ABSTRACT Semi-mechanized and mechanized harvesting use machines that promote the transference of vibrational energy and impact to achieve the detachment of coffee fruits. The aim of this study was to evaluate the vibration transmissibility in coffee fruit-peduncle systems, using high-speed cameras, submitted to high frequency harmonic excitation in different combinations between frequency and amplitude of vibration, identifying working ranges suitable to perform selective harvesting. Vibration transmissibility was determined for the coffee fruit-peduncle systems, for the maturation stages unripe and ripe that were subjected to a sinusoidal harmonic displacement, in which the input parameters were frequency (35, 45 and 55 Hz) and peak-to-peak amplitude (3.5, 5.0 and 6.5 mm). An experiment was used to study the effect of frequency and amplitude on vibration transmissibility in a completely randomized design in a factorial scheme 3 x 3 x 2, with three replications. The frequency of 35 Hz, associated with the amplitudes 3.5-6.5 mm, was the one that most influenced the results of vibration transmissibility. For the frequency of 55 Hz and amplitude of 6.5 mm, in the ripe maturation stage, the vibration transmissibility was higher than 1.0, which could be a suitable combination for selective coffee harvesting.

ABSTRACT Phosphorus concentration is one of the main attributes determined in laboratory analyses of soil samples collected in the field. The objective is to develop a soil phosphorus test using a low-cost spectrophotometer and a machine learning technique. For reflectance measurements, a low-cost system consisting of a Sparkfun AS7625x spectrophotometer and an Arduino Uno is used. Ion exchange resins under standard saturated solutions and modified conditions are used to extract phosphorus ions from the soil samples. Reflectance and phosphorus concentrations determined by the reference method are used in the training and testing of a machine learning. A modification procedure of the ion-exchange resin saturation solution allows the establishment of a strong correlation between the reflectance in 18 spectral bands and P concentration of the soil samples. The obtained model uses five reflectance of the modified resins at wavelengths of 410, 460, 560, 705, and 645 nm to predict the phosphorus concentration. This model presents an R2t accuracy of 0.97 in the training stage with an R2v of 0.96, RMSEv of 9.05, and ratio of prediction to deviation) of 3.81 in the test step.

ABSTRACT Soil apparent electrical conductivity (ECa) sensors have been used to detect spatial variability because they correlate with soil attributes. Studies with soil attributes have shown that the number of subsamples and sampling points influences mapping. However, there are no studies that investigated the influence of sampling or subsampling density on ECa maps. Therefore, this study verified the influence of ECa readings per sample point on the semivariance and kriging analysis. The data were collected from an area (2.5 ha) of coffee plants. One hundred sampling points were measured considering 20 readings each. 1, 5, 10, 15, and 20 sample point readings were tested. The influence of the number of readings per sampling point on the ECa mapping was determined using linear regression analysis at a significance level of 5%. The results obtained showed that ECa readings per sampling point significantly influence ECa maps. In addition, they demonstrated that reducing the number of readings per sampling point increases prediction errors by kriging. Thus, ECa maps determined with the highest readings per sampling point were mostly accurate.

RESUMO Os índices de vegetação são importantes indicadores da saúde e produtividade das culturas agrícolas. Dentre os tipos de sensores, os sensores proximais podem ser utilizados para tomada de decisão em tempo real. Dessa forma, o objetivo deste estudo foi desenvolver um sistema sensor proximal, com base em fototransistor, para obtenção e armazenamento dos índices de vegetação: NDVI (Índice de Vegetação da Diferença Normalizada), SR (Razão Simples), WDRVI (Índice de Vegetação de Larga Escala Dinâmica), SAVI (Índice de Vegetação Ajustado ao Solo) e OSAVI (Índice de Vegetação Ajustado ao Solo Otimizado). O sistema sensor foi desenvolvido utilizando um circuito analógico para realizar a aquisição de dados de reflectância das bandas do vermelho e infravermelho próximo. O sistema sensor foi calibrado, utilizando grama Zoysia japonica, para ajustar seus valores aos de um espectroradiômetro. Desenvolveu-se um algoritmo que calcula os índices de vegetação e armazena os resultados em um arquivo. Avaliou-se a correlação de Pearson entre os índices de vegetação obtidos com o sistema sensor e o espectroradiômetro. Os índices de vegetação apresentaram correlação de Pearson superiores a 0,92 com os valores estimados pelo espectroradiômetro. Nas condições analisadas, o sistema sensor proposto pode ser utilizado na determinação de todos os índices de vegetação abordados.

ABSTRACT Vegetation indexes are important indicators of the health and yield of agricultural crops. Among the sensors used to evaluate vegetation indexes, proximal sensors can be used for real-time decision-making. Thus, the objective of this study was to develop a proximal sensor system based on phototransistors to acquire and store the following vegetation indexes: normalized difference vegetation index, simple ratio, wide dynamic range vegetation index, soil-adjusted vegetation index, and optimized soil-adjusted vegetation index. The sensor system was developed using an analog circuit to acquire reflectance data from red and near-infrared bands. The sensor system was calibrated according to the results of a spectroradiometer, using Zoysia japonica grass as the target. An algorithm that calculates and stores vegetation indexes in a file was developed. The Pearson correlation between the vegetation indexes obtained with the sensor system and the spectroradiometer was evaluated. The vegetation indexes presented a Pearson correlation higher than 0.92 to the estimated values by the spectroradiometer. Under the evaluation conditions, the proposed sensor system could be used to determine all vegetation indexes evaluated.

ABSTRACT There exist two options for digital cameras that can capture the near-infrared (NIR) band. Conventional red–green–blue (RGB, visible bands) cameras with a single sensor provide NIR band visibility based on the removal of the internal NIR-blocking filter. Alternatively, multisensor cameras exist that have a specific sensor for each band. The modified RGB cameras are of a lower price. In this context, the objective of this study was to compare the performance of a modified RGB camera with that of a multisensor camera for obtaining the normalized difference vegetation index (NDVI) in an area with coffee cultivations. A multispectral camera with five sensors and another camera with only one sensor were used. The NDVI of the coffee field was also measured using the GreenSeeker handheld NDVI sensor manufactured by Trimble. The images were calibrated radiometrically based on the targets in shades of gray made of napa, and the NDVI was calculated after image calibration. The calibration curves showed a high coefficient of determination. The NDVI value obtained with the calibrated images from the cameras showed a significant correlation with the values obtained by the GreenSeeker NDVI sensor, making it possible to obtain the variability pattern of the vegetation index. However, the NDVI obtained using the multisensor camera was closer to the NDVI obtained by the GreenSeeker NDVI sensor.

ABSTRACT The delimitation of management classes is critical for successful precision agriculture. This process involves choosing the variables to use and analyzing the spatial variability of the variables. Thus, the objective of this study was to analyze the correlation between management class maps generated from orbital images and yield maps. A 95-hectare area of rainfed grain was evaluated. Yield maps were obtained for the 2015/2016 and 2016/2017 soybean crops. Orbital images were used from two dates for each crop to generate vegetation index maps. The spatial correlation between the vegetation indices and the yield maps was obtained using a bivariate Moran index. The delineated management classes were compared using the Kappa index. This study demonstrated that the Kappa values resulting from the comparison between the management class maps generated from the soybean yield and the vegetation index ranged from 5% to 67% depending on the number of delineated classes. The highest Kappa values were observed when the area was delineated into three classes.

ABSTRACT The global navigation satellite system (GNSS) is the basis for localized crop management by allowing the georeferencing of collected data and the generation of maps by different systems that compose precision agriculture. There is a demand for low-cost navigation systems to enable their use in agriculture. Therefore, the objective of this study is to integrate a low-cost GNSS module to a single-board computer using Kalman filtering to obtain navigation data. The system was evaluated by performing one static and two kinematic experiments, with three repetitions each. In the static experiment, the mean error was 3.25 m with a root mean square error (RMSE) of 3.73 m. In the first kinematic experiment, data variability was lower at a velocity of 1.39 m s−1. In the second kinematic experiment, the mean error was 1.26 and 1.13 m, and the RMSE was 1.45 and 1.27 m for data obtained before and after filtering, respectively. In conclusion, the system reduces the lateral errors in linear sections but is not indicated for sections that change direction. Moreover, this system can be used in agricultural applications such as soil sampling and crop yield monitoring.

RESUMO O Brasil figura como um dos maiores produtores de grãos do mundo em função de suas extensas áreas agricultáveis e do clima favorável ao cultivo de grande número de espécies. A produção poderia ser maior, mas problemas como a competição das culturas com plantas daninhas reduzem a produtividade das culturas. Este trabalho teve por objetivo estudar a distribuição espacial de plantas daninhas em especial serralha (Sonchus oleraceus), buva (Conyza spp.) e maria-mole (Senecio brasiliensis) em área de plantio direto durante duas safras agrícolas. O trabalho foi realizado durante os anos agrícolas de 2013/14 e 2014/15 em uma área de 22,5 ha na qual se cultiva soja no verão e aveia no inverno. Para o mapeamento das plantas daninhas foi utilizada uma grade amostral composta por 85 pontos; em cada ponto amostral foi contabilizado o número de plantas presentes em 0,25 m2. Os dados coletados em campo compuseram o banco de informações e foram utilizados para análise geoestatística e produção dos mapas. Utilizando análise geoestatística foi possível mapear a infestação de buva na área de estudos para a safra 2013/14. As plantas daninhas maria-mole e serralha não apresentaram dependência espacial; na safra 2014/2015, em função do manejo realizado na entressafra, nenhuma espécie estudada apresentou dependência espacial.

ABSTRACT Brazil is one of the largest grain producers in the world, due to its extensive arable land and favorable climate for the cultivation of any species. The production could be higher, but problems such as competition between crops and weeds reduces crop yields. This study aimed to analyze the spatial distribution of weeds, especially milkweed (Sonchus oleraceus), horse weed (Conyza spp.) and ‘maria-mole’ (Senecio brasiliensis) in an area under no-tillage system for two harvests. The work was carried out during the 2013/14 and 2014/15 crop years in an area of 22.5 ha, where soybean is grown in the summer and oat in the winter. The weeds were mapped using a sampling grid of 85 points. The number of plants present in 0.25 m2 was recorded at each sampling point. The data collected in the field composed the information bank and were used for geostatistical analysis and production of maps. Using geostatistical analysis, it was possible to map the horseweed infestation in the studied area for the 2013/14 season. The species ‘maria-mole’ and milkweed did not show spatial dependence. During the 2014/2015 season, because of the management carried out in the off season, none of the studied species showed spatial dependence.

RESUMO Este trabalho objetivou identificar comprimentos de ondas com base na reflectância foliar (400-1050 nm), visando à estimativa da severidade do mofo-branco em cultivos de feijão para diferentes datas. Foram implantados dois experimentos em períodos de outono / inverno. Utilizou- -se da regressão por Mínimos Quadrados Parciais (PLS) para a definição do conjunto de comprimentos de onda que melhor estime a severidade da doença numa determinada data. Para uso desse método, as observações foram previamente divididas em dois subgrupos: o primeiro (calibração) foi utilizado para a construção do modelo, e o segundo subgrupo, para testar o modelo definido. Medidas de Raiz do Erro Médio Quadrático (RMSE) e de correlação entre valores medidos e preditos da severidade da doença foram utilizadas para avaliar os modelos. Medidas de erro e de correlação entre valores medidos e preditos do índice de severidade da doença foram utilizadas para estabelecer os comprimentos de onda que melhor estimam a doença nas diferentes datas. O índice médio de severidade de doença em cada experimento foi de 5,8% e de 7,4%, considerados baixos. Faixas espectrais de transição entre as bandas azul e verde, entre as bandas verde e vermelha e entre as bandas vermelha e infravermelha mostraram-se mais sensíveis à estimativa da doença. Outras regiões espectrais também apresentaram comprimentos de onda com potencial para determinar a severidade da doença, tais como: o vermelho, verde e infravermelho próximo.

ABSTRACT This study aimed to identify wavelengths based on leaf reflectance (400-1050 nm) to estimate white mold severity in common beans at different seasons. Two experiments were carried out, one during fall and another in winter. Partial Least Squares (PLS) regression was used to establish a set of wavelengths that better estimates the disease severity at a specific date. Therefore, observations were previously divided in two sub-groups. The first one (calibration) was used for model building and the second subgroup for model testing. Error measurements and correlation between measured and predicted values of disease severity index were employed to provide the best wavelengths in both seasons. The average indexes of each experiment were of 5.8% and 7.4%, which is considered low. Spectral bands ranged between blue and green, green and red, and red and infrared, being most sensitive for disease estimation. Beyond the transition ranges, other spectral regions also presented wavelengths with potential to determine the disease severity, such as red, green, and near infrared.

Neste estudo objetivou-se identificar comprimentos de onda e faixas espectrais provenientes de reflectâncias hiper e multiespectrais utilizando regressão PLS e promover avaliação comparativa desses métodos e de dez índices de vegetação, para determinar aqueles que melhor estimam níveis de severidade de mofo-branco em feijão. Foram implantados experimentos nos municípios de Viçosa e de Oratórios, estado de Minas Gerais. Reflectâncias hiperespectrais foram obtidas com espectroradiômetro cuja faixa útil de leitura adotada foi entre 440 e 900 nm. Reflectâncias multiespectrais foram obtidas de imagens de câmara constituídas de cinco bandas (vermelho, verde, azul, Red-edge e infravermelho). Os índices de severidade da doença foram baixos; em Viçosa a média foi de 5,8% e em Oratórios, 7,4%. Modelos matemáticos utilizando reflectâncias hiperespectrais tiveram melhor desempenho para estimar mofo-branco; a banda do red-edge apresentou os comprimentos de onda que melhor estimam a severidade do mofo-branco. Índices de vegetação resistentes a efeitos da reflectância de solo estimaram melhor o mofo-branco do que os demais índices.

This study aimed to identify wavelengths and spectral ranges from hyper and multispectral reflectance using PLS regression; and to promote comparative evaluation of these methods and ten vegetation indices to determine those that best estimate levels of white mold severity in common beans. Experiments were implemented in the municipalities of Viçosa and Oratorios, Minas Gerais state. Hyperspectral reflectance measurements were acquired with the spectroradiometer, whose useful reading range was between 440 and 900 nm. Multispectral reflectance measurements were obtained from camera images comprising five bands (red, green, blue, red-edge and infrared). The indexes of disease severity were low. In Viçosa the average was 5.8% and in Oratorios, 7.4%. Mathematical models using hyperspectral reflectance performed better for estimating white mold. The red-edge band presented the wavelengths that best estimate the severity of white mold. Vegetation index resistant to the soil reflectance effects was better to estimate white mold than the other indices.

O método de elementos finitos tem sido empregado no projeto de máquinas e para o estudo do comportamento dinâmico do cafeeiro. Objetivou-se, neste trabalho, determinar as propriedades geométricas, físicas e mecânicas do sistema fruto-pedúnculo-ramo do cafeeiro. As dimensões foram determinadas por meio de processamento de imagens, as massas e os volumes mensurados utilizando-se balança e proveta, respectivamente. Os módulos de elasticidade foram determinados por meio de ensaios mecânicos de compressão, tração e flexão, para os frutos, pedúnculos e ramos, respectivamente. Os coeficientes de Poisson foram determinados a partir das deformações longitudinais e transversais dos frutos e pedúnculos. A razão de amortecimento foi determinada por meio das curvas de decaimento utilizando-se o método de decremento logaritmo. Concluiu-se que as dimensões e a massa dos frutos apresentaram tendência de aumento na medida em que seu estádio de maturação evoluiu. Os módulos de elasticidade dos frutos e dos pedúnculos no estádio de maturação verde foram superiores aos valores para o estádio de maturação cereja.

The finite element method has been employed in the machine design, as well as to study the dynamic behavior of the coffee plant or its parts. The objective of this study was to determine the geometric, physical and mechanical properties of coffee fruit-stem-branch system. The dimensions were determined by image processing, the masses and volumes measured using weighing-machine and graduated cylinder, respectively. The modulus of elasticity was determined by compression, tension and bending mechanical tests for fruits, stems and branches, respectively. The Poisson's ratio was determined using the longitudinal and transversal deformation of the fruits and stems. The damping ratio was determined by the decay curves using the logarithmic decrement method. It was concluded that the fruit dimensions and mass showed a tendency to increase with mature stage evolution. The modulus of elasticity for fruit and stems in green (cherry) stage was higher than the values for the mature stage.

A agricultura de precisão baseada nas propriedades físicas e químicas do solo exige uma amostragem densa para se determinar a variabilidade espacial no campo. Essa amostragem densa, muitas vezes, apresenta custo e tempo consumido elevados. Uma das técnicas para reduzir o número de amostras é definir zonas de manejo em função de informações coletadas no campo. Alguns pesquisadores têm demonstrado a importância desempenhada pelas variáveis elétricas do solo para definir zonas de manejo. Dessa forma, este trabalho teve como objetivo avaliar a relação entre a variabilidade espacial da condutividade elétrica aparente e as propriedades do solo em regiões de produção de cafés de montanha. Os mapas de variabilidade espacial foram gerados utilizando-se de técnicas de geoestatística. Com base nos resultados espacializados, foi realizada uma análise de correlação, utilizando-se do índice de Moran bivariado, entre o mapa de condutividade elétrica e as propriedades do solo. Observou-se que os mapas de potássio (K) e fósforo remanescente (P-rem) foram os que mais se aproximaram do padrão de variabilidade espacial da condutividade elétrica aparente do solo.

Precision agriculture based on the physical and chemical properties of soil requires dense sampling to determine the spatial variability of these properties. This dense sampling is often expensive and time-consuming. One technique used to reduce sample numbers involves defining management zones based on information collected in the field. Some researchers have demonstrated the importance of soil electrical variables in defining management zones. The objective of this study was to evaluate the relationship between the spatial variability of the apparent electrical conductivity and the soil properties in the coffee production of mountain regions. Spatial variability maps were generated using a geostatistical method. Based on the spatial variability results, a correlation analysis, using bivariate Moran's index, was done to evaluate the relationship between the apparent electrical conductivity and soil properties. The maps of potassium (K) and remaining phosphorus (P-rem) were the closest to the spatial variability pattern of the apparent electrical conductivity.

Objetivou-se, com este estudo, avaliar a influência de diferentes grades amostrais na recomendação de aplicação de calcário em um Latossolo. O trabalho foi desenvolvido em uma propriedade rural localizada em Sidrolândia/MS, região do cerrado brasileiro. No mapeamento dos atributos do solo utilizou-se uma grade amostral regular composta por 99 pontos, distribuídos em uma área de 90 ha. Da grade amostral inicial outras duas foram originadas por meio da exclusão de pontos ou linhas, uma com 51 e outra com 27 pontos. Calculou-se, com base nos resultados das análises de solo, a recomendação de aplicação de calcário em cada ponto amostral. Utilizando técnicas de geoestatística estudou-se a variabilidade espacial da recomendação de aplicação de calcário para cada configuração de grade amostral testada. Por meio de krigagem, mapas de aplicação de calcário foram confeccionados. Após as análises concluiu-se que com a redução do número de pontos amostrais 11% da área de estudo apresentaram superestimativa e 8% subestimativa na dose de calcário recomendada, quando comparada com a recomendação feita utilizando grade com maior número de pontos.

The objective of this study was to evaluate the influence of different sampling grids density in the lime requirements in an Oxisol. The experiment was conducted at a rural property located in Sidrolândia city, Mato Grosso do Sul state, in the Brazilian ‘Cerrado’. In the soil attributes mapping, regular sampling grid was used consisting of 99 points, spread over an area of 90 ha. Other two grids (51 and 27 points) were derived by deleting lines or lines and points from the original one. Based on the results of soil analysis, the lime requirement at each sample point was calculated. Using geostatistical techniques the spatial variability of lime requirement was studied and grid configuration for each sample was tested. By kriging, maps were made. By reducing the number of sampling points, 11% of the experimental area showed an overestimation and 8% underestimation comparing with the lime requirement made using the highest sampling grid density.

O objetivo deste trabalho foi utilizar imagens digitais adquiridas por câmeras acopladas em um balão a gás hélio para detectar variação nos status nutricionais em Brachiaria decumbens. Os tratamentos consitiram em cinco doses de nitrogênio (0; 50; 100; 150 e 200 kg ha-1) com 6 repetições cada, avaliados em delineamento inteiramente casualizado. Para a aquisição das imagens, foi utilizado um sistema de sensoriamento remoto composto por câmeras digitais e microcomputadores, utilizando um balão a gás hélio, para levantamento das câmeras nas alturas de 15; 20; 25 e 30 m. Também se utilizou de um medidor de clorofila portátil e análise do teor de nitrogenio foliar para efetuar comparações com os dados obtidos pelo sistema de sensoriamento remoto. Os dados foram adquiridos em duas fases, em condições climáticas distintas. Ao final de cada fase, foi medida a produtividade de matéria seca. Foram utilizados três índices de vegetação para avaliar a detecção dos diferentes status nutricionais. Os três índices foram capazes de detectar os efeitos das doses de N. Os índices formados com a banda verde mostraram-se mais eficientes.

The aim of this study was to use digital images acquired by cameras attached to a helium balloon to detect variation of the nutritional status in Brachiaria decumbens. The treatments consisted of five doses of nitrogen (0, 50, 100, 150 e 200kg ha-1) with six replications each, evaluated in a completely randomized statistical design. A remote sensing system composed of digital cameras and microcomputers was used for image acquisition, and a helium balloon lifted the cameras to the heights of 15, 20, 25 and 30m. A portable chlorophyll meter and analyses of leaf nitrogen content were used to make comparisons with data obtained by the remote sensing system. Data was acquired in two phases, in different climatic conditions. At the end of each phase, dry matter production was measured. Three vegetation indices were used to evaluate the detection of different nutritional status. The three indices were able to detect the effects of N doses. The indices constructed with the Green spectral band showed to be more efficient.

Objetiva-se, com este trabalho, definir zonas de manejo para cafeicultura por meio dos métodos K-Means e Fuzzy C-Means, com base em determinações realizadas com sensor de clorofila e por análise foliar, e avaliar as zonas de manejo obtidas usando-se os dois métodos de agrupamento. O trabalho foi desenvolvido na Fazenda Jatobá, localizada no município de Paula Cândido, MG, durante o mês de novembro de 2007, enquanto a lavoura se apresentava no estado "chumbinho". A área avaliada apresenta uma lavoura de Coffea arabica L. cv. Catuaí de 2,1 ha. Foram definidas, por meio dos dois métodos propostos, as zonas de manejo, com base nas seguintes análises: Valores de SPAD; concentrações foliares de N, P e K; concentrações foliares de N e Ca; concentrações foliares de N; concentrações foliares de N, Zn e B; concentrações foliares de N, P, K, Ca e S e concentrações foliares de N, Ca e S. Os métodos de agrupamento de dados K-Means e Fuzzy C-Means não apresentaram diferenças na geração das zonas de manejo. Houve baixa similaridade entre as zonas de manejo geradas com uso do SPAD e concentrações foliares.

The objective of this work was to define management zones for fertilizer application in coffee crop by using the K-means and the Fuzzy C-Means methods. The data used to define management zones were the chlorophyll index measured by SPAD sensor and the nutritional coffee leaf analysis performed in laboratory. The study was conducted in Jatoba Farm, located in Paula Candido, Minas Gerais state, Brazil. The data was collected in November, 2007 when the coffee fruits were starting their development. The coffee variety was Coffea arabica Catuai, and the total analyzed area was 2.1 ha. The management zones were generated using different set of data: the SPAD values; the N, P and K leaf concentrations; the N and Ca leaf concentrations; the N, Zn and B leaf concentrations; the N, P, K, Ca and S leaf concentrations; and the N, Ca and S leaf concentrations. The management zones generated by using K-means and Fuzzy C-Means did not present difference in management zone delimitation. The management zones defined by using the SPAD values were different from the ones generated by using leaf analysis.