Light DroneBased Application to Assess Soil Tillage Quality Parameters The evaluation of soil tillage quality parameters, such as cloddiness and surface roughness produced by tillage tools, is based on traditional methods ranging, respectively, from manual or mechanical sieving of ground samples to handheld rulers, noncontact devices or Precision Agriculture technics, such as laser profile meters. The aim of the study was to compare traditional methods of soil roughness and cloddiness assessment (laser profile meter and manual sieving), with light drone RGB 3D imaging techniques for the evaluation of different tillage methods (ploughed, harrowed and grassed). Light drone application was able to replicate the results obtained by the traditional methods, introducing advantages in terms of time, repeatability and analysed surface while reducing the human error during the data collection on the one hand and allowing a labourintensive field monitoring solution for digital farming on the other. Indeed, the profilometer positioning introduces errors and may lead to false reading due to limited data collection. Future work could be done in order to streamline the data processing operation and so to produce a practical application ready to use and stimulate the adoption of new evaluation indices of soil cloddiness, such as Entropy and the Angular Second Moment (ASM), which seem more suitable than the classic ones to achieved data referred to more extended surfaces.

Development of a RealTime Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage The objectives of this study were to develop a realtime tillage depth measurement system for agricultural tractor performance analysis and then to validate these configured systems through soil nonpenetration tests and field experiment during plow tillage. The realtime tillage depth measurement system was developed by using a sensor fusion method, consisting of a linear potentiometer, inclinometer, and optical distance sensor to measure the vertical penetration depth of the attached implement. In addition, a draft force measurement system was developed using sixcomponent load cells, and an accuracy of 98.9% was verified through a static load test. As a result of the soil nonpenetration tests, it was confirmed that sensor fusion type A, consisting of a linear potentiometer and inclinometer, was 6.34xe2x80x9311.76% more accurate than sensor fusion type B, consisting of an optical distance sensor and inclinometer. Therefore, sensor fusion type A was used during field testing as it was found to be more suitable for use in severe working environments. To verify the accuracy of the realtime tillage depth measurement system, a linear regression analysis was performed between the measured draft and the predicted values calculated using the American Society of Agricultural and Biological Engineers (ASABE) standardsbased equation. Experimental data such as traveling speed and draft force showed that it was significantly affected by tillage depth, and the coefficient of determination value at M3xe2x80x93Low was 0.847, which is relatively higher than M3xe2x80x93High. In addition, the regression analysis of the integrated data showed an Rsquare value of 0.715, which is an improvement compared to the accuracy of the ASABE standard prediction formula. In conclusion, the effect of tillage depth on draft force of agricultural tractors during plow tillage was analyzed by the simultaneous operation of the proposed realtime tillage depth measurement system and draft force measurement system. In addition, system accuracy is higher than the predicted accuracy of    xc2xb1    40% based on the ASABE standard equation, which is considered to be useful for various agricultural machinery research fields. In future studies, realtime tillage depth measurement systems can be used in tractor power train design and to ensure component reliability, in accordance with agricultural working conditions, by predicting draft force and axle loads depending on the tillage depth during tillage operations.