The paper demonstrates the feasibility of using rotary conveyor–type carousel milking installations at large livestock farms and complexes in Russia with 1,000 or more head of cattle. In conventional designs, platform rotation is provided by geared motors equipped with polyurethane drive wheels that transmit torque through frictional contact with metal profiles curved along the platform circumference. To eliminate the drive and support wheels of the rail-wheel propulsion system as well as the associated labor and financial costs resulting from wear-related replacement, the paper considers the potential application of magnetic levitation technology and the development of an energy-efficient magnetic drive. (Research purpose) To develop a model of a levitating carousel-type milking platform. (Materials and methods) The proposed approach is based on a previously developed technological scheme using axially magnetized rectangular permanent magnets. The study considers a drive system for a 36-stall milking platform employing a cylindrical magnetic transmission with external meshing and derives the fundamental equation describing the rotational dynamics of the system. (Results and discussion) Based on the dynamic analysis of the rotating platform, the study determined the moment of inertia of the platform with animals, the circumferential force, the torques acting on the driving and driven wheels, their angular velocities, and the relationship between the platform’s angular acceleration and the acceleration time. (Conclusions) The study substantiates the topological parameters of the cylindrical magnetic transmission, including the installation air gaps and the spacing of magnets on the driving and driven wheels of the platform, as well as the kinematic parameters of the system, namely the meshing angles and radii of the driving and driven wheels. A magnetostatic analysis determined the normal and tangential components of the magnetic interaction forces. In addition, the study developed an algorithm for calculating the cylindrical magnetic transmission, enabling the determination of magnetic fi eld parameters and the dimensions of the permanent magnets for the drive system of a levitating carousel-type milking platform.

The paper highlights that in protected cultivation of agricultural crops, electricity costs account for approximately 20 percent of the total crop production cost. Numerous studies have focused on identifying the optimal light spectrum for specific crops. At the same time, considering the light and dark phases of photosynthesis, it is possible to propose an energy-efficient pulsed irradiation mode that maintains plant productivity without reducing the service life of LED irradiation systems. (Research purpose) To develop digital engineering solutions for implementing an energy-saving plant irradiation technology based on RGB LED lighting systems. (Materials and methods) An automated digital control system for RGB LED irradiators was developed. The durations of the light pulse and the dark interval were set in real time via Bluetooth wireless communication using an HC-05 Bluetooth module connected to a microcontroller and controlled through the Bluetooth Electronics mobile application. The control algorithm was implemented in C++. (Results and discussion) The experimental results demonstrated that the most rapid plant development occurred under a light pulse duration of 1 second with a 0.5-second interval. The effect was confirmed by comparing leaf area growth relative to the control (100 percent) at the beginning and end of the experiment, with values reaching approximately 108 percent. According to calculations, electricity consumption during 16-hour operation of the RGB LED irradiators in energy-saving mode amounted to about 78 percent of the control value (set at 100 percent). (Conclusions) The developed digital engineering solutions for RGB LED-based plant irradiation systems enable energy savings while maintaining plant productivity, demonstrating their eff ectiveness for energy-efficient protected cultivation.

In the context of import substitution, accelerating the development of grain, legume, and other crop breeding sectors is crucial to create new varieties and increase seed material volumes. Robotization of crop production operations can enable faster solution, cut manual labor costs, and enhance breeding productivity. (Research purpose) To design a seed-feeding robot for the sowing apparatus of a selection seed drill and develop recommendations for its use at the second and third stages of breeding. (Materials and methods) The robot was engineered to meet standards for sowing grains, legumes, and other crops on breeding plots. A method was proposed to select single- or multi-level robots for seed feeding based on the breeding area. (Results and discussion) A structural diagram and operation algorithm were developed for a carousel-type robot integrable into various cassette selection seed drills. A formula was derived for robot application based on breeding site parameters and required cassette quantities. (Conclusions) Laboratory tests of the robotic cassette-loading device or seed-feeding robot at the second and third breeding stages demonstrated the potential for a 12 percent reduction in sowing time and 20–30 percent productivity.

One of the major challenges in the mechanization of domestic breeding remains the insufficient level of technical equipment incorporating automatic control systems for working units, including AI-based solutions. In mechanized harvesting technology, most adjustments of operating parameters in response to changing harvesting conditions are still performed manually by the operator. Therefore, the development of automatic control methods aimed at improving harvesting accuracy throughout the entire harvesting process is highly relevant, particularly for breeding grain harvesters, where minimizing losses and damage to seed material is of critical importance. (Research purpose) To determine the permissible parameter values for the working units of a breeding plot harvester through mathematical modeling based on an assessment of crop stand characteristics. (Materials and methods) Mathematical relationships between the interrelated parameters of the harvester’s linear travel speed and the operating frequency of the cutting unit were established, and the permissible parameter values for the working units of a breeding plot harvester were obtained using a graphical approach. (Results and discussion) The permissible parameter values for the working units of a breeding plot harvester were obtained using mathematical and graphical methods based on crop stand characteristics, taking into account the operating ranges of the harvester and crop stand density. The following parameters were established: harvester travel speed of 1-2 meters per second, cutting unit operating frequency of 200-800 revolutions per minute, and crop stand density of 200–600 stems per square meter. Functional relationships between crop stand parameters and harvester operating modes were formulated and visualized, enabling the determination of permissible parameters. (Conclusions) The derived models can be used in the development of intelligent control systems for the header assembly and harvester travel speed to improve harvesting efficiency and minimize losses. The applicability of the proposed model for implementation in automated control systems under real operating conditions has been confirmed.

In the context of agricultural intensification, the reliability of plant protection equipment becomes increasingly important. Spray nozzles are among the most vulnerable components of sprayers, as their failure is primarily caused by intensive wear of the orifice. The wear results in excessive consumption of the working fluid and increased environmental risks. One promising approach to improving the wear resistance of domestically produced sprayer nozzles is the development of polyacetal-based composites reinforced with silicon carbide. (Research purpose) To investigate the mixing behaviors of composite components during melt processing in an injection molding machine for the manufacture of agricultural sprayer nozzles. (Materials and methods) Previous studies have demonstrated that the use of silicon carbide as a dispersed filler increases wear resistance and extends the service life of spray nozzles. In the present study, focusing on the manufacturing technology of sprayer nozzles, the melting behavior of a polyacetal–silicon carbide composite during injection molding was simulated using simultaneous thermal analysis (STA). The experimental procedure involved obtaining STA curves of the melting process, followed by data processing in the OriginPro 8 software environment and subsequent analysis of the results. (Results and discussion) A methodology for studying filler behavior during composite melting in the manufacturing process is proposed. Analysis of changes in the melting behavior after introduction of the filler made it possible to determine its influence on the processing technology. (Conclusions) The interaction between silicon carbide and the polyacetal matrix was demonstrated, both in terms of the filler’s effect on polymer macromolecules and its role in the crystallization process as crystal nucleation centers. As a result, specifi c features of the manufacturing technology for sprayer nozzles made of a polyacetal–silicon carbide composite were identified.

Path planning is a crucial component in the application of unmanned agricultural technologies. Machine-tractor units (MTAs) equipped with automated control systems and mounted agricultural implements are capable of executing non-standard motion trajectories and turning maneuvers under fi eld conditions, including reversible motion on sloped terrain. On small- contour plots, the proportion of idle travel is relatively high; therefore, reducing travel distance or turning time can increase the productivity of agrotechnical operations. (Research purpose) To calculate the optimal turning maneuver during reversible motion of an automated machine-tractor unit. (Materials and methods) The calculation of optimal motion within the turning zone is a key element of route planning aimed at improving the operational efficiency of a machine–tractor unit (MTA). Under constrained headland conditions, optimization of the turning trajectory becomes a complex dynamic nonlinear problem that is difficult to solve using traditional numerical methods. The study considered Lagrange’s second-order differential equations describing the curvilinear motion of a machine-tractor unit (MTA) in Cartesian coordinates. However, the solutions of this system of equations, which defi ne a family of “needle turns” for reversible motion, are inherently constrained. Therefore, to compute a short turn under constrained conditions, a turning zone optimization method was used. (Results and discussion) The study led to the development of kinematic models of a machine-tractor unit (MTA) equipped with a rotary mower and to the formulation of motion optimization problems within the turning zone under operational constraints. Turning scenarios ranging from symmetric to asymmetric needle turns were evaluated, and the optimal configuration was identified. Integration of the machine-tractor unit (MTA) model into the technological workflow enabled the calculation of an alternative turning option, a shaped turn with specific parameters for the given operating conditions. (Conclusions) Analytical studies of the automated agricultural machine–tractor unit (MTA) with a rotary mower demonstrated that the geometric and performance parameters of the shaped turn fall within a minimum turning width of 3.65 meters and a path length of 7.74 meters, corresponding to the technical characteristics of the Uralets 22 mini-tractor and the N-17 rotary mower.

Soil preparation prior to planting is a key stage in potato cultivation. The incorporation of a loosening drum into a soil- separating machine helps reduce tuber damage during harvesting. This study presents an experimental approach to investigating the natural oscillation frequencies of the loosening drum, using a soil separator under real working conditions. (Research purpose) To identify the patterns governing changes in dynamic loads acting on the working elements of soil-cultivating machines by means of strain-gauge measurements and oscillographic analysis of vibrational processes in the rotating components of a soil clod separator. (Materials and methods) To determine the natural oscillation frequencies of the clod-breaking working tools of the separator machine, the method of inertial excitation was used. A special laboratory test rig was constructed, consisting of an MGP-35 type direct current motor, a rectifier equipped with a rheostat, and a strain-gauge beam. During the experiment, a vibrator was mounted on a bracket rigidly fixed to the shaft of the soil loosening drum to identify its natural frequency. The adopted strain-gauge measurement scheme for the rotating units of the soil clod separator ensures high measurement accuracy. Oscillatory responses were recorded using a strain-gauge beam made of spring steel and shaped as a cantilever plate. Two strain gauges with a gauge length of 20 mm and a nominal resistance of 200 Ohms each were bonded to the lateral surfaces of the beam to register deformation caused by vibrational loading. (Results and discussion) To determine the natural frequency of the loosening drum, the vibrator was mounted on a drive sprocket with z = 40. The natural frequencies of the first and second shafts of the separating conveyor were determined in a similar manner, with the vibrator mounted on a drive sprocket with z = 13. The strain gauges registered bending deformation of the plate, while the resulting electrical signals were transmitted to an amplifier and subsequently to the oscilloscope galvanometer, which provided continuous recording of oscillograms of torsional vibrations excited by the electric motor. (Conclusions) The experimental results demonstrated that the torsional vibration waveforms of the drive and driven shafts of the elevator, as well as of the loosening drum, exhibit a sinusoidal character with a vibration period of T=0.053 seconds.

The development of a new working tool for deep soil loosening requires a comprehensive approach to determining its design parameters and operating modes, based on interrelated and harmonized dependencies. The design process must account not only for the geometry of the tool itself but also for the heterogeneous physical and mechanical properties of the soil environment. It is also essential to ensure stable operation and achieve the required quality of work and energy efficiency of the technological process. (Research purpose) The aim of this study is to develop an anti-erosion deep soil loosener capable of bringing soil clods to the surface. (Materials and methods) The newly designed working tool is designed for primary tillage and deep loosening of soil to depths exceeding 25 centimeters, without inverting the soil layer. During anti-erosion treatment, it simultaneously forms molelike channels. A schematic diagram is presented to illustrate the interaction between the working tool and the soil. (Results and discussion) The scientific novelty of the study lies in establishing dependencies that describe the relationship between the tool’s design parameters and its operating modes during its interaction with the soil. These dependencies form the basis for developing an engineering method for calculating the tool, which is implemented in the form of reinforced bars that interact with the soil surface. The study also substantiates the mechanism of soil layer displacement and identifies the potential disruption modes, including the formation of secondary fracture planes that occur during the upward movement of the soil layer. (Conclusions) The parameters and operating modes of the working tool of the new deep soil loosener have been determined. To initiate effective soil descent, the clearance between the bars should not exceed 50 millimeters. For optimal soil clod trajectory, the shape of the bars should follow a first-order brachistochrone curve (a cycloid). The bar length of the working tool ranges from 0 to 0.4 meters, depending on soil conditions and operational requirements.

The paper notes that traditional soil tillage with ploughs of various designs frequently causes excessive soil loosening. This leads to the degradation of soil structure, a decline in soil microflora, and increased erosion accompanied by the loss of the fertile topsoil. To mitigate these adverse effects, minimum tillage technologies are widely applied in global agricultural practice. (Research purpose) To develop a combined tillage unit equipped with universal working tools that expand the functional capabilities of soil tillage and improve the quality of operations. (Materials and methods) The universal working tools are designed as cultivator shanks equipped with a triangular soil ripper at the top and a triangular soil slitter at the bottom. The platform lengths for mounting the tools and the plugs are equal to half the base length of the ripper and slitter. The height of the rippers is one-third less than that of the slitters. The angle of attack of the flat shank is 10–15 degrees; the inclination angle of the cutting edges relative to the shank surface is 35 degrees for the ripper and 25 degrees for the slitter. The thickness ratio of the working tools to the wing is 1:3. The width of each platform corresponds to the width of the slot into which it is fitted and is four times the thickness of each working tool. (Results and discussion) It is found that during the operation of the combined tillage unit, the cultivator shanks cut the soil while simultaneously destroying weeds. The combined action of the loosening and slitting elements contributes to regulating the soil water-air balance. (Conclusions) The proposed design of the combined tillage unit with universal working tools enables the simultaneous execution of several operations, including loosening, slitting, and cultivation with effective weed control. Final soil treatment and compaction improve the quality and economic efficiency of tillage.

The advancement of equipment used for the application of mineral fertilizers and chemical plant protection products is a key prerequisite for their efficient and safe use. (Research purpose) To conduct a retrospective analysis of the development of technical means for the application of mineral fertilizers and chemical plant protection products. (Materials and methods) Monographs, original and review scientific publications, and technical documentation were studied using chronological, genetic historical, and descriptive methods. (Results and discussion) The study shows that the evolution of fertilizer application machinery is associated with the gradual adoption of diff erent application methods, while the evolution of sprayers, as key technical means of plant protection, has progressed alongside the introduction of various liquid spraying principles. At the same time, the boundaries between types and groups of agricultural machines have become increasingly blurred. The contribution of domestic scientists and specialists (A.P. von Poshman, A.E. Zaikevich, F.M. Solovey) to the advancement of chemical application technology is highlighted. A common trend identified for both mineral fertilizer spreaders and sprayers is the increase in working width, operating speed, and productivity accompanying the intensification of agricultural chemicalization. (Conclusions) The development of equipment for the application of mineral fertilizers and chemical plant protection products has evolved from primitive devices and machines to automated and adaptive technical systems within the framework of precision agriculture, driven by the widespread adoption of digital and robotic technologies and artificial intelligence. In the near future, the technical advancement of these machine groups will be determined less by fundamental design changes and more by the implementation of the precision agriculture paradigm.

The article presents a historical analysis of the evolution of machinery and working units used in feed preparation. (Research purpose) To identify the key stages in the development of machinery for feed preparation and distribution and to classify the working units of modern feed mixer-distributors. (Materials and methods) The study is based on historical scientific sources and informational materials and applies an analytical method. (Results and discussion) The study identifies four main periods in the development of feed preparation technology, in particular, the pre-industrial period, the period of primary mechanization, the period of integrated mechanization, and the period of automation and robotization. During the pre-industrial period (until the end of the 18th century), the technological base was limited to manual labor. From the 19th century to the mid-20th century, a technological breakthrough occurred, characterized by the primary mechanization of tools and the emergence of machines with mechanical drives. This stage marked the beginning of serial production of machines designed for specific operations. In the early stages of integrated mechanization of feed distribution equipment (1950–1980), stationary and mobile conveyors were used, which required the participation of personnel. Since the 1990s, technological development has been associated with the introduction of machines combining feed preparation and distribution functions. From the late 20th century to the present, the technological transformation of the sector has progressed toward automation and robotization, including the use of intelligent systems that integrate precise dosing, adaptive feed mixing, and machine vision technologies to ensure accurate feed distribution. The analysis of modern machinery made it possible to develop a classification of the working units of feed mixer-distributors. (Conclusions) The historical analysis revealed four successive technological periods, each characterized by a new level of integration and a different source of applied energy. The development of working units progressed from simple single-function elements to combined designs (auger–knife systems). The proposed classification of feed mixer-distributor working units systematizes the main structural types of knives. The need for import substitution creates an urgent scientific and technical challenge related to the development of competitive domestic working units, suitable manufacturing materials, and effective strengthening technologies.

The relevance of studying the historical development of scientific schools in the field of agricultural mechanization at regional universities is highlighted, as such studies reveal the mechanisms of scientific team formation and knowledge transmission in agrarian education. (Research purpose) To synthesize historical and scientific materials on the formation and evolution of scientific schools in agricultural mechanization at Bashkir State Agrarian University. (Materials and methods) The study is based on a comprehensive analysis of information sources, including archival materials from Bashkir State Agrarian University, data on defended dissertations, published papers, and patents. The study employs chronological, personalistic, institutional, and comparative approaches and covers the period from 1930 to 2025. (Results and discussion) The study identifies and characterizes scientific schools formed around prominent research leaders: A.P. Iofinov and S.G. Mudarisov (Department of Agricultural Machines); R. M. Bashirov and I.I. Gabitov (Department of Tractors and Automobiles); and V.S. Ibragimov, E.L. Levin, and M.N. Farkhshatov (Department of Metal Technology and Machine Repair). Each scientific school demonstrates distinct developmental characteristics with respect to the balance between fundamental and applied research, the level of investment in laboratory infrastructure, and the extent of grant support. Over time, the methodological framework has evolved from classical experimental approaches to mathematical modeling, computer simulation, and contemporary AI-based digital twin technologies. (Conclusions) Over a 95-year period, the scientific schools of Bashkir State Agrarian University have demonstrated both continuity and adaptability in response to evolving technological challenges. The synergy of strong scientific leadership, sustained state support, and active collaboration with industry has facilitated the institutionalization of these scientific schools and strengthened their capacity to address current challenges in agro-industrial production.