a button for recording. It also has an LCD display for easy operation, some other control

parts for interfacing all the components and a data transfer system to transfer the

collected data to a computer for further analysis. Data would be later retrieved from the

unit and post processing is carried out to produce yield maps.

 The Goat system had the button and the LCD display mounted on the dash of the

goat truck so that it is easily accessed by the driver. All the remaining electronics were

placed inside a box and kept in a more secluded place inside the truck. It was noted that

this system sometimes produced incorrect maps due to the fact that sometimes the truck

driver failed to record the location of the tub because of the rush in harvest or other

factors.

 To avoid the previously encountered problem, an automatic triggering system

(Salehi et al., 2000) was developed to record the location of the tub. The system consisted

of a Geo-Focus yield monitor, a DGPS receiver, two pressure switches, a position

switch, and two timers. The pressure switches were used to detect a load on the main

boom lift cylinder and on the dump cylinder. The position switch determined whether the

tipping head was located over the truck bulk bin. When all the three conditions were met,

the system identified that the truck was picking a tub for collecting the fruit and the data

gathering circuit was activated for a given time using the timer and relay circuit for

collecting the DGPS data. However, the automatic triggering system didn't record some

tub locations, which could be attributed to the problems related with the delay timer,

pressure switch settings, and hardware connections.

 The economic value of the citrus industry in Florida makes precision farming a

viable technology for enormous development. Recognizing citrus fruits on a tree is the