Humanity's open-source automated precision farming machine.

PublishedbyRoryLandonAronsononSeptember19,2013
Emailrory@farmbot.it
Phone(678)3217679
Go.FarmBot.It
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1.Abstract
The worlds population is growing and with that growth we must produce more food. Due to the industrial and petrochemical revolutions, the
agriculture industryhas kept up in food production, but only by compromising the soil, the environment, our health, and thefoodproductionsystem
itself. The increased production has largely come from incremental changes in technology and economies of scale, but that trend is reaching a
plateau.Conventionalagriculturemethodsareunsustainableandaparadigmshiftisneeded.
FarmBot is an opensource and scalable automated precision farming machine and software package designed from the ground up with todays
technologies. Similar to todays 3D printers and CNC milling machines, FarmBot hardware employs linear guides in the X, Y, and Z directions that
allow for tooling suchas plows, seedinjectors,wateringnozzles,andsensors,tobepreciselypositionedandusedontheplantsandsoil. Theentire
system isnumericallycontrolledandthusfullyautomatedfromthesowingofseedstoharvest.Thehardwareisdesignedtobesimple,scalable,and
hackable. Usingthe opensource webbased software package, theuser cangraphicallydesigntheirfarmtotheirdesiredspecificationsandupload
numerical control code to the hardware. Other features of the software include storing and manipulating data maps, a decision support system to
facilitatedatadrivenfarmdesign,accesstoanopendatarepository,andenterpriseclassanalytics.
ThefollowingisasampleofintrinsicadvantagesofFarmBotthatmakeitasuperiorsystemtoconventionalmethodsandtechnologies.

Abilitytoplantpolycropsinamachineefficientmanner
Abilitytooptimizeoperationssuchaswatering,spraying,andseedspacing
Fullautomationand24/7possibleoperation
Virtuallyunlimitedfarmdesignpossibilities
IncorporatesBigDataacquisitionandanalysisfordatadrivendecisionmakingandSmartFarming
Abilitytoplantinthemostspaceefficientlayouts
Scalablefromabackyardsystemtoanindustrialoperation
Allowsforthedemocratizationanddecentralizationoffoodproduction
Freeandopensource,fullydocumented,hackable,andaccessible

The vision of this project is to createanopenandaccessibletechnologyaidingeveryone togrow foodandtogrowfoodforeveryone.Themissionis

to growacommunitythatproducesfreeandopensourcehardwareplans,software,data,anddocumentationenablingeveryone tobuildandoperate
afarmingmachine.
This white paper covers the FarmBot technology and vision as well as details ofFarmBot Genesis, the first FarmBotcurrentlyindevelopmentwith
plans for a crowdfunded launch in 2014. I am seeking more people to work on the project and for investment to helpcover prototyping and other
developmentcost.Pleasesendfeedbackandinquiriestorory@farmbot.it,call(678)3217679,andGo.FarmBot.It!
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2.TableofContents
1.Abstract...........................................................................................................................................................................................................................2
2.TableofContents............................................................................................................................................................................................................3
3.Background.....................................................................................................................................................................................................................6
4.FarmBot..........................................................................................................................................................................................................................7
4.1.Precision..........................................................................................................................................................................................................8
4.2.CombiningPolycropandMonocropEfficiencies.............................................................................................................................................9
4.2.1.Monocrops........................................................................................................................................................................................9
4.2.2.Polycrops.........................................................................................................................................................................................10
4.3.DataDrivenAgriculture..................................................................................................................................................................................11
4.4.Automation......................................................................................................................................................................................................11
4.5.Scalability........................................................................................................................................................................................................11
4.6.IncreasedSpaceEfficiency............................................................................................................................................................................11
4.7.EliminatedSoilCompaction...........................................................................................................................................................................12
4.8.ContinuousLandUse.....................................................................................................................................................................................12
4.9.VariableTerraforming.....................................................................................................................................................................................12
4.10.OpenSource................................................................................................................................................................................................13
5.Hardware.......................................................................................................................................................................................................................14
5.1.Tracks.............................................................................................................................................................................................................15
5.1.1.Geometry.........................................................................................................................................................................................16
5.1.2.Scalability.........................................................................................................................................................................................16
5.1.3.Cost..................................................................................................................................................................................................16
5.2.Gantry.............................................................................................................................................................................................................17
5.2.1.Geometry.........................................................................................................................................................................................17
5.2.2.DriveSystem...................................................................................................................................................................................18
5.2.3.Scalability.........................................................................................................................................................................................18
5.3.CrossSlide.....................................................................................................................................................................................................18
5.3.1.Geometry.........................................................................................................................................................................................19
5.3.2.DriveSystem...................................................................................................................................................................................19
5.3.3.Scalability.........................................................................................................................................................................................19
5.4.ToolMounts....................................................................................................................................................................................................19
5.4.1.Geometry.........................................................................................................................................................................................19
5.4.2.DriveSystem...................................................................................................................................................................................20
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5.4.3.Scalability.........................................................................................................................................................................................20
5.5.Tools...............................................................................................................................................................................................................21
5.6.Electronics......................................................................................................................................................................................................22
5.7.Sensors...........................................................................................................................................................................................................22
6.Software.........................................................................................................................................................................................................................23
6.1.WebFrontend.................................................................................................................................................................................................23
6.1.1.UserInterface...................................................................................................................................................................................23
6.1.2.DashboardTab................................................................................................................................................................................23
6.1.3.FarmTab.........................................................................................................................................................................................24
6.1.4.DataTab..........................................................................................................................................................................................28
6.1.5.ManualControl.................................................................................................................................................................................29
6.1.6.UserExperience..............................................................................................................................................................................29
6.2.Backend..........................................................................................................................................................................................................29
6.2.1.UserProfiles....................................................................................................................................................................................29
6.2.2.FarmProfiles...................................................................................................................................................................................29
6.2.3.EquipmentProfiles...........................................................................................................................................................................29
6.2.4.DecisionSupportSystem................................................................................................................................................................29
6.3.MicrocontrollerSoftware.................................................................................................................................................................................31
6.4.DataSharingandOpenDataRepositories....................................................................................................................................................31
6.5.MobileApplications.........................................................................................................................................................................................31
6.6.OpenSourceandanOpenPlatform..............................................................................................................................................................31
7.Data...............................................................................................................................................................................................................................32
7.1.PlantData........................................................................................................................................................................................................32
7.2.SoilData..........................................................................................................................................................................................................32
7.3.CompanionPlantData....................................................................................................................................................................................33
7.4.TimeandLocationData..................................................................................................................................................................................33
7.5.WeatherData..................................................................................................................................................................................................33
7.6.Topography.....................................................................................................................................................................................................34
7.7.PastandFutureData......................................................................................................................................................................................34
7.8.ManualInputData...........................................................................................................................................................................................34
7.9.DownloadableandAutogeneratedFarms.....................................................................................................................................................34
8.FarmBotGenesis...........................................................................................................................................................................................................35
8.1.GenesisTracks...............................................................................................................................................................................................36
8.2.GenesisXDirectionDriveSystem.................................................................................................................................................................37
8.3.GenesisGantry...............................................................................................................................................................................................37
8.4.GenesisYDirectionDriveSystem.................................................................................................................................................................39
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8.5.GenesisCrossSlide.......................................................................................................................................................................................40
8.6.GenesisToolMountandZDirectionDriveSystem........................................................................................................................................41
8.7.GenesisTools.................................................................................................................................................................................................42
8.7.1.GenesisSeedInjectorandSeedBay..............................................................................................................................................42
8.7.2.GenesisWateringNozzle................................................................................................................................................................43
8.8.GenesisElectronics........................................................................................................................................................................................44
8.8.1.Microcontroller..................................................................................................................................................................................44
8.8.2.StepperMotors.................................................................................................................................................................................44
8.9.Cost.................................................................................................................................................................................................................45
8.10.CrowdfundedLaunch....................................................................................................................................................................................47
8.11.Timeline........................................................................................................................................................................................................47
9.PotentialImpacts,Ramifications,andConcernsofFarmBot.......................................................................................................................................48
9.1.IncreasedProductionEfficiency.....................................................................................................................................................................48
9.2.Sustainability...................................................................................................................................................................................................48
9.3.DemocratizationofFoodProduction..............................................................................................................................................................48
9.4.DecentralizationandLocalizationofFoodProduction...................................................................................................................................48
9.5.EliminationoftheFarmer................................................................................................................................................................................48
9.6.IncreasedorDecreasedSeparationofPeopleandFarming.........................................................................................................................49
9.7.GreaterDependenceonMachinesandComputers.......................................................................................................................................49
9.8.LossofIndividualandGenerationalKnowledgeandtheGainofUniversalandAccessibleKnowledge.......................................................49
9.9.LockintoanInferiorSystem..........................................................................................................................................................................50
9.10.Hacking.........................................................................................................................................................................................................50
9.11.FailureofSupportingInfrastructure...............................................................................................................................................................50
10.DefiningShortTermSuccessandNextSteps..........................................................................................................................................................,.51
10.1.ListofActionItems........................................................................................................................................................................................51
11.Conclusions.................................................................................................................................................................................................................53

3.Background
The worlds population is growing and with that growth we must produce more food. Due to the industrial and petrochemical revolutions, the
agriculture industryhas kept up in food production, but only by compromising the soil, the environment, our health, and thefoodproductionsystem
itself. The increased production has largely come from incremental changes in technology and economies of scale, but that trend is reaching a
plateau.Conventionalagriculturemethodsareunsustainableandaparadigmshiftisneeded.
The FarmBot project started my 3rd year ofcollege (2011)whileatCalPolyin SanLuisObispo.IwasstudyingMechanicalEngineeringbutdecided
totakeanOrganicAgricultureclasstohelpfuelmyinterestinfarming,gardening,food,andtheenvironment.
One day, a guest speaker and local farmer came and spoke tothe class. He wasan elderly man but veryuptodateonhisagriculturetechnology.
He drew for us on theboard a spiral looking line and turnedaround, very excited andpleased.Hedescribedtoushowhisnewesttractor, equipped
with a camera and a computer, could tell thedifferencebetweenweedsandlettuceandselectivelydestroytheweedswithoutdamagingthelettuce!
The tractor used a tilling tool, similar toa pirate's hook, to churnup thesoilinaspiralingfashionasthe tractordroveforward,turningoverallweeds
in the path. When the camera and computer detected a head of lettuce in the path,thepiratehookwould"skipabeat"andpassaroundthelettuce,
keepingitintact.Thesystemcostagoodchunkofchange,butwiththelongtermvisioninmind,wouldsavemoneybyreducinglaborcost.
While staring at the chalkboard I couldn't help thinking: isn't there a better way of knowing where you plantedyourlettuce?Insomesortofstrokeof
genius, I realized I could accomplish the very same task in a much more simple and elegant way.IfIputthetractor,ormorespecificallythetractor
tooling, on fixed tracks, I could know exactly where the tooling was locatedin relation to the ground andthe plants,much like a 3D printer or CNC
millingmachineknowsexactlywherethetoolheadisinrelationtotheenvironmentandsurroundingobjects.
Over the remaining twoanda half yearsinschool,Icompletedabunchofresearch,sketcheddesigns, completedsomepreliminaryCADmodeling,
built a visual prototype, and thought a lot about theproject.Thebenefitsofthesystemkeptunfoldinganditseemedtogetmoreandmorepromising
astheideasbrewed.
Now, the Summer after graduation, I have found a new vision to move the project forward and I am excited to dedicate a lot of time to it. I am
continuing development on paper, in research, in writing,andwithCAD.Iamhopingtohave arudimentaryworkingprototypebytheendof 2013and
a crowdfunded launch in 2014. I am actively looking for more people to work on the project and for investment to helpcover prototyping and other
developmentcost.Ifyouareinterested,pleaseemailrory@farmbot.it,call(678)3217679,visitGo.FarmBot.It,andkeeponreading!
Please note that this is a preliminary report of what I have developed and thought about thus far. This paperis largelyspeculative, I have limited
experiencewithagriculture,andtheremaybemanyerrorsandunbackedclaims.

4.FarmBot
FarmBot is an opensource and scalable automated precision farming machine and software package designed from the ground up with todays
technologies. Similar to todays 3D printers and CNC milling machines, FarmBot hardware (shown in FIgure 4.1) employs linearguidesin theX,Y,
and Z directions that allow for tooling such as plows, seed injectors, watering nozzles, and sensors, to be precisely positioned and used on the
plants and soil. Theentire systemis numerically controlledandthusfullyautomatedfromthesowingofseedstoharvest.Thehardwareisdesigned
to be scalable, simple, and hackable. Using the opensource webbased software package, the farmer can graphically design their farm to their
desired specifications and upload numerical control code to the hardware. Other software features include storing and manipulating data maps, a
decision support system to facilitate datadriven design, access to open data repositories, and enterprise class analytics. FarmBot has several
distinctadvantagesovertodaysmethodsandtechnologiesthatwillbeexplainedinsections4.1through4.8andtherestofthepaper.

Figure4.1.FarmBothighlevelhardwareoverviewandcoordinatesystem.
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4.1.Precision
Agriculture equipment and technology has been steadily becoming more accurate and precise with the advent of GPS and short range radio
locationing, tractor autopilot, computer vision, data mapping tools, and variable rate tooling. These technologiesare incrementally augmenting the
abilitiesoffreedrivingtractorstoallowsomeofthemanybenefitsofprecisionagriculturetoberealized.
Rather than making incremental changes to existing equipment, FarmBot takes a new approach at precision agriculture, tearing down everything
from the past and starting from the ground up. By simply placing the tooling equipment on a set of tracks, rather than a freedriving tractor, the
system has the ability to be extremely preciseandreposition toolinginexactlocationsrepeatedly overtime.This isdonewithsimilartechnologythat
hasbeenaroundfordecadesinprinters,manufacturingequipment,andmorerecently3DprintersandCNCmillingmachines.
This new method of precision agriculture has the potential to be as accurate as human labor with the automation and cost effectiveness of a
machine.Precisioncanincreaseefficiencyintheagriculturesysteminmanywaysincludingthefollowing.

Weeds can beeliminated without damaging desired plantsthrough selective burning, sprayingofpesticides,ortilling.Amockuptopviewof
selectiveweedingisshowninFigure4.1.1,whereFarmBotcanactivelyavoiddesiredplantswhenperformingdestructiveoperations.
Any type of plant packing structure canbecreatedandmanagedincludingtraditionalcubicpacking,hexagonalpacking,andcustomirregular
structures.Seesection4.5formoredetails.
Each plant can bewatered, fertilized, and sprayed individually and precisely with an optimized regimen that changesthroughout the plants
lifecycle.Plantscanbewateredatthestalk,inacircleofacertainradiussprayedeverywhere,orjustinproblemareas,etc.
Plantlifecyclesdonothavetostartandendatthesametime.Instead,anyopenspacecanbeimmediatelyreplanted.
Precisiondatamappingwillallowthebestplantstobegrownbasedonspatialandtemporalconditions.

Figure4.1.1.Byknowingwheredesiredplantsare,FarmBotcanremoveeverythingelse.
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4.2.CombiningPolycropandMonocropEfficiencies
Food production is all aboutefficiency. How might we produce morefood with less water, fertilizer, labor,etc,withoutcompromisingsustainability?
There exist at least twotypes of efficiencies in food production: biological and machine. The efficiencies have always been moreorlessexclusive,
with biological efficiency stemming from the more natural polycropping system and machine efficiency from the machine intensive monocropping
system. If we look at both the monocrop and polycrop, we can see where each one excels in efficiency, where each one lacks, and then seehow
FarmBotcombinesthebestofbothworlds.
4.2.1.Monocrops
The monocrop benefits from superior machine efficiency. The monocrop system showninFigure4.2.1.1hasreduced thefarmecosystemdownto
one plant species in order for todays tractors and tooling to performoperationseasily, reliably, quickly, with minimal human labor,andat minimal
cost. This system is very conducive to scaling up, which is why we usually see the monocrop system implemented on very large farmswithlarge
tractors. However, the monocrophasperhapszerobiologicalefficiency,requiringmanyinputstocontinuefunctioning.Becausetheecosystemisso
simple, it is unstable, unsustainable, and vulnerable to attack. Monocrops require more fertilizers, pesticides, energy, and water than any other
farming system ever invented and it is stillastruggleifnotimpossibletoavoiddepletingthetopsoil,pollutingthegroundwater,anddefendingagainst
insectsandmassivecropfailure.Moreover,itcanbearguedthatthemonocropproduceslessthanthehighestqualityfood.

Figure4.2.1.1.Monocrops,requirethemostinputsofanyfarmingsystembutareverymachineefficient.
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4.2.2.Polycrops
The polycrop benefits from superior biological efficiency. The polycrop shown in Figure4.2.2.1 increases diversity within the ecosystemin orderto
be closer to a naturally occurring system,thereby reducing the numberofinputsneeded.Lessfertilizerisneededwithpropercroprotationandless
pesticides and water are needed with intercropping. The plants work together to form synergistic relationships making the system more stable,
resilient, and sustainable. These biological efficiencies come ata cost though. No traditional farming equipment exists that can perform operations
onawiderangeofplantsatthesametime,somachineefficiencyissacrificedandmorehumanlaborisneededtotendthecrops.

Figure4.2.2.1.Polycrops,areverybiologicallyefficientbutrequiremuchmorelaborduetoalackoflargescaleequipmentformanagingthem.
FarmBot attempts to combine the efficiencies of both systems into one. It does so by being the first, scalable farming equipment that can perform
operations on a polycrop. FarmBot incorporates the machine efficiency, scalability, and the minimal use of labor that traditional equipment takes
advantage ofwhile managing a polycrop with great biological efficiency. FarmBots abilities, combined with the knowledgeofhowtoproperlyspace
plants, create synergies, utilize beneficial insects, and match nutrient users and givers, could enable the creation and management of abundant,
resilient,sustainable,andefficientfarmswithminimalhumanlabor.

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4.3.DataDrivenAgriculture
Big Data has been a hot topic recently and is transforming many industries.Today, agriculture data is costly to gather and the systems to make
decisions based on this data are fragmented, proprietary, and not as powerful as they could be. FarmBot aims to make big data acquisition and
analysis a more accessibleandstandardpracticeinagriculture, allowingallfarmerstomakesmarter,datadrivendecisions. FarmBothardwareand
software will enablethe farmer to routinely gather many types of data (see section 7) in a cost effectivemanner,mapthatdata(seesection6.1.4),
and allow the farmer and the decision support system to make optimized decisions for the layout and operationofthefarmasdescribedinsection
6.2.4.

4.4.Automation
FarmBot will eventually become a completely automated system from the point ofaddingbulk inputs such as seeds and water,to removing bulk
outputs like tomatoes.FarmBot aims to eliminate the need forhumanlabortodrivetractors,pullweeds,harvest,andcompleteotheroperations.As
the software and data analysis improves, the job of the farmer to create a farm layout and manage the operation of the FarmBot will also be
eliminated in favor of downloadable and automatically generatedfarmlayouts. By automating more of theprocesses, efficiencywill be maximized
throughconstantmonitoring,optimizeddecisionmaking,theminimizationofwasteandinputs,andthereducedneedforhumanlabor.

4.5.Scalability
FarmBot is designed with scalability inmind. The hardware design intentionallows scaling from a small garden sized machineallthewayuptoan
industrial farming operation. The same software will be used in all applications with potential basic, intermediate, and advanced levels of control
depending on theusers experience. Because the system functions the same on every scale, FarmBot could disrupttheeconomiesofscaleofbig
agriculture, making smaller scale, more local farming more efficient for distribution channels and also increase resilience against severe weather
conditions.

4.6.IncreasedSpaceEfficiency
FarmBot enables plantingin amore space efficient packing structure, or layout, of plants that minimizes the space between them.Inspired by the
hexagonal close packing of atoms, the most space efficient atomic structure, FarmBot allows for the hexagonal close packing of plants shown in
Figure 4.6.1. This layout increasesthe amount of planted area by over 12% compared with the traditional cubiclayoutshown in Figure 4.6.2. This
meansonecouldgrow12%morefoodonthesameareaoflandwithoutdecreasingthespaceeachplantneeds.
Furthermore, most traditional farm layouts require space for large tractor wheels to fit throughrowsofplants.FarmBottrackscanbeplacedfarther
apartthantractorwheelpathwaysandthewidthrequiredpertrackcanbenarrower.

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Figure4.6.1.Hexagonalclosepackinghasadensityof90.7%.

Figure4.6.2.Cubicpackinghasadensityof78.5%.

4.7.EliminatedSoilCompaction
Traditional tractor equipmentis extremely heavy and all of that weight compactsthe soil each time the wheels roll over it. The useoftracksallows
the weightofallFarmBotequipmenttobesupportedbythetracksandultimatelythetracksupportsandfoundations,aspacethatwillnotbeusedfor
growing plantsas the tracks are fixed in place for the longterm.Eliminatingsoilcompactioneliminatestheneedforregularheavyplowingandother
operationsthataredestructivetothesoilstructure.Thissavestimeandincreasesthehealthofthesoil.

4.8.ContinuousLandUse
Because FarmBot is able toindividually tend to each plant and thesection of land it is on, as soon as that plant reaches the end of its lifecycle,a
new plant can be put in. This allows for continuous use of all available space, independent of when crops are planted or harvested, which ones
mature faster or slower, and if any plants fail to germinate or grow properly. Furthermore, plants ofthe same species can be planted atdifferent
timeswithoutlosingmachineefficiencyinordertoextendtheseasonandavailabilityofcrops.

4.9.VariableTerraforming
In many agriculturalpractices, thesoil is shaped into berms and swales of certain sizestobettersuittheneeds oftheplants.Thesesoilstructures
are formed in straight rows, usually regardless of the lands topography.FarmBot could utilize topography maps to createsoilformationsandplant
layoutsoncontour,allowingraintobeslowedandsoakinratherthanwashingeverythingaway,aswellasreducingtheneedtowater.
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4.10.OpenSource
My decision to opensource the FarmBot project was out of the notion that I do notanddo notwantcontrolandownershipofthetechnologyaswell
asmyloveforotheropensourceprojectsandtheimpactstheyhave.
I see many things wrong withproprietary technologies that stifleinnovationandhaltothersfromcreatingbettersystems.Idonotwantsomethingso
fundamental,liketechnologytogrowfood,tobepatentedandunavailableforfreeuse.I cringeatthehorrorstoriesofcompaniesshutting downsmall
farmers because birds and wind have carried patented seeds onto other farms.Idonotwantthattype ofcorruptingpowertoinfluencetheFarmBot
project.Thistechnologyisforhumanityandisaboutfeedingtheworldandtakingcareofourecosystems,notaboutmaximizingprofit.
This does not mean that nobody will be able to create a viable company off of FarmBot technology. There will always be a need for professional,
quality equipment to be designed and mass produced for greater affordability. I look at other opensource projects such as Android as a great
example anyone can use the base technology for free and then augment and modify it to be betterandmore unique, and then sell thevalue they
have added. Another example is the RepRap project, where the base plans are free and opensourcebut many companies have refinedthemand
nowsuccessfullyselltheirspinoffproduct.
Moreover, I see so much benefit that can come out of opening up the technology to everyone. I look to Wikipedia asthe prime example of open
information by the people, forthe people. I can only hope that one daythecommunity willbuildtheFarmBottechnologyanddatabaseofinformation
toashighofacaliberasthebestopensourcehardware,software,anddataprojectsoftoday.
I will try my best to document my thoughts and FarmBot development by posting plenty of images, concisely describing my design intent, and
making any CAD files and software available in multiple common formats wherever possible. All of the work from here on out will be posted on
wiki.farmbot.itandIhopethiswillbecomethecentralplaceforFarmBotdevelopment.

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5.Hardware
FarmBot hardware is very similar to 3D printer and CNC milling machine hardware. Looking at Figure 5.1for reference, you canseethatthereare
two fixed tracks extending in theXdirection and a gantry that spans the tracks and moves along them. Mounted tothe gantry is a crossslide that
moves in the Ydirection and mounted to that is the tool mountthatmovesintheZdirection.Toolingincludesmosttraditionalagriculturetoolingthat
isspeciallyadaptedforFarmBotuse.Thetracks,gantry,crossslide,andtoolmountdesignintentallowforeasyscalingintheX,Y,andZdirections.

Figure5.1.FarmBothardwarehighleveloverviewandcoordinatesystem.

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5.1.Tracks
FarmBot tracks are one of the components that differentiate FarmBot technology from traditional freedriving tractors. The tracks are fixed in the
ground and allow the system to have great precision in an efficient and simple manner. There are many reasons of why tracks are superior to
freedrivingtractors,afewofwhicharelistedbelow.

TracksprovidegreatprecisionandallowtheFarmBottoreturntothesamepositionrepeatedly
Anytypeofpackingstructureofplantscanbecreatedandmanagedbecausewheelandhardwarepathwaysarenolongerneeded
Trackstakeuplessareathanpathsfortractorwheelsanddonotcompactthesoil
Usingtrackseliminatestheneedfortractorsteeringcomponentsandautopilotingsystems

Figure5.1.1.TracksinrelationtotheothermaincomponentsofFarmBothardware.

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5.1.1.Geometry
Tracks take the form of rails that are slightly elevated off the ground bysupports and small concrete foundations. Eachrailacts as a linear guide,
providing aninterface forthe gantry to mechanically mate with andtravelalong.Eachtrackhassufficientcrosssectionalareaandstrengthtoresist
deflection during high forceoperations such as plowing. Tracks and their foundations scale in size and strengthas the gantry size and number of
simultaneousoperationsincreases.Tracksmayalsofeaturealiverailtoprovideelectricalpowertothegantryandotherparts.
The most basic FarmBot system needs at least two tracksinorderforonegantrytospanbetweenthem.Athreetracksystemcanexistthatallows
for two gantries to operateseparately on their own sections of land while sharing a middle track. Four, five, etc track systems may alsoexist with
more gantries. Because ofthis scalability, there are two types of tracks: single rail, and dual rail. Single railtracksallowonegantrytomoveacross
whiledualrailtracksallowtwogantriestosharethesametrackasinthethreetracksystem.
For small FarmBot systems, the tracks could beconstructed fromTslotaluminumextrusionsfor easeofmanufacturing,flexibleassembly,relative
low cost, expandability, and general availability. For larger applications,custom steeltracks would likely be the material of choice for reducedcost,
increased strength, and weldability. Large, prefabricated tracks the lengthof a semitruckcouldbeshippedinandboltedorweldedtogetheronsite
likerailroadtracks.
5.1.2.Scalability
As mentionedin section 5.1.1, track systems can be scaled in the Ydirection by simplyadding more tracks andmoregantriestothesystemorby
making the gantry wider. Tracks can alsoscale in the Xdirection by making the tracks longerand adding more supports. Theoretically, thetracks
can bemilesandmileslonginanindustrialapplicationwiththeonlylimitbeingtheamountofareaonegantrycouldproperlytendtowiththeavailable
amountoftime.
Another idea for scalability is aserpentine type track system that one gantry coulduse, requiring curved track sections at the serpentine edgesfor
the gantry to move to the next row of tracks. There may also exist other methods that the gantry could transfer tracks by, but these willnot be
coveredinthispaper.
5.1.3.Cost
Though the capital costof any type of track systemisnew inagriculture,thetracksaredesignedtobeascosteffectiveaspossiblebybeingsimple
to manufacture and lackingany moving parts. Work willneedtobedonetooptimizetrackcrosssectionalareaandthereforematerialusageaswell
as easing the installation process. It is estimated that the up front investmentoftrackscanbeoffsetbythe savingsfromtheeliminationofthemore
complex drivetrains, steering, brakes, cockpits, and other components of tradition tractors. In addition, lifetime savings will occur from increased
productivityoftheFarmBotsystemoverconventionalsystemssimplybyremovingtractordriverlaborandallowingfor24/7operation.

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5.2.Gantry
The gantry, highlighted in Figure 5.2.1, is the structural componentthatbridges the two tracks and moves in the Xdirection viaanXdirectiondrive
system. It serves asalinearguideforthecrossslide(section5.3)anda basefortheYdirectiondrivesystemthatmovesthecrossslideacrossthe
gantryintheYdirection.Itcanalsoserveasabaseformountingotherequipmentsuchasseedbays,tools,electronics,inputs,andsensors.

Figure5.2.1.GantryinrelationtotheothermaincomponentsofFarmBothardware.
5.2.1.Geometry
The gantrys primary structure is an upsidedown square U shape. At each end of the U, are linear guide systems such as wheels that allowthe
gantrytomoveacrossthetracksintheXdirection.ThetopoftheUshapeservesasthebridgingcomponentandthelinearguideforthecrossslide.
The gantry must be very rigid and have tight tolerancing on the linear guide interfaces. Significantflexorplaywillleadtolessaccuracyofthetoolor
sensor location. This can be especially important during high force operations that also require high precision, such as selective tilling, where
inaccuracyinexcessof1cmcoulddamagedesiredplants.
Similartotracks,thegantrywilllikelybeconstructedfromTslotaluminumextrusionsforsmallscaleapplicationsandweldedsteelforlargerscales.

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5.2.2.DriveSystem
An optimized drive system for the gantry is dependent on the size and application of the FarmBot system. For smaller systems, such as a
seedlingonly application, atiming belt and pulley may work the best due tolowcost,easeofinstallation,minimalmaintenance,andgoodprecision.
For larger systems,beltsmayintroduceanunacceptableamountofslackandstretchandtherebyreducethelevelofprecision.Italsomaybecostly
or infeasible to implement strong enough belts to handle plowing and other high force operations. In this case, a rack andpinionstyledrivesystem
may work better. In thissystem,asteppermotorandpiniongearcouldbemountedtothegantryandthetrackscouldhavegearedracksmountedto
theminordertomeshwiththepinion.
5.2.3.Scalability
The gantry can scale in the Ydirection by constructing it to be wider. This modification would require the tracks to be spaced fartherapartaswell.
The gantry can also scale in the Zdirection to accommodate taller plants suchas corn, sunflowers, and even trees, by making the basic Ushape
taller. This modification would require a longer tool mount to be used. As with all scaling up, the structure will need to increase instrengthtoresist
deflectionanddrivesystemswillneedtobemorepowerfultomovetheincreasedmass.

5.3.CrossSlide
The crossslide,highlightedinFigure5.3.1,movesintheYdirectionacrossthegantry.Thismotionprovidesthesecond majordegreeoffreedomfor
FarmBots and allows operations such as planting to be done anywhere in the XY plane. The crossslide is movedusingaYdirectiondrivesystem
andfunctionsasthebaseforthetoolmount.

Figure5.3.1.CrossSlideinrelationtotheothermaincomponentsofFarmBothardware.
18

5.3.1.Geometry
The crossslide consists of alinear slide and a mountingplate.Thelinearslideinterfaceswiththegantry whilethe mountingplateprovidesthebase
for the tool mount to interface with. The crossslide must have high tolerancing with the linear slide interface and must be rigidenough to transfer
highforcestoandfromthetoolmounttothegantrywithoutsignificantdeflection.
5.3.2.DriveSystem
Several drive system options exist including a timing belt and pulley, arack and pinion system, or even a leadscrew. Each optionhas advantages
anddrawbacksandmayworkbetterthanothersincertainapplications.
A timing belt and pulley system would work well in small applications as it is easilyupgradedtolongerlengths,easytosourceandpurchaseoffthe
shelf components,requires little maintenance, and is affordable. However,as with the gantry belt system, larger systems may introduce toomuch
slackandstretch,reducingprecision.
Rack and pinion systems would work well for small to large systems and are perhaps the best and most versatile option overall.Arackandpinion
system may require specially made components that cannot be purchased off the shelf, which could be a limiting factor. However, the same
componentscouldbeusedforthegantryandtoolmountdrivesystemaswell.
Leadscrew systems provide thegreatest amount of torque and precision, butaremoresusceptibletodamagefromdustyanddirtyenvironments.It
is unlikely that FarmBots perform high force orprecision operations in the Ydirection, perhaps making a leadscrew system excessive. It is worth
mentioningthoughforconsiderationonsmallerapplications.
5.3.3.Scalability
The crossslide could scale in the Ydirection, allowing for multiple tool mounts to be attached in order to complete identical operations
simultaneously. This type ofscalingwouldrequireamorerobustgantry,tracksystem,anddrivesystemstohandleconcurrenthighforceoperations
such as tilling. This mayalso put unwanted constraints on thefarmdesign,forcingplantsintoamorerigid grid.However,thepotentialforincreased
operationthroughputmaybeworththatsacrifice.

5.4.ToolMounts
5.4.1.Geometry
Tool mounts attach to thecrossslide and provide the FarmBot with Zdirection movement asillustratedinFigure5.4.1.1.Toolmountsserveasthe
base for attaching toolssuch as seed injectors, watering nozzles, sensors, and plows. They consist ofa tallstructuralcomponent,adrivesystem,
andamountingplateorareaforattachingtoolsto.

19

Figure5.4.1.1.ToolMountinrelationtotheothermaincomponentsofFarmBothardware.
5.4.2.DriveSystem
Tool Mounts canbe driven with various drive systems such asa rackandpinion,leadscrew,beltandpulley,electronic solenoid,orhydraulicpiston.
DependingonthescaleoftheFarmBotandthedesiredaccuracyandspeedrequirements,differentdrivesystemswillbebetterthanothers.Itwillbe
important to select asystem than can move heavy hardware up and down, especially duringoperationsinvolvingsoilmanipulationsuchasplowing
or seed injecting. Furthermore, thetool mount will need to move precisely, with perhaps millimeter accuracy for seed injection. Likely the rack and
pinion and belt and pulleysystemswillnotbepowerful enough,thehydraulicpistonwillbetoocomplexandexpensive,leavinganelectronicsolenoid
andaleadscrewasoptions.However,thisisonlyspeculative.
5.4.3.Scalability
For a FarmBot to tend totaller plants,thegantrymustberaisedin order tohaveadequateclearancefromtheplantswhenmovingintheXdirection.
With a taller gantry, thetool mount must scale in the Zdirection so that tooling,such as a seedinjector,canstillreachthesoil.Thetoolmountcan
easilyscalebymakingthestructuretallerandinstallinganupgradeddrivesystem.
20

5.5.Tools
Tools will attach tothetoolmountashighlightedinFigure5.5.1.FarmBotwilllikelyutilizeacustomsetoftoolingoptimizedfortheFarmBot,butitwill
generally be very similar in form and function to existing agriculture tooling. In other words, it is likely not in the scope of theFarmBot project to
reinvent the plow, but itisinthescopetoadaptandoptimizetheplowforFarmBotuse.However,itisverypossiblethatFarmBotwillopenthedoors
tonewtooldesignsthatwerenotfeasibleorappropriatetousewithconventionalequipment.

Figure5.5.1.ToolsinrelationtotheothermaincomponentsofFarmBothardware.
Thefollowinglistoftoolingislikelytobeclosetotheorderofdevelopmentbasedonimportanceandfunctionality.
1.
2.
3.
4.
5.
6.
7.
8.
9.

Seedinjector
Watering/fertilizer/pesticidenozzle
Tillingimplement
Plow
Cutter/Shredder
Discer
Burner
Combine/Harvester
Roboticharvestingarm
21

5.6.Electronics
The onboard electronics used will be similar to those found in CNC milling machinesand3D printers. Motors, servos, solenoids, valves,sensors,
and other hardware will be controlled with a microcontroller and supplementary power supply. The microcontroller will ideally be opensource and
purchasableofftheshelfsuchasanArduino.Themicrocontrollerwillneedsoftwarethatcaninterpretnumericalcontrolcodeandsubsequentlydrive
the motors and other equipment to compete operations. There will also need to be a liveInternetconnectionfortransferringnumericalcode aswell
assensordatatoandfromthewebbackend.

5.7.Sensors
Smart Farming, asIdefineit,isusingdatatomakemoreinformeddecisionsaboutthesetupandoperation ofthefarm.FarmBotwillbeabletouse
the following sensors and more to collect data about thesoil, plants, and weather. Some of this data can be taken at many points on the farm to
createdatamapsasexplainedinsection6.1.4.
1. Moisturemeter
2. Thermometer
3. Raingauge
4. Psychrometer(humidity)
5. Anemometer(wind)
6. pHsensor
7. Incidentlightmeter
8. Computervision
9. Hyperspectralimaging
10. Massspectrometer

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6.Software
FarmBot is asmuchofahardwareprojectasitissoftware.Becausethe entiresystemisautomatedandnumericallycontrolled,itisuselesswithout
powerful software to createthe numerical code in a smart, easy, andefficient manner.Thiswillbedonewithanopensourcecloudbasedsoftware
asaservicesolutionthatallowstheusertodesigntheirfarm,programandcontroltheirhardware,storeandviewdata,anduseanalyticstools.

6.1.WebFrontend
The web frontend will be the primary way the user interactswithandprogramstheirFarmBothardware.Belowisaproposalofhowthiscomponent
ofthesoftwarecouldfunctionandwhatitmightlooklike.
6.1.1.UserInterface
TheFarmBotwebuserinterfaceshouldbefun,intuitive, modern, beautiful,simple,andpowerfultouse. Theuser shouldbeabletoquicklyandeasily
access allfeaturesofthesoftware.Ienvisionatabbed layoutwitheachtabbeingcomposed ofseveralpanesthatservevariousfunctionsdepending
onthedesireduseractions.
6.1.2.DashboardTab
The dashboard tabwill give the user an overview of the operationandstatisticsoftheFarmBotsystem.Thedashboardtabwillbebrokendowninto
severalpanes,eachofferingspecifictypesofinformationandcontrolasshowninFIgure6.1.2.1.
One pane willbe dedicated to hardware information. The user willbe abletousedropdownmenustopickwhichtypesofhardwareandtoolingthey
have installed and be able to add more items such as sensors when they become available. There could also be a way to quickly activate or
deactivate hardware when it goes down for maintenance or replacement. This will allow the FarmBot to skip or postpone any operations thatwere
scheduled requiring that hardware. This pane will also allow theuser to set up how large their FarmBot system is by specifying the dimensions of
their tracks, gantry, and tool mount. As new tracks are added to extend the system, a single number can be changed to reflect the upgraded
hardwareandthenewfarmingspaceavailable.
A resources panecouldtaketheformofaninteractivegraphdisplayinghistorical,current,andprojectedresourceusageforelectricity,water,seeds,
fertilizers, etc. The user will be able to zoom in the graph and see more detail such as hour by hour or even operation by operation details.
Furthermore, the user willbepresentedwithfilteringoptionstosee,forexample,howmuchwaterisbeingused ontomatoes.Thegraphwillnotonly
displayvolumetricorotherbaseunitsofresources,butalsotheirmonetarycosttothefarmerbasedonuserenteredcost/unitofresourcenumbers.
A third pane may show system information as well as some manual control buttons. A fourth pane may show financial analysis and projection
graphs of the whole operation, including expenditures on inputs, expected revenues for crops, and otherfactorssuchasmaintenanceandlogistics
cost.Thisgraphcouldalsohaveadvancedfilteringandanalysisoptions.
23

Figure6.1.2.1.MockupoftheDashboardtabshowingfourpanesofinteractiveinformation.
6.1.3.FarmTab
The farm tabis wheretheuserwilldesignthelayoutofthefarmandcontrolhowoperationsarecompleted,ie:where,how,andwhendifferentplants
are to be grown. The interface will consist of a large middle column anda leftandrightsidebar.WellcalltheleftsidebarthePlantsandOperations
Toolbox which will allow the user to select plants and operations, modify the settings, and eventually place the plant or operation into the middle
column. Well call the middlecolumn the Farm Map which will feature an interactive and zoomable map of the farm. The right sidebar, named the
OperationsAgenda,willbeforviewingandmodifyingthelistofscheduledoperations.Figure6.1.3.1illustratesawaythatthispagecouldlook.
24

Figure6.1.3.1.Mockupofthefarmtabfeaturingthefarmmapinthemiddleandleftandrighttoolbars.
The different functions ofthe Plants and Operations Toolbox areillustrated in Figure 6.1.3.2. First, the user will be presentedwith away to narrow
down and choose aspecificplant or operation.Theusermayeitherenterasearchterm,browsetheMyPlantsandOperationsgroupingortheAll
Plants and Operations grouping. Once a plant or operation has been selected, a larger image will be displayed as well as all of the editable data
fieldsassociatedwiththatplantoroperationasmentionedinsection7.1.

25

Figure6.1.3.2.MockupsofthePlantsandOperationsPanelbeingusedtosearchfor,choose,andviewaplantanditsgrowsettings(1,2,&3),
modifythegrowsettings(4),andsavethosesettings(5).
Once the data fields have been filled, the user can then click and drag the image of the plant anywhere onto the Farm Map. When let go, a small
polygon will be created with that plants color. Inside the polygon will be theexpected date at which thatplant will beharvested and the number of
plants that will be planted in that region given the size of the polygon and the seed spacing selected. The user can then move and reshape the
polygonastheyplease,aswellaschangethesettingsintheoptionspaneforthatpolygonofplants.
26

The FarmMapwillbe zoomableandmoveableandalways show aunitslegendsimilartootheronlinemaps. Therewill beamenutoturnondifferent

layerssuchastopography,satelliteimagery,anddatamapslikenutrientlevels,moisturecontent,etc,asdiscussedinsection6.1.5.
The Operations Agenda as shown in FIgure 6.1.3.3 will show all scheduled operations that the FarmBot will complete as well as a calendar. The
operations are created and modified when the user drags new plantsintothefarmmaporeditsthe settingsofalreadyplantedareas.Theusermay
use the search tofilter and find specific operations and can clickto see detailsof that operation and make quick edits. Furthermore, the user may
change the selected date and the Farm Map will update to reflect the predicted layout of the farm on that date. Thiswill allowthe user to plan in
advancetheplantingofcropsassoonasopenspaceisavailableafteracrophasbeenharvestedasmentionedinsection4.7.

Figure6.1.3.3.MockupsoftheOperationsAgendashowingdifferentfilteringandtheeditingprocess.
27

6.1.4.DataTab
By using the FarmBot hardware to take extensive data measurements, the softwarecancreatedatamapsthatthefarmerandthedecisionsupport
system (section 6.2.4) canuse to make smarter, datadrivendecisions,resultinginoptimizedfarmlayoutsandoperationsettings.Thesemapscan
be usedtoshowwhereamendmentsareneeded,wheretowatermoreorless,temperature,pH,etc.Extensivemappingatdifferenttimescanshow
how the soil and other conditions change over time, allowing for decisions to be made that take into accounthistorical data and projected future
conditions.Moreover,longtermtrendssuchasyieldwillbeeasiertodiscoverandanalyzewithsuchextensivedata.
Figure 6.1.4.1 shows a mockup data map of moisture content. Assuming the data measurements were taken a few days after amedium rain, we
can see where certain areas have since dried up and where other areas are still moist. Using this map, watering operations in the blue, wetter
regions can be decreased or even canceled for a few more days, whereas that might not be the best decision for the yellow and red zones,
depending on what is planted there. This map may allow better plant placement decisions to be made in the future, for example placing plants
susceptibletorootrotinareasthatshowquickerdryingafterarain.

Figure6.1.4.1.Mockupdatamapofmoisturecontentinthesoil.
28

CosteffectiveandextensivedatamappingandanalysishasthepotentialtobeoneofthemostpowerfulanddisruptiveaspectsoftheFarmBot
system.TherehasbeenalotoftalkanddevelopmentinrecentyearsaboutapplyingBigDatatoagriculture.Manyagreethatbigdataisgoingto
createmuchmoreefficientandsustainableproduction,thoughthecurrentproblemisthatacquiringthatmuchdatarequiresalotoftimeand
expensiveequipment.Othersystemsbeingdevelopedincludeflyingplanesanddronesoverheadtotakeimagery,drivingaroundandmanuallytaking
soilsamples,andusingtractormountedopticalsensors.FarmBothasthepotentialtocollectmoredata,moreaccurately,moreefficiently,andina
morecosteffectivemanner.Furthermore,mostofthetechnologiesbeingdevelopedareeitherproprietaryorsoprohibitivelyexpensivetoownthat
farmersmustpurchasethedataasaservice.FarmBotcouldmakeBigDatacollectionandanalysisaffordableandopentoall.
6.1.5.ManualControl
Users will be able tomanuallycontrolthe FarmBot through the webinterfaceusingsomesimplecontrolbuttons.Onereasontousemanualcontrol
is in the case ofmaintenance or troubleshooting that requiresthe movement of certain components. Another,wouldbetoquicklycompletesimple,
onetimeoperations.
6.1.6.UserExperience
The user experience will be similar to some video games such as SimCIty and Farmville, where the user is playing a puppet master type rolethat
exhibits extensive control of thelandscape and its operation. All components will need to feel easy to complete, intuitive, and fun. The gamification
elementsliketheresourcetickers,graphicanimationsoftheplantsandlandwilladdtothefunandstrategyinvolved.

6.2.Backend
6.2.1.UserProfiles
To use the FarmBot software, one will need to create a user account sothattheirworkanddatacan besavedandlateraccessed.Theuserprofile
will also need to be linked with any hardware that the user owns in order to provide authentication when uploading numerical control code to the
hardware.Seesection9.10forthoughtsonhacking.
6.2.2.FarmProfiles
Each user will need to store the data associated with their farm including size, plant layouts and settings, scheduled operations, statistics, data
maps,farmhistory,andmore.
6.2.3.EquipmentProfiles
The software willneedtoknowexactlywhathardwaretheuserownsanditscurrentconfiguration.Otherwise,the usermayscheduleoperationsthat
cannot be completed or the numerical control sent to the machinewill not be compatible. The equipment profile informationwill need to be stored
andeasilymodifiedasequipmentisupgradedorbecomeinactiveformaintenance,etc.
6.2.4.DecisionSupportSystem
Everything regarding the farm layout and management is a decision, such as seed spacing, plant pairing, watering amounts, where to plant and
29

when, etc. In order to optimize efficiency, the farmer or software must make smart, datadriven decisions. The decision making process can
becomeverycomplexwithmanydatastreamsandwhendataisvariablesuchasweatherpatternsandsoilproperties.
The decision support system is an algorithmic component of the software that uses all available data to determine the best settings for every
operation. This will perhaps be the most technically difficult and complex component of the software to develop and will take mountains of
experimentation and expert agronomist and farmer input to optimize. The development of the decision support system can begin with only a few
decisions based on onlya few data sets, but the idea is tobuildasmartenoughsystemsuchthatoptimumsettingscanbefoundforeveryplant,in
everycondition.
Figure 6.2.4.1 outlines a high level overview of how the decision support system could function. Essentially, the system would determine the
optimumsettingsforeveryoperationthatFarmBotcompletesbasedontheavailabledatastreams.

Figure6.2.4.1.TheDecisionSupportSystemcombinesdatastreamsandmakesdatadrivendecisionsforeveryoperationsetting.
30

6.3.MicrocontrollerSoftware
All sensors, motors, and otherhardware will interface with a microcontroller in the FarmBotthatmustinterpretthenumericalcodecomingfromthe
backend and also send sensor and real time data back online. The microcontroller will therefore have its ownembeddedoperatingsystemofsorts
that can interpret code, and send and receive data tothe backend and to the motors and othersensors.Ithinkitmakesthemostsensetodoallof
the more complex computing with the decision support system in the cloud backend and then send only the basic operation instructions to the
FarmBotsimilartotheGcodeusedinCNCmachinesand3Dprinters.

6.4.DataSharingandOpenDataRepositories
To help FarmBot owners create and manage their farms, there will be optionsto shareand publish many different data types. I hopethatanOpen
Data Repository will be created that can help centralize and make accessible and free all of the information needed to grow every type of plant, in
everylocation, ineverycondition.AccesstotheopendatafromtheFarmBotwebfrontendwillbeintheAllPlantsandOperationsareaofthePlants
and Operations Panel. In addition, the data repository may have its own frontend interface for browsing, searching,anddownloading thedata.This
willallowotherapplicationsandtechnologiestousethedatafortheirownpurposesaswellthroughanopenAPI.

6.5.MobileApplications
It may be beneficial to develop mobile applications to allow for a better user experience when programing and monitoringFarmBots.However,with
responsive design of the web frontend, dedicated mobile applications may not prove to add any greater value than simply using the website on a
mobile device. It also may be best to focus development resources toimprovingthe web frontend than spreading development over multiple user
interfaces.However,Iunderstandmyignoranceinthissubjectandwillrespectanydevelopersreasoningtopursuemobileapplicationdevelopment.

6.6.OpenSourceandanOpenPlatform
As stated before, all FarmBotsoftware willbeopensourceandthis isforseveralreasons.First,itistheessenceofthisprojectto makeowningand
operating a FarmBot as accessible as possible and that means makingthe software free and easy to use, downloadable,andmodifiable.Second,
the more people with the ability to contribute to the software, the better it will become, faster. I look to Linux, Android, and Wikipedia as great
opensourceexamples.Third,opensourcingthesoftwareallowsthecommunityatlargetovalidatethesoftwareforsecurityissues.
A goal from the beginning of software development will be creating an open platform that users are not locked into. The FarmBot software service
should not be a walled garden. Instead, users should be able to easily import and export their data in accessible formats. Moreover, developers
should be able to build addons and their own services that improve the experience and capabilities of the user. This could happen with the
developmentofanAPIfordatasharingacrossapplicationsandservices.
Moreover, users will not berequiredto own or use FarmBot hardware to sign up for and use the FarmBotsoftware.Thesoftwarecanstillhelpany
farmerorhomegardenerplan,keeptrackof,andbettermanagetheirfarmorgarden.
31

7.Data
Agriculture as a method is successful when knowledge or data is used to make decisions that have been proven successful before. FarmBots
ability to obtain and combine thousands of data points,plant knowledge, and other factors in its decision support system allow the farmer toknow
that their farming operation isdatadriven and proven. Sections 7.1 through 7.8 describe potential sources ofdatathatFarmBotcanutilize,withthe
ultimategoalbeingcompleteautomationofthefarmdesignandoperationprocessesinanoptimizedway.

7.1.PlantData
Plant data includes everything that the FarmBot needs to knowinordertosuccessfullyplant,grow,andharvestaspecificvarietyofplantinthebest
possibleway.Belowaresomeoftheparametersthatmightbeincludedinplantdata.

Fullsun,partialsunrequirements
Seedspacing
Seeddepth
Numberofseedsperhole
Typeofplantingfoundation(mound,hole,none,etc)
Optimumwateringregimenthroughoutplantlife(volume,timing,andlocation)
Optimumfertilizingandsprayingregimensthroughoutplantlife(volume,timing,andlocation)
Specialconditionssuchasfrostsusceptibility,rootrotresistance,etc
Optimumsoilconditionssuchasnutrientlevels,soilcomposition,drainageability,etc
Bestcompanionplants
Beneficialandprobleminsectsattracted

7.2.SoilData
Accurate, plentiful, and updated soil data is perhaps the hardest,mosttimeconsuming,andexpensivedatatoattainwithtodaysmethods.Soiltype
and conditionscanchangequicklybothspatiallyandtemporally.Forexample,afteradeeptill,aheavywatering,oranutrientintensivecropisgrown,
soil conditions will have changed.Geologicalfeaturessuchasstreams,valleys,mounds,andhigher concentrationsofrocksorclaycanchangesoil
conditions every fewfeet. FarmBot canveryquicklytakemanydatapointsinmanylocationsinasystematicwayandcreatehighresolutionmapsof
this data. These maps enable the farmer and the decision support system of section 6.2.4tomakesmarter,datadrivendecisions.Typesofdataa
FarmBotcouldgatheraboutthesoilincludethefollowingandlikelymanymore.

Percentorganicmatter,clay,rock,sand,etc
Moisturecontent
32

Percolationrate
Nutrientcontent
Microbiologicalactivity
Temperature
Incidentlightlevels
pH
Alkalinity
Electricalconductivity

7.3.CompanionPlantData
A key component in farming a polycrop is choosing good companion plants. A great example is the Three Sisters system of the Native North
Americans, combining maize,squash, and climbing beans. From Wikipedia: The maize provides a structure for the beanstoclimb, eliminatingthe
need forpoles.Thebeansprovidethenitrogentothesoilthattheotherplantsutilize,andthesquashspreadsalongthe ground,blockingthesunlight,
helping prevent establishment of weeds. The squash leavesalso act as a "living mulch", creating a microclimate to retain moisture in the soil,and
the prickly hairs of the vine deter pests.FarmBotenablesthefarmertocreateafarmlayoutofanycomplexitywithoutsacrificing machineefficiency.
Using best companion plant data associated with every plant, the FarmBot software could suggest the best combinationsto plant together. This
data, combined with known insect troubles, nutrient deficienciesin the soil, thetime of year, and other factors, will allow thefarmerorthesoftware
itselftogenerateoptimumfarmlayouts.

7.4.TimeandLocationData
Current time and location data can allow the FarmBot software to determine daylightand nighttime hours in order to perform certain operations at
optimum times such as wateringor putting seeds in the ground. Location, orientation,and datedatawillenablesmarterplantlayoutsbased onhow
highorlowthesunwillbeandatwhatangleitisinrelationtothelandandplants.
For example, shorter plants can be planted closer tothe suninordertonotblocksunlightfromfartherplants.Thisconceptwouldbemoreprevalent
duringmonthswhenthesunislowerintheskybutnotasimportantwhenthesunishigheraswellasonslopedland.

7.5.WeatherData
TheFarmBotsoftwarewilleventuallyplugintolocalweatherdataandforecastingforthefollowingpotentialbenefits.

Waterplantsinamoreefficientmannerbasedonrainforecastinganddailytemperatures
Protectagainstfrostbasedontemperaturemonitoring
Abilitytostartplantsatthebesttimesbasedontheupcomingforecast
Createfarmlayoutsthataremoreresilientagainsthighwinds
33

7.6.Topography
Topography plays a major role inhowafarmisplanted,howsunnyareasare,andwherethewaterwantstoflow. Usingtopographydata,thefarmer
and software can place plants in better locations and also create more effective landforms such as on contour lines rather than straight lines.
Furthermore,thesoftwarewillbeabletobetterpredictandverifywithdatatheflowofwaterandnutrientsafterheavywateringorrains.

7.7.PastandFutureData
Farmandweatherhistoryandfutureplanningwillplayanimportantroleinoptimizingfarmlayoutsinthefollowingways.

Priorsuccessorfailureofcertainplantsorsectionsoflandincludingquantitativemeasurementssuchasyield
Priorplantinghistoryandsoilqualitygrowthordegeneration
Planningformoreoptimizedgrowingoffuturecrops(buildingthesoilnowasaninvestment)
Planningformarketpricefluctuationsforinputsandtheendproducts

7.8.ManualInputData
The farmer will always be able to manuallychangevariablesandinputspecialpiecesofdatainordertohavecompletecontroloverthefarmdesign.
These manual inputs may be overriding, modifying, or adding to theexistingdata.Forexample,ifthefarmerknowsaherdofcattleisgoingtograze
acertainsectionofland,therewillneedtobeawaytoaccountforthatwithinthesoftwarethroughspecialpiecesofmanuallyinputdata.

7.9.DownloadableandAutogeneratedFarms
Eventually, I hope that the FarmBot community will create many different farm and garden layouts that can then be easily downloaded to any
FarmBot. This will allow the laypersontogrowanoptimizedfarmwithoutasmuchexperimentation,research,orpriorknowledge. Evenfartherdown
theline,FarmBotshouldbeabletobeinstalled,turnedon,takedata,checkallotherdatasources,andthenautogenerateanoptimumfarm.

34

8.FarmBotGenesis
FarmBot Genesis, currently in developmentandrenderedin Figure8.1,isthefirstFarmBotthatwillbebuilttoafunctioningstate.Itisdesignedtobe
a foundation for experimentation, prototyping, hacking, and learning, and will initiallyperformonlytwooperations:injectingseedsandwateringthem,
with the intention that more features, tooling, and functionality can be added later. The driving factors behind the design are simplicity,
manufacturability,scalability,andhackability.

Figure8.1.Renderingofa1.5mwide,3mlong,0.5mtallFarmBotGenesis.
35

Genesis is a small scale FarmBot primarily constructed from VSlot aluminum extrusions and hardware from Open Builds
(openbuildspartstore.com.) The VSlot extrusions were chosen because they are easily cut, the structure can be quicklyassembled and modified,
and each extrusion can also function as a linear guide. Stepper motors and an Arduino are used to control the system and were chosen for their
availability and hackability. Genesis can vary in size from a planting area as little as1m2 for seedlingonly applications to greaterthan 50m2, while
accommodating a maximum plant height of 1m. With modifications to some of the structural component sizes and an alternative Xdirection drive
system,Genesiscouldscaleuptoa1000m2plantingareaandamaximumplantheightgreaterthan2m.

8.1.GenesisTracks
Genesis tracks, rendered in Figure 8.1.1, are designed using VSlot aluminum extrusions and hardware from Open Builds. The VSlotextrusions
function as the linearguidesforthegantrytomoveacross andthedesignintentionallowsfor easyscalingintheXdirection.Thetracksmaybefixed
to the groundbyattachingthemtoconcretepilings,buryingthemintheground,fasteningthemwithlargestakes,orothermethods.Onceinstalled,it
will be very cost effective to scale in the Xdirection by simply adding more track sections. Ifscaling in theYorZdirectionisdesired,itmayrequire
upgradingthemaintrackbeamtoalargersizeinordertoreduceflexundertheincreasedloads.

Figure8.1.1.RenderingofasingleGenesistrackandXdirectiondrivesystem.
36

8.2.GenesisXDirectionDriveSystem
The Genesis Xdirection drive system, partially seen in Figure 8.1.1, is a dual belt and pulley system consisting of Nema 17 stepper motors, GT2
timing belts and pulleys,andmounting hardware from Open Builds.Onesteppermotorandbelt systemisattachedtoeachtrack,withthebeltends
fixed to the gantry for actuation. To scale in the Xdirection, a longer belt will be required. Nema 17 stepper motors and GT2 components were
selectedfortheircommonuseinDIY3Dprinters,affordability,andgeneralavailability.

8.3.GenesisGantry
The Genesis gantry, rendered in Figure 8.3.1, is constructed of VSlot aluminum extrusions, miniV linear guides, other components from Open
Builds, and some custom support braces. The gantry is primarily designed to be rigid whilestillallowingforeasyscalingandplacestomountother
hardware.TheGenesisgantryinterfaceswiththetracks(Figure8.3.2)andalsoprovidesthelinearguideforthecrossslideasseeninsection8.5.

Figure8.3.1.RenderingoftheGenesisgantry.
37

Figure8.3.2.Detailrenderingofthegantryinterfacingwithatrack.

38

8.4.GenesisYDirectionDriveSystem
The Genesis Ydirection drive system, rendered in Figure 8.4.1, is very similar to the Xdirection drivesystem it uses the same Nema 17 stepper
motorsandGT2timingbeltandpulleys.ItisalsoscalableintheYdirectionwithalongerbelt.

Figure8.4.1.DetailrenderingoftheYdirectiondrivesystemmountedtothegantryandinterfacingwiththecrossslide.
39

8.5.GenesisCrossSlide
The Genesis crossslide, rendered in Figure 8.5.1, consists of the universal mounting plate, two spacer blocks, and eight Vwheel kits from Open
Buildsforinterfacingwiththegantry(Figure8.4.1)andthetoolmount(Figure8.6.2.)

Figure8.5.1.RenderingoftheGenesiscrossslide.
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8.6.GenesisToolMountandZDirectionDriveSystem
The Genesis tool mount and Zdirection drive system, rendered in Figure 8.6.1,consist of a single VSlot extrusion with a Nema 17steppermotor,
leadscrew, and mounting plates. Both the extrusion and the leadscrew interface with the crossslide as shown in Figure 8.6.2. A leadscrew was
chosen over a belt and pulley for its ability to sustain a load without using motorpower, as well as its increased torque and precision whichwillbe
necessaryforprecisionoperationslikeseedinjection.

Figure8.6.1.RenderingoftheGenesistoolmountandZdirectiondrive
system.

Figure8.6.2.DetailrenderingofthetoolmountandZdirectiondrive
systeminterfacingwiththecrossslide.
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8.7.GenesisTools
FarmBot Genesis will initially be builtwith only the two most essential tools: aseedinjectorandawateringnozzle.Thesetwotoolscanbemodified
and expanded upon for more functionality, such as a fertilizing ability built into the watering nozzle. The Genesis toolmountandmicrocontrollerwill
beabletoacceptmoretoolsandsensorsforfutureexpandedfunctionality.
8.7.1.GenesisSeedInjectorandSeedBay
The Genesis seed injector, rendered in Figure 8.7.1.1, consists of two main assemblies: a 12V vacuum pump and selectortip,andthe seed bay.
The vacuum pumpandselectortipareattached tothetoolmountandallowforthepreciseselectionofseedsfromtheseedbayandplacing themat
a precise location and depth in the ground. This is completed by first dipping the selector tip into a seed bin whilethe vacuum is on, moving the
suctioned seed or seeds tothe desired location, driving them into the ground to the desired depth, releasing the vacuum, and repeating. The seed
bay, attached toaverticalcolumnofthegantry,movesinthe Xdirectionsuchthatdifferentseedbinscanbepositionedfortheselectortiptochoose
from. The Genesis seedinjector usestwo controlled components: the vacuum pump, and the stepper motor forthe seedbay.Thissetupwillallow
anynumberofdifferentseedstobeaccessedandplantedwithouttheneedforadditionalcontrollablecomponents.

Figure8.7.1.1.RenderingoftheGenesisseedinjectorandseedbay.
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8.7.2.GenesisWateringNozzle
The Genesis watering nozzle, rendered in Figure 8.7.2.1 alongside the seed injector, consists of a spray nozzle,a solenoid valve, and tubing. Not
pictured is additional tubing that will need to run along the tool mount, gantry, and tracks in order to connect to a water source such as a garden
hose. Future watering nozzlesmay feature flow meters, different spray nozzles, oreven theadditionofaperistalticpumpandtankthatwouldallow
forthepreciseadditionofliquidfertilizerorpesticidetothewaterspray.

Figure8.7.2.1.RenderingoftheGenesiswateringnozzle(totheleftandbelowtheseedinjector.)
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8.8.GenesisElectronics
8.8.1.Microcontroller
An Arduino Megamicrocontroller, pictured in Figure 8.8.1.1, will be used to control the steppermotors,vacuumpump,servo,andfutureelectronics
and sensors. This platform was chosen for its low cost, general availability, hackability, expandability through shields, the expansive learning
resources available, the strong DIY community already using the platform, and the fact that it is opensource. In addition, Arduino programs are
written in the C language and therefore very familiar to many. Expansion shields likely to be used will include wifi, a RAMPS stepper driver, andan
SD card shield. The firmware to be installed will likely be forked from an existing 3D printer Gcode interpreter and then modified for theFarmBot
application.

Figure8.8.1.1.AnArduinoMegamicrocontroller.
8.8.2.StepperMotors
The Nema 17 stepper motor shown in Figure 8.8.2.1 has been chosen for its general availability, common use in similar projects such as the
RepRap 3D printer, easysetup and control, as well as its accuracy, speed,andtorque outputs. In addition, thismotorinterfaceswithcomponents
such as pulleys and mounting plates available frommanyprovidersincludingOpenBuilds.Ithasyetto bedeterminediftheNema17motorsizewill
bepowerfulenoughforFarmBotGenesisduetothelargerscaleofthehardwarethan3Dprinters.
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Figure8.8.2.1.Nema17steppermotoravailablefromOpenBuilds.

8.9.Cost
Table 8.9.1 shows a rough estimation of the cost to produce the 1.5m wide, 3m long, 0.5m tall FarmBot Genesis rendered in Figure 8.1 by
purchasing as many components as possible. The prices for the components are at a nonbulk rate and there are very likely more affordable
suppliersavailable.Allofthemountingplatesandbracketsarealsoeasilymanufacturable,whichwouldfurtherdrivethepricedownifnotpurchased.
Table8.9.1.RoughcostbreakdowntoproduceaFarmBotGenesiskit.
Component/Description

Quantity

TotalCost

20x20mmVSlotAluminumExtrusions

1.7m

$17

20x40mmVSLotAluminumExtrusions

9.5m

$124

12

$56

TBrackets

45

CornerBrackets

$5

CustomLargeTBrackets

$20

MotorMountPlates

$35

IdlerPulleyandThreadedRodPlates

$35

VSlotUniversalPlate

$12

VSlotSpacerBlocks

$8

MiniVPlates

$45

MiniVWheelKits

20

$65

DualVWheelKits

$31

Nema17StepperMotors

$100

SolenoidValve

$8

VacuumPump

$15

FlexCouplings

$10

Leadscrew

$30

15m

$100

$20

GT2TimingBelt
GT220ToothTimingPulleys
TNuts,Bolts,andotherhardware

$80

MiscellaneousItems

$150

ArduinoMega

$60

RampsStepperShield

$25

LaborHours(forakit,notassembled)

$250

Total

$1301
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8.10.CrowdfundedLaunch
I have identified two mainbenefits to launching FarmBot Genesis on a crowdfunding platform. The first, is the great exposure and press potential.
Crowdfundinghas become very popular in recent years with both opensource and 3Dprinterprojectsleadingverysuccessfulcampaigns.Manyof
theseprojectsarecoveredbypopulartechblogsandsharedvirallyonsocialmedia,leadingtolargeinterest.
The second reason is that crowdfunding is a great way toquicklygetatechnologyintoabunchofpeopleshands.ForFarmBottoprogressquickly,
a large community needs tobecreatedtobegin tinkeringwiththetechnologyandimprovingit.For thosethatjustwanttohaveaFarmBotshippedto
them rather than sourcing all the parts and doing a more complex assembly, the crowdfunding rewards will be a good option. Anyone else who is
techsavvyandatinkerercanjustusethewikiinstructionstobuildtheirownFarmBotwhichisalsomakingprogress.

8.11.Timeline
Table8.11.1isaroughtimelineforthedevelopmentofFarmBotGenesis.
Table8.11.1.TimelineofFarmBotGenesisdevelopmenttoacrowdfundedlaunch.
Dates

Milestone

September2013

Preparethewiki,blog,andsocialmediaprofilesforthepublic.

September2013

PublishtheFarmBotwhitepaperandgatheronlineandlocalinterestthroughtargeteddistributionofthepaper.

September2013

Securefundingfortheprojectinordertopayforprototypingmaterialsandtime.

September2013

Pitch the project to Cal Poly students and professors beginning their senior project and capstone courses to get
studentsworkingonthetechnology.

October2013April2014

Construct,test,anditerateFarmBotGenesiswhiledocumentingtheprocess.

AprilJune2014

CrowdfundedlaunchofFarmBotGenesis.

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9.PotentialImpacts,Ramifications,andConcernsofFarmBot
9.1.IncreasedProductionEfficiency
If FarmBot proves itself to function as described, it will undoubtedly help increase food production efficiency by making the current systems and
methods obsolete. FarmBot has the potential to be more effective at growing crops, use less inputs and labor, and be more economic. Partofthe
visionofFarmBotistogrowfoodforeveryone,andIthinkthatispossible.

9.2.Sustainability
The majority of todays industrialized agriculture practices are unsustainable both in their energy and resource usagebutalsointheirdestructionof
soil health and food quality. FarmBot aims to change this paradigm by offering a way to produce sustainably without sacrificing efficiency or
increasing cost. Infact, the FarmBot system willincreaseefficiencyanddecreasecost.Additionally,thedecentralizationof foodproduction(Section
9.4)willallowgreatsavingsintheenergyandinfrastructurerequiredtoshipanddistributefood.

9.3.DemocratizationofFoodProduction
FarmBots scalability allows anyone with accesstoacomputerandayard,someland,orevenarooftobeable toinstallandoperateaFarmBot.By
opensourcing the technology as well as designing for simplicity, hackability, affordability, and accessibility, FarmBot will lower the barrier to the
averagepersontogrowfood.Ideally,farmingknowledgeandspecialskillswillneverbeneededtoinstallandoperateaFarmBot.
By making the choice to grow food accessible, FarmBot will help to democratize foodproduction, giving the power of food back tothe people. No
longerwillfoodproductionpractices,availability,andpricesbedeterminedbythefoodproducers,thegovernment,ortheeconomy.

9.4.DecentralizationandLocalizationofFoodProduction
WIth more people growingfood in smaller operations, food production will be partially decentralized and localized. Thiswill make eachcommunity
and evenhousehold more independent andresilient to crop failures and other large scale disasters. It will give more peopleaccesstofresherfood
andprovidegreaterabundanceforall.Inaddition,itwillsavetremendouslyonshippingcostandinfrastructurerequirements.

9.5.EliminationoftheFarmer
Perhaps the most controversial aspectoftheFarmBotvisionis theeventualeliminationofthefarmer.Historically,puttingagoodamountoftimeand
effort into feeding yourself and your family is something that every living thing had to do. But since the dawn of agriculture, humans have been
improving methods andtechnologies in order to spend lesstime onthis task.FarmBot is perhaps the last technological advanceneeded to make
ourtimespentfarminggotozero.
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By creatingamechanizedsystemwhereveryspecificandroutineactionsareneededtoeffectivelyproducefood,itonlymakessensetohandoff the
remainingrepetitivetasktoacomputer.Likesomanytechnologiesinthepast,thisadvancementcouldmakemanypeoplesjobsobsolete.
Dependingonwhoyoutalkto,thisiseithergoodorbad.IseeitasagoodthingIwouldratherhavefarmlaborersbecomingeducatedandworkingin
other industries ratherthan picking berries all day, hunched over in a field. Thats not to say that the peoplewhoenjoyworkingonafarmandinthe
garden,myselfincluded,cannotcontinuetodoit,butnowwecandoitasahobbyandnotnecessarilybecauseitpaysthebills.
Dependingon the adoption rate of a disruptive technology likeFarmBot, there couldbealargespikeinunemployment,oragradualfadeoutoffarm
jobs. Either way, there may be a whole new class of jobs created such as professionalFarmBot installers, maintenance specialists, and anyone
workingtomanufacturethecomponents.

9.6.IncreasedorDecreasedSeparationofPeopleandFarming
It is hard to say if FarmBot will further separateor bring together people and theirfood. In one case,manysmallscaleFarmBotsareimplemented,
making growing your ownfood more accessible. This would allow many peopleto get handson experience,bephysicallycloseto,andhavesome
level of responsibility and commitment with their foods production.Intheotherscenario,FarmBotisadoptedprimarily ona largerscalewhichleads
toevenlesspeoplebeinginchargeofproducingfoodandthosepeoplesimplysittingbehindacomputer,withnophysicalconnectiontotheprocess.
But with the current trends, scenario two is happening anyway and it leaves no opportunity for scenario one. So, at the least, FarmBot has the
potential to connect people with their food more than todays technology simply because of the scalability and potential for home installation and
operation.Asafurthermatter,therearebenefitstoberealizedwithbothsystems,thatwilllikelyultimatelyleadtoadoptiononbothscales.

9.7.GreaterDependenceonMachinesandComputers
It can be arguedthathumanitysincreasingdependenceontechnologysuch asmachines andcomputerscouldposeseriousthreatstohumansina
large scale crisis or infrastructure failure. This isperhaps a fact we must accept as we adopt any new technology, but it is important to step back
andbemindfulofourdependenceonthesesystems,especiallywhenthesystemisameanstofeedourselves.

9.8.LossofIndividualandGenerationalKnowledgeandtheGainofUniversalandAccessibleKnowledge
With the adoption of a technology like this, there may beagreatlossofindividualandgenerationalknowledgeinhowtogrowfoodandworkwiththe
landandnaturalsystems.Aswithanyknowledgeorculturalloss,itislikelyachoicewemustmakeifwearetoadoptnewmethodsofdoingthings.
With the loss of individual and generational knowledge, we will gain universal and accessible knowledge by cataloging all of our food growing
techniquesinto one place and making thatknowledgeaccessible.Thelossesandgainsofourknowledgeinfarmingwillbesimilartothelosses and
gainsthathaveoccurredwiththeriseoftheInternet,massproduction,globalization,andotherareas.

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9.9.LockintoanInferiorSystem
It can be argued that other systems of growing food such as permaculture or hydroponics are the best solution to sustainably growing food forthe
world in an economic way.However,becauseoftheriggedmarketthatfavorsconventionalgrowing,conventionalgrowingisthedominatingpractice
and we have been somewhat lockedin to this inferior system. If FarmBot rises above conventional asabettersystem,itwillbeimportanttokeep
ourmindsopentoother,evenbettersystems.WemustavoidforcesthatcouldunfairlyfavorFarmBot,lockingusintoanotherinferiorsystem.

9.10.Hacking
The fact that FarmBots will beconnected to the Internet leaves a huge possibility for hacking. Because many commercial and industrialFarmBots
will one day be equipped with tools such as burners andpotentiallyharmfulchemicals,thereisalargeriskfora maliciouspersontosetfiretofields
and also poison the land, crops, and water supply through inappropriate practices. Furthermore, almost all FarmBots, regardless of size, will be
equipped with plows and other tilling implements that could destroy crops. Lastly, every FarmBot will at least be connected to a water supply,
allowingfordetrimentaloverwateringandthewasteofavaluableresourceonamassivescale.
All of these security threats could cause destruction of crops, damage to the land and environment, the waste of resources, and damage to the
FarmBot equipmentitself on a potentially worldwide FarmBot security breach. Though I amnoexpertincomputerandhardwaresecurity,Idoknow
thateachriskwillneedtobehandledappropriatelythroughvariousmethods.Hereareacoupleofideas.

RequiringsecureencryptionbetweenthecommunicationofeveryFarmBotandanywebservice
Authentication requirements for any operation or firmware uploads. This could require knowing a unique serial number on the FarmBot
microcontrollerorotherhardware
Manual valves and other hardware that require a present human to activate, preventing dangerous and unwarranted computer controlled
operationssuchasburning
HostingtheFarmBotsoftwarebackendlocallyandconnectingtothehardwareonasecure,localintranet
Becausethesoftwarewillbeopensource,itmaybe checkedforintegritybythecommunityatlarge.Ontop ofthis, anyuserwillhavethefreedomto
download andhostthebackendsoftwareon acloudserviceoftheirchoiceortheirownhardware.Thesoftwaremaythenalsobemodifiedto require
higherlevelsofauthenticationorother,additionalformsofsecurityifdesired.

9.11.FailureofSupportingInfrastructure
Because FarmBots may rely heavilyonanInternetconnectionandtheelectricgrid,failureoftheseinfrastructurescouldcausedetrimentaleffectsto
fields. These risks could be mitigated with the use of local hardware running FarmBot software connected via an intranet, and onsite power
generationwithphotovoltaics,wind,orbackupgenerators.

50

10.DefiningShortTermSuccessandNextSteps
I believe the FarmBot Project has the potential to revolutionize the way humanity produces food both on the small and large scale. As the vision
states, the project aims to create an open and accessible technology enabling everyone to grow food and to grow food for everyone. However,
revolution will not be the defining metric of success in the short term. I think that short term success boils down to achieving two important
milestones.
The first milestone is to create and demonstrate a functioning minimum viable product such as FarmBot Genesis. This will right away prove or
disprove the viability of the technology. This milestone also includes making available the plans, source code, and even purchasable kits of the
minimumviableproductinordertolowerthebarriertoentryforotherstolearnaboutandcontributetotheproject.
This leads me into the second milestone: creating a vibrant andexcitedcommunityofDIYers,makers,hackers,andenthusiastswhowillcontribute
to the development of theproject. I dont know exactlyhowthiswouldbemeasuredbutperhapsitisreachingacriticalmassofpeoplesuchthat the
projectandcommunityisselfsustainingandgrowsonitsown.
The nextstepsinthedevelopmentoftheFarmBotprojectarecompletingtheinitialworkinghardwareandsoftwarepackagethatisFarmBotGenesis
and preparing the technology and wiki for the crowdfunded launch. For this to happen in the most efficientmanner,I amlookingformorepeopleto
jointhedevelopmentteamandforinvestmenttopurchaseprototypinghardwareandpayforthedevelopmentcost.
I am looking for great people with knowledge in mechanics, manufacturing, robotics, mechatronics,microcontrollers, agriculture,botany,hydrology,
soil science, marketing, graphic design, and software development including web backend and frontend, internet of things, wikis, mobile app
development, computermachine interfaces, UI, UX, algorithm development, big dataanalysis, etc, you name it. Everyone who is interested in the
project is welcome to join the team as all skills and perspectives are appreciated. Please email rory@farmbot.it or call (678) 3217679 if you are
interested!Youcanalsofollowtheblogatblog.farmbot.it,contributetothewikiindependentlyatwiki.farmbot.it,andfollowthesocialmediaprofiles.

10.1.ListofActionItems
Thefollowinglistisanincomplete,highleveloverviewofthingsthatneedtohappenfortheminimumviableproductandfortheprojectasawhole.

Secure$3,000+investment/donations
FinishCADworkandsourcingpartsforFarmBotGenesis
DocumentFarmBotGenesisdevelopmentonthewiki
Purchasematerialsandconstructtheprototype
Conducttestinganditerationoftheprototypeanddocumentallexperience
DevelopormodifyanArduinosketchtointerpretGcode,drivethehardware,recorddata,andcommunicatewiththebackend
51

Developabackendthatsupportsuserprofilesanddata,remoteconnectionwithanArduino,andhasadecisionsupportsystem
Completethedesignofthewebfrontend
Designgraphicassetsincludingbuttons,planticons,logos,etc
Developtheinteractiveandresponsivewebfrontend
DeveloporsetupanopendatarepositoryandAPIthatissearchableandaccessiblebypeopleandthebackend
Aggregateplantdataintheopendatarepository
Planforthecrowdfundinglaunch
Tonsofotherthings

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11.Conclusions
Thank you for reading this paper and learning about a project that Iam passionate about andhave dedicated a lot of time to.Ibelievethisideacan
bring us closer to sustainable food production for all and Ihope you think so too. If you found this paper interesting or know someone who might,
pleasepassitalongthroughthatseriesoftubeswhereyoucameacrossit.
Please send anyfeedback or inquiries about thetechnologyorjoiningthedevelopmentteamtorory@farmbot.itorcall(678)3217679.Youcanalso
followtheblogatblog.farmbot.it,contributetothewikiindependentlyatwiki.farmbot.it,andfollowthesocialmediaprofiles.
Rory

53