objective of this paper is to analyze the vibrations induced in the spraying system of a vineyard blast sprayer controlled by pulse-width-modulated nozzles, considering the instantaneous duty cycle (DC) as the control variable. An air-assisted vineyard sprayer was modified to host 24 solenoid shutoff valves with hollow disc–cone nozzles. A triaxial accelerometer was mounted to track the effect of duty cycle (20%, 30%, 50%, and 70%). In addition to accelerations, high-speed images were recorded, and the pressure according to time and the flow were estimated. The hydraulic system of the sprayer, when controlled in real time by the PWM solenoids, created pulsating impacts at the nozzle level with the same frequency of 10 Hz of the PMW system. The impact effect was significantly higher for low duty cycles under 40% DC. In addition, to demonstrate the inaccuracy of opening and closing the valves at a precisely specified time, this study also confirmed the divergence between the theoretical duty cycles commanded by the sprayer’s control unit and the actual ones measured in real time. The results of the analysis showed the difficulty of opening and closing the valves with precision to obtain accurate duty cycles in the practical implementation of smart sprayers and the importance of understanding the vibration effects of pulses in arrangements of multiple PWM nozzles working simultaneously.

The flowrate control of spraying systems with pulse-width-modulated solenoid valves is currently being implemented for precision herbicide application in commodity crops, but solutions for fruit trees set in orchards that require higher pressures are mostly in the development stage. A reason for this has been the higher flowrate and pressure requirements of blast sprayers used for dense canopies typical of high value crops. In the present study, the duty cycles preset by an operator were compared to the actual ones estimated from measuring flowrates. A new developed air-assisted orchard sprayer with shelf hollow disc-cone nozzles was studied, such that flowrates and pressures were registered by a computer for different duty cycles commanded by an operator from 10% to 100% in intervals of 10%. In addition to sensor data, visual assessment was carried out via high-speed video images. The results showed that preset duty cycles were always more than 10% lower than the actual DC estimated from measured flowrates. The effective operational range of the duty cycles went from 20% to 80%. In general, the deviations in transitional periods were higher for lower duty cycles, being difficult to determine the real reduction in flowrate during the transition periods. A correction model has been proposed to adjust the preset duty cycles to make sure that the necessary spray flowrate is released as precisely commanded by prescription maps. Further research will be needed to verify the proper implementation of the developed correction model in field applications.

Precision spraying relies on the response of the spraying equipment to the features of the targeted canopy. PWM technology manages the flow rate using a set of electronically actuated solenoid valves to regulate flow rate at the nozzle level. Previous studies have found that PWM systems may deliver incorrect flow rates. The objective of the present study was to characterize the performance of a commercial blast sprayer modified with pulse-width-modulated nozzles under laboratory conditions, as a preliminary step before its further field validation. Four different duty cycles (25 percent, 50 percent, 75 percent and 100 percent) and four different pressures (400 kPa, 500 kPa, 600 kPa and 700 kPa) were combined to experimentally measure the flow rate of each nozzle. Results showed that the PWM nozzles mounted in the commercial blast sprayer, under static conditions, were capable of modulating flow rate according to the duty cycle. However, the reduction of flow rates for the tested duty cycles according to pressure was lower than the percentage expected. A good linear relation was found between the pressure registered by the control system feedback sensor and the pressure measured by a reference conventional manometer located after the pump. High-speed video recordings confirmed the accurate opening and closing of the nozzles according to the duty cycle; however, substantial pressure variations were found at nozzle level. Further research to establish the general suitability of PWM systems for regulating nozzle flow rates in blast sprayers without modifying the system pressure still remains to be addressed.

The increase of the technology level of citrus production operations is required to improve production profitability and reduce production costs. In the framework of the project CITRUSTECH (“Technological advances for modernisation and sustainability in citrus production”), three different poll questionnaires were developed and conducted in the Valencia region to assess the citriculture mechanisation level. In total, 142 questionaries for small and medium-size plantations, 32 for cooperative technicians and 16 for large-size plantations were conducted. From a socioeconomic point of view, clear age and sex inequalities were found. From the technological point of view, relevant differences were found between plantation sizes. The role of the cooperative mechanisation services (custom cost) and other customer services was revealed, with a higher percentage of the area under cultivation at the expense of the small-size plantations. The use of some manual tools was confirmed in pruning, even in large-size orchards. In small-size orchards, the use of backpack sprayers was verified. Regarding farm machinery, besides tractors, hydro-pneumatic sprayers and agricultural shredders were employed. No farm machinery was used during harvesting operations, apart from transport equipment, due to the reduced plantation frames.

The profitability of fresh citrus crops outlines the possibility of using mechanical systems to reduce the high cost of the manual harvesting operation. In this line, an experimental light shaker with low frequency and high amplitude and a hydraulic arm was developed. This device had been successfully used for harvesting ornamental citrus trees. In previous studies, it was proven that the removal percentage was adequate, but the percentage of slightly damaged fruit increased compared to a traditional fruit trunk shaker. Visualizing the fruit movements in high-speed video recording images during harvesting, a higher impact level was observed due to the higher amplitude. The aim of this study was to analyze the fruit movement during the vibration with the experimental shaker compared to the movement when vibrating with an orchard tractor mounted trunk shaker related to the increase of slightly damaged fruit when using the experimental shaker. Fruit movement parameters (fruit distance, fruit displacement, speed and acceleration) when using the two harvesting systems (experimental shaker and trunk shaker) were compared analyzing the high-speed video recordings. Results showed that the higher vibration amplitude produced a maximum distance experienced by the fruits (maximum displacement of 0.135 m with the experimental shaker compared to 0.078 m with the trunk shaker) that could cause a higher damage level (74% of slightly damaged fruits using the experiemntal shaker compared to 14% using the trunk shaker).

Pruning is one of the most expensive tasks in citrus production, and its mechanization could increase the productivity and competitiveness of citrus farms. The effect of mechanical pruning on yield depends on the variety, crop condition, and location; among other factors. The ‘Clemenules’ mandarin variety is one of the most important ones; therefore, the aim of this work was to study the effects of twelve pruning strategies on ‘Clemenules’ yield over four years, and to conduct an economic analysis. These strategies included fully manual pruning, annual alternation of mechanical/manual pruning, mechanical pruning with manual follow-up, and fully mechanical pruning with different types of cuttings. The results showed that pruning strategies affected the yield and fruit size in some years of the study but not when the four years overall are considered. Strategies that annually alternated mechanical pruning with manual pruning had higher yields than the fully mechanical approaches, and similar yields to the manual and control (no pruning) strategies. Furthermore, although the mechanical pruning costs per hectare were as minimum two times less than those with manual pruning, higher net value was achieved with the manual pruning approach followed by alternate annual mechanical/manual pruning. In conclusion, after four years of study, the pruning strategy with the best global results for ‘Clemenules’ mandarin was that which involved annually alternating mechanical (topping and one-sided hedging) and manual pruning. This strategy allows maintaining regular tree dimensions without dry branches inside.

A designed lightweight experimental shaker successfully used to collect ornamental oranges has been tested to harvest fresh market citrus. The aim of this study was to evaluate the removal efficiency and operational times of this experimental device compared to an orchard trunk shaker. Three different collecting systems were studied. ‘Caracara’ citrus trees were tested. Removal efficiency, vibration parameters, fruit and tree damages, and fruit quality were measured. A high-speed camera was used to record operational times and determine cumulative removal percentage over vibration time. The canvases on the ground reduced the severe fruit damages but were not useful to protect against light damages. The experimental shaker produced a higher percentage of slightly damaged oranges. No significant differences in removal efficiency were found between the two harvesting systems. However, removal efficiency using the experimental device could be reduced by 40 percent and working time increase by more than 50 percent when access to the main branches was difficult. In agreement with previous results, the curve representing the branch cumulative removal percentage in time followed a sigmoidal pattern. A model was built showing that during the first 5 s more than 50 percent of the fruits were detached.

Rice straw is a residue that causes significant environmental problems, as burning it causes CO₂ and ash emissions, while buried waste can cause issues associated with eutrophication. The extraction of straw from fields for alternative uses may contribute to solving these problems, but research into its economic viability is necessary. The straw can be used for crop mulching, biofuel, bedding for livestock, and so on. In this study, we analyse the work carried out by straw harvesting machines (rakes, balers, bundlers, and loaders) and calculate the costs of packing, road-siding, and transportation of the straw from the rice fields to stockage points in the producer area, as well as to locations outside of the rice production area, in order to assess the viability. The costs of all elemental operations were calculated. The costs of all the operations included between raking and unloading in the producer area stocking point ranged between 28.1 and 51 EUR t⁻¹. These costs were compared with the price of rain-fed cereal straw (wheat and barley), which is the most abundant, noting that the years in which rain-fed cereal straw reached high prices, rice straw could serve as a competitive product; however, in years when the former is cheap, it would be necessary to subsidise the harvesting of rice straw.

Pruning is one of the most manpower-consuming agricultural operations in citrus production. Mechanical pruning can help to reduce pruning time and costs. In order to obtain the knowledge of its effects on the important orange variety “Navel Foyos”, several pruning strategies that include manual pruning and various intensities of mechanical pruning were tested for three years. The results showed that in “Navel Foyos” oranges, the mechanical pruning strategies did not affect the yield nor the size of the fruit in comparison with manual pruning. In conclusion, mechanical strategies are a potential alternative to manual pruning because they reduce the time necessary to prune and the pruning costs, thereby maintaining or even increasing the yield.