Measurement of soil compaction in terms of penetration resistance using a hand
penetrometer requires more time and effort. A tractor hydraulic-assisted embedded
microprocessor-based penetrometer was developed to make the results easy to monitor and
decrease human error. The developed penetrometer consisted of a driving system for
pushing the penetrometer probe into the soil at a desired speed, a sensor unit (load cell and
ultrasonic sensor) for measuring the force required to push the probe and the depth of …