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The potential exists for significantly reducing operating costs by minimizing missing and overlap in successive agricultural field operations, particularly in areas where the equipment is pull-behind and widths of over fifteen meters are common. This paper reports on the development of a sensor, consisting of a video camera and image processing system, to detect the location of the demarcation line between tilled-and-untilled soil and cut-and-standing crop. The development of hardware and software to achieve real-time operation under a variety of crop, soil and ambient lighting conditions is described.

The Dyna-Bite®* traction system, developed by the Omitrac corporation, consists of a series of retractable spades which can be placed over a conventional tractor drive tires to improve traction under varying soil conditions. An initial model of the traction system was tested in 1986 (1)**. The performance of this model was compared with a 2WD tractor equipped with single drive tires and a front wheel assist (FWA) tractor. More recently, an improved model DB3-RM was evaluated at the University of Saskatchewan. The results were compared with an equally ballasted IH 1086 2WD tractor equipped with single and dual drive wheels (2). Tests for both studies were conducted on a wide range of soil moisture conditions under a variety of drawbar pull levels. Both models of the traction system provided significant traction improvements. Initial model of the traction system performed nearly as good as FWA while the later model proved superior to both single and dual wheels.

The performance of simple tool shapes in terms of draft with speed of operation was evaluated in the soil bin facility of the Department of Agricultural and Bioresource Engineering, University of Saskatchewan. A hydraulic driven monorail system was developed, which was capable of speeds up to 10 m/s. The results showed that the disturbed soil remained close to the cutting path, and the elliptical shape exhibited the lowest draft increment with speed.