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The presented paper deals with the issue of selecting a suitable system for monitoring the winter wheat crop in order to determine its condition as a basis for variable applications of nitrogen fertilizers. In a four-year (2017-2020) field experiment, 1400 ha of winter wheat crop were monitored using the ISARIA on-the-go system and remote sensing using Sentinel-2 multispectral satellite images. The results of spectral measurements of ISARIA vegetation indices (IRMI, IBI) were statistically compared with the values of selected vegetation indices obtained from Sentinel-2 (EVI, GNDVI, NDMI, NDRE, NDVI and NRERI) in order to determine potential hips. Positive correlations were found between the vegetation indices determined by the ISARIA system and indices obtained by multispectral images from Sentinel-2 satellites. The correlations were medium to strong (r = 0.51-0.89). Therefore, it can be stated that both technologies were able to capture a similar trend in the development of vegetation. Furthermore, the influence of climatic conditions on the vegetation indices was analyzed in individual years of the experiment. The values of vegetation indices show significant differences between the individual years. The results of vegetation indices obtained by the analysis of spectral images from Sentinel-2 satellites varied the most. The values of winter wheat yield varied between the individual years. Yield was the highest in 2017 (7.83 t/ha), while the lowest was recorded in 2020 (6.96 t/ha). There was no statistically significant difference between 2018 (7.27 t/ha) and 2019 (7.44 t/ha). info:eu-repo/semantics/openAccess

In today&rsquo, s agriculture, maize is considered to be one of the major feed, food and industrial crops. Cultivation of maize by inappropriate agricultural practices and on unsuitable sites is connected with specific risks of soil degradation, mainly due to water erosion of the soil. The aim of this study was to evaluate the yielding parameters, fodder quality and anti-erosion efficiency of different methods of conservation tillage for maize in two areas (Jev&iacute, čko&mdash, JEV and Skoup&yacute, &mdash, SKO) with different climate and soil conditions in the Czech Republic in the period 2016&ndash, 2018, using multivariate exploratory techniques such as principal component analysis (PCA) and factor analysis (FA). Four variants of soil tillage methods were analysed: Conventional Tillage (CT), two slightly different Strip-Till techniques (ST) and Direct Sowing (DS). The analysed parameters were: dry mass of the plants, height of the plants, starch content (SC), organic matter digestibility (OMD) and content of neutral detergent fibre (NDF), soil loss by erosion and surface runoff. The multivariate exploratory techniques PCA and FA significantly differed in two categories of techniques in both locations. The first category consists of soil conservation techniques (SCT): ST (JEV/SKO) and DS (JEV). These techniques are characterised by lower yields of dry mass, lower height of plants, forage quality equal to CT, but a high level of protection of the soil against erosion. The second category consists of CT (JEV and SKO) and partially of DS (SKO). These treatments are characterised by high dry mass production, higher plants, high forage quality, but a feeble capacity of protection of the soil against erosion. The results of the study confirm the presumption of the positive influence of introduction and application of new agronomical practices in the areas of interest and other areas with similar natural conditions in the sense of sustainable management for agricultural management of agricultural land for the conditions of the Czech Republic and therefore of Central and Eastern Europe. PCA and FA were used as an effective method for comprehensive evaluation of the use of STC in agricultural practice.

Sorghum is a forage species important in animal nutrition with an increased potential in the upcoming difficulties in agricultural practices in regard to climate change. Therefore, this paper describes its yield and nutritional parameters depending on growing conditions simulated on two locations (humid and fertile Obora, less fertile and dry Písky), two sowing dates (29. 5. and 25. 6.), and variety (11 varieties). Fresh matter yield was determined by weighing the sample on the field immediately after harvest, Dry matter yield and nutritional content were determined in laboratory by Weende analysis from dried and homogenized samples. Nutritional parameters measured were crude fibre, fat, nitrogen and ash content. Additionally, digestibility of organic as well as dry matter was determined. No significant differences in average fresh matter yield or dry matter yield were found between the two locations and sowing dates in general. There were significant differences among varieties, the highest yields were measured in KWS Zerberus (51.57 +- 3.76 t/ha of fresh matter yield, 15.98 +- 1.34 t/ha of dry matter yield, with higher values observed on Písky). Our data suggest, that sowing date does significantly affect fat content (higher in June sowing). Other nutritional parameters were also higher in sorghum sown in June, with the exception of ash. Nutritional composition of samples did not significantly differ variety to variety, however, there were differences in digestibility of the biomass. Organic matter digestibility was 70.58-85.67%, dry matter digestibility was 73.21-86.70%, with highest digestibility in DMS 45-480. Varieties with the highest importance to farmers in the area are KWS Zerberus, KWS Tarzan and KWS Kallisto (based on dry matter yield), and Triumfo BMR, Sweet Susana and DSM 45-480 (based on digestibility). Sorghum was able to perform well even on dry sandy soil with lower fertilization, which shows the high variability and suitability of sorghum in agricultural practice. info:eu-repo/semantics/openAccess

Fusarium head blight caused by a complex of Fusarium species is widespread across the world and ranks among the most serious diseases in cereals. Long-term field experiments were set up to evaluate the effects of preceding crop and soil management methods on Fusarium mycotoxin (DON, deoxynivalenol) contamination of winter wheat and spring barley grain. Winter wheat and spring barley were cultivated at two locations in the Czech Republic (A: Ivanovice na Hane during 2002–2014, and B: Žabcice during 2007–2014) with preceding crops (A) alfalfa, maize, and pea; and (B) alfalfa (only for wheat), sugar beet (only for barley), and maize. Different soil management methods also were used: (A) 22 cm tillage, 15 cm tillage, 10 cm chisel, and direct drilling; and (B) 22 cm tillage, 10 cm chisel, and direct drilling. Mycotoxin content in harvested grain was analysed using ELISA. At both locations in the experiments with both wheat and barley, year had a significant effect on mycotoxin content in grain. Preceding crop ...

This work is focused on the use of a CZT detector for a radiation mapping with an industrial robotic arm. Measurements were carried out within the RadioRoSo experiment (Radioactive Waste Robotic Sorter), under the umbrella of EU FP7 project ECHORD++. In tests with a dual-arm robot and standard point sources of 137Cs and 60Co, a Magnox waste was mimicked. Thereafter, for relevant measurement geometries and selected shielding materials, full energy peak efficiencies were calculated using the MCNP transport code. Simulated FEP efficiency values were used for minimum detectable activity assessments for expected measurement conditions. Obtained results would be also applicable for cases of shielded lost/orphan point-like sources.

The latest ENDF/B nuclear data library released in 2018 is the result of a new international approach to develop evaluated nuclear data for general purpose applications. In order to use the latest ENDF/B-VIII.0 nuclear data library in safety analyses, validation calculations for available benchmark experiments and comparison calculations for previous library versions are required. Validation of this new library for three important reactor areas, criticality safety, fuel depletion and reactor dosimetry, was performed with MCNP6, KENO-VI and Serpent 2 codes for VVER application. Criticality safety and fuel depletion results show better agreement with ICSBEP and SFCOMPO benchmark database cases for the ENDF/B-VIII.0 library when compared with previous libraries including ENDF/B-VII.1. On the other hand, using the latest VIII.0 library for VVER reactor dosimetry applications including neutron fluence on reactor pressure vessel and ex-vessel neutron fluence activation monitors is not recommended since the library gives significantly lower neutron fluence and detector activities when comparing to number of alternative nuclear data libraries. Two nuclides that are dominantly responsible for the discrepancies between the latest ENDF/B library and other libraries were identified as O-16 and Fe-56. The conclusions are limited to VVER application where the water gap between the reactor core and the pressure vessel is significantly decreased compared to PWR.

The paper is focused on evaluation various soil tillage systems for maize in terms of productivity and reduction of soil erosion in the Czech Republic. The high slope of land, combined with expanding wide-row crops (when maize had the largest area) increase the risk of water erosion. Assessed yield data are from Southern Moravia in 2011-2016. Investigation of the effects of different soil tillage and silage maize stand establishment on soil and water runoff was carried out in the experimental station Lukavec near Pacov (Bohemian region). Average of six-years results showed that there are no any differences between conventional tillage (10.08 t ha-1) and minimum tillage (10.19 t ha-1), but year is significant. In trial, where different tillage systems were compared with/without phacelia as cover crop, according to three-year average, the highest grain yield was in chisel loosening (8.89 t ha-1) similar to ploughing (8.85 t ha-1). Lower yields were in no-tillage (8.61 t ha-1) and strip-tillage (8.55 t ha-1). Various conservation tillage systems have to be improved and modified for different soil and climate conditions. The benefit is in reduction of soil loss, which depends on crop residues coverage on soil surface. The soil sediment loss was the lowest in no-till variant (30 resp. 38 %) and less in minimum tillage (57 resp. 88 %) in comparison with ploughing (= 100 %). Decrease of soil sediment loss due to sown cover crops (Canary grass or rye) was almost less than 10 % in comparison with variant without cover crop. The results confirm the importance of soil conservation technologies (including strip-tillage) of soil tillage to reduce the risk of land degradation by water erosion.

The paper identifies and compares the energy balance of winter wheat, spring barley and white mustard – all grown in crop rotation under different tillage conditions. The field trial included the conventional tillage (CT) method, minimum tillage (MT) and a system with no tillage (NT). The energy inputs included both the direct and indirect energy component. Energy outputs are evaluated as gross calorific value (gross heating value of phytomass dry matter) of the primary product and the total harvested production. The energy effectiveness (energy output: energy input) was selected for evaluation. The greatest energy effectiveness for the primary product was established as 6.35 for barley, 6.04 for wheat and 3.68 for mustard; in the case of total production, it was 9.82 for barley, 10.08 for wheat and 9.72 for mustard. When comparing the different tillage conditions, the greatest energy effectiveness was calculated for the evaluated crops under the MT operation and represented the primary product of wheat at 6.49, barley at 6.69 and mustard at 3.92. The smallest energy effectiveness for the primary product was found in wheat 5.77 and barley 6.10 under the CT option; it was 3.55 for mustard under the option of NT. Throughout the entire cropping pattern, the greatest energy effectiveness was established under the minimum tillage option – 5.70 for the primary product and 10.47 for the total production. On the other hand, the smallest values were calculated under CT – 5.22 for the primary product and 9.71 for total production.

This research started from the observation that soil state defects that occur in a season may result in even more serious after-effects in the following year. The objective of this study was to investigate the striking forms of dete rioration in a Chernozem soil that occurred both in the surface and in the deeper layer. In one respect, dust formation, crumb reduction, surface silting, and surface crusting were studied, and an attempt to investigate additional consequences of the dust sedimentation to the nearest compacted layer was made. The degree of the soil deteriora tion was compared under treatments of bare and covered surfaces and in degraded and preserved soil conditions setting in the selected parts of a long-term trial. Surface cover significantly influenced soil vulnerability resulting in different responses of soil attributes. The surface crust reducing effects of a higher (≥ 55%) surface cover ratio and a lower proportion of dust could statistically be proven (P < 0.001). A favourable rate of surface cover reliably reduced the ratio of clods produced by primary tillage in dry (0.138–0.158 g/g) soil. The results indicate that it is possible to complete methods adaptable to the climate threats mitigation.

The aim of this study was to evaluate the heterogeneity of the incidence of individual weed species on a selected experimental field. This field was situated in the cadastre of the village Žabcice (South Moravian Region, Czech Republic). To evaluate the intensity of weed infestation, a field experiment was established. In 2011, altogether 33 weed species were identified in a stand of spring barley. In the next year, the total number of weeds in a stand of winter wheat was 22. Basing on results of the evaluation of infestation heterogeneity it was possible to detect the following trends: The first one concerned the incidence of significantly dominant species Chenopodium album and Veronica hederifolia in stands of spring barley and winter wheat, respectively. The second one expressed the incidence of the so-called sub-dominant species. Regarding the character of the incidence of these weed species it would be suitable to kill them by means of a targeted application of herbicides. Finally, the third trend concerned the incidence of that group of weeds that occurred in the major part of the experimental plot but in low numbers only. The abundance of these species was minimal and the total number of weed plants did not exceed the limit of 100 specimens. This group of weeds involved also those species that were markedly more frequent on plots situated closer to the margin of the experimental field. The targeted application of herbicides can be performed on plots with a lower level of weed infestation; another possibility, however, seems to be a targeted intervention that helps to control the incidence of a certain weed species and/or that is performed along the margin of the field where the different weed species are more frequent.

Sorting of old and mixed nuclear waste is an essential process in nuclear decommissioning operations. The main bottleneck is manual picking and separation of the materials using remotely operated arms, which is slow and error prone especially with small items. Automation of the process is therefore desirable. In the framework of the newly funded European project ECHORD++, experiment RadioRoSo, a pilot robotic cell is being developed and validated against industrial requirements on a range of sorting tasks. Industrial robots, custom gripper, vision feedback and new manipulation skills will be developed. This paper presents application context, cell layout and sorting approach.

Stale castěji jsou v zemědělstvi využivany nove metody, jejichž hlavnim ukolem je racionalizace vstupů do zemědělske výroby. V oblasti regulace plevelů se nabizi možnost využiti metod založených na měřeni fluorescence chlorofylu ci odrazivosti zařeni. Využiti těchto metod může vest ke sniženi spotřeby pesticidů, cimž se sniži naklady na jejich pořizeni a sniži se riziko poskozeni životniho prostředi.V letech 2005-2007 byl na polni pokusne stanici Mendelovy zemědělske a lesnicke univerzity v Žabcicich založen maloparcelni polni pokus o ctyřech opakovanich a sedmi variantach v kukuřici zrnove, kde byla stanovovana ucinnost odstupňovaných davek herbicidů CALLISTO 480 SC + ATPLUS 463 a BASAGRAN SUPER na laskavec ohnutý (Amaranthus retroflexus). V pokusu bylo u herbicidu CALLISTO 480 SC + ATPLUS 463 využito davek (0,25-0,1875-0,125 l . ha-1) a u herbicidu BASAGRAN SUPER pak (2,0-1,5-1,0 l . ha-1). Aplikace herbicidů byla provedena zadovým motorovým postřikovacem SOLO 425 při aplikacnim tlaku 0,3 MPa a davce vody 300 l . ha-1 ve fazi ctvrteho listu kukuřice (laskavec - BBCH 13, tři prave listy). K měřeni ucinnosti herbicidů na laskavec ohnutý byl použit přistroj PS1meter, který je schopen měřit poskozeni fotosyntetickeho aparatu. Mira poskozeni byla měřena druhý, třeti, ctvrtý a patý den po aplikaci herbicidů. Na zavěr byl pokus sklizen maloparcelni sklizeci mlatickou SAMPO 2010 a sklizene zvažene vzorky byly přepocitany na výnos při 15% susině.Analýzou variance provedenou pro vsechny tři roky dohromady bylo zjistěno, že na naměřene hodnoty PS1 měl vysoce významný vliv herbicid (davka) a termin měřeni. Vliv rocniku na naměřene hodnoty PS1 nebyl statisticky průkazný. Nasledným testovanim pomoci Tukeyova testu (P = 0,95) byly zjistěny statisticky průkazne rozdily mezi kontrolou a ostatnimi variantami osetřenými odstupňovanými davkami herbicidů CALLISTO 480 SC + ATPLUS 463 a BASAGRAN SUPER. U herbicidu BASAGRAN SUPER nebyl zjistěn statisticky průkazný rozdil v naměřených hodnotach PS1 mezi jednotlivými sledovanými davkami. Z tohoto vyplýva, že vsechny sledovane davky měly dostatecnou ucinnost na laskavec ohnutý. Jako nevhodnějsi termin pro stanovovani ucinnosti tohoto herbicidu pomoci přistroje PS1 se jevi druhý den po aplikaci.U herbicidu CALLISTO 480 SC + ATPLUS 463 byl zjistěn statisticky průkazný rozdil v naměřených hodnotach PS1 mezi davkou 0,25 l . ha-1 (56,00) a davkou 0,1875 l . ha-1 (46,01). Při těchto hodnotach dochazi již k redukci fotosyntezy zhruba o 40 %. Ve třetim terminu měřeni (ctvrtý den po aplikaci herbicidu) bylo u vsech sledovaných davek herbicidů CALLISTO 480 SC + ATPLUS 463 ve vsech třech letech dosaženo hodnot převysujicich hodnotu 50, jež signalizuje velmi vysokou ucinnost na plevele. Při porovnani průměrných hodnot PS1 naměřených ctvrtý den po aplikaci nebyly zjistěny mezi jednotlivými lety ani davkami statisticky průkazne rozdily v hodnotach PS1. Proto lze tento termin doporucit u vsech sledovaných davek jako nejhodnějsi pro stanovovani ucinnosti na laskavec ohnutý ve fazi tři pravých listů.Při hodnoceni sklizně byl zjistěn statisticky významný vliv rocniku na výnos zrna přepocteneho na 15% vlhkost. Herbicidy ani jejich davky neměly statisticky významný vliv na výnos zrna. Neosetřena varianta (mechanicky odplevelovana) se ve výnosu statisticky průkazně nelisila od ostatnich variant. Nejvyssiho výnosu zrna přepocteneho na 15% vlhkost bylo dosaženo v sklizňovem roce 2006 (14,96 t . ha-1), v roce 2005 pak (13,52 t . ha-1) a nejnižsi výnos byl zaznamenan v roce 2007 pouze 9,97 t . ha-1. Nižsi výnos v roce 2007 byl zapřiciněn zejmena nedostatkem sražek během vegetace.

Chlorophyll fluorescence is a type of radiation emitted by plants as unused part of energy absorbed from sunlight. Its intensity depends on many stress factors, nutrition, weather conditions etc. Methods based on chlorophyll fluorescence measurement have potential to be perspective for the assessment of herbicide efficacy, phytotoxicity or stress influence. Two fluorometers (FluorCam and handy FluorPen) were used for measurements in laboratory experiments in 2007-2009. Herbicide Basagran super with active ingredient bentazone (480 g.l-1) was tested using a parameter called 'Quantum yield of fluorescence' (QY) in three different doses: the registered dose 2.0 l.ha-1 (100%) and lower doses 1.5 l.ha-1 (75%) and 1.0 l.ha-1 (50%). Treated experimental plants of redroot pigweed (Amaranthus retroflexus L.) were measured in 0, 1, 2, 3, 6, 9 and 15 days after treatment and the results were compared with subjective assessment (estimation) and growth parameters. The obtained results showed that the effect of bentazone measured by both devices was statistically significantly different from untreated control. We can also detect herbicide effect earlier by QY measurement than by other methods. Different doses showed significant differences 15 days after treatment for dose 2.0 l.ha-1 in comparison with both reduced doses. The subjective assessment showed significant differences in all terms of measurement (1-15 days after application) except of the day of application. Regeneration of plants for which the youngest leaves were not treated by herbicide was observed for all doses. Difference of QY values between used devices was on average 0.119 (higher for FluorCam) but statistically insignificant.

Within the period of 2011–2014, production capabilities of catch crops were evaluated after two dates of their sowing. The field experiment was established on the field experimental station in Žabcice (South Moravia, Czech Republic). The station is situated in a maize-growing region that is one of the warmest and the driest regions in the Czech Republic. The experiment was performed with the following six species of catch crops: Sinapis alba, Raphanus sativus v. oleifera, Phacelia tanacetifolia, Secale cereale v. multicaule, Malva verticillata and Phalaris canariensis. Catch crops were sown in August and in September, after the harvest of winter wheat. The growth of catch crops was affected by weather conditions. Higher yields were obtained in variants with the first date of sowing. It was concluded that August was the optimum date of their sowing. In this case the plants could maximally manifest their production potential. This concerned above all plants of Phacelia tanacetifolia and those belonging to the family Brassicaceae. Keywords: catch crops, sowing date, yields, weather conditions

We deal with the problem of thin stringi¾?1D or platei¾?2D elastic material folding and its modeling. The examples could be metallic wire, metal, kevlar or rubber sheet, fabric, or as in our case, garment. The simplest scenario attempts to fold rectangular sheet in the middle. The quality of the fold is measured by relative displacement of the sheet edges. We use this scenario to analyse the effect of the inaccurate estimation of the material properties on the fold quality. The same method can be used for accurate placing of the elastic sheet in applications, e.g. the industrial production assembly. In our previous work, we designed a model simulating the behavior of homogeneous rectangular garment during a relatively slow folding by a dual-arm robot. The physics based model consists of a set of differential equations derived from the static forces equilibrium. Each folding phase is specified by a set of boundary conditions. The simulation of the garment behavior is computed by solving the boundary value problem. We have shown that the model depends on a single material parameter, which is a weight to stiffness ratio. For a known weight to stiffness ratio, the model is solved numerically to obtain the folding trajectory executed by the robotic arms later. The weight to stiffness ratio can be estimated in the course of folding or manually in advance. The goal of this contribution is to analyse the effect of the ratio inaccurate estimation on the resulting fold. The analysis is performed by simulation and in a real robotic garment folding using the CloPeMa dual-arm robotic testbed. In addition, we consider a situation, in which the weight to stiffness ratio cannot be measured exactly but the range of the ratio values is known. We demonstrate that the fixed value of the ratio produces acceptable fold quality for a reasonable range of the ratio values. We show that only four weight to stiffness ratio values can be used to fold all typical fabrics varying from a soft e.g. sateen to a stiff e.g. denim material with the reasonable accuracy. Experiments show that for a given range of the weight to stiffness ratio one has to choose the value on the pliable end of the range to achieve acceptable results.

The aim of the research work was to evaluate phytotoxicity of mesotrione in poppy (Papaver somniferum). The amount of spraying water (150, 300 and 450 l per hectare) was compared as well. In the end, the different growth stimulators (Atonik – 0.6 l . ha−1, Route – 0.8 l . ha−1) and the adjuvants (Atplus 463 – 0.5% solution, Silwet 77 – 0.1 l . ha−1) wre tested. Degree of phytotoxicity of individual va­riants was assessed by measuring chlorophyll fluorescence (parameter: maximum quantum yield of electron transport in photosystem II - QY) in 1st to 21st day after treatment. The results showed that the application of mesotrione caused phytotoxicity on poppy plants. The most significant phy­to­to­xi­ci­ty is evident at doses of 450 l spraying water per hectare. Addition of growth stimulators and adjuvants increases the phytotoxicity (decreases the value of QY) compared to the herbicide application itself. The mesotrione reduced the weight of dry plants by 15 % (150 l of spraying water), 1 % (300 l of spraying water) and 64 % (450 l of spraying water) compared to control variant.

In our region most classical authors held that the primary aim of cultivating soil was to meet crops requirements. In the late 19th century rendering the soil���s fertile layer suitable for crop growing was considered to provide a good standing place for plants. The word suitable usually applied to the soil physical state, its favourably loose structure that was to be developed to the required depth. However, it was recognised by some authors back in the late 1800s already, that creating soil condition assumed to be required by plants may even damage the soil, what with the frequent traffic involved in the process. In other words, taking a crop oriented approach will rather do damage than good. In a regime of tillage focusing on conservation the need for protecting the soil is not subordinated to crops demands. Primarily importance is to create a soil condition required by crops takes a lot less energy and causes much less mechanical damage in a soil whose good structure and condition has been carefully preserved. In the second decade of the new millennium the primary goal of tillage is to create and maintain favourable interaction between soil conservation and cropping. The aim of soil conservation and environmental protection should realise depending on the effectiveness of the EU and national soil conservation endeavours and efforts and its duration should be determined by the extent to which such practices are adopted across the farming community., {"references":["ALLEN, R. R., FENSTER C.R.: Stubble-mulch equipment for soil and water conservation in the Great Plains. J. Soil and Water Conservation, 41(1): 11-16, 1986.","BARTALOS, T., LAL, R., NÉMETH, T.: Conservation tillage for sustaining soil and water quality. 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The trajectory performed by a dual-arm robot while folding a piece of garment was studied. The garment folding was improved by adopting here proposed novel circular folding trajectory, which takes the flexibility of the garment into account. The benefit lies in an increased folding precision. In addition, several relaxations of the folding trajectory were introduced, thus enlarging the working space of the dual-arm robot.

The effect of different soil sampling procedures on the precision of estimating the weed seedbank in soil using three soil core samplers with a circular base of 1.3, 6.4 and 8.0 cm in diameter was studied in a model experiment. The results showed the importance of a methodological approach. The soil sampler with a larger diameter is more useful for the objective assessment of the species spectrum (detection of seeds of all weed species in the soil). Furthermore, the value of the coefficient of variation (v x ) decreases along with the increasing diameter of the soil sampler. The value of v x assessed in partial samples taken with a sampler of 1.3 cm diameter was double to three times higher than for soil samplers of 6.4 and 8.0 cm. The value of v x increased in individual weed species at decreasing seed frequency in individual partial samples from 17.82 to 316.23%. The soil core with the diameter of 8.0 cm on the area of 1 m 2 is optimal for the exact research. To estimate the weed seedbank in soil in small-plot experiments, one partial sample on the area of 5 m 2 is recommended. To obtain comparable results, it is necessary to take a higher number of samples at a decreasing diameter of the soil sampler. Likewise, a larger amount of samples is needed to detect less abundant species.

The work addresses the problem of clothing perception and manipulation by a two armed industrial robot aiming at a real-time automated folding of a piece of garment spread out on a flat surface. A complete solution combining vision sensing, garment segmentation and understanding, planning of the manipulation and its real execution on a robot is proposed. A new polygonal model of a garment is introduced. Fitting the model into a segmented garment contour is used to detect garment landmark points. It is shown how folded variants of the unfolded model can be derived automatically. Universality and usefulness of the model is demonstrated by its favorable performance within the whole folding procedure which is applicable to a variety of garments categories (towel, pants, shirt, etc.) and evaluated experimentally using the two armed robot. The principal novelty with respect to the state of the art is in the new garment polygonal model and its manipulation planning algorithm which leads to the speed up by two orders of magnitude.