In the process of automating an earthmoving machine, we have developed a model of soil-tool interaction that predicts resistive forces experienced at the tool during digging. The predicted forces can be used to model the closed loop behavior of a controller that servoes the joints of the excavator so as to fill the bucket. In this paper, we extend the state of the art in two ways. First, we pre...

increased soil dryness of hillsides and lands around the gully causes the aggravation of the gully erosion which leads to the desertion of the environment. soil moisture contents are various in different soil depths, gully positions, and in various land uses. these are fundamental for ecosystem sustainability in arid and semi-arid area. therefore, understanding the behavior of soil moisture in ...

[1] An accurate description of plant ecology requires an understanding of the interplay between precipitation, infiltration, and evapotranspiration. A simple model for soil moisture dynamics, which does not resolve spatial variations in saturation, facilitates analytical expressions of soil and plant behavior as functions of climate, soil, and vegetation characteristics. Proper application of s...