# Monitoring Autonomous Mowers Operative Parameters on Low-Maintenance Warm-Season Turfgrass
## 3 Results
### Soil Penetration Resistance Analysis  
The multivariate analysis of variance conducted on the values of soil penetration resistance revealed significant differences (\(p\) < 0.05) between AM models at every depth, except for 10 cm (Table 8). From Table 9, it is evident that AM 535 AWD caused slightly higher compaction than AM 450X. \begin{table}
\begin{tabular}{l l l l} \hline
**Source** & **Color** & **Quality** & **NDVI** \\ \hline AM model & *** & *** & *** \\ Trampling level & *** & *** & *** \\ AM model \(\times\) Trampling level & *** & *** & * \\ \hline \(p\) \(<\) 0.001 \({}^{***}\)\({}^{*}\); 0.01 \(<\)\(p\)\(<\) 0.05 \({}^{***}\)\({}^{*}\). & & \\ \end{tabular}
\end{table} 
Table 6: Results of two-way ANOVA testing the effects of AM model, trampling level, and their interaction on color, quality, and NDVI. \begin{table}
\begin{tabular}{l l l l l} \hline \hline
**AM Model** & \begin{tabular}{l} **Trampling** \\ **Level** \\ \end{tabular} & \
\begin{tabular}{l} **Color (1–9** \\ **Visual Scale)** \\ \end{tabular} &
\begin{tabular}{l} **Quality (1–9** \\ **Visual Scale)** \\ \end{tabular} & **NDVI** \\ \hline \multirow{4}{*}{535 AWD} & Control & 5.60 a & 5.60 a & 0.60 ab \\  & Low & 5.50 a & 5.50 b & 0.61 a \\  & Medium & 4.95 ab & 5.00 c & 0.56 abc \\  & High & 4.00 bc & 5.00 c & 0.51 cd \\ \hline \multirow{4}{*}{450X} & Control & 5.00 ab & 5.00 c & 0.59 ab \\  & Low & 5.00 ab & 5.00 c & 0.58 abc \\  & Medium & 4.50 abc & 4.50 d & 0.53 bcd \\  & High & 3.50 c & 4.50 d & 0.47 d \\ \hline \hline \multicolumn{4}{c}{LSD: 1.103} & LSD: 0.467 & LSD: 0.079 \\ \hline \end{tabular} Different letters mean significant differences at \(p\) < 0.05 (LSD test)  
\end{table} 
Table 7: Mean value of color, quality, and NDVI in function of autonomous mower model and trampling level. \begin{table}
\begin{tabular}{l c c c c} \hline \hline
**Source** & **Depth (cm)** & **Mean Square** & **F** & \(p\) \\ \hline \multirow{4}{*}{AM model} & 0.0 & 224,653.500 & 12.75 & 0.001 \\  & 2.5 & 469,653.630 & 19.93 & \(6.4\times 10^{-5}\) \\  & 5.0 & 234037.500 & 10.04 & 0.003 \\  & 7.5 & 306,757.407 & 5.268 & 0.027 \\  & 10.0 & 127,506.963 & 1.378 & 0.247 \\ \hline \hline \end{tabular}
\end{table} 
Table 8: Mean square, F value, \(p\) value of MANOVA conducted on soil penetration resistance data. \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Source** & **Depth (cm)** & **Mean Square** & **F** & \(p\) \\ \hline \multirow{4}{*}{Trampling level} & 0.0 & 2702.796 & 0.153 & 0.858 \\  & 2.5 & 3573.722 & 0.152 & 0.860 \\  & 5.0 & 7348.463 & 0.315 & 0.731 \\  & 7.5 & 357,698.296 & 0.647 & 0.529 \\  & 10.0 & 269,929.056 & 2.917 & 0.066 \\ \hline \multirow{4}{*}{Trampling level \(\times\) AM model} & 0.0 & 1316.056 & 0.075 & 0.928 \\  & 2.5 & 13,283.019 & 0.564 & 0.574 \\ \cline{1-1}  & 5.0 & 19,564.389 & 0.839 & 0.440 \\ \cline{1-1}  & 7.5 & 59,990.519 & 1.030 & 0.366 \\ \cline{1-1}  & 10.0 & 159,303.463 & 1.722 & 0.192 \\ \hline \hline \end{tabular}
\end{table} 
Table 8: _Cont._ \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Depth (cm)** & **AM Model** & **Mean (kPa)** & **Std. Error** &
\begin{tabular}{c} **95\% Confidence Interval** \\ \end{tabular} \\ \hline \multirow{3}{*}{0.0} & 450X & 394.741 & 25.543 & 343.116 & 446.365 \\ \cline{2-5}  & 535 AWD & 523.741 & 25.543 & 472.116 & 575.365 \\ \hline \multirow{3}{*}{2.5} & 450X & 618.519 & 29.543 & 558.809 & 678.228 \\  & 535 AWD & 805.037 & 29.543 & 745.328 & 864.746 \\ \hline \multirow{3}{*}{5.0} & 450X & 670.815 & 29.378 & 611.422 & 730.208 \\  & 535 AWD & 802.481 & 29.378 & 743.089 & 861.874 \\ \hline \multirow{3}{*}{7.5} & 450X & 835.704 & 46.441 & 741.843 & 929.565 \\  & 535 AWD & 986.444 & 46.441 & 892.583 & 1080.306 \\ \hline \multirow{3}{*}{10} & 450X & 1055.407 & 58.543 & 937.088 & 1173.727 \\  & 535 AWD & 1152.593 & 58.543 & 1034.273 & 1270.912 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Comparison between the average value of soil penetration resistance after the two AMs trampling activity at five different depths.