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The research aims to demonstrate the basic system elements of a prototype automated orchard sprayer, which can deliver pesticide spray selectively with respect to the characteristics of the targets. The contour of the apple tree canopy was detected by ultra sound sensors Prowave 400EP14D and appropriate electronics. Ultra sound signal was processed by a personal computer and fed in real-time to spraying nozzles which open and close in relation to the canopy structure. The current project focuses on developing the system components for spraying an individual tree. The evaluation was performed in field experiments by detecting deposits on leaves and water sensitive papers (WSP). The demonstrated concept of precise application of pesticide sprays supports a decrease in the amount of delivered spray, thereby reducing both costs and environmental pollution by plant protection products.

Image registration is the process of aligning two or more images of the same scene taken at different times; from different viewpoints; and/or by different sensors. This research focuses on developing a practical method for automatic image registration for agricultural systems that use multimodal sensory systems and operate in natural environments. While not limited to any particular modalities; here we focus on systems with visual and thermal sensory inputs. Our approach is based on pre-calibrating a distance-dependent transformation matrix (DDTM) between the sensors; and representing it in a compact way by regressing the distance-dependent coefficients as distance-dependent functions. The DDTM is measured by calculating a projective transformation matrix for varying distances between the sensors and possible targets. To do so we designed a unique experimental setup including unique Artificial Control Points (ACPs) and their detection algorithms for the two sensors. We demonstrate the utility of our approach using different experiments and evaluation criteria.

One of the most unfavourable characteristics of crude vegetable oil when used as the fuel is the high viscosity. To improve this weakness, oil can be blended with mineral diesel or biodiesel fuels. This study was designed to evaluate how the use of mineral diesel or biodiesel blend with cold pressed rapeseed (Brassica napus) oil affects the engine power, torque and fuel consumption. A tractor equipped with direct injection, water cooling system and three-cylinder diesel engine was used for the experiment. Fuels used were standard diesel fuel (diesel), rapeseed oil methyl ester -biodiesel (B100) and their mixtures with 10, 30 and 50 vol. % of cold pressed rapeseed oil (RO). Increased portion of RO in diesel fuel blends had almost no effect on the torque measured on the tractor PTO shaft; it however decreased the maximal power. Fuel blends with B100 and rising RO content (up to 50%) gave a positive correlation with maximal torque and power. By increasing the portion of RO from 0 to 50%, the minimal specific fuel consumption increased by 6.65% with diesel and decreased by 2.98% with B100 based fuel. Key words: diesel engine power, torque, fuel consumption Características de um motor de trator alimentado com combustíveis mineral e biodisel misturados com óleo de colza RESUMO: Uma das características mais desfavoráveis dos óleos vegetais crus usados como combustível é a alta viscosidade. Para melhorar este ponto fraco, o óleo pode ser misturado com diesel mineral ou biodiesel. Este estudo foi desenvolvido para avaliar como o uso de diesel mineral ou biodiesel misturado a oleo de colza (Brassica napus) extraído por pressão a frio afeta a potência do motor, o torque e o consumo de combustível, empregando um trator equipado com injeção direta, sistema de refrigeração de água e um motor de três cilindros. Os combustíveis utilizados foram o diesel padrão (diesel), éster metílico de óleo de sementes de colza -biodiesel (B100) e suas misturas com 10, 30 e 50 % vol. de óleo de semente de colza pressionado a frio (RO). Maiores proporções de RO nas misturas de diesel praticamente não tiveram efeito sobre o torque medido na tomada de força do trator; porém diminuíram a potência máxima. Misturas com B100 e conteúdos de RO até 50% apresentaram correlações positivas com torque máximo e com a potência. Aumentando a proporção de RO de 0 a 50%, o consumo mínimo específico aumentou 6.6% com diesel e decresceu 3% com combustível baseado em B100. Palavras-chave: potência motor diesel, torque, consumo de combustível

The research aims to demonstrate the basic system elements of a prototype automated orchard sprayer, which can deliver pesticide spray selectively with respect to the characteristics of the targets. The contour of the apple tree canopy was detected by ultra sound sensors Prowave 400EP14D and appropriate electronics. Ultra sound signal was processed by a personal computer and fed in real-time to spraying nozzles which open and close in relation to the canopy structure. The current project focuses on developing the system components for spraying an individual tree. The evaluation was performed in field experiments by detecting deposits on leaves and water sensitive papers (WSP). The demonstrated concept of precise application of pesticide sprays supports a decrease in the amount of delivered spray, thereby reducing both costs and environmental pollution by plant protection products.

); (commercial product Dianem ® ) and the conventional insecticides Force 1.5 g (active substance tefluthrin) from the group of synthetic pyrethriods and Sonido (active substance thiacloprid) from the group of neonicotinoids. Field experiments were carried out at geographically different locations under different population pressure of the insect pest in a), Bučečovci (Prlekija; Eastern Slovenia) and b), Šmartno (Gorenjska: northern Slovenia). The differences between the treatments were very similar at both locations; although the population of WCR in Gorenjska was approximately 5-fold lower than in Prlekija. The highest number of WCR beetles was caught in the negative control, followed by the product Sonido, Force and Dianem ® , in decreasing order. Statistical analysis showed that only in the treatment where EPN were used, significantly less WCR was caught than in the control. The results of the WCR larvae control in maize using Heterorhabditis bacteriophora are comparable to published literature. However, the weather conditions in the 2016 trial were very favorable for the development and survival of EPN in the soil.