In the practice of the Russian Academy of Sciences, it is established in the main scientific areas to periodically award gold medals named after outstanding domestic scientists of agrarian science on a competitive basis. According to the profile of agroengineering science, such a medal is dedicated to the founder of the doctrine of agricultural machines, Academician Vasily Prokhorovich Goryachkin. (Research purpose). To carry out a survey of the agricultural engineering science from the historical perspective, summarize its scientific achievements and recreate a holistic picture of the scientific heritage left by the followers of V.P. Goryachkin, who are known in the agricultural engineering science as laureates of the Gold Medal of the Russian Academy of Sciences named after V.P. Goryachkin. (Materials and methods). The article traces the development of scientific ideas of V.P. Goryachkin in the works of renowned domestic scientists in the agricultural engineering sciences. (Results and discussion). The article presents a holistic picture of the scientific achievements from 1971 to 2022 made by the followers of V.P. Goryachkin, those who were awarded the Gold Medal named after him. For more than 50 years, fifteen outstanding scientists have been awarded the Gold Medal of the Russian Academy of Sciences named after V.P. Goryachkin, in particular: V.A. Zheligovsky (1971), I.I. Artobolevsky (1974), P.I. Vasilenko (1977), I.A. Budzko (1986), G.E. Listopad (1989), N.I. Klenin (1992), N.V. Krasnoshchekov (1995), V.I. Chernoivanov (1998), I.P. Ksenevich (2001), L.P. Kormanovsky (2004), V.M. Kryazhkov (2008), V.I. Syrovatke (2011), E.V. Zhalnin (2014), A.I. Zavrazhnov (2018), M.N. Erokhin (2022). (Conclusions) Outstanding Russian scientists, laureates of the Academician V.P. Goryachkin gold medal made a huge contribution to the further development of agroengineering science and education, the formation of fundamental scientific schools, the development of theoretical and practical foundations for the creation of innovative technologies, systems and machine complexes.

The paper shows the main ways of machine technology development from manual milking to robotic and notes the ambiguity of expert assessments regarding the introduction of robotic milking. (Research purpose) To conduct historical, analytical and feasibility studies of various options for automating cow milking on dairy farms, to determine the overall capital intensity of various options for the transition from manual to automated and robotic cow milking technologies, as well as the capital intensity of individual transition stages such as mechanized bucket milking, pipeline milking, automated milking in milking parlors, robotic milking in individual boxes and milking parlors. (Materials and methods) The paper analyzes the revolutionary transitions associated with a drastic change in technology, a change in the way of keeping cows and a change in the organizational and economic forms of operations; the modernization transitions, those with a complete or partial replacement of equipment but without a fundamental change in technology; and the reverse transfer transitions - a forced return to the previous more economical technology. (Results and discussion) We considered 7 main ways of developing machine milking over 100-110 years from the manual milking method to the automated and robotic ones. It is determined that their total estimated capital intensity for a hypothetical reference farm per 1000 heads accounts for 78.0-474.5 million rubles in modern figures. The concept of a standardized unit is introduced, that is equal to the price of the DAS-2V milking unit, that is, approximately 0.2 million rubles at the moment. (Conclusions) The research reveals the most costly transition ways, the optimal least capital-intensive way of transition from traditional milking to automated quarter-by-quarter milking in parlors, whose functionality is up to the robotic milking.The modernization transition to robotic milking in parlors is proved to be possible by gradual replacement of the automated milking manipulators controlled by an operator with the robotic unmanned manipulators and without any changes in technology.

The technology of flax harvesting  depends  on input impacts, including: flax harvester qualitative characteristics; working body parameters; indicators of working conditions; intervening variables reflecting the dynamic properties of the working bodies and the dynamics of the flax flow input. (Research purpose) To establish patterns and the degree of correlation between the qualitative operation indicators (pulling and deseeding quality, flax line stretching); design parameters; machine dynamic properties and harvesting conditions (height and density of flax stem, field surface, thickness and unevenness of flax straw, etc.). (Materials and methods) Based on system analysis, mathematical models of the technological process of flax harvesting were developed. Information models were introduced for examining the main flax harvesters. (Results and discussion) The paper shows that the most typical indicators of the flax harvester working conditions are the flax stem height l(t), centimeters; the seed pod area a(t), centimeters; and field surface roughness z(t), centimeters. It is found that the quality of operation is determined by the deseeding quality, percentages; the flax straw stretching, times; the location of its apical and root parts, centimeters. The estimated indicators are as follows: the pulling height h(t), centimeters, the vibrations of the combine in the longitudinal-vertical plane Q(t), degrees, the location of the apical part of the flax flaw in front of the stripper. (Conclusions) A hydraulic device was developed to adjust the pulling height from 10 to 40 centimeters, depending on the flax stem. An important reserve for increasing the deseeding quality is the change in the width of the deseeding zone of the V_k harvester, centimeters. For this purpose, a mechanism was created for moving the deseeder against the clamping conveyor, depending on the flax stem height l(t), centimeters.

A model of the movement of a robotic platform adapted to the conditions of an industrial orchard is proposed. (Research purpose) Development of a motion control system for an autonomous robotic wheeled platform based on inertial and satellite navigation and traversed path calculation, which will allow it to move in an apple orchard and automatically perform various technological operations, such as fertilization, growth diseases control of, fruit harvesting. (Materials and methods) A mathematical model was developed to control the movement of a robotic platform, taking into account the turning radii of three types, the length of the arc of the performed circle, the speed of movement in the garden plantation rows using a garden electronic map. The method used allows implementing a program for the robotic platform automatic movement around a typical orchard using a minimum set of sensors, significantly reducing the load on the onboard computer processor and memory. Software, developed in the Python programming language, enables plotting the robotic platform route, displaying the movement trajectory, and indicating the positioning accuracy at each point in relation to the trees in the garden plantation rows, the movement speed and the wheel rotation angle. (Results and discussion) The robotic platform managed to autonomously pass the preset routes, while the interaction of the software and the robotic platform hardware was provided. A field testing of the developed software was performed. (Conclusions) The specified accuracy of the robotic platform positioning was confirmed for the 3.5-meter aisles of intensive orchards. The maximum deviation from the task map using satellite and inertial navigation system was 164 millimeters, which complies with the agrotechnical requirements for mechanized fruit harvesting.

The paper shows the possibility of using unmanned aerial vehicles with additional outboard equipment for aerial photography. It is noted that some parameters of the drone and additional suspension equipment are not taken into account by the software when calculating the drone flight time for one battery charge. (Research purpose) To develop an algorithm for calculating the flight time of an unmanned aerial vehicle with installed outboard equipment. (Materials and methods) The technical characteristics of DJI Phantom 4 pro and DJI Matrice 200v2 were studied, as well as the specifications of Parrot Sequoia, MicaSense Altum multispectral cameras mounted on the drone. The existing research results are used to calculate the flight mission time depending on the route length and the battery capacity. (Results and discussion) It is found that the maximum flight time of a drone with additional outboard equipment is reduced due to the additional equipment mass, increased power consumption, the preflight preparation time, the need to return to the take-off point and the necessity to preserve the battery life and save the flight load. The maximum flight time calculated for DJI Phantom 4 pro and DJI Matrice 200v2 with multispectral cameras Parrot Sequoia, MicaSense Altum is 8 minutes and 18 minutes, respectively, with a minimum flight load. A method for calculating the number of batteries for aerial photography with additional outboard equipment is determined. (Conclusions) An algorithm for calculating the flight time of an unmanned aerial vehicle with additional outboard equipment is developed, the parameters ignored by the standard software in the flight time calculation are taken into account.

The efficiency of agricultural machine and tool operation is noted to significantly depend on the characteristics of the working bodies. The paper emphasizes the importance of working bodies’ reliability and operating lifetime which largely depend on wear resistance, strength, as well as design features. (Research purpose) To substantiate the choice of effective modern directions to increase the operating lifetime of wearable agricultural machine working bodies, the choice of types and characteristics of the materials used and technological methods for their hardening. (Materials and methods) The many years’ experience of the FNAC VIM in this area has been studied. A concept analysis of the relevant technical information has been conducted. (Results and discussion) The basics and conditions of abrasive wear of agricultural machinery parts are presented. The concept of "structural wear resistance" is clarified. The paper analyzes the materials (steels, hard alloys) of the working bodies of the agricultural machines used in Russia and abroad. Their main comparative physical and mechanical characteristics are pointed out. A method is proposed for selecting basic design parameters based on the strength characteristics of the materials used. Surfacing technologies for hardening the agricultural machine working bodies are compared. The paper substantiates the most effective technological options, individual technical and economic parameters, recommendations for the use of materials. (Conclusions) It is proved that the use of surfacing technologies leads to a 1.5-4.5-times increase in the operating lifetime of working bodies and significant economic efficiency.

It is noted that the effectiveness of the technological processes in agriculture is usually evaluated according to economic, operational and relative criteria. Such an estimate often proves to be inaccurate for solving applied problems. The functioning of the biotechnical system "operator – feed – machine – animal" reveals this discrepancy to the highest extent. The paper confirms the necessity and relevance of a fact-based analysis of energy flows in the biotechnical system, as well as the energy flows interaction with each other and with the external environment. (Research purpose) To substantiate a methodological approach to assessing the fodder production efficiency based on a bioenergetic analysis of fodder production technologies. (Materials and methods) The research involves the comparative analysis of exchange energy accumulation by plants before harvesting and the parameters of its reduction in the plant raw materials, taking into account technological impacts. (Results and discussion) It is obtained that a one-megajoule input of mechanical energy in the cultivation of cereal-grass forage mixtures provides 121 megajoules of exchange energy. The exchange energy content in the cereal-grass forage mixture is calculated to be 44,850 megajoules per hectare (1950 megajoules per ton) while the specific mechanical energy consumption amounts to 370.6 megajoules per hectare (16.1 megajoules per ton) for the feed mixture cultivation. (Conclusions) It is established that the dynamics of energy accumulation during the vegetable raw material cultivation and the character of a decrease in its energy content during fodder preparation and storage have a sustainable common trend. The growth trend of energy accumulation is proved to have a linear character for both various types of fodder crops and the decrease in the feed energy content. Efficiency assessment criteria are proposed for the mechanical energy consumption during fodder crop cultivation, plant material processing and feed storage. A mathematical model is developed making it possible to study implicit variables in a complex system of accumulation and entropy of feed exchange energy, take optimal engineering decisions to justify and improve the technologies for feed cultivation, harvesting and preparation, as well as its effective use.

The paper proves the necessity to create new modernized types of fruit and vegetable processing machines. The paper highlights the importance of such machinery versatility, since each individual type of fruit and vegetable has its own physical characteristics, such as solidity, viscosity, moisture content, fibers, seeds, and grains. (Research purpose) To study the zucchini mashing process performed by the developed vertical mashing unit. (Materials and methods) An improved mashing machine design is proposed: a vertical plant with a conical auger inside and a sieve drum. (Results and discussion) Based on the calculations, the following parameters are specified: the body wall thickness, the cell diameter, the cone and conical auger parameters, as well as the machine operating modes. The sieve drum height is set at 0.8 meters, the diameter is 0.4 meters, the distance between the cone top and the drum is 0.15 meters. A conical auger is made for four working turns. (Conclusions) The minimum number of zucchini seeds (100 pieces) is specified for the subsequent selection of the drum cell diameter. The criteria and delimitations for high-quality zucchini mashing were identified. The diameter of the vertical masher cells was set within the range from 0.0071 to 0.0093 meters.

The development of dairy farming proves to require technologies for rapid and non-destructive analysis of milk quality. It is noted that optical methods do not negatively affect dairy products. It is noted that farms may get the desired technology by upgrading milking machines with a flow-through device for milk quality express analysis. (Research purpose) To study the effect of upgrading the milking machine with a flow-through device for milk quality express analysis on the flow of the milk-air mixture in the milk hose. (Materials and methods) For this purpose the SolidWorks simulation modeling was used. Both the developed device and the simulation model are made in cylindrical geometry to ensure their compatibility with the milk hoses of 14 millimeters in diameter.  The measurement took into account the angular distribution of light scattered by milk flowing inside an optically transparent cylindrical glass tube. The flow of the milk-air mixture was affected only by a change in the inner diameter of the milk tubes. (Results and discussion) It is noted that the simulation model demonstrates an increase in the flow rate of the milk-air mixture in the areas of flow transition between the milk hose and the fitting (to a smaller internal diameter), as well as between the fitting and the measuring chamber of the device (to a larger internal diameter). The mirror result is recorded at the flow outlet from the measuring chamber to the nozzle and the transition from the nozzle to the milk hose. (Conclusions) It is found that the use of the device results in a 14 percent increase in the average flow rate of 0.3-0.7 meters per second. It is determined that due to the incomplete filling of the milk hose during milking, the difference in the flow rates of the milk-air mixture before and when applying the device does not have any adverse impact on the milking machine operation. The feasibility of upgrading the milking machine with a flow-through device for milk quality express analysis is proved.

Reverse drying is acknowledged to be widely used in the woodworking industry, and in corn cob drying, but it is hardly used for drying grass and cereal seeds. It can be explained by insufficient research into the matter. It is noted that the reversible dryer operation is characterized by the duration of one-direction blowing and the permissible temperature of the drying agent. It has been found that a temperature increase in the drying agent is crucial for dryers designed for processing small-seed crops, since they operate at lower temperatures compared to those designed for cereals. (Research purpose) To determine the effectiveness of a reversible grain dryer that lies in reduced unit costs and increased productivity, as well as the duration of blowing in one direction and the drying agent allowable temperature. (Materials and methods) The main parameters characterizing the operation of a reverse grain dryer have been determined as follows: the duration and permissible temperature of grain heating, the indicators of the one-direction blowing mode and the permissible temperature of the drying agent. It has been found that the intensification of the reverse drying process can be achieved by an increase in the drying agent temperature compared to drying in the one-direction blowing mode, possible due to a higher permissible temperature of seed heating. (Results and discussion) The economic testing of a reversible dryer proved its efficiency in terms of an increase in productivity, a decrease in the specific heat consumption as well as the seed drying non-uniformity below the norm. It is emphasized that an increase in the maximum permissible grain temperature by about 2 degrees Celsius corresponds to a 4-6-degree rise in the drying agent temperature and a 10-12 percent increase in the dryer productivity. (Conclusions) A reverse dryer is proved to be more efficient compared to a traditional one that lies in a 13-percent increase in productivity and a 10-percent decrease in the specific heat consumption, as well as the seed drying non-uniformity below the norm. It has been found that the duration of one-direction blowing mode in a reversible grain dryer was 0.3 hours. It has been determined that compared to the traditional drying, the maximum temperature of the drying agent in the reverse-mode drying is calculated based on the seed permissible temperature, that is to be 2-3 degrees higher than the maximum permissible one. According to the findings, it is 57 degrees Celsius for ryegrass seeds.