This is very interesting. I'm from Iowa, and several extended family members are traditional crop farmers (soybeans/corn). It seems that Acorn is geared towards

This is very interesting. I'm from Iowa, and several extended family members are traditional crop farmers (soybeans/corn). It seems that Acorn is geared towards small-scale organic/sustainable farms, but if there's a way to apply lightweight, capital-efficient robots to large-scale crop farming, you know, farmers are pragmatic, and they'd adopt readily. There are three big problems: 1. Weeds. My uncle's old cultivator sits rusting in his machine shed because he just sprays herbicides these days and running a mechanical cultivator is slow, weather-dependent, and hard to scale to hundreds/thousands of acres across several fields with different locations. Mounting a mechanical cultivator between the wheels on either side or devising some other system of weeding would greatly reduce the amount of spraying, and of course who cares if Acorn is slow? Set it and forget it, have it go faster when no weeds are detected, focus on where the weeds and wet patches are. Farmers don't like spraying herbicides, but they do it because it's legal and it's the only way to scale to current acreage. 2. Fertilizer. So much fertilizer is wasted and turns to runoff. Applying fertilizer precisely would be a huge boon to the Mississippi and the Gulf. 3. Irrigation. Some farmers in Wisconsin irrigate, but most in Iowa don't. Some parts of a field are wet, some are dry, but the air is usually humid. Using condensate to irrigate crop roots directly in dry areas of a field could prevent a ton of loss for farmers. The solar panel and supercapacitor architecture is interesting, but it'd be great to see what could be done with some batteries (an array of ebike batteries?) that could be charged by the panels. With the assembly, allowing adjustment in the width would be useful to accommodate different row sizes, height clearance to accommodate different crops, and then mountpoints between the wheels on either side for different equipment/attachments. I'd think some triangle braces from the wheels to the side centers may be necessary. It'd be great to see how well Acorn could deal with different grades and mud. There's increasing evidence that heavy tractors have a long-term detriment to fields due to soil compaction, so having lightweight robots would be very useful.