The authors showed that large dairy complexes for over 2,000 cows create an increased environmental burden on the environment. The main tasks arising in this case were named: creating an optimal indoor microclimate for different age and gender groups of animals; providing sparing and comfortable modes of technological, veterinary and sanitary care and keeping animals; waste recycling; increasing the productive longevity of cows up to 4-5 lactations. (Research purpose) To develop methodologies for modular construction of an expanded standard-size range of new generation automated and robotic livestock farms. (Materials and methods) The authors proposed the main criteria and indicators for building a "smart" farm: minimum feed costs per unit of production; reduced energy consumption; optimal capital intensity of equipment and engineering structures per one livestock place; the minimum cost per unit of production with its high quality. The authors received the criterion equation for the total functional of the dairy farm. (Results and discussion) The authors analyzed the structural and functional diagrams of various configuration and size dairy farms (T-H-shaped), including combined storage farms, which make it possible to create a combined functional and logistics infrastructure consisting of standard modular units. The authors proposed the concept of building a technological module for a "smart" robotic farm for 400 heads with combined sectional feed and waste storage facilities, a robotic milking parlor, a multifunctional electrified robotic feed loader-pusher-dispenser and equipment for microclimate differentiated provision.  (Conclusions) The authors developed methods, models, structural and functional schemes for modular construction of new generation automated and robotic dairy farms of various shapes and sizes. Their following advantages were confirmed: the optimal construction time, a sparing effect on biological objects and the environment, an increase in the production digitalization and automation level, the animal productive longevity, the dairy farming profitability in general.

The effectiveness of engineering systems at livestock enterprises is shown to be determined by the possibility of creating the required conditions where young animals are kept in interaction with external temperature parameters of their habitat. (Research purpose) The research aims to evaluate and choose a rational method for calculating radiant heat transfer in a system of surfaces with an arbitrary configuration that reflect the state of a biological object in a livestock room and the distribution of heat flows in the areas where young animals are located. (Materials and methods) The authors considered the conditions of a comfortable thermal regime for young animals and a physical model of animal heat transfer with the environment. The use of various methods for calculating heat transfer helped to determine the areas of change in the radiation panel temperature and the influence of the configuration and the system shell optical characteristics when creating comfortable conditions for keeping piglets. (Results and discussion) It was established that the computational model of heat transfer in a system of isothermal diffusely absorbing and radiating surfaces can be considered as an extension of existing computational methods. The model takes into account additional impact factors, including the influence of "hidden" surfaces through multiple reflections in a closed thermodynamic system. There is consistency between the results of heat transfer calculations by various methods, under the assumption that the system shell optical parameters are close to the characteristics of absolutely black body. (Conclusions) It was revealed that the system shell optical characteristics have a significant impact on the temperature regime of the irradiation panel surface, and the proposed computational model for determining the heated panel temperature regime in a system of isothermal diffusely absorbing and radiating surfaces can be applied to a wide range of agricultural premises of various configurations and geometries.

It was noted that increased soil moisture worsens the quality of harvesting root crops due to a decrease in the completeness of separation. To increase the separating capacity of a slotted cleaner for root crops, it was proposed to improve the heating of the separating surface with hot exhaust gas. (Research purpose) To optimize the design and technological parameters of an exhaust gas heat separation system of the sugar beet harvester power plant. (Materials and methods) Federal Scientific Agroengineering Center VIM developed an exhaust gas heat separation system for harvesting root crops and potatoes in high moisture conditions using the heat of the harvester power plant exhaust gases. The cleaning quality of the separating system of a self-propelled sugar beet harvester was determined under the gradual engine load from 0 to 100 percent of the nominal rated power. The temperature of the exhaust gases was measured with the assumption of changes in the engine load and its effective power. (Results and discussion) The experiment revealed an increase in the completeness of the separation of a root crops heap from 96.0 to 98.8 percent at 26-32 percent soil moisture due to the separation system in the form of a cleaning star, which uses the heat of the engine exhaust gases. The established optimal values of the factors under consideration are as follows: the separating star rotation rate is 21.8 revolutions per minute, the distance between the separating star and the deflector is 128.4 millimeters. (Conclusions) It was determined that the high quality of the technological process of root crops harvesting in high soil moisture conditions ensuring a 97-percent separation efficiency is possible if optimize the separating device design and technological parameters and maintain the separating star rotation rate at 20-22 revolutions per minute and the distance between the separating star and the deflector within 120-140 millimeters. The authors noted the prospects of developing this system and the need for theoretical and experimental studies to improve the design and technological process of the harvester separating system.

The authors have shown that the tillage specific constructive weight affects the working width and penetration ability. In order to increase the working width of the tillage implement, and therefore its performance and economic efficiency as well as its penetration ability, it is preferable to minimize the value of this indicator. It is taken into account that the implement specific structural weight will depend on the actual number of working tools and frame elements per unit of the working width. (Research purpose) The aim of the work is to develop a mathematical model to determine the minimum allowable and actual specific structural weight depending on the tillage implement operating conditions and its structural design and technological scheme. (Materials and methods) The research methodology is based on mathematical modeling, abstraction, analysis, synthesis, and principles of classical mechanics. (Results and discussion) The proposed mathematical model for determining the minimum allowable and actual specific structural weight was developed. The model takes into account the physical and mechanical characteristics of the cultivated soil, the number of working bodies and frame elements per unit of the tillage implement working width. It was found out that an increase in the working width makes it possible to reduce the implement actual specific structural weight, all other things being equal. It was proposed to use the mathematical model for designing tillage tools, carrying out force calculations and comparative assessment of metal consumption, depending on the installation and location of working bodies with different working widths. (Conclusions) It was found out that with the soil ultimate compressive strength of 100,000 pascal, the implement minimum allowable structural weight should be 334 kilograms per meter to ensure the tillage tool penetration to a given depth. Under the considered conditions, the implement actual specific structural weight will have a minimum value at the working width of 0.7 and 0.8 meters – 375 kilograms per meter and 335 kilograms per meter, respectively.

The use of small-scale machinery proves to be common for agricultural, transportation and other types of work on small-scale farms, peasant farms, family gardens, farmsteads, on hilly lands and inconvenient areas, where the use of traditional powerful machinery is impossible or economically impractical. Small-scale machinery as well as powerful agricultural machinery rarely passes state tests. One of the main reasons for that is a lack of indicator systems for agrotechnical, operational and technological, reliability, economic and ergonomic assessment. The necessity of determining such systems (sets, criteria, indicators) is argued to be important. (Research purpose) The research aims to identify performance assessment indicators for agricultural small-scale machinery by capitalizing on the existing indicators for powerful machines and hands-on experience of exploiting mini-machinery in small farms of Uzbekistan. (Materials and methods) The primary materials are the performance indicators for the agricultural machinery, provided by the existing state and industry standards. The study uses the methods of system analysis, logical thinking, monographic observation and set theory. (Results and discussion) As a result of ranking, several performance indicator systems were selected for the agrotechnical, operational-technological, reliability, economic and ergonomic assessment of small-scale machinery. (Conclusions) It was found out that for the general assessment of the structure parameters, the quality of the technological process and the functionality of small-scale machinery prototypes, it is reasonable to use 26 main and 14 auxiliary indicators. At the same time, a reduction in material and labor resources is expected in the process of testing.

It was shown that soil is a specific type of natural resource that can be renewed when reasonably cultivated by various tillage methods. It requires the availability of working bodies that meet the qualitative agrotechnical indicators of the technological process. (Research purpose) To improve the design of the working body meeting the qualitative agrotechnical indicators of the shallow tillage technological process. (Materials and methods) The main agrotechnical indicators of the cultivator's working body were determined. (Results and discussion) It was proved that the working bodies developed at the Agrarian Scientific Center "Donskoy" meet the agrotechnical requirements for the indicators of the shallow tillage technological process in terms of the crumbling quality: the content of fractions less than 25 millimeters in size in the treated soil layer is 81-92 percent in terms of quantitative composition. It was found out that the highest quality of seam crumbling during the shallow tillage process with a predominant content of fractions less than 25 millimeters in size (on average 90-91 percent) was made possible with the help of a working body with a 30-degree rack sharpening angle. It was determined that at the same time the share of erosive dust-like particles increased by 1.3-3.0 percent, which is unacceptable due to the agrotechnical requirements for shallow tillage. (Conclusions) Working bodies with a rack sharpening angle of 50 and 70 degrees and a paw opening angle of 94, 104 and 114 degrees compile with agrotechnical requirements for all qualitative indicators of the shallow tillage technological process and can be applied as anti-erosion ones when used in the combined units equipped with a device for mulching the surface soil layer on stubble backgrounds without preliminary processing.

It was shown that the soil formation turnover within the furrow is an important condition for precision tillage. The authors identified the possibility of creating a train of combined machines capable of preparing the soil for sowing or planting in one pass. It was noted that due to inertia forces, the cylindrical plow body is able to hold a layer with and without turf. The preliminary tests of this working body revealed some barriers to the unhindered passage of the soil layer. It was assumed that it is possible to increase the technological reliability of the plow body by placing a wing on the guide board, which operation will create an additional twisting effect. (Research purpose) To substantiate the length of the plow body wing and its angle to the bottom of the furrow. (Materials and methods) Based on the laws of theoretical mechanics, a differential equation for the soil layer segment rotation was obtained, where the soil, as a tillage object, is presented by the coefficients of dynamic viscosity, sliding friction, and density. (Results and discussion) It was determined that the value of the dynamic viscosity coefficient and sliding friction depend on the absolute moisture content of the formation being treated. The main criteria influencing the soil formation turnover included the absolute soil moisture content, the plow body speed, the dump wing length, the angle of the wing installation, the thickness of the interacting boundary layer of the deformable section. As a result of the simulation, it was found out that the angle of the soil layer segment rotation predominantly depends on the plow body speed and the angle of the dump wing installation. (Conclusions) A 90-degree angle of the soil layer segment rotation can be achieved if the dump wing length is 0.1 meter, and the angle of its installation is 23 degrees.

The calculation of aircraft cost is stated necessary to assess the economic feasibility of their operation, as well as in agriculture, the possibility of acquiring new ones, and to justify air transportation tariffs. (Research purpose) The research purpose is to substantiate the methodology and calculate the prime cost of using BAS-137 VIM unmanned aerial system for the application of pesticides, fertilizers and other agrochemicals. (Materials and methods) When developing the methodology for calculating the prime cost of using an unmanned aerial system for applying pesticides and fertilizers, the Guidelines for determining the cost of domestic and international flights for Russian airlines were used. (Results and discussion) We have obtained the main dependences of the prime cost of using BAS-137 VIM for the introduction of working fluids: on the application rate, the field rut length, the distance of approach to the refueling place, and the operating flight speed. (Conclusions) The authors developed a methodology for calculating the prime cost of using an unmanned aerial system for applying pesticides and fertilizers, including direct and indirect operating costs. It was found out that at the working fluid application rates of 5-100 liters per hectare, the changes in the cost of using BAS-137 VIM are within the range from 280.9 to 1315.5 rubles per hectare. At an application rate of 10 liters per hectare within the rut length of 0.3-2.0 kilometers, the application prime cost is 307.1-529.5 rubles per hectare. It was obtained that at the application rates of 5-20 liters per hectare and the rut length of 0.6-1.0 kilometers, the prime cost will be the lowest, within the range of 264-369 rubles per hectare at an operating flight speed of 60 kilometers per hour and within the range of 482-587 rubles per hectare at a flying speed of 30 kilometers per hour. It was shown that with a twofold increase in BAS-137 VIM operating speed, the prime cost decreases by 1.2-1.5 times.

The degradation of unused agricultural lands is noted to cause significant damage to agricultural production such as plot overgrowing with weeds, blackened surface layer emergence, the existing microrelief disturbance, soil self- compaction and acidification, soil infiltration properties deterioration, and water erosion. (Research purpose) The research aims to determine the technological and physical and mechanical properties of the blackened soils in the Ryazan region, being out of active use for 2-6 years. (Materials and methods) The parameters of various unused soil plots were studied in the Ryazan region: in particular, the composition of the herbage, the thickness of the blackened soil layer, the degree of soil blackening, its density and moisture, and infiltration properties. (Results and discussion) It was found that a 6-year increase in the period of overgrowth in an unused site leads to an increase in the amount of weeds. The most common species of many-year-old weeds are dog grass (Elymus caninus L) with the occurrence of 13 percent, field grass (Cirsium arvense L.) with the occurrence of 11 percent, creeping wheatgrass (Elitrigia repens L.) with the occurrence of 10 percent, shoot-forming vole (Agrostis stolonifera L.) with the occurrence of 9 percent. It was determined that an increase in the period of plot overgrowing from 2 to 6 years results in the soil recompaction, an increase in its density from 1.32 to 1.56 grams per cubic centimeter, the blackened soil layer thickening from 3 to 11 centimeters, an increase in the soil blackening degree from 13 to 44 grams per cubic decimetre. It was found that the coefficient of variation in the soil blackening degree decreases from 21.0 to 5.1 percent, and the coefficient of variation in the blackened soil layer thickness declines from 25.3 to 6.6 percent. (Conclusions) The dependence between the soil infiltration intensity and its blackening degree was established: even being waterlogged in the blackened upper layer (0-10 centimeters), with the absolute moisture of 45 percent, this indicator remains within 20-25 percent in the lower layer (20-30 centimeters).

It was noted that in waterlogged soil conditions, the existing methods for assessing field grain losses when harvesting soybeans using low-cut headers are not always suitable. (Research purpose) To improve the methodology for assessing soybean losses during harvesting in the waterlogged soil conditions, using the possibility of sampling them separately behind the header and thresher of the combine. (Materials and methods) The methodological approach was based on: the impact of crop heterogeneity; the principle of adequate accuracy in loss assessment, regardless of soil conditions during harvesting; accessibility, simplicity and minimal labor intensity of the method; the possibility of differentiating grain losses behind the header to identify their main sources. Three main loss zones were identified and the characteristics of their sources were considered. The authors presented a scheme for applying square metal frames with a 1-meter side length on crops and on a harvested field area after the passage of the combine. The authors described the sequence of laboratory and field assessment and formulae for determining natural grain losses, losses behind the header and their types, soybean losses behind the thresher and total losses behind the combine. (Results and discussion) A methodology for soybean loss assessment was developed and tested during the trial of the Case IH AF6140 combine with a New Holland 740CF-30DD(SF) header. It was found out that this combine meets all the norms for soybean grain losses at a combine speed of 6 kilometers per hour. Loose grains were revealed to be the largest share of losses behind the header. To further mitigate losses, it was proposed to control the number of reel revolutions. (Conclusions) We have developed a technical approach and an algorithm for grain loss assessment with the use of rigid metal frames, which ensures high reliability, efficiency and lower labor intensity when considering losses and calculating actual and permissible (from biological yield) values for the specific and relative soybean losses behind a header and combine harvester as a whole.

To create multifunctional robotic platforms for agricultural use, it is reasonable to use a modular principle that will allow installing various equipment depending on the tasks assigned to the robotic tool. Providing autonomous reconfiguration capabilities will reduce human interference and maintenance costs. (Research purpose) This work is aimed at developing a scalable device for interfacing functional modules with the agricultural robotic base platform, which can provide mechanical fixation, energy transfer and information exchange. (Materials and methods) This article analyzes the previous research into the solutions for interfacing modules in robotic complexes and points out their benefits and drawbacks. Based on the analysis and own research, the interface mechanism structure was developed to ensure the correct mutual position and fixation of the module to the base platform under the assumption of possible energy and information exchange. (Results and discussion) In the course of the work, the design ratios for the interface device were derived, making it possible to calculate the permissible linear displacements and permissible angular deviation of the mechanism interfacing elements. Based on the permissible linear deviations up to 10-13 millimeters and a permissible angular deviation of 20 degrees, the main dimensions of the device prototype were obtained. A prototype interface device was operationalized with the dimensional specifications of 200 millimeters in length, 130 millimeters in width, 58 millimeters in height. Several experiments with the device prototype were carried out based on various linear and angular deviations of the interfacing elements. (Conclusions) It was found out that successful interfacing occurs in 98 percent of cases subject to admissible calculated displacements. It was concluded that the proposed interface device will allow for the autonomous replacement of modules of multifunctional robotic platforms.