Abstract: A system for detecting the operational status of a seed-planting implement. The system includes a row unit including a frame and a residue removal device coupled to the frame. The residue removal device is configured to remove residue from a path of the row unit. The system further includes a sensor configured to capture data indicative of at least one of a position or an acceleration of the residue removal device. The system further includes a controller configured to monitor the data received from the sensor and compare at least one monitored value associated with the at least one of the position or the acceleration of the residue removal device to a predetermined threshold value set for the residue removal device. The controller is further configured to identify the residue removal device as being plugged when the at least one monitored value differs from the predetermined threshold value.

Abstract: A soil penetrating apparatus having an automatic tool (e.g., aerator tine) depth control system and method. The system includes an actuator that sets and controls tine depth, a sensor that monitors tine depth, and a controller that controls the actuator in response to the sensor. In some embodiments, the actuator is a hydraulic actuator, wherein once tine depth is set, flow to the actuator is bypassed. A relief may be provided to allow the tines to lift to a shallower depth temporarily when soil hardness exceeds a threshold. The system may then automatically return the tines to the pre-selected depth once soil conditions permit.

Abstract: The disclosure relates to an on-the-go system for adjustment of various aspects of a planting row unit. The on-the-go system is able to vary the depth of the row cleaner by adjusting the downforce applied to the row cleaner to promote planting at an optimal seed depth and soil moisture while preventing late emergence.

Abstract: An implement guidance module is provided for positioning a drawn implement as the implement is pulled by a vehicle traveling along a desired path of movement, the vehicle having a connection point for receiving a hitch. The module includes a module main frame having a first end configured for connection to the vehicle connection point, and a second end configured for connection to the implement, the main frame having a longitudinal axis, and having a pivot mount connected to the second end with an implement mounting plate pivoting relative to the module main frame about a pivot axis perpendicular to the longitudinal axis. A vehicle mounting plate defines the first end of the module main frame, and the implement mounting plate defines the second end of the module main frame.

Abstract: In accordance with an example embodiment, a system and method for obscurant mitigation is disclosed. The system comprises an obscurant assessor configured to characterize one or more characteristics of a detected obscurant and generate an obscurant model; an obscurant mitigator configured to perform one or more mitigation operations; and a controller communicatively coupled to each of the obscurant assessor and the obscurant mitigator. The controller is configured to receive an output signal from a vehicle sensor corresponding to a detected obscurant level and determine if the detected obscurant level exceeds a predetermined threshold. The controller generates an obscurant mitigation plan if the detected obscurant level exceeds the predetermined threshold based on the obscurant model generated by the obscurant assessor; and controls operations of an obscurant mitigator based on the obscurant mitigation plan to reduce the detected obscurant level.

Abstract: A slip determination system is provided that is capable of providing appropriate control information to a traveling vehicle when the traveling vehicle has proceeded to an area where a slip is likely to occur during automatic travel.

Abstract: A row unit downforce system including: a downforce actuator in operational communication with the row unit and constructed and arranged to apply supplemental downforce to the row unit and opening disks; a monitoring system comprising at least one furrow depth sensor constructed and arranged to generate furrow depth values; and a control system module, wherein the control system module is constructed and arranged to generate actuator command signals in response to the furrow depth values.

Abstract: A control system for an agricultural machine for performing agricultural work processes includes a location determination module and a machine management system.) The work processes are plannably retrievable by means of a planning system from a memory of the machine management system. In the control system, operational speeds are defined allowing for machine-specific and environment-specific load limits.

Abstract: The present invention discloses an opposite belt-type precise seeding device. The opposite belt-type precise seeding device comprises a seed metering tube consisting of a U-shaped shell and a cover plate, two conveying devices provided inside the seed metering tube in parallel, and a conveying plate provided at the lower end of the seed metering tube. The opposite belt-type precise seeding device belongs to the field of agricultural machinery. In a seeder, a tubular seed conveying tube is usually used for guiding movement of seeds, but the movement of the seeds in the seed conveying tube has certain randomness, so that the seed distance consistency of the seeds in a seed bed is reduced. Through control of the seeds by the conveying devices, the stable movement of the seeds is achieved and the seed distance consistency of the seeds in the seed bed is guaranteed.

Abstract: A seed transfer unit for an agricultural planter, having first and second transfer bodies, with each having a plate with a cylindrical sidewall extending perpendicularly. The first and second plates are mounted to permit relative rotation therebetween about a device axis coincident with the major axes through the first and second cylindrical side walls, with the first and second plates parallel, and with the second cylindrical side wall disposed within, and concentric with, the first cylindrical side wall, such that the first and second plates and first and second cylindrical side walls define an annular space therebetween. The first plate has an inlet aperture through which a seed may pass to the annular space, and the second plate has at least one outlet aperture through which a seed is ejected.

Abstract: A transplanting machine has a frame, a plowing implement, a conveyor operable to present seedlings in a tray to picking mechanisms, a plurality of mechanical gates arranged to receive the seedlings, computerized circuitry adapted to analyze portions of pixelated images of seedlings, a channel array associated with the plurality of mechanical gates, an operating mechanism in the final planting gate adapted to gate each seedling arriving at the single position into the furrow, and a closing device adapted to close the furrow. The circuitry determines a status as suitable to plant, transmits the status to a controller that activates the mechanical gates in a sequential order, except for when the seedling is not suitable, in which circumstance that mechanical gate is skipped, such that in a next cycle two seedlings will be gated to the single position together, and one will be suitable to plant.

Abstract: Systems, methods and apparatus are provided for monitoring soil properties including soil moisture, soil electrical conductivity and soil temperature. Embodiments include a soil reflectivity sensor and/or a soil temperature sensor for measuring moisture and temperature.

Abstract: A work machine includes a motive portion, a work portion driven by the motive portion, a discharge path for discharging a work object obtained as a result of the work portion rotating, and a control portion for controlling the motive portion. The control portion includes a detection portion for detecting that the discharge path is clogged with the work object, and a work control portion for, upon the detection portion detecting that the discharge path is clogged with the work object, controlling the work portion and performing an elimination operation for eliminating the clogging with the work object in the discharge path.

Abstract: A method of autonomously controlling the ground speed of a harvester, such as a self-propelled or towed wind rower, uses both the engine speed and the header speed as control parameters to increase or decrease the ground speed as necessary to maintain efficient harvester operation over varying terrain and crop conditions. A control system includes a controller which receives signals from sensors indicative of engine speed, header speed and harvester ground speed and uses actuators to control the header speed, engine speed and harvester ground speed. An operator interface permits an operator to engage or disengage the autonomous mode of control system operation, as well as to directly control the harvester.

Abstract: A grounds maintenance system comprising: a robot tractor comprising; a robot body; a drive system including one or more motorized drive wheels to propel the robot body; a control system coupled to the drive system, the control system configurable to store a mow plan that specifies a set of paths to be traversed for a grounds maintenance operation and control the drive system to autonomously traverse the set of paths to implement the mow plan; a battery system comprising one or more batteries housed in the robot body; and a low-profile mowing deck coupled to the robot body, the mowing deck adapted to tilt and lift relative to the robot body, wherein the control system is configured to control tilting and lifting of the mowing deck and cutting by the mowing deck.

Abstract: A crop management apparatus for selectively severing plant items from a plurality of plants. The apparatus comprises: a sensor unit for sensing aspects of the plurality of plants and generating data indicative thereof; a control unit for processing the data to determine a location of a target plant item suitable for severing; a cutter unit comprising at least one selectively deployable cutter for severing the target plant item from its respective plant; and a prime mover for moving the sensor unit and the at least one selectively deployable cutter across the plurality of plants. The control unit outputs a control signal to deploy the at least one selectively deployable cutter at least in part based on the determined location of the target plant item. When the at least one selectively deployable cutter is in a deployed state, severance of the target plant item occurs at least in part based on movement of the prime mover.

Abstract: The present invention provides an autonomous traveling work machine that can accurately receive positioning signals from navigation satellites and autonomously travel without deviating from a traveling path, even in the case of an inclined slope. The autonomous traveling work machine includes a traveling machine body, a positioning receiver that receives positioning signals from navigation satellites, an autonomous traveling control device that performs control for autonomous traveling along traveling paths based on the positioning signals, an inclination detection unit that detects the inclination of the traveling machine body and outputs inclination angle information, an inclination angle determination unit that determines an inclination angle based on the inclination angle information, and a rotation control mechanism that rotates the positioning receiver with one or more degrees of freedom. The rotation control mechanism keeps the positioning receiver horizontal based on the inclination angle.

Abstract: Providing objective analysis of performance results of power equipment devices are detailed throughout this disclosure. Image data of vegetation cut by a power equipment device can be captured and uploaded to a server for analysis. Data pertinent to the performance results, such as environment conditions, mechanical parameter settings, type of vegetation or turf, and so forth can be submitted with the image data in some disclosed aspects. Analysis results, optionally in conjunction with adjustment data for adjusting mechanical settings of the power equipment can be provided in response to the image data.

Abstract: Calibrating and optimizing settings of power equipment devices are detailed throughout this disclosure. A mobile device application can be connected with a control device of a power equipment, and data pertaining to current environmental conditions (e.g., turf moisture), turf characteristics (e.g., type of grass, etc.) or machine parameters can be entered into the mobile device application and utilized for generating improved setting value(s). Also disclosed are algorithms for correlating these conditions, characteristics and parameters with adjustment data for adjusting machine settings to achieve a desired performance of a power equipment device.

Abstract: It properly manages a growing state of a plant with a simple method. An information processing apparatus includes an image obtaining section to obtain, from an image capturing section configured to capture a work region where a plant is grown, data of an image of a work region and a sunshine condition determination section configured to analyze data obtained by a image obtaining section and determine a sunshine condition in each of a plurality of subareas included in a work region.

Abstract: A mowing sickle drive system comprises a knife bar supported by a frame and drive apparatus operable to drive the knife bar in a reciprocating linear motion at a variable drive frequency. A spring is coupled to the knife bar for applying a restoring force to the knife bar toward a neutral position when in motion. The spring has a variable modulus of elasticity that is controlled dependent upon the drive frequency.

Abstract: A trimmer line for use with a trimmer head of a rotary trimmer is provided, wherein the trimmer line comprises two substantially equal lengths of line connected to each other by one of their ends to form the trimmer line, the two substantially equal lengths of line being of different colors to indicate the middle of the trimmer line. Such a trimmer line allows to easier, or more at least more accurate, spooling of the trimmer line on a trimmer head.

Abstract: A converging drum for a crop mowing implement includes a body that extends along a central longitudinal axis. The body rotates about the central longitudinal axis in a defined rotational direction. At least one ramp feature extends radially outward from the body, relative to the central longitudinal axis. The ramp feature is arranged to form an acute angle relative to a reference plane. The acute angle may open toward the defined rotational direction to move cut crop downward, or the acute angle may open away from the defined rotational direction to move crop upward, to position the cut crop for a conditioning system. The converging drum may include a first group of ramp features near a second end of the body for moving cut crop downward, and/or a second group of ramp features near a first end of the body for moving cut crop upward.

Abstract: A walk power mower comprises a housing having an upwardly and rearwardly extending handle that is gripped by an operator. A load cell is responsive to the force applied by the operator to the handle during a grass mowing operation. Input from the load cell is used by a control system to vary the ground speed of the mower in accordance with the sensed operator applied force through control of an electric traction drive motor.

Abstract: To enable the rotational speed of a cutter blade to be set variably and to allow the operation therefor to be performed with ease and accuracy, multiple switches (74, 76) for setting the rotational speed of the cutter blade electric motor (6) to mutually different rotational speeds, and multiple operation buttons (78, 80) provided for the respective switches (74, 76) are provided on a handle (20), wherein the operation buttons (78, 80) have operation parts (78A, 80A) provided with mutually different sizes.

Abstract: Systems and methods are described for a virtual sensor that determines an amount of grain loss during operation of a combine harvester without any direct measurement of grain loss. An electronic controller is configured to determine values for a set of operating conditions including a plurality of sensor values and actuator settings. The electronic controller then applies an artificial neural network that is configure to receive as inputs the values for the set of operating conditions and to produce as an output a value indicative of an estimate amount of grain loss.

Abstract: A harvesting platform includes a first section and extends along a first section plane that is substantially parallel to a ground surface along which the harvesting platform moves with a combine. A second section is connected to the first side of the first section, and rotates with respect to the first section within a range of angular positions. A locking mechanism retains the second section in a position with respect to the first section while activated, and permits movement of the second section with respect to the first section while deactivated. A controller receives a first signal indicative of the position, and sends a second signal to deactivate the locking mechanism in response to the position being at a positive non-parallel angle with respect to the first section plane. The second section moves toward the first section plane in response to gravity while the locking mechanism is deactivated.

Abstract: In one aspect, a method for automatically controlling a height of a harvesting implement of an agricultural vehicle relative to a ground surface includes receiving height data from a plurality of height sensors spaced apart relative to the harvesting implement with a known spatial relationship and analyzing the height data in combination with position data associated with the known spatial relationship of the plurality of height sensors to establish a correlation between the height data and the position data. In addition, the method includes determining at least one control output for controlling an operation of a height cylinder and a tilt cylinder provided in operative association with the harvesting attachment based on the established correlation, and controlling the operation of the height cylinder and/or the tilt cylinder based on the control output(s) to adjust the vertical positioning and/or the lateral tilt of the harvesting attachment relative to the ground surface.

Abstract: A flexible harvesting header (40) having multiple sections supported by support arms (74), with the height of each arm being adjustable in response to a changing load. Load sensors (504) at first ends of the arms sense loads and generate electronic load signals. Hydraulic cylinders (80) at second ends of the arms are actuatable to raise and lower the first ends. A controller receives the load signals, determines whether actuating one or more of the hydraulic cylinders (80) is warranted due to a changing load, and if so, changes a hydraulic pressure to raise or lower the first ends to offset the changing load. Actuation may be warranted if the changing load exceeds a predetermined value. Further, the entire flexible cutter bar (68) may be raiseable in response to an electronic raise signal, and the controller may actuate all of the hydraulic cylinders (80) to raise the front ends of all of the support arms (74).

Abstract: A mower-conditioner (2, 6) for cutting and conditioning crop material, comprises a mower unit (2) for cutting crop material and a conditioner unit (6) that is configured to condition the cut crop material. A drive input (10) is configured to receive a rotational drive from an external drive unit, and a drive transmission system (30) is configured to transmit rotary drive from the drive input (10) to the mower unit (2) and the conditioner unit (6). The drive transmission system (30) includes a continuously variable transmission (CVT) (40) that transmits rotary drive between the mower unit (2) and the conditioner unit (6) with a variable speed ratio.

Abstract: This invention relates generally to the removal of aquatic vegetation from bodies of water. More specifically, the invention relates to an apparatus and method for the removal of such vegetation, the apparatus and method facilitating a cutting or uprooting of the vegetation within the water and the optional collection of it there-from.

Abstract: In some embodiments, a system includes an open sieve and an auger tip. The open sieve includes an outer frame and a set of crossbars, the outer frame and the set of crossbars defining a plurality of openings. The auger tip includes a tubular portion and a flange. The tubular portion has a first end, a second end, and defines an interior cavity. The flange is coupled to the first end. The flange is configured to be coupled to an auger housing such that a shaft coupled to an auger within the auger housing can be disposed within the interior cavity of the tubular portion and within a bearing rotatably mounted to the second end of the auger tip. The tubular portion defines an opening in a sidewall of the tubular portion such that flower material that has been conveyed to the interior cavity by the auger can fall through the opening.

Abstract: A harvesting system having a robotic picking manipulator that is configured to grasp any item of produce of a plurality of items of produce located on a plant. A robotic transport manipulator is configured to receive the grasped item from the robotic picking manipulator at one of at least one hand-over locations and configured to transport the received item to one of at least one drop off locations.

Abstract: A harvesting apparatus includes a crop conditioning element and an associated hood for conditioning crop material. The hood is moveably mounted to a frame of the harvesting apparatus, at a position located above the crop conditioning element. The hood is moveably mounted to the frame for movement toward and away from the crop conditioning element to adjust a gap therebetween. A swathboard is attached to and moveable with the hood. The swathboard is moveable relative to the hood between a plurality of operating positions. The swathboard is operable to maintain its position relative to the hood during movement with the hood toward and away from the crop conditioning element to form a consistent swath while moving the hood relative to the crop conditioning element to adjust the gap therebetween.

Abstract: A crop cart cleaning and unloading system for cleaning debris such as dirt and rocks from a crop as the crop is being transferred between a hopper of a crop cart and a transport vehicle. The crop cart cleaning and unloading system generally includes a hopper for receiving a crop such as potatoes. The hopper transfers the crop onto a cleaning bed on which the crop is cleaned of debris, with the debris falling underneath the cleaning bed. The crop is conveyed across the cleaning bed as it is cleaned, with the cleaned crop being transferred from the cleaning bed onto an unloading conveyor. The unloading conveyor then transfers the cleaned crop to another location to be discharged, such as directly into a transport vehicle for further transport and processing.

Abstract: A baling system operable to receive loose material, form the loose material into an individual charge, and compress the individual charge with one or more other charges to form a bale. The baling system includes a forming chamber and a plunger operable to move in a reciprocating manner within the forming chamber from a front-dead-center position in which a plunger face is furthest re) from the bale to a rear-dead-center position in which the plunger face contacts and compresses the bale. The system includes a feeder el component operable to pre-compress the loose material to form the individual charge and then move the individual charge into the forming chamber, the feeder component including a feeder chute having a feeder chute outlet connected to the forming chamber. The feeder component is operable to pre-compress the loose material into the individual charge and then move the individual charge into the forming chamber for compression by the plunger into the bale.

Abstract: A baler (10) has a stuffer chute assembly (22) with upper and lower curved walls (44, 46) forming a stuffer chamber (24). A rear portion (54) of the upper wall (44) extends downwardly and forwardly from a baling chamber (12) and a forward portion (50) extends above an inlet opening to the stuffer chamber (24). The upper wall (44) has a plurality of laterally spaced-apart wrappers (52, 56), with adjacent wrappers forming slots (70, 72) extending generally from said crop receiving inlet opening to an outlet opening (48) for cooperation with tines (40) of a feeding mechanism (36). The wrappers (52, 56) are movable relative to the lower wall (46) at a forward end (60) and at a rearward end (66) of the upper wall (44) so as to change a cross-sectional dimension of the stuffer chamber (24).

Abstract: A bale identification assembly includes binding material (52) used by a knotter system to bind a formed bale (14), the binding material (52) comprising identification tags (62) at spaced intervals along the binding material. A read module (66) transmits interrogator signals and also receives authentication replies from the identification tags. A position sensor is used to predict passage of identification tags (62) through the knotter mechanism and a bale length sensor provides a signal representing bale length. A controller receives signals from the bale length sensor and the position sensor and generates a signal to alter the length of the bale (14) by causing an additional flake to be added to the bale by the plunger (34) or the bale to be finished with fewer flakes to prevent the knotter system from tying a knot in the binding material such that the identification tag is positioned in a portion of the binding material used to form the knot.

Abstract: A gardening trimmer may include a first blade configured to be driven by a prime mover in a reciprocating manner along a first direction and a guide disposed in a slot of the first blade to guide reciprocating motion of the first blade. The slot includes first and second inner side surfaces opposing each other and extending along the first direction. The guide includes an outer peripheral surface opposing the slot's inner side surfaces. The outer peripheral surface of the guide includes a first portion in contact with the first inner side surface and a second portion in contact with the second inner side surface. The outer peripheral surface of the guide is curved at least at the first and second portions, and curvature radii of the first and second portions are each greater than a half of a distance between the first and second inner side surfaces.

Abstract: Disclosures of the present invention describe a plant light raising and lowering apparatus. Particularly, a control module is configured for controlling a rope winch to complete at least one inching rotation along a clockwise direction or a counterclockwise direction, such that a base is driven by the rope winch so as to have an upward inching movement or a downward inching movement. Moreover, a counter is adopted for counting the direction, times and/or frequency of the inching rotation, and therefore the control module is able to know a total moving distance of the base by using the inching movement recording unit to record each time of the upward inching movement and each time of the downward inching movement. Therefore, a user is able to control the base to move back to a specific position such as an initial position or a previously-staying position.

Abstract: An interlocking tongue and groove vegetation planting assembly provides a self-supporting arrangement of pentagon-shaped plant containers and triangle-shaped plant containers that are alternatively stacked, and detachably fitted together with support blocks having a central tongue on one end and a pair of legs on an opposite end that fit together in a tongue-and-groove relationship through the support sleeve. Both the pentagon-shaped and triangle-shaped plant containers include a plant chamber, and an adjacent support sleeve. The plant chamber has multiple sidewalls sloped at an angle. The plant chamber also has a floor wall that forms drainage holes near the junction of the plant chamber and the support sleeve sidewalls. The pentagon-shaped plant container is half the width and length of the triangle-shaped plant container to allow sunlight to reach lower stacked triangle-shaped plant chambers.

Abstract: Carts for supporting indoor growth of plants, modular plant growing systems including the carts, and methods of growing plants indoors are disclosed herein. The carts include a support frame, a plurality of light sources, an electrical input structure, an irrigation water distribution manifold, and an irrigation water collection manifold. The modular plant growing systems include a racking system and the carts. The methods include positioning a plurality of plants, positioning at least one flood tray, positioning a cart, fluidly interconnecting a water source, electrically interconnecting an electrical outlet to an electrical input structure, and promoting growth.

Abstract: A device tensions wires supporting the vegetation of plants, preferably orchards and especially vineyards. A simplified and easy-to-use device tensions the wires in a support system of rows of plants for the management and organization of the vegetation. A method supports plants in rows.

Abstract: A grow light includes a plurality of cool white LEDs, a plurality of warm white LEDs, and a driver electrically coupled to the cool white LEDs and the warm white LEDs. An intensity level and spectral composition of the radiant energy emitted by the grow light may be tuned or configured by varying a ratio of the quantity of cool white LEDs to the quantity of warm white LEDs, by varying a spatial arrangement among the cool white LEDs and the warm white LEDs, or by varying a level of current provided to some or all of the cool white LEDs and the warm white LEDs.

Abstract: A tree support assembly may include three or more adjustable legs and a support ring. The support ring may include a first half and a second half that each includes a first end and a second end, a hinge pivotally connecting the respective first ends of the first half and the second half, and a protrusion extending from the second end of the first half. Additionally, the support ring may include an opening disposed within the second end of the second half, in which the protrusion of the first half may be positioned within the opening of the second half in a closed-ring configuration. The support ring may also include a securing feature and an engaging feature that engages with an arm of the securing feature in the closed-ring configuration. In addition, the support ring may include three or more receiving cavities that each receives one of the adjustable legs.

Abstract: A blower (100) includes a blower attachment housing (112), a power head housing (122) having a handle (130) operably coupled thereto, a motor (140) disposed in the power head housing (122), a fan (160) disposed in the blower attachment housing (112), a battery (150), and an intake chamber (174) disposed between the motor (140) and the fan (160) to enable the air to enter the blower (100) between the motor (140) and the fan (160).

Abstract: A system and method for managing a schedule on an irrigation controller is claimed. For each irrigation zone, out of a set of one or more irrigation zones, the process begins by receiving input for an irrigation controller for both i) an offset from an irrigation cycle start time according to a master clock in the irrigation controller and ii) a length of run time. Next the offset from the irrigation cycle start timer and the length of runtime is stored in a data structure such as an ordered array. An overall multiplier for the data structure is also stored. Continuing further the data structure with or without the overall multiplier is wirelessly transmitted to the irrigation controller. In one example the set of the one or more irrigation zones are in numerical order. In another example the set of one more irrigation zones is out of numerical order.

Abstract: A hydroponic plant cultivation apparatus includes a reservoir with an opening. A plurality of planting modules can be stacked above the opening. Each planting module includes at least one planting port, a module conduit aperture, a top end, and a bottom end configured to releasably engage the top end. A conduit fluidly communicable with the reservoir is receivable through the module conduit apertures. A fluid distributor is engageable with a top end of the conduit. A fluid contained in the reservoir is selectively circulatable from the reservoir through the conduit to the fluid distributor, where the fluid is redirected down the interior of the planting modules and back to the reservoir when the planting modules are stacked above the opening in the reservoir, the conduit is received in the module conduit apertures and fluidly communicated with the reservoir, and the fluid distributor is engaged with the conduit.

Abstract: A soilless plant growing system is described. The system includes a receptacle for retaining airborne water droplets, fog or mist, a plant supporting tray positioned within or upon the receptacle, a water reservoir, and a water droplet, fog or water mist generator that directs such to plants in the tray. The water reservoir includes provisions to automatically supply water to the generator. The receptacle may include water recirculating provisions to direct condensed water droplets, fog or mist to the generator.

Abstract: Provided are methods for increasing the yield of a monocot plant through treatment of the plant with a plant growth regulator. In certain embodiments, maize plants produce multiple ears and an increased number of kernels. In certain embodiments, reduced height of the plant allows for more efficient self-pollination.