Patent ID: 8113131

Claim:
A method for controlling the introduction of a discrete, predetermined amount of material into soil at a plurality of predetermined points in the soil using a controller coupled to apparatus that delivers the material to the soil, the method performed by the controller and comprising: maintaining a configuration in non-transitory storage, the configuration comprising a description of the apparatus that delivers the material to the soil, the description including an identification of a quantity of electrically controlled injectors of the apparatus; calculating a desired rate of application of the material into the soil based on predefined factors, the predefined factors included including one or more of a density of the material to be injected, a depth of injection, a distance between injection points and a target ground speed, wherein each electrically controlled injector is detachably mounted to a base of the apparatus such that at least a portion of the base and the electrically controlled injector are pulled through the soil while the material is introduced to the soil; receiving positional information from a position measurement device; and responsive to the positional information and the desired rate of application, providing an electrical signal to one or more of the injectors, wherein the electrical signal causes the one or more injectors to release a discrete, predetermined amount of material into the soil at a predetermined point in the soil.