{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T06:04:49Z","timestamp":1785391489469,"version":"3.55.0"},"reference-count":41,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,2,8]],"date-time":"2020-02-08T00:00:00Z","timestamp":1581120000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The objectives of this study were to develop a real-time tillage depth measurement system for agricultural tractor performance analysis and then to validate these configured systems through soil non-penetration tests and field experiment during plow tillage. The real-time tillage depth measurement system was developed by using a sensor fusion method, consisting of a linear potentiometer, inclinometer, and optical distance sensor to measure the vertical penetration depth of the attached implement. In addition, a draft force measurement system was developed using six-component load cells, and an accuracy of 98.9% was verified through a static load test. As a result of the soil non-penetration tests, it was confirmed that sensor fusion type A, consisting of a linear potentiometer and inclinometer, was 6.34\u201311.76% more accurate than sensor fusion type B, consisting of an optical distance sensor and inclinometer. Therefore, sensor fusion type A was used during field testing as it was found to be more suitable for use in severe working environments. To verify the accuracy of the real-time tillage depth measurement system, a linear regression analysis was performed between the measured draft and the predicted values calculated using the American Society of Agricultural and Biological Engineers (ASABE) standards-based equation. Experimental data such as traveling speed and draft force showed that it was significantly affected by tillage depth, and the coefficient of determination value at M3\u2013Low was 0.847, which is relatively higher than M3\u2013High. In addition, the regression analysis of the integrated data showed an R-square value of 0.715, which is an improvement compared to the accuracy of the ASABE standard prediction formula. In conclusion, the effect of tillage depth on draft force of agricultural tractors during plow tillage was analyzed by the simultaneous operation of the proposed real-time tillage depth measurement system and draft force measurement system. In addition, system accuracy is higher than the predicted accuracy of    \u00b1    40% based on the ASABE standard equation, which is considered to be useful for various agricultural machinery research fields. In future studies, real-time tillage depth measurement systems can be used in tractor power train design and to ensure component reliability, in accordance with agricultural working conditions, by predicting draft force and axle loads depending on the tillage depth during tillage operations.<\/jats:p>","DOI":"10.3390\/s20030912","type":"journal-article","created":{"date-parts":[[2020,2,10]],"date-time":"2020-02-10T11:48:51Z","timestamp":1581335331000},"page":"912","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":53,"title":["Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9615-683X","authenticated-orcid":false,"given":"Yeon-Soo","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Biosystems Machinery Engineering, Chungnam National University, Daejeon 34134, Korea"},{"name":"Convergence Agricultural Machinery Group, Korea Institute of Industrial Technology (KITECH), Gimje 54325, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Taek-Jin","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Biosystems Machinery Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1212-9018","authenticated-orcid":false,"given":"Yong-Joo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Biosystems Machinery Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sang-Dae","family":"Lee","sequence":"additional","affiliation":[{"name":"Convergence Agricultural Machinery Group, Korea Institute of Industrial Technology (KITECH), Gimje 54325, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Seong-Un","family":"Park","sequence":"additional","affiliation":[{"name":"Research and Development Institute, Tongyang Moolsan Co. Ltd., Gongju 32530, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9669-4761","authenticated-orcid":false,"given":"Wan-Soo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Biosystems Machinery Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,2,8]]},"reference":[{"key":"ref_1","first-page":"509","article-title":"Power Delivery Efficiency: A Valid Measure of Belt and Tire Tractor Performance","volume":"45","author":"Zoz","year":"2002","journal-title":"Trans. ASAE"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"297","DOI":"10.5307\/JBE.2009.34.5.297","article-title":"A Study on Traction Prediction of Agricultural Tractor by Empirical Method","volume":"34","author":"Lee","year":"2009","journal-title":"J. Biosyst. Eng."},{"key":"ref_3","unstructured":"Wong, J.Y. (2008). 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