imagine a machine built for efficient gardening

What would it look like? How would it be powered, and how would it transmit power to the parts that need it? What actions would it be capable of performing?

There's no single, right answer to these questions. Rather there's a wide range of potential answers, some of which will likely prove more workable than others. Let's look at some of the possibilities.

What would it look like? Almost anything, from a snake-like device slithering along the surface, to what appears to be little more than a single wheel rolling about, to a platform supported by long, spider-like legs, to a beam supported at each end by wheeled trucks. It may turn out that the best arrangement is a mixture of larger and smaller machines, with the larger ones designed to never put their weight on soil being cultivated.

How would it be powered, and how would it transmit power to the parts that need it? They could get their power directly from the grid, from engine-driven generators, from wind generators, from photovoltaic panels, from concentrating solar collectors, or simply from batteries or other energy storage. Any such machine will need at least a small amount of electricity, to power the electronics. Mechanical power could also be electrical, but needn't be. It might be provided via compressed air. Delicate, articulated parts might be moved via fine cables or wires, much as our own fingers are moved by tendons linking to muscles in our forearms.

What actions would it be capable of performing? Planting seeds, of course, beyond that the possibilities are nearly endless, but even the placement of seeds can be accomplished in many ways.

In conventional agriculture, seeds are typically inserted into the soil in rows, through an opening created by a disk (a rotary knife), and covered over by a roller. This is an efficient method of planting a large area to the same crop, or even to a mixture of crops with seeds of approximately the same size, if you don't mind running the planting device and the tractor pulling it over the same soil surface through which the seeds will have to sprout and in which the sprouts will have to grow. Most such planting devices require the soil first be prepared into a seedbed, meaning that plant debris from previous crops must either be turned under, with a plow, or broken down by a combination of tillage, decay, and weathering, to form a relatively uniform surface, easily broken into small particles. A few such planting devices are capable of placing seeds through rough plant debris, rendering the preparation of a seedbed unnecessary, but they're still mainly used to sow a single crop to a large area.

A robotic gardener would also need to be able to place seeds not only through plant debris but between standing plants. It would do so one at a time, perhaps very rapidly, like a sewing machine, but still one at a time, and far more precisely than any bulk planter, positioning them in the most advantageous microenvironments available. Even when planting in bulk, the use of rows would be optional, and in many cases a honeycomb-like pattern might prove preferable.

Weeding might be accomplished by identifying weed seedlings and removing them while still in the sprout stage. Undesirable plants that propagate by root spreading could be controlled by injecting steam below the surface, wherever they appeared. Insects, like aphids, could be controlled by removing infested leaves. Diseases could be controlled by removing infected plants. Nutrient deficiencies could be identified early and treated quickly. If plant debris needed to be reduced to mulch it could be clipped off at ground level and shredded, without disturbing the soil.

In each case the action taken would be local and specific, rather than applied to an entire field, and generally would not involve moving large amounts of soil around, a practice which wastes both energy and soil fertility.

But the essential requirement, without which this whole scenario would be futile and meaningless, is that the machines must operate autonomously, puttering through their days without constant human supervision. They must have both the ability and the latitude to choose what to do next for themselves. Considering they must also operate in uncontrolled environments, this is the greatest challenge.

panning back to the big picture

This blog is about the application of robotic technology (machine intelligence combined with sensory input and operational flexibility) to the performance of horticultural techniques on an agricultural scale, without continuous human supervision, and with relatively low power requirements.

It is about machines bringing to bear not only cropping plans but, eventually, an understanding of plant ecology in choosing their detailed actions, balancing the need for production with other concerns, including the preservation of endangered species.

There is no example I can point to, because only bits and pieces of the technology currently exist.

My role is to point to what could be, what will be if we set our minds to it.

center-pivot tillage system

Thanks to Jan Slinsky for posting this YouTube video showing a center-pivot system used for tilling a small plot of land.

While requiring more energy than tillage-free management would, this system has the advantage of operating directly on electricity, meaning that there's no necessary dependency on petroleum to keep it running. It has two electric motors, which appear to be in the 2-3 horsepower range. Using both, its maximum power requirement should be no higher than 5 KW. Using just the motor that drives the wheel at the end of the rotating beam, which would be the more common case, the maximum power requirement should be no higher than 2.5 KW.

It also has the advantage of being usable now. In fact, to judge by the video, it appears to already have been in regular use for several seasons.

the origin of cultibotics in science fiction

To be quite truthful, the dream of having robots take over the task of managing productive land isn't really mine in the sense of having originated it. To be sure I've contributed some detail, but others dreamt it before myself.

The best example of which I'm aware, Robert Silverberg's The World Inside, describes a world divided between urban towers and the land between them. The land between is tended by machines which are themselves tended by people, a rural population with a very different culture from that found in the urban towers.

While the world Silverberg describes is more of a dystopia than a utopia, not least because it is fast approaching limits that it steadfastly denies, that aspect of the book, the use of intelligent machines to enable a superior grade of land management than could be achieved without them, rings true.

Reading that book was most likely the beginning of my own obsession with the subject, although I don't clearly remember how it started.

an idea the time for which is growing closer

When I first started thinking about the use of sophisticated robotics on the front line of horticulture/agriculture, performing most or all field operations autonomously, in a detailed manner, I figured it would already have happened by now, or at least be well underway. In any case it was just a question of when, not if; the logic was too compelling to be ignored. Now I'm less confident, although still hopeful.

Clearly I badly misestimated some factor: the rate of progress in computing and robotics, the difficulty of adapting these technologies to the array of tasks involved, the tremendous momentum of business as usual once it becomes a matter of money rather than simply conventional practice, or the degree to which others might share the vision that was burning in my brain.

If anything, I underestimated the rate of progress in computing, which has been going gangbusters since the invention of the personal computer, almost without a break. On the other hand, I probably overestimated the rate of progress in robotics. There's been quite a bit, but we're not yet to the point where you can assemble a complete machine for practically any purpose from readily available parts in stock; that time is still coming, but it isn't here yet.

I think I'm a realist about business momentum. I understand the deep conservatism that guides most investment, and the heavily conventional nature of most marketing types, allowing for only incremental change. No surprises there.

What's left is the difficulty of adapting technology and the degree to which others might comprehend and share my vision, two factors I believe to be connected in a sort of chicken-egg (which comes first) relationship.

It's easier to imagine a field being managed by robotic machinery if you have an example of such a machine sitting in front of you. On the other hand it's easier to think about building such a machine if you have a clear idea of what all it's supposed to be able to do, and how fast it will have to work to succeed, with what safeguards - basic design parameters.

Lacking the means to contribute much in the way of machine design, I've concentrated on elaborating and pushing the vision, hoping others better positioned to work on the hardware might become interested. I've also made a couple of false starts in the direction of working to build a community of experimenters, and continue to mull over how best to go about this.

So, for the time being, what you can expect from this blog is further exploration of the vision, and a lot less of the sort of navel-gazing found in this and previous posts.

When there's news to share regarding the development of a community, I'll post it here. Until then, welcome to my dream...

WSIC: knowing the right search term is golden

WSIC is an acronym with multiple interpretations, one of which is relevant here. For our purposes, it means "wide-span implement carrier" and refers to a category of machine wherein the components that do useful work are suspended from a beam (gantry) which is supported by wheeled tractors (trucks) at either end.

This arrangement allows the positioning of the active components over any portion of a strip of land as wide as the machine's span and of indefinite length, while confining its wheels to narrow, widely spaced tracks, which can be graveled to mitigate damage.

Aside from the suspended components, it might be thought of as a vehicle with very wide track and relatively short wheelbase.

While such a machine might weigh as much as a conventional tractor, that weight would largely be relatively inexpensive extruded or rolled materials, welded together, as opposed to cast or forged parts with machined surfaces.

the long, slow tipping point, or boiling frogs

It's said that if you raise the temperature slowly enough you can boil a frog alive and it will never jump out of the pot. True or not, it illustrates the idea of changes that happen so gradually we scarcely realize they're happening and may fail to recognize when the accumulated change adds up to something qualitatively different.

In the context of agriculture and the potential for applying robotic technology to its improvement, this principle applies at least two ways.

The first of these, because it is happening regardless of anything else, is how agriculture has been changing over recent decades, and how the human culture of farming, rural society and the rural landscape, the robustness or fragility of the crops themselves, soil fertility, and biodiversity have changed as a result.

This is something of a mixed bag. For example, on the one hand you have a proliferation of poisonous substances used to control various pest species, but on the other you have the growing popularity of Integrated Pest Management, which uses them sparingly. And while some of the practices which became ubiquitous in the wake of the dust bowl have since become less common, the rising cost of fuel works in favor of lighter tillage, leaving some stubble, which helps control erosion.

Nevertheless, this situation looks rather bleak overall, particularly given the heavy dependence of agriculture on fuel and other products derived from petroleum, and a comparison between ourselves and the frog in the gradually warming water is a bit too apropos.

The other way in which the slow accumulation of change applies is in the development of the various tools and technologies needed for robotics in general to flourish. The array of what's available for use is already good and getting better, if not quite rapidly then at least inexorably, and the more complete the toolkit the more applications become economically feasible, further accelerating the pace of development. At some point that logic is bound to take hold, powerfully and irreversibly, if not this year then maybe next year, or the year after, or maybe it's already begun and just happening slowly enough that it's hard to see.

Here too the boiling frog applies, in that the robotics industry could flourish without contributing anything significant to the improvement of agriculture. It could simply fail to live up to that particular potential, there being no shortage of other, more clearly profitable potentials to be chased after, and plenty of encouragement from DARPA with regard to military applications.

Here we are in the pot, with the general state of agriculture growing ever more tenuous and the industry with the power to transform that situation taking no notice, much less recognizing its all-important role.