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Papers by Galibjon Sharipov

Research paper thumbnail of Considering field topography in the model-based assessment of a centrifugal spreader’s variable rate application accuracy

Computers and Electronics in Agriculture

Research paper thumbnail of Development and Experimental Validation of an Agricultural Robotic Platform with High Traction and Low Compaction

Agriculture

Some researchers expect that future agriculture will be automated by swarms of small machines. Ho... more Some researchers expect that future agriculture will be automated by swarms of small machines. However, small and light robots have some disadvantages. They have problems generating interaction forces high enough to modify the environment (lift a stone, cultivate the soil, or transport high loads). Additionally, they have limited range and terrain mobility. One option to change this paradigm is to use spikes instead of wheels, which enter the soil to create traction. This allows high interaction forces with the soil, and the process is not limited by the weight of the vehicle. We designed a prototype for mechanical soil cultivation and weeding in agricultural fields and evaluated its efficiency. A static and dynamic test was performed to compare the energy input of the electrical motor with precise measurements of the forces on the attached tool. The results indicate that the prototype can create interaction forces of up to 2082 N with a robot weight of 90 kg. A net traction ratio o...

Research paper thumbnail of Versatile and user-centered concept for temporally and spatially adapted nitrogen application based on multiple parameters

European Journal of Agronomy

Research paper thumbnail of Connecting agricultural robots and smart implements by using ISO 11783 communication

Research paper thumbnail of In-field Static Spread Pattern of a Centrifugal Spreader by Considering Field Topography

Research paper thumbnail of Modelling and implementation of an MR damper into a no-till seeding assembly for optimising its dynamic performance

Research paper thumbnail of 10. Modelling of in-field dynamic response of a centrifugal spreader to variable rate application

Precision agriculture ’21, 2021

Research paper thumbnail of 100. iFAROS – a digital farming system for site-specific nitrogen application in winter wheat

Precision agriculture ’21, 2021

Research paper thumbnail of Position Accuracy Assessment of a UAV-Mounted Sequoia+ Multispectral Camera Using a Robotic Total Station

Agriculture

Remote sensing data in agriculture that are originating from unmanned aerial vehicles (UAV)-mount... more Remote sensing data in agriculture that are originating from unmanned aerial vehicles (UAV)-mounted multispectral cameras offer substantial information in assessing crop status, as well as in developing prescription maps for site-specific variable rate applications. The position accuracy of the multispectral imagery plays an important role in the quality of the final prescription maps and how well the latter correspond to the specific spatial characteristics. Although software products and developed algorithms are important in offering position corrections, they are time- and cost-intensive. The paper presents a methodology to assess the accuracy of the imagery obtained by using a mounted target prism on the UAV, which is tracked by a ground-based total station. A Parrot Sequoia+ multispectral camera was used that is widely utilized in agriculture-related remote sensing applications. Two sets of experiments were performed following routes that go along the north–south and east–west ...

Research paper thumbnail of Real-time control for multi-parametric data fusion and dynamic offset optimization in sensor-based variable rate nitrogen application

Computers and Electronics in Agriculture

Research paper thumbnail of Defining the dynamic performance of a no-till seeder by measuring the geo-referenced seeding depth

Research paper thumbnail of Characterization of Vertical Response of Asphalt Trackbed Concrete in Railway Substructure to External Loads

Advances in Materials Science and Engineering, 2020

Optimizing the dynamic responses of a slab track system is a key aspect to improve the quality of... more Optimizing the dynamic responses of a slab track system is a key aspect to improve the quality of a railway track structure. In this paper, numerical modelling and simulation of vertical dynamics of the railway track structure engaging the asphalt concrete in substructures were carried out. Thus, a 3D finite element (FE) model was developed. The developed model was validated by comparing its outputs, that is, acceleration with the measured ones from realistic experimental data. The good agreement between the simulated and measured data which resulted from the validation confirmed that the proposed model has a capability of simulating the complex dynamic performances of the train-track-ground system under different loading conditions. Analyses of the determined results from the simulation model performances revealed that three specific factors, which were the speed of the train, the temperature, and thickness of the asphalt concrete trackbed, mainly influenced the dynamic behavior of...

Research paper thumbnail of 77. Producing grain yield maps by merging combine harvester and remote sensing data

Precision agriculture ’21, 2021

Research paper thumbnail of Fuzzy Farmer - optimierte Stickstoffdüngung durch mehrparametrische Datenfusion und präzise Applikation in Echtzeit

GIL Jahrestagung, 2020

Zunehmende Umweltbedenken zwingen die Pflanzenproduktion dazu, die Effizienz der mineralischen St... more Zunehmende Umweltbedenken zwingen die Pflanzenproduktion dazu, die Effizienz der mineralischen Stickstoff (N)-Düngung zu steigern. Ein vielversprechender Ansatz ist hierbei eine kleinräumig angepasste N-Düngung, die mehrere für das Pflanzenwachstum relevante Parameter berücksichtig. Ziel des Projektes ist es, ein auf der Fuzzy-Set-Theorie basierendes Expertensystem zu entwickeln, bei dem der Landwirt oder Pflanzenbauberater die relevanten Wirkzusammenhänge für eine konkrete Gabe definiert. Darauf basierend soll ein numerischer Algorithmus die Information aus einem Biomassesensor in Echtzeit mit weiteren kartierten Parametern verknüpfen, um die passende Dosiermenge auszugeben. Komplettiert wird der Ansatz durch die Entwicklung eines Gesamtmodells des Mineraldünger-Schleuderstreuers, das optimiert die Applikation sowohl in Querrichtung mit unterschiedlichen Dosiermengen der linken und rechten Teilbreite als auch räumlich und zeitlich dynamisch in Längsrichtung umsetzt. Erste Ergebnisse demonstrieren die grundsätzliche Funktionsfähigkeit des Fuzzy Expertensystems. Untersuchungen mit Hinzunahme von Bodeninformation zeigen die hohe Flexibilität des Konzeptes auf.

Research paper thumbnail of 6. Real-time fuzzy system for variable rate nitrogen application based on multiple parameters

Precision agriculture ’21

Research paper thumbnail of Model validation of the dynamics of a no-till seeding assembly with a magneto-rheological damper system

Precision agriculture ’19, 2019

Research paper thumbnail of ISO 11783-compatible industrial sensor and control systems and related research: A review

Computers and Electronics in Agriculture

Abstract It has been more than 20 years that the ISO 11783 (commonly designated as ISOBUS) was fo... more Abstract It has been more than 20 years that the ISO 11783 (commonly designated as ISOBUS) was formed and now it is the widely used standard in agricultural machinery communication. As over the last years the industry is actively promoting ISOBUS, a number of sensor and control system appeared that are ISOBUS-compatible. These systems are focused on two main areas: (i) decision-making, where the sensors are usually mounted on the tractor and aim at varying the applied dose rates (seeds, fertilizer, etc.), and (ii) process monitoring, where they are mounted on the implement and monitor (and in some cases control) the proper application of the recommended dose rates. The aim of this review was to investigate the offered sensor and control systems and categorize them based on the performed application in order to better contextualize their importance. The relevant benefits by using them, but also the potential technical constraints based on their measuring elements were identified. The academic advances could not be missing from this review as all these years many researchers conducted ISOBUS-related research. The related publications were initially identified and later categorized from an operation-based perspective into three main research areas: (a) guidance and control, (b) data acquisition and transfer, and (c) data management and analytics. The scientific advances that are described give an insight into what should be expected in the following years in terms of commercially available solutions. Identified gaps and future challenges related to ISOBUS conclude this review providing, thus, expected future technical innovations but also potential research directions.

Research paper thumbnail of Implementation of a magnetorheological damper on a no-till seeding assembly for optimising seeding depth

Computers and Electronics in Agriculture

Abstract No-till seeding requires a seeder that can effectively cope with the untilled soil and p... more Abstract No-till seeding requires a seeder that can effectively cope with the untilled soil and place the seeds at an optimum depth in order to achieve a reliable germination and rapid plant emergence. This aim is more challenging due to the inappropriate response of the machine dynamics to harsh soil conditions, such as the compacted soil undulations and the presence of the stubble. In this paper, a seeder main frame carrying a seed dose mechanism and two no-till seeding assemblies was developed and designed with multiple sensors, to capture the dynamics of the assemblies together with the corresponding surface profile. A magnetorheological (MR) damper was implemented into one of the seeding assemblies to optimise its dynamics for better seed placement. A number of strain gauges were used to measure the dynamics of the seeding assemblies, like vertical and impact forces during seeding operation at a travelling speed of 10 km h−1. The accuracy of the surface profile sensing system was validated by obtaining the profile of trapezoidal bumps with georeferenced dimensions resulting in a root mean squared error of 9.6 mm and 9.9 mm for the damped and undamped seeding assembly, respectively. Experiments were performed seeding wheat (Triticum aestivum L.) operation with a target depth of 40 mm with different damping parameters set on the MR damper by feeding its coil with different current values. The position of each single seed within nine 2 m sections was georeferenced using a total station, to calculate the seeding depth for both seeding assemblies. The seeding assembly with the MR damper, excited with 0.5 A, resulted in a better seeding depth variation with a mean value of 39.8 mm, standard deviation of 5.8 mm and 95th percentile of 49.8 mm over that of other current values applied on the MR damped and the original seeding assembly. The dynamics were improved with a reduction of 21.34% and 67.69% in the amplitude of the vertical and impact forces, respectively. The seeding depth error compared to the target depth for the damped seeding assembly (at 0.5 A) was less than 11.9 mm for 95% of the samples, while this figure was equal to 21.3 mm for the undamped seeding assembly.

Research paper thumbnail of Modelling and simulation of the dynamic performance of a no-till seeding assembly with a semi-active damper

Computers and Electronics in Agriculture

Abstract In no-till seeding, one of the biggest challenges to achieve a reliable seed germination... more Abstract In no-till seeding, one of the biggest challenges to achieve a reliable seed germination and an even plant field emergence is an extreme variation in the desired seeding depth. This is caused by the inadequate response of the seeder motion dynamics to harsh soil conditions and to high operating speeds. In order to assess and optimise the dynamic response of a no-till seeder, mathematical models were developed for simulating the vertical motion of a coulter assembly. The models included the dynamics of the coulter assembly, with the packer wheel as a passive system, and a semi-active MR (magnetorheological) damper system, which was considered to be located in-between the coulter and the packer wheel. The developed model of the coulter assembly dynamics was validated based on a correlation between the simulated and the measured impact forces and pitch angles. A root-mean-squared (RMS) error resulted from the correlation have increased from 6.84% at the lower speed of 10 km h −1 to 14.5% at the higher speed of 15 km h −1 for the impact forces, from 8.1% at the lower speed of 10 km h −1 to 13.1% at the higher speed of 15 km h −1 for the pitch angle. Conversely, there was a fall in the correlation coefficient from 0.699 to 0.681 for the impact forces and from 0.942 to 0.684 for the pitch angle between the lower speed of 10 km h −1 and the higher speed of 15 km h −1 , respectively. Furthermore, all three applied hysteresis models, such as Bingham, Dahl and Bounc-Wen model, for the semi-active MR damper system behaviour demonstrated significant improvements over the passive system model. Among the models, the Bouc-Wen model produced more adequacy of the MR damper behaviour with the highest reduction of 54.1%, 63.3% and 41.2% in the amplitude of the impact forces and 52.3%, 58.2% and 38.1% in the amplitude of the pitch angles at the speeds of 10 km h −1 , 12 km h −1 and 15 km h −1 , respectively.

Research paper thumbnail of Dynamic performance of a no-till seeding assembly

Biosystems Engineering

Precise seeding depth plays an important role in achieving reliable germination rate and even pla... more Precise seeding depth plays an important role in achieving reliable germination rate and even plant emergence. In no-till seeding, this aim is more challenging due to the inappropriate response of the machine dynamics to harsh soil conditions, such as compacted soil undulations and stubble. In this paper, a sensor-frame was mounted on a no-till seeder, to measure the field surface profiles during seeding operation. Its accuracy was validated by acquiring the profile of trapezoidal bumps with known dimensions resulting in a root mean squared (RMS) error of 7.3 and 8.7 mm for travelling speed of 2 km h−1 and 10 km h−1, respectively. Strain gauges were used to measure the soil reaction forces, on one of the seeding assemblies during seeding operation at travelling speed of 10 km h−1. After seeding wheat (Triticum aestivum L.), the geo-referenced position of each single seed was measured using a total station, to calculate the seeding depth. The correlation between the seeding depth variation and the developed forces showed that the frequencies of 11.8 Hz and 17.8 Hz of the vertical forces, which corresponded to a wavelength of 0.21 m and 0.14 m, respectively, were responsible for the high variation in seeding depth. For the profile impact forces, these values were equal to 10.7 Hz and 20.6 Hz. The corresponding wavelengths were equal to 0.23 m and 0.12 m. The peak value of seeding depth was detected at a frequency of 8.3 Hz with 0.3 m wavelength for both vertical and impact profile forces.

Research paper thumbnail of Considering field topography in the model-based assessment of a centrifugal spreader’s variable rate application accuracy

Computers and Electronics in Agriculture

Research paper thumbnail of Development and Experimental Validation of an Agricultural Robotic Platform with High Traction and Low Compaction

Agriculture

Some researchers expect that future agriculture will be automated by swarms of small machines. Ho... more Some researchers expect that future agriculture will be automated by swarms of small machines. However, small and light robots have some disadvantages. They have problems generating interaction forces high enough to modify the environment (lift a stone, cultivate the soil, or transport high loads). Additionally, they have limited range and terrain mobility. One option to change this paradigm is to use spikes instead of wheels, which enter the soil to create traction. This allows high interaction forces with the soil, and the process is not limited by the weight of the vehicle. We designed a prototype for mechanical soil cultivation and weeding in agricultural fields and evaluated its efficiency. A static and dynamic test was performed to compare the energy input of the electrical motor with precise measurements of the forces on the attached tool. The results indicate that the prototype can create interaction forces of up to 2082 N with a robot weight of 90 kg. A net traction ratio o...

Research paper thumbnail of Versatile and user-centered concept for temporally and spatially adapted nitrogen application based on multiple parameters

European Journal of Agronomy

Research paper thumbnail of Connecting agricultural robots and smart implements by using ISO 11783 communication

Research paper thumbnail of In-field Static Spread Pattern of a Centrifugal Spreader by Considering Field Topography

Research paper thumbnail of Modelling and implementation of an MR damper into a no-till seeding assembly for optimising its dynamic performance

Research paper thumbnail of 10. Modelling of in-field dynamic response of a centrifugal spreader to variable rate application

Precision agriculture ’21, 2021

Research paper thumbnail of 100. iFAROS – a digital farming system for site-specific nitrogen application in winter wheat

Precision agriculture ’21, 2021

Research paper thumbnail of Position Accuracy Assessment of a UAV-Mounted Sequoia+ Multispectral Camera Using a Robotic Total Station

Agriculture

Remote sensing data in agriculture that are originating from unmanned aerial vehicles (UAV)-mount... more Remote sensing data in agriculture that are originating from unmanned aerial vehicles (UAV)-mounted multispectral cameras offer substantial information in assessing crop status, as well as in developing prescription maps for site-specific variable rate applications. The position accuracy of the multispectral imagery plays an important role in the quality of the final prescription maps and how well the latter correspond to the specific spatial characteristics. Although software products and developed algorithms are important in offering position corrections, they are time- and cost-intensive. The paper presents a methodology to assess the accuracy of the imagery obtained by using a mounted target prism on the UAV, which is tracked by a ground-based total station. A Parrot Sequoia+ multispectral camera was used that is widely utilized in agriculture-related remote sensing applications. Two sets of experiments were performed following routes that go along the north–south and east–west ...

Research paper thumbnail of Real-time control for multi-parametric data fusion and dynamic offset optimization in sensor-based variable rate nitrogen application

Computers and Electronics in Agriculture

Research paper thumbnail of Defining the dynamic performance of a no-till seeder by measuring the geo-referenced seeding depth

Research paper thumbnail of Characterization of Vertical Response of Asphalt Trackbed Concrete in Railway Substructure to External Loads

Advances in Materials Science and Engineering, 2020

Optimizing the dynamic responses of a slab track system is a key aspect to improve the quality of... more Optimizing the dynamic responses of a slab track system is a key aspect to improve the quality of a railway track structure. In this paper, numerical modelling and simulation of vertical dynamics of the railway track structure engaging the asphalt concrete in substructures were carried out. Thus, a 3D finite element (FE) model was developed. The developed model was validated by comparing its outputs, that is, acceleration with the measured ones from realistic experimental data. The good agreement between the simulated and measured data which resulted from the validation confirmed that the proposed model has a capability of simulating the complex dynamic performances of the train-track-ground system under different loading conditions. Analyses of the determined results from the simulation model performances revealed that three specific factors, which were the speed of the train, the temperature, and thickness of the asphalt concrete trackbed, mainly influenced the dynamic behavior of...

Research paper thumbnail of 77. Producing grain yield maps by merging combine harvester and remote sensing data

Precision agriculture ’21, 2021

Research paper thumbnail of Fuzzy Farmer - optimierte Stickstoffdüngung durch mehrparametrische Datenfusion und präzise Applikation in Echtzeit

GIL Jahrestagung, 2020

Zunehmende Umweltbedenken zwingen die Pflanzenproduktion dazu, die Effizienz der mineralischen St... more Zunehmende Umweltbedenken zwingen die Pflanzenproduktion dazu, die Effizienz der mineralischen Stickstoff (N)-Düngung zu steigern. Ein vielversprechender Ansatz ist hierbei eine kleinräumig angepasste N-Düngung, die mehrere für das Pflanzenwachstum relevante Parameter berücksichtig. Ziel des Projektes ist es, ein auf der Fuzzy-Set-Theorie basierendes Expertensystem zu entwickeln, bei dem der Landwirt oder Pflanzenbauberater die relevanten Wirkzusammenhänge für eine konkrete Gabe definiert. Darauf basierend soll ein numerischer Algorithmus die Information aus einem Biomassesensor in Echtzeit mit weiteren kartierten Parametern verknüpfen, um die passende Dosiermenge auszugeben. Komplettiert wird der Ansatz durch die Entwicklung eines Gesamtmodells des Mineraldünger-Schleuderstreuers, das optimiert die Applikation sowohl in Querrichtung mit unterschiedlichen Dosiermengen der linken und rechten Teilbreite als auch räumlich und zeitlich dynamisch in Längsrichtung umsetzt. Erste Ergebnisse demonstrieren die grundsätzliche Funktionsfähigkeit des Fuzzy Expertensystems. Untersuchungen mit Hinzunahme von Bodeninformation zeigen die hohe Flexibilität des Konzeptes auf.

Research paper thumbnail of 6. Real-time fuzzy system for variable rate nitrogen application based on multiple parameters

Precision agriculture ’21

Research paper thumbnail of Model validation of the dynamics of a no-till seeding assembly with a magneto-rheological damper system

Precision agriculture ’19, 2019

Research paper thumbnail of ISO 11783-compatible industrial sensor and control systems and related research: A review

Computers and Electronics in Agriculture

Abstract It has been more than 20 years that the ISO 11783 (commonly designated as ISOBUS) was fo... more Abstract It has been more than 20 years that the ISO 11783 (commonly designated as ISOBUS) was formed and now it is the widely used standard in agricultural machinery communication. As over the last years the industry is actively promoting ISOBUS, a number of sensor and control system appeared that are ISOBUS-compatible. These systems are focused on two main areas: (i) decision-making, where the sensors are usually mounted on the tractor and aim at varying the applied dose rates (seeds, fertilizer, etc.), and (ii) process monitoring, where they are mounted on the implement and monitor (and in some cases control) the proper application of the recommended dose rates. The aim of this review was to investigate the offered sensor and control systems and categorize them based on the performed application in order to better contextualize their importance. The relevant benefits by using them, but also the potential technical constraints based on their measuring elements were identified. The academic advances could not be missing from this review as all these years many researchers conducted ISOBUS-related research. The related publications were initially identified and later categorized from an operation-based perspective into three main research areas: (a) guidance and control, (b) data acquisition and transfer, and (c) data management and analytics. The scientific advances that are described give an insight into what should be expected in the following years in terms of commercially available solutions. Identified gaps and future challenges related to ISOBUS conclude this review providing, thus, expected future technical innovations but also potential research directions.

Research paper thumbnail of Implementation of a magnetorheological damper on a no-till seeding assembly for optimising seeding depth

Computers and Electronics in Agriculture

Abstract No-till seeding requires a seeder that can effectively cope with the untilled soil and p... more Abstract No-till seeding requires a seeder that can effectively cope with the untilled soil and place the seeds at an optimum depth in order to achieve a reliable germination and rapid plant emergence. This aim is more challenging due to the inappropriate response of the machine dynamics to harsh soil conditions, such as the compacted soil undulations and the presence of the stubble. In this paper, a seeder main frame carrying a seed dose mechanism and two no-till seeding assemblies was developed and designed with multiple sensors, to capture the dynamics of the assemblies together with the corresponding surface profile. A magnetorheological (MR) damper was implemented into one of the seeding assemblies to optimise its dynamics for better seed placement. A number of strain gauges were used to measure the dynamics of the seeding assemblies, like vertical and impact forces during seeding operation at a travelling speed of 10 km h−1. The accuracy of the surface profile sensing system was validated by obtaining the profile of trapezoidal bumps with georeferenced dimensions resulting in a root mean squared error of 9.6 mm and 9.9 mm for the damped and undamped seeding assembly, respectively. Experiments were performed seeding wheat (Triticum aestivum L.) operation with a target depth of 40 mm with different damping parameters set on the MR damper by feeding its coil with different current values. The position of each single seed within nine 2 m sections was georeferenced using a total station, to calculate the seeding depth for both seeding assemblies. The seeding assembly with the MR damper, excited with 0.5 A, resulted in a better seeding depth variation with a mean value of 39.8 mm, standard deviation of 5.8 mm and 95th percentile of 49.8 mm over that of other current values applied on the MR damped and the original seeding assembly. The dynamics were improved with a reduction of 21.34% and 67.69% in the amplitude of the vertical and impact forces, respectively. The seeding depth error compared to the target depth for the damped seeding assembly (at 0.5 A) was less than 11.9 mm for 95% of the samples, while this figure was equal to 21.3 mm for the undamped seeding assembly.

Research paper thumbnail of Modelling and simulation of the dynamic performance of a no-till seeding assembly with a semi-active damper

Computers and Electronics in Agriculture

Abstract In no-till seeding, one of the biggest challenges to achieve a reliable seed germination... more Abstract In no-till seeding, one of the biggest challenges to achieve a reliable seed germination and an even plant field emergence is an extreme variation in the desired seeding depth. This is caused by the inadequate response of the seeder motion dynamics to harsh soil conditions and to high operating speeds. In order to assess and optimise the dynamic response of a no-till seeder, mathematical models were developed for simulating the vertical motion of a coulter assembly. The models included the dynamics of the coulter assembly, with the packer wheel as a passive system, and a semi-active MR (magnetorheological) damper system, which was considered to be located in-between the coulter and the packer wheel. The developed model of the coulter assembly dynamics was validated based on a correlation between the simulated and the measured impact forces and pitch angles. A root-mean-squared (RMS) error resulted from the correlation have increased from 6.84% at the lower speed of 10 km h −1 to 14.5% at the higher speed of 15 km h −1 for the impact forces, from 8.1% at the lower speed of 10 km h −1 to 13.1% at the higher speed of 15 km h −1 for the pitch angle. Conversely, there was a fall in the correlation coefficient from 0.699 to 0.681 for the impact forces and from 0.942 to 0.684 for the pitch angle between the lower speed of 10 km h −1 and the higher speed of 15 km h −1 , respectively. Furthermore, all three applied hysteresis models, such as Bingham, Dahl and Bounc-Wen model, for the semi-active MR damper system behaviour demonstrated significant improvements over the passive system model. Among the models, the Bouc-Wen model produced more adequacy of the MR damper behaviour with the highest reduction of 54.1%, 63.3% and 41.2% in the amplitude of the impact forces and 52.3%, 58.2% and 38.1% in the amplitude of the pitch angles at the speeds of 10 km h −1 , 12 km h −1 and 15 km h −1 , respectively.

Research paper thumbnail of Dynamic performance of a no-till seeding assembly

Biosystems Engineering

Precise seeding depth plays an important role in achieving reliable germination rate and even pla... more Precise seeding depth plays an important role in achieving reliable germination rate and even plant emergence. In no-till seeding, this aim is more challenging due to the inappropriate response of the machine dynamics to harsh soil conditions, such as compacted soil undulations and stubble. In this paper, a sensor-frame was mounted on a no-till seeder, to measure the field surface profiles during seeding operation. Its accuracy was validated by acquiring the profile of trapezoidal bumps with known dimensions resulting in a root mean squared (RMS) error of 7.3 and 8.7 mm for travelling speed of 2 km h−1 and 10 km h−1, respectively. Strain gauges were used to measure the soil reaction forces, on one of the seeding assemblies during seeding operation at travelling speed of 10 km h−1. After seeding wheat (Triticum aestivum L.), the geo-referenced position of each single seed was measured using a total station, to calculate the seeding depth. The correlation between the seeding depth variation and the developed forces showed that the frequencies of 11.8 Hz and 17.8 Hz of the vertical forces, which corresponded to a wavelength of 0.21 m and 0.14 m, respectively, were responsible for the high variation in seeding depth. For the profile impact forces, these values were equal to 10.7 Hz and 20.6 Hz. The corresponding wavelengths were equal to 0.23 m and 0.12 m. The peak value of seeding depth was detected at a frequency of 8.3 Hz with 0.3 m wavelength for both vertical and impact profile forces.