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WO2025175345A1 - Apparatus and related method for tillage/cultivation operations - Google Patents

Apparatus and related method for tillage/cultivation operations

Info

Publication number
WO2025175345A1
WO2025175345A1 PCT/AU2025/050138 AU2025050138W WO2025175345A1 WO 2025175345 A1 WO2025175345 A1 WO 2025175345A1 AU 2025050138 W AU2025050138 W AU 2025050138W WO 2025175345 A1 WO2025175345 A1 WO 2025175345A1
Authority
WO
WIPO (PCT)
Prior art keywords
ground
ground engaging
engaging element
axis
actuator assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/AU2025/050138
Other languages
French (fr)
Inventor
Andrew Louis GUZZOMI
Carlo PERESSINI
Michael Joseph Walsh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Western Australia
Original Assignee
University of Western Australia
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2024900404A external-priority patent/AU2024900404A0/en
Application filed by University of Western Australia filed Critical University of Western Australia
Publication of WO2025175345A1 publication Critical patent/WO2025175345A1/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
    • A01B33/082—Transmissions; Gearings; Power distribution
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
    • A01B33/10—Structural or functional features of the tools ; Theoretical aspects of the cutting action
    • A01B33/103—Structural or functional features of the tools ; Theoretical aspects of the cutting action the rotating shaft being oriented horizontally
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/08—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines
    • A01B39/085—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines the rotating tools being actively driven
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/002—Devices for adjusting or regulating the position of tools or wheels
    • A01B63/008—Vertical adjustment of tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
    • A01B71/02—Setting or adjusting mechanisms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/02—Apparatus for mechanical destruction
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
    • A01B33/14—Attaching the tools to the rotating shaft, e.g. resiliently or flexibly-attached tools
    • A01B33/142—Attaching the tools to the rotating shaft, e.g. resiliently or flexibly-attached tools the rotating shaft being oriented horizontally

Definitions

  • Tillage is highly effective in controlling problematic weed species and is used to address herbicide resistant populations.
  • entire paddocks are cultivated which jeopardises the sustainability and productivity of highly effective CA systems.
  • improvements to existing tillage technologies in addressing weed removal while maintaining compatibility with accepted/evolving CA farming principles are routinely sought.
  • an embodiment provides an apparatus for coupling with a tyne assembly or other like support assembly for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis, a ground engaging element configured so as to be driven about the axis by the actuator assembly, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state toward a ground engaging state to engage or work a region of the ground for excavating or severing target organic material or soil hosted thereby.
  • an embodiment provides an apparatus for coupling with a tyne bar of a tyne or cultivator assembly arranged to be drawn or towable in a direction of travel for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to the direction the apparatus is caused to be moved in, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground, so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or
  • the apparatus is configured so that the ground engaging element is selectively operable by way of the actuator assembly from the non-ground engaging state in which the ground engaging element is clear or free from engagement with the ground (e.g., in a ‘standby’ condition), to the ground engaging state in which the ground engaging element engages with the ground so as to engage/work a region of the ground for excavating or severing target organic material or soil hosted thereby, then back to the non-ground engaging state.
  • embodiments of the apparatus can be used for providing a means for active and targeted tillage of weed bearing ground.
  • the selective or active nature of the operation of an embodiment of an apparatus consistent with the present disclosure seeks, in one sense, to reduce unnecessary damage to the ground/soil (e.g., soil/weed scatter/distribution, moisture loss, reduction in input energy, etc) during a tillage operation, as compared to conventional tillage strategies.
  • the apparatus is configured so that operating the ground engaging element to the or another state or condition in which the ground engaging element is clear of the ground places or resets the ground engaging element to a standby state or condition ready awaiting another operation to the ground engaging state on identification or selection of another target organic material or region of ground.
  • the standby state or condition is angularly offset from the non-ground engaging state or condition by about 180 degrees relative to the axis.
  • the axis of the apparatus aligns substantially parallel with the ground.
  • the axis of the apparatus aligns substantially transverse or perpendicular to the direction the apparatus is caused to be moved in across the ground by a prime mover, a tow vehicle, or a host vehicle (e.g., an autonomously operable platform), during the tillage or ground cultivation operation.
  • the actuator assembly and the ground engaging element are arranged operable so that, in use, rotary motion of the ground engaging element by the actuator assembly is in a plane that is substantially perpendicular, normal (surface normal) or orthogonal with the surface of the ground over which the apparatus is being caused to be drawn or moved.
  • the axis of the apparatus aligns substantially parallel with a generally horizontally aligned plane.
  • the actuator assembly and the ground engaging element are arranged operable so that, in use, rotary motion of the ground engaging element by the actuator assembly is in a substantially vertically aligned plane.
  • the ground engaging element may comprise a body having first and second ground engaging portions or segments extending away from the body and which are substantially equispaced about the axis. In this manner, the first and second ground engaging segments may be spaced about the axis at about 180 degrees from each other (generally symmetrical about the axis).
  • the body is of a generally planar form, and wherein the or each of the first, second ground engaging portions or segments extend outward or away from the body in respective directions that are substantially normal with the planar form of the body.
  • the first and second ground engaging portions may comprise a respective ground engaging segment (e.g., blade or like formation) having a respective ground engaging edge configured for penetrating the ground.
  • each ground engaging segment extends outward or away from one or the same side of the body of the ground engaging element so as to define its respective ground engaging edge.
  • the ground engaging element comprises a body having first and second ground engaging portions or segments extending outward or away from the body and which are substantially equispaced about the axis from each other, the first, second ground engaging portions or segments comprise a respective ground engaging edge defined in part by its extension from the body, the first and second ground engaging portions configured for engaging or penetrating the ground.
  • the body is generally of planar form.
  • the or each ground engaging portion extends outward substantially normal to the planar form of the body.
  • each ground engaging segment may comprise first and second sides or faces.
  • each ground engaging segment is generally planar in form or profile providing respective first and second sides.
  • each ground engaging segment may operate as a ground engaging or working face during a ground engagement event depending on the direction and/or angular velocity of rotation of the ground engaging element about the axis relative to a linear velocity of the apparatus when moved over the ground.
  • each first and second ground engaging segment positionally opposes the other at or near opposite generally distal ends of the body of the ground engaging element.
  • extension of each first and second ground engaging segment is aligned substantially normal to or with a plane in which the ground engaging element rotates about the axis.
  • extension of first, second ground engaging portion or segment from the body is aligned substantially normal with a plane in which the ground engaging element rotates about the axis, the respective extensions of the first, second ground engaging portions or segments defining respective first and second sides or faces of each first, second ground engaging portion or segment, one or both of which operates as a working side/face during engagement with the ground depending on the direction and/or angular velocity of rotation of the ground engaging element about the axis relative to a linear velocity of the apparatus when being caused to be moved over the ground.
  • first and second ground engaging segments or portions and consequentially respective working side(s)/face(s) are arranged so as to present at an angle of engagement relative to the ground at the anticipated time of engagement therewith so as to improve or optimise engagement with the ground for completing the desired excavation event while reducing or minimising soil disruption.
  • each or one of the ground engaging segment or portions is configured or shaped so that one or both of the respective first, second sides/faces are of generally nonlinear or curvilinear form or profile.
  • a form or profile of one or both first, second sides of one or both ground engaging segments may be configured in a manner which seeks to improve or optimise its engagement with the ground.
  • each ground engaging segment is of finite length or distance in its extension outward from the body.
  • the ground engaging segments may extend outward or away from the body about a distance within a range from about 70mm to about 200mm, or about 100mm.
  • each ground engaging segment is spaced from the axis so that a distal tip or edge of the relevant ground engagement segment (e.g., a tip or edge that engages with the ground during a ground engaging operation/event) is about 175mm from the axis (which, in one form, may equate to a radius of the ground engaging element).
  • the ground engaging element may be rotated clockwise or counterclockwise about the axis.
  • the direction of rotation about the axis may be informed by the operational control strategy or regime adopted for a given tillage/cultivation operation.
  • the actuator assembly may be arranged operable to drive the ground engaging element in: (i) a first direction of rotation about the axis in which one of the ground engaging portions or segments engages the ground at a location ahead of or upstream of the axis, and before or after the target organic material or region of ground to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation; or (ii) a second direction of rotation about the axis in which one of the ground engaging portions or segments engages the ground at a location behind or downstream of the axis and before the target organic material to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation.
  • first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground extending behind the relevant ground engaging segment, or between from about 0 degrees to about 45 degrees, or about 16 degrees.
  • the relevant angle of engagement is selected so as to reduce or minimise loading to which the ground engaging element is or becomes subject to when or during its engagement with the ground at a desired velocity of the apparatus moving across the ground.
  • the apparatus is configured so that the actuator assembly may be arranged operable to drive the ground engaging element in a first direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material to be excavated relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground (extending behind the relevant ground engaging segment) over which the apparatus is passing.
  • the apparatus is configured so that the actuator assembly may be arranged operable to drive the ground engaging element in a second direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location behind the axis, and before the target organic material to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation.
  • the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground (extending behind the relevant ground engaging segment) over which the apparatus is passing.
  • the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis for substantially a first quarter rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between (i) a range of from about 45 degrees to about 90 degrees, or (ii) a range of from about 45 to about 75 degrees, or (iii) a range of from about 75 degrees to about 90 degrees, or (iv) a range of from about 85 degrees to about 90 degrees (it has been noted that some testing to date suggests that angles of engagement of the ranges (iii)-(iv)
  • the apparatus may be configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis for substantially a half rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees.
  • the method comprises operating the apparatus so as to drive the ground engaging element at about a first angular velocity from the non-ground engaging state to a first position at about which one of the or each ground engaging portions or segments is about to engage the ground between the axis and the target organic material or region of soil.
  • the method comprises determining if the first position is reached and carrying out the relevant of the following: (i) maintaining the first angular velocity if the first position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the first position has been reached, or (b) to the standby state/condition.
  • Embodiments of the first and second ground engaging elements may comprise any of the embodiments of the ground engaging element described above, or as otherwise described herein.
  • the actuator assembly comprises a gearbox configured operable for providing drive to both the first and second actuators so as to operate substantially together.
  • the actuator assembly is configured so as to provide a direct drive arrangement to one or both first, second ground engaging elements from the same or a respective actuator module.
  • the actuator assembly comprises a first actuator module operably associated with the first ground engaging element so as to drive same about the first axis.
  • the actuator assembly comprises a second actuator module operably associated with the second ground engaging element so as to drive same about the second axis.
  • an embodiment provides an apparatus for coupling with a tyne assembly or other like support assembly for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly, a ground engaging element configured so as to be driven by the actuator assembly, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state toward a ground engaging state to engage or work a region of the ground for excavating or severing target organic material or soil hosted thereby, and return to the non- ground engaging state.
  • Embodiments of the present aspect may comprise any of the features, either individually or in combination, as described in relation to apparatus of the first or second aspects, or as otherwise described herein. Further, such embodiments may be operated in accordance with various embodiment or implementations of the methods as described herein.
  • an embodiment provides a cultivator bar or related assembly comprising one or more embodiments of an apparatus as described herein for enabling active or targeted tillage capability for use in a tillage or cultivation operation.
  • the or each apparatus is arranged in accordance with any embodiment of the apparatus of the first or second aspects, or as otherwise described herein.
  • Figure 1 shows a perspective view of an embodiment of an apparatus arranged in accordance with the present disclosure
  • Figure 2 shows a perspective view of the embodiment shown in Figure 1 when in a non- grounding engaging or a standby condition
  • Figure 3 shows a perspective view of the embodiment shown in Figure 1 when in a ground engaging state in use
  • Figure 4 shows an exploded view of the embodiment shown in Figures 1 to 3
  • Figures 5 to 10 show respective examples of simulated ground/soil engagement profiles of example tillage operations (Figure 8 showing a simulation of a conventional approach), in which Figure 5b shows schematic views of an embodiment of a ground engaging element arranged consistent with the present disclosure when used in an operation consistent with that simulated in Figures 5-6.
  • FIG. 5b Shown in Figure 5b is the relevant geometrical configuration of the ground engaging element’s ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and cycle path (C) during operation.
  • Figure 7b shows schematic views of an embodiment of a ground engaging element arranged consistent with the present disclosure when used in an operation consistent with that simulated in Figures 7-10. Shown in Figure 7b is the relevant geometrical configuration of the ground engaging element's ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and cycle path (C) during operation.
  • Figure 11a shows a further example of a simulated ground/soil engagement profile of an example tillage operation involving relatively slower rotation as compared the simulations shown in Figures 5 to 10.
  • Figure 11b shows schematic views of an embodiment of a ground engaging element arranged consistent with the present disclosure when used in an operation consistent with that simulated in Figure 11a. Shown in Figure 11b is the relevant geometrical configuration of the ground engaging element's ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and cycle path (C) during operation.
  • Figure 11c shows a further schematic view of the embodiment of the ground engaging element shown in Figure 11b.
  • Figure 12 shows a schematic elevation view of another embodiment of an apparatus arranged in accordance with the present disclosure
  • Figure 13 shows (a) a schematic front-end view of a further embodiment of an apparatus arranged in accordance with the present disclosure, and (b) a schematic elevation view of the embodiment shown in Figure 13(a);
  • Figure 14a shows a schematic plan view of an implementation of use of one embodiment of the apparatus arranged in accordance with the present disclosure
  • Figure 14b shows a perspective view of one embodiment of the apparatus involved in the implementation shown in Figure 14a;
  • Figure 15 shows a schematic plan view of a tillage operation.
  • Figure 16a shows a schematic plan view of another implementation of use of one embodiment of the apparatus arranged in accordance with the present disclosure.
  • Figure 16b shows a schematic plan view of a further implementation of use of one embodiment of the apparatus arranged in accordance with the present disclosure.
  • Figure 17 shows a flow chart of one embodiment of a method of operation of an embodiment of an apparatus arranged in accordance with the present disclosure.
  • Figure 18 shows a flow chart of another embodiment of a method of operation of an embodiment of an apparatus arranged in accordance with the present disclosure.
  • a ground engaging element or tool 10 hereinafter, tool 10
  • tool 10 for use in a tillage or ground cultivation operation
  • a tillage or ground cultivation operation e.g., excavating unwanted organic material such as weeds W or region of soil
  • the apparatus 5 is arranged so as to be couplable with a tyne shank 14 of a tyne assembly or other/like support assembly (hereinafter, tyne assembly 15) that is moveable over the ground by way of a prime mover as part of the tillage or ground cultivation operation, such as for example a tractor T (see Figure 15).
  • the apparatus 5 comprises an actuator assembly 20 that is arranged for providing rotational drive about an axis X.
  • the apparatus 5 further comprises the tool 10 configured so as to be driven by the actuator assembly 20 about an axis X of rotation between a non-ground engaging state in which the tool 10 is clear or free from engagement with the ground (e.g., in a ‘standby’ position or state - the state shown in Figures 1 and 2), and a grounding engaging state in which the tool 10 engages with the ground so as to engage or work a region of ground/soil on selective operation of the actuator assembly 20 (the mid-ground engaging state can be seen in Figure 2).
  • a non-ground engaging state in which the tool 10 is clear or free from engagement with the ground
  • a grounding engaging state in which the tool 10 engages with the ground so as to engage or work a region of ground/soil on selective operation of the actuator assembly 20
  • the apparatus 5 is configured selectively operable (e.g., by way of a suitably configured electronic controller) so as to, when in use, drive the tool 10 by way of the actuator assembly 20 from the ‘standby’ condition so as to selectively engage or work a region of the ground for excavating target organic material hosted thereby.
  • the tool 10 is able to remain in the non-ground engaging or standby position/condition above the ground in anticipation of being driven by the actuator assembly 20 to the ground engaging state on the identification or selection of target organic material or soil requiring excavation.
  • embodiments of the apparatus 5 can be used for providing a means for active and targeted tillage of weed bearing ground.
  • the actuator assembly 20 is arranged for providing rotational drive about the axis X which, during operation, is aligned substantially parallel with the ground and substantially transverse or perpendicular to the direction the apparatus 5 is caused to be moved in (e.g., towed) by the tractor T (for example).
  • the ground engaging element or tool 10 is configured so as to be driven during operation about the axis X by the actuator assembly 20 in a plane substantially parallel with the direction of movement the apparatus 5 is being moved/towed in.
  • the actuator assembly 20 and the tool 10 are arranged operable so that, in use, rotary motion of the tool 10 driven by the actuator assembly 20 is in a plane that is substantially perpendicular, orthogonal or normal with the local surface of the ground over which the apparatus 5 is being caused to be drawn or moved.
  • the apparatus 5 is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground, so as to drive the tool 10 by way of the actuator assembly 20 from the non-ground state or condition (e.g., standby state) toward the ground engaging state or condition for engaging/working a region of the ground for excavating or severing the target organic material or soil hosted thereby.
  • the non-ground state or condition e.g., standby state
  • the tool 10 is then returned or moved to the state or condition in which the ground engaging element is clear of engagement with the ground.
  • the state or condition in which the tool 10 is clear of engagement with the ground could be the same initial standby state/condition, or another position in which the tool 10 is clear of engagement with the ground and is ready another operation to engage/work the ground once another target organic material or region of ground is selected/identified.
  • the apparatus 5 is couplable with the tyne shank 14 of the tyne assembly 15 by way of a coupling arrangement 25 configured so as to releasably attach the apparatus 5 to a lower portion of the tyne shank 14.
  • the coupling arrangement 25 comprises a body 28 configured having a first body portion 28a configured with an aperture 28c (see Figure 4) dimensioned so as to receive the actuator assembly 20, and a second body portion 28b configured for coupling with the tyne shank 14 in the manner shown in Figures 1 to 3.
  • the coupling arrangement 25 is operable with fasteners that operate with an existing attachment means, e.g., a standard attachment point or provision on a region of the relevant shank 14 of the tyne assembly 15.
  • a suitable bolt-nut fastener is used with an adapter plate 29 to secure the apparatus 5 with an aperture (not shown but implied in Figures 1 to 3) formed in the tyne shank 14 in a manner in which the apparatus 5 is keyed or splined with the shank 14 (i.e., fixedly associating the apparatus 5 with the shank 14).
  • the coupling arrangement 25 may be part of the apparatus 5 or a separate arrangement associated with the shank 14 of the tyne assembly 15. The skilled reader would appreciate other types of coupling arrangements that could be used to secure the apparatus 5 with suitable supporting structure in the present context.
  • the axis X of the apparatus 5 aligns substantially parallel with the horizontal plane and spaced above the ground.
  • the actuator assembly 20 and the tool 10 are arranged operable so that, in use, rotary motion of the tool is in a substantially vertically aligned plane (this plane being substantially perpendicular, orthogonal or normal with the local surface of the ground over which the apparatus 5 is being caused to be drawn or moved).
  • the tool 10 is rotatable clockwise or counterclockwise (as will be described in further detail below) by the actuator assembly 20 about the axis X.
  • the direction of rotation of the tool 10 may be informed by the desired tillage effect, which could be, for example, informed by the type of organic material or region of soil being targeted for excavation.
  • the direction of rotation about the axis X may be informed by the operational control strategy adopted for a given tillage/cultivation operation.
  • the tool 10 comprises a body 10a having first and second ground engaging portions provided respectively in the form of first 10b and second 10c ground engaging segments (hereinafter, blades 10b, 10c) which extend outward or away from a side of the body 10a, and which are provided in spaced relation relative to each other about the axis X (e.g., at about 180 degrees apart from each other).
  • the body 10a is generally of a substantially planar form, and the first 10b and second 10c blades extend from the planar form of the body 10a in a direction that is substantially normal (directed outwards and orthogonal of the body) to the planar form of the body. It will be appreciated that more or less blades could be embodied depending on the prevailing circumstances.
  • the positioning of the blades 10b/c, 10 are equispaced and generally symmetrical about axis X.
  • Each of the first 10b and second 10c blades comprise or present a respective ground engaging edge 10b-E, 10c-E which extend from the same side of the body 10a, as shown in Figures 1 to 3.
  • each ground engaging edge 10b-E, 10c-E extends from the side of the body 10a so as to be aligned substantially normal with the plane in which the tool 10 rotates about the axis X.
  • the blades 10b/c may extend outward or away from the body 10a about a distance within a range from about 70mm to about 200mm, or about 100mm.
  • the body 10a may have a radius of about 175mm, this being the distance from the axis X to a respective ground engaging edge 10b-E, 10c-E (see various geometries in Figures 5b, 7b, and Figures 11b, 11c).
  • the skilled reader would understand the scope of geometries applicable for embodiment of the present disclosure from the description and the Figures.
  • each blade 10b, 10c is generally of planar form or profile providing first 10b-1, 10c-1 and second 10b-2, 10c-2 sides (which are generally aligned in parallel relation). Either of the respective sides of each blades 10b, 10c may operate as a ground engaging or working face (hereinafter, working face) during a respective ground engaging event depending on the direction of rotation of the tool 10 about the axis X.
  • each blade 10b, 10c is arranged so as to be angled relative to axis X. As will be described below, the respective angles of the blades 10b, 10c relative to the axis X (and consequentially, the relevant working face) are informed by a desired angle of engagement sought with the ground.
  • the skilled reader will appreciate that the form or profile of the blades 10b, 10c may take different forms.
  • each blade may be configured or shaped so that one or both of the first 10b-1, 10c-1, second 10b-2, 10c-2 sides are of generally nonlinear or curvilinear form or profile.
  • first 10b-1, 10c-1, second 10b-2, 10c-2 sides of one or both blades 10b, 10c may be configured in a manner which seeks to improve or optimise its engagement with the ground.
  • first 10b and second 10c blades are configured relative to the other so that a half rotation of the tool 10 achieves a substantially complete excavation of target organic material or soil.
  • the ground engaging tool 10 can be configured so that each blade 10b, 10c positionally opposes the other at or near opposite distal ends of the body 10a of the tool 10.
  • the standby positions are angularly offset from each other by about 180 degrees relative to the axis X, i.e., movement from the first standby position to the next standby position is about 180 degrees (due to having two opposingly disposed blades 10b, 10c).
  • the angular offset of the standby positions will be less and driven by the geometry of the positioning of the blades about the axis X where no blade is engaged with the ground.
  • the first 10b and second 10c blades are arranged so as to present at an angle of engagement relative to the ground at the anticipated time of engagement therewith.
  • the angle of engagement of the respective blades 10b, 10c are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or from about 45 degrees to about 75 degrees (e.g., for a ‘chip-in-chip-out’ operational strategy, i.e., second-first direction operational strategy), or in other embodiments from about 85 degrees to about 90 degrees (e.g. for 180 degree operational strategies).
  • the angle of engagement of the respective blades 10b, 10c is configured so as to be about 16 degrees at about the position where the distal tip or leading edge 10b/c-E of the relevant blade engages the surface of the ground.
  • the actuator assembly 20 may be configured so as to provide a direct drive arrangement.
  • the actuator assembly 20 may comprise or be arranged operable with a reduction (e.g., a speed reducer gearbox arrangement) or conversion arrangement or system, which may comprise any of a hydraulic, electromagnetic power or torque conversion arrangement or system.
  • the actuator assembly 20 comprises an electric motor 22.
  • the electric motor 22 is a brushless electric motor, typical of a high-end battery- powered power-tool.
  • a source of electrical energy e.g., one or more batteries or powered from a mounted generator which may be powered from the tractor power take-off (PTO) or hydraulics or combustion engine
  • the actuator assembly 20 and/or the control means may be powered by an electrical power source involving one or more batteries and/or one or more solar panels or a solar array.
  • the actuator assembly 20 further comprises a gearbox arrangement 35 arranged operable with the electric motor 22 so that power from the electric motor 22 can be converted or modified on transmission to the tool 10. In this manner, the degree of drive provided to the tool 10 by the actuator assembly 20 can be varied as needed for a tillage or ground cultivation operation.
  • Such a gearbox could be any of the following types (without limitation): a planetary gearbox, a cycloidal gearbox, a “T” gearbox, a worm drive, a crown gear or right-angle gearbox, a gearbox involving bevelled gears etc.
  • a gearbox could be any of the following types (without limitation): a planetary gearbox, a cycloidal gearbox, a “T” gearbox, a worm drive, a crown gear or right-angle gearbox, a gearbox involving bevelled gears etc.
  • the skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the present disclosure.
  • the actuator assembly 20 may comprise a hydraulic motor. In such embodiments, the hydraulic motor may require operable association with an appropriate gearbox for power transmission.
  • gearbox arrangements could be any of those used with an electric motor or as described herein.
  • the hydraulic motor (or more) is operable with a hydraulic power take off module or a source/supply of hydraulic fluid of or provided with the means of towing the apparatus (e.g., tractor).
  • a hydraulic power take off module or a source/supply of hydraulic fluid of or provided with the means of towing the apparatus e.g., tractor.
  • the gearbox arrangement 35 for the presently described embodiment is of the planetary type to facilitate a compact arrangement.
  • the various components of the actuator assembly 20 shown include (working from the lower right to the upper left region of Figure 4): fasteners F, Nord-lock washers 35a, end cap 35b, laminated shim 35c, Fey-ring 35d, thrust bearing 35e, fasteners S, hub 35f, needle bearing assembly 35g, planet gear pins 35h, planet gears 35i, thrust bearing 35j, and motor housing 35k which threadedly engages with lock nut 35 through the aperture 28c of the body 28 as indicated.
  • the nature of engagement by each blade 10b, 10c with the ground is influenced by the direction of rotation that the tool 10 is being driven about the axis X relative to the direction that the apparatus 5 is moving over the ground. Also relevant is the respective velocities, i.e.
  • the velocity of the apparatus 5, and the angular velocity about the axis X of the tool 10 when driven are objectives of the principles of the present disclosure.
  • a favourable outcome is severing of weed/plants below the growth point.
  • the tool 10 may be rotated clockwise or counterclockwise about the axis X. The direction of rotation about the axis may be informed by the operational control strategy or regime adopted (a number of operational control strategies of use of embodiments of the present disclosure are described below) for a given tillage/cultivation operation.
  • the actuator assembly 20 is arranged to drive the tool 10 in a first direction of rotation in which one of the blades 10b, 10c engages the ground ahead or upstream of the axis X relative to the direction the apparatus 5 is being moved over the ground (an example of the tool 10 rotating in the first direction of rotation is shown in Figure 11).
  • the actuator assembly 20 is arranged to drive the tool 10 in a second direction of rotation (opposite the first direction of rotation) in which one of the blades 10b, 10c engages the ground behind or downstream of the axis X relative to the direction the apparatus 5 is being moved (an example of the tool 10 rotating in the second direction of rotation is shown in Figure 5).
  • the direction of rotation of the tool 10 will likely have implications on the nature of the plant/weed sought to be encountered during the tillage/cultivation operation and the extent that the above ground structure may interfere (entangle) with any constituent part of the apparatus 5 (e.g., any of the parts of the tool 10, blades 10b, 10c, constituent parts of the actuator assembly 20, gearbox module, including the exemplification of the axis X).
  • any constituent part of the apparatus 5 e.g., any of the parts of the tool 10, blades 10b, 10c, constituent parts of the actuator assembly 20, gearbox module, including the exemplification of the axis X.
  • the operational control strategy used for any tillage/cultivation involving embodiments of the apparatus 5 may be informed or have regard to any of the plants/weeds that will be encountered during a tillage/cultivation operation.
  • the tool 10 engages with the ground with relatively less impact force than that expected when engaging with the ground when rotating in the second direction of rotation.
  • the respective linear tow velocity of the apparatus 5 and angular velocity of the tool 10 generally resolve and subtract at the ground engagement region given the length of the tool leading to a less agitated engagement with the ground.
  • the respective velocities in the ground engagement region are additive leading to a more aggressive engagement and subjecting the tool 10 (and the apparatus 5) to a more intense loading profile while engaged with the ground.
  • a desirous ground engagement profile/path (which profile/path is commensurate with a volume of a divot or excavation to be carried out) along which movement of at least one of the blades 10b, 10c progresses can be engineered so as to improve prospects of weed (including weed/plant severing) or soil excavation and, prospectively, energy consumption/recovery. Active control or setting of these parameters may be informed by the nature of the ground to be worked and/or the nature of the weeds known to be present in the ground.
  • the apparatus 5 can be coupled with the tyne shank 14 in a number of different orientations relative to the direction of movement over the ground (eg. by a prime mover).
  • the apparatus 5 (or multiple apparatuses of similar configuration) can be located/coupled with respective tyne shanks 14 so that operation of the apparatus (5) causes the carried tool 10 to be capable of engaging ground in desired inter-row region(s).
  • embodiments of the apparatus 5 of the present disclosure lend well to inter-row tillage/cropping operations.
  • embodiments of the apparatus 5 may be configured for use in intra-row tillage/cropping operations.
  • constant angular velocities of the tool 10 are not essential as variable/non-constant velocities of the tow means and the tool 10 can be exploited to change the soil engagement path, as well as the consequential reaction time.
  • the same reference numerals are used for analogous features where appropriate for ease and consistency of explanation.
  • the path (C) shown in Figures 5b and 7b represents the path of the leading edge 10b/c-E of the relevant blade 10b/c when the tool 10 is itself stationary, as compared the corresponding path DC of the leading and trailing edges 10b/c-E, 10b/c-T when the tip of the tool 10 is being towed during operation.
  • the tool 10 geometries are, in effect, inversions of each so that the presentation of the blades 10b/10c and respective working face (wf) to the ground at the engagement position E is the same for the direction of rotation for the relevant simulations, being at about 90 degrees with the ground and accounts.
  • Figure 5 shows one mode of operation of the apparatus 5 where engagement of the blade 10b is completed during an initial approximately quarter rotation (90 degrees) of the tool 10 shown about the axis X in the second direction of rotation (as defined above) from the non-ground engaging or standby state to the ground engaging state - this motion is referred to as a ‘stroke/dig’ action.
  • This initial quarter rotation is followed by a reverse rotation of the tool 10 about the axis X back to the non-ground engaging or standby state – this reverse motion is referred to as a ‘reload’ action.
  • This type of movement strategy is referred to as a ‘chip-in/chip- out’ cycle.
  • a side or face of the blade 10b operates as a working face (indicated as wf) serving to engage and work the ground/soil.
  • the working face wf is the side of the blade 10b that faces inwards towards the axis X.
  • the working face wf works/engages an amount of ground/soil (hereinafter, worked volume wv, represented in the shaded region) between the ‘soil line’ and the engagement profile/path along which the blade 10b is caused to travel.
  • worked volume wv represented in the shaded region
  • Working of the ground in this manner serves to (theoretically) excavate the entirety of the worked volume wv.
  • the blade 10b and working face wf are configured or oriented with the tool 10 so as to arrive at the ground surface at an angle of engagement of about 90 degrees (relative to the surface of the ground) at the intended engage position E, being arrived at from the standby position S having passed/swept through an angle of about 46 degrees.
  • the apparatus 5 can be operated so that the actuator assembly 20 drives the tool 10 in the second direction of rotation about the axis X for substantially a first quarter rotation in which one of the blades 10b/c is caused to engage the ground at a location behind the axis X and before the target organic material or region of ground to be excavated.
  • This causes a face or side of the relevant blade 10b/c facing toward the axis X to become an active or working face/side that engages/works the ground.
  • one or both of the blades 10b/c are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or in some embodiments from about 75 degrees to about 90 degrees, or in other embodiments from about 85 degrees to about 90 degrees, or in other embodiments from about 45 degrees to about 75 degrees.
  • the actuator assembly 20 is arranged operable to, following completion of a first quarter rotation, drive the tool 10 in a second quarter rotation about the axis X in a direction that is opposite to (or the reverse of) the second direction of rotation back to the standby position, thereby completing an excavation cycle.
  • the tool 10 is then ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate.
  • the ‘chip-in/chip-out’ operation is achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate.
  • the tow velocity is about 10km/h, and is higher than that used in conventional rotary hoeing.
  • the tool 10 rotation is of relatively high revolutions per minute (RPM), being about 200 RPM (which equates to an angular velocity of about 20.9 rad/s).
  • RPM revolutions per minute
  • the operational case shown in Figure 5 aims to achieve a mechanical hoeing action.
  • the shown second instance of soil engagement represents the quickest, or minimal distance at a given travel speed for two discrete consecutive triggering events.
  • the forces experienced by the tool 10 are aggressive.
  • the ground/soil (or weed/plant) engaged by the working face wf of the blade 10b is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity.
  • Figure 6 shows another mode of operation of the apparatus 5 where engagement of the blades 10b, 10c with the ground is completed during a half rotation (180 degrees) of the tool 10 shown at about 200 RPM (or about 20.9 rad/s).
  • Figure 6 shows the ground/soil engagement path for the operational case where the tool 10 rotates at relatively high angular velocity in the second direction of rotation from the standby condition through 180 degrees causing the blade 10b to engage the ground, and continuing so as to arrive at the next standby condition with the blade 10c awaiting the next engagement with the ground.
  • the tow velocity is 10km/h, being relatively fast for a tillage operation.
  • the working face wf of each blade 10b/c of this strategy is the same as for the simulation in Figure 5.
  • the ground/soil (or weed/plant) engaged by the working face wf of the blades 10b/c in turn is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity.
  • the apparatus 5 can be operated so that the actuator assembly 20 drives the tool 10 in the second direction of rotation about the axis X for substantially a half rotation in which one of the blades 10b/c are caused to engage the ground at a location behind the axis X and before the target organic material or region of ground to be excavated.
  • one or both of the blades 10b/c are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees.
  • the actuator assembly is arranged operable to drive the tool 10 through an arc of substantially 180 degrees about the axis X from a first standby position so as to arrive at a second standby position thereby completing an excavation cycle, and providing the tool 10 in a state ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate.
  • a standard tillage operation can be achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate.
  • a longer/broader extent of ground/soil engagement path results which excavates a larger amount of worked volume wv as compared to that shown in Figure 5.
  • the blades 10b/c and working face wf are configured or oriented with the tool 10 so as to be presented at an angle of engagement of about 90 degrees relative to the surface of the ground at the intended engagement position E, being arrived at from the standby position S with the tool 10 having rotated through an angle of about 46 degrees.
  • the tool geometries shown in Figures 5b and 7b are ‘inversions’ of each other to enable the respective working faces wf to operate analogously for the change in rotation direction.
  • Figure 7 shows a further mode of operation where the tool 10 shown undertakes a 180 degree movement when rotated in the first direction at relatively high angular velocity of about 200 RPM (or about 20.9 rad/s), and when subject to a relatively fast tow velocity (of about 10km/h).
  • the blade 10b engages the ground initially, following through to complete the 180 degree cycle to arrive at the next standby condition ready for blade 10c to engage the ground at the next cycle.
  • the working face wf of each blade 10b, 10c of this strategy is the same as for the simulation in Figures 5 and 6 but mounted the opposite way around in order to achieve the ‘inverted’ configuration to account for the change in rotation direction.
  • the ground/soil (or weed/plant) engaged by the working face wf of the blades 10b/c is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity.
  • the ground/soil engagement path, and corresponding worked volume wv is significantly smaller as compared the strategies of Figures 5 and 6 with the spacing between ground engagements shown being the minimal amount possible (being larger than that shown in Figures 5 and 6) under the operational parameters than those shown in Figures 5 and Figure 6.
  • FIG. 8 shows the ground/soil engagement path for a simulation of an operational case for a conventional operation using the tool 10 rotating continuously at relatively high RPM in the first direction of rotation, e.g., rotating between from about 210-310 RPM (or about 22.0 to about 32.5 rad/s), and travelling at low linear tractor velocity (e.g., 4km/h).
  • the working face wf of each blade 10b/c of this strategy is the same as for the simulations of Figures 5-7.
  • the ground/soil engagement path comprises continuous repetitions of short length digs or bites into the ground generating a repetitious set of discrete or non-continuous worked volumes wv, as opposed to a broader single continuous excavation path (lengthier scoop) shown in Figure 6 (relatively slow tow velocity but with more aggressive loading on the tool 10).
  • the ground/soil engagement path and respective worked volumes wv, wv’ of the leading (toe) 10c-E and trailing (heel) 10c-T edges are broader/longer for the case of Figure 10 than for the case of Figure 9 due to the higher tow velocity.
  • a higher tow velocity provides an increase in ground/soil engagement allowing the benefit of a quicker run speed while increasing prospects of weed excavation as more time is spent engaging the ground by the tool 10.
  • the tool 10 is subject to less loading when engaged with the ground due in part to the direction of rotation (less wear/tear).
  • This change in the side of the working face wf of the blade 10b is considered to be due to (when rotating in the first direction) the angular velocity of the tool 10 being such that a horizontal component resulting from the angular velocity of the ground engaging edge 10c-E of the blade 10b being about equal to or below the tow velocity as it is about to engage the ground (at the point shown in Figure 11c). While the worked volume wv shown in Figure 10 is of acceptably broader profile, it is considered that the geometry of the tool 10, particularly the angle of engagement of the blades 10b, 10c when engaging/entering the surface of the ground (at about 90 degrees, as shown in Figure 7b), could be revised for improved performance.
  • the angle of engagement of the blades 10b, 10c may be configured so as to reduce the amount of loading to which the relevant blade becomes subject on its engagement with the ground when the angular velocity of the tool 10 is adjusted relative to the tow velocity so that the working face wf faces the oncoming ground, and to avoid engagement of the trailing heel 10c-T with the ground.
  • the learnings from Figure 10 therefore suggest that there is advantage by a change in tool 10 geometry, operational control approach/strategy regarding tool 10 rotation direction, and/or tow velocity.
  • Figures 11a-11c relate to a revised operational control strategy based on the observations from the simulation of Figure 10.
  • This revised strategy uses different geometry for a tool 10’ (shown in Figure 11b) as compared to that used for the simulated strategies depicted in Figures 5-10.
  • the same direction of rotation of the tool 10 is retained and a higher tow velocity is used.
  • an overarching goal is to minimise or reduce the energy required for the tool 10’ to engage the ground/soil.
  • the orientation of the blade 10b’ has a very different angle of engagement with the ground (about 16 degrees) at the time of the engagement as compared the conventional tool geometries used in the simulations of Figures 5 to 10 (i.e., angle of engagement/attack of about 90 degrees relative the ground as shown in Figures 5b and 7b), where the angle of engagement is about 90 degrees with the ground surface — this is problematic in that, on incursion into the ground when rotating in the first direction of rotation (see Figures 7 to 10), the presentation of the generally flat face of the blade 10b/c to the oncoming ground results in significant drag creating high force loading, risking damage/wear to the tool (e.g., bent tools). In contrast, much lower angles of engagement penetrate the ground with more efficiency and less force consequences.
  • Figures 11b and 11c show tools geometries that differ slightly from that shown in Figure 11a, but that do embody the same principles. Much of the variation is due to structural considerations (informing fabrication details of the tool 10’) but the functional geometry remains in keeping with that shown in Figure 11a (e.g., the distance between the edge “EO“ and the axis of rotation of that shown in Figure 11b is the same as that shown for the tool 10’ shown in Figure 11a).
  • Figure 11a shows the extent of the ground/soil engagement path and consequential worked volume wv of the tool 10’ which embodies the material aspects of the revised geometrical form (see Figures 11b and 11c) using a shallower angle of engagement for each of the blades 10b’/c’, when rotating in the first direction of rotation (drawing from the learnings of the operational case simulated in Figure 10).
  • the angular velocity of the tool 10 is similar to that shown for the operational cases of Figures 9 and 10, and the tow velocity is increased another 5km/h to 20km/h.
  • Figure 11a demonstrates the advantage offered by this operational control strategy in using the apparatus 5 over conventional tillage tools.
  • the length of ground/soil engagement by the working face wf is broader/longer than that shown in Figure 10 due to the additional increase in tow velocity thereby increasing the time of engagement with the ground/soil.
  • geometry management of the relative differential of the angular velocity of the tool 10’ and the tow velocity may achieve any of the following advantages: improved trade-off between removal of a target weed relative to worked (or damaged) volume of ground (wv), less loading on the tool 10’ during engagement with the ground/soil occurs, and/or less energy consumed by the apparatus 5.
  • Figure 11c shows an annotated schematic of the geometry of the tool 10’ shown in Figure 11b, showing the defining parameters of the tool.
  • the physical variables for the analysis are shown in the schematic presented on the left-hand side of Figure 11c. At (1), shown on the right-hand side of Figure 11c, the rotational velocity of the tip/edge EO is expressed.
  • the absolute tip/edge velocity components are then found at (2) for the resultant velocity vector VTOT (shown in vector form in the schematic). It is noted that the direction of VTOT is colinear with the angle of engagement of the blade 10b’ – i.e., at an angle gamma of 16 degrees from the ground surface. At (3) the ratio of the tow velocity and the angular velocity is found in terms of the key parameters, including the angle of engagement, gamma (in this case, being 16 degrees).
  • the vector analysis shown at the tip/edge EO shows zone Z1, where Z1 is bounded by the ground surface and the line defining the angle of engagement of the blade 10b’ (which is colinear with the vector VTOT).
  • the specific angle passed through at which the tool 10’ engages the ground is a function of at least the length of the distance O-EO (refer, Figures 11b-11c) and the desired working depth and/or the desired angle of engagement that the blades 10b’, 10c’ are sought to engage the ground (e.g., to reduce or minimise impact loading).
  • the angular velocity of the tool 10’ when driven from position S to position E may be selected to be any appropriate rate depending on prevailing circumstances/objectives of the operation, e.g., a high angular velocity may be desirous for convenience of operation. This movement merely serves to drive the tool 10’ so as to ready the blade 10b’ for engagement with the ground.
  • Figure 11b shows the ‘standby’ position S of the tool 10’ (left- hand of figure), the engage position E (middle of figure), and a schematic (right-hand of figure) showing positions S (‘standby’), E (“engage”), bottom position “B” (being about 90 degrees relative to position S) in which the tool 10’ is at about maximum incursion depth, and a position “D” (being about 134 degrees relative to position S) in which the tool 10’ disengages from the ground (discussed below).
  • Control position B describes the movement of the tool 10’b from its stand-by to control position B.
  • Control position B is the expected angle at which the tool 10’ first engages the ground. Thus, during this movement the tool 10’ is not engaging the ground.
  • Control position B (30 degrees) corresponds with the engage position E shown in Figure 11b. As seen in Figure 11b, this angle is about 46 degrees relative to the standby position A (or EO in Figure 11b), and is included in brackets in Table A.
  • the horizontal velocity of the tip of the relevant blade of the tool 10’ relative to the ground is zero.
  • the load on the tool 10’ is nominally minimised.
  • the tool 10’ accelerates from control position C to the target velocity of stage 3 (608) and maintains this speed (609) until control position D is reached (610).
  • Control position D (100 degrees) corresponds with the disengage position D shown in Figure 11b. As seen in Figure 11b, this angle is about 134 degrees relative to the standby position A (or EO in Figure 11b), and is included in brackets in Table A.
  • control position D (100 degrees) is an angular offset from the standby position A that is selected as an angular control position at about which the tool 10’ is desired to be rotating at a target angular velocity (shown in Table A as a function of tow velocity) by the time the disengage position D ( ⁇ 134 degrees) is reached.
  • ⁇ Row 5 (Control position A) describes the portion of the action where the tool 10’ moved out of the ground and returned to its standby position. For the majority of this action, the tool 10’ is not engaged with the ground and moves through free air. Starting at 610, the tool 10’ accelerates from control position D to the target angular velocity of stage 4 (611) and maintains this speed (612) until control position A is reached (613).
  • an excavation cycle consistent with the simulation of Figure 11a may involve: more or less than four intervals (which are defined by respective control positions), each may involve tow velocities greater or less than those shown, may involve varying (using, for example, an embodiment or implementation of a dynamic control strategy (800) described further below with reference to Figure 18) or uniform/constant angular velocities of the tool 10’ between the constituent cycle intervals, and/or constituent intervals may be defined by different angles (i.e., respective selected control positions) as those shown.
  • Figure 17 shows a flow chart of an embodiment or implementation of an example control strategy 600 which may involve in one form, for example, the data provided in Table A above.
  • control position C in Table B is defined as 65 degrees (rather than 75 degrees) due to the high travel speeds generating more demanding response cycle characteristics (e.g., motor torque and response time).
  • Table B Tow velocity 9 km/h 12 km/h 15 km/h 18 km/h (2.5 m/s) (3.33 m/s) (4.17 m/s) (5 m/s) Position Degrees Rad/s A 0 - - - - B 30 (46) 5.23 5.23 5.23 5.23 C 65 (90) 3.84 5.23 6.98 8.38 D 100 (134) 14.31 19.19 23.56 28.62 A 180 14.31 19.19 23.56 28.62
  • the ground engaging profile or path (as aligned with the direction of travel of the apparatus 5) or worked volume wv is influenced in part by the relationship demonstrated above between the angular velocity of the tool 10 when rotated in the first direction of the rotation and the tow velocity of the apparatus 5 over the ground.
  • the apparatus 5 or the actuator assembly 20 may be operated (using, for example, a suitably configured electronic controller) so that one or both of (i) the velocity of the apparatus 5 moving over the ground, or (ii) the angular velocity (of the tool 10 when rotated in the first direction to engage the ground), can be suitably adjusted or modified in accordance with the relationship described above so that the desired working face wf can become operable in the manner shown in Figure 11a.
  • the geometry of the ground/soil engaging path can be influenced by any of the following: the velocity by which the apparatus 5 is towed, the angular velocity of the tool 10, the direction of rotation of the tool 10 relative to the direction of movement of the apparatus 5 over the ground, the geometry of the tool 10 (including the geometry/profile of the blades 10b/c, (e.g., linearity, length, width dimensions), the desired working depth, the distance of any portion of the tool 10 or blades 10b/c that engage with the ground from the axis X. It will also be understood that operation of the actuator assembly 20 (eg.
  • the apparatus 5 can be coupled with the tyne shank 14 of the tyne assembly 15 in a number of different orientations.
  • the apparatus 5 (or multiple units) can be located/coupled with shanks of tyne assemblies (or other like support structure) so that operation of the apparatus 5 causes the carried tool 10 to be capable of engaging ground in any desired inter-row (IrR) or intra-row (IaR) regions of the tillage/cultivation operation, as indicated in Figure 15 (which provides a schematic view showing relative inter-row (IrR) or intra-row (IaR) regions of a tillage/cropping operation).
  • Examples of possible positioning of the apparatus 5 can include: upstream/ahead or downstream/behind of the tyne shank 14, on the left or right-hand sides of the tyne shank 14 (as shown in Figure 1).
  • More than one apparatus 5 may be couplable to a tyne shank 14 as a tillage/cultivation operation may require. In this manner, multiple apparatus 5 can be orientated about a tyne shank 14 so as to be capable of targeting multiple areas for urse, the n using an 5 orientated as perational control ith the g g g . Consistent with the operations described herein, the tool 600T is caused to rotate via the control strategy 600 through a movement of 180 degrees to return back to its starting position (e.g., stand-by position) ready for another excavation operation. In this embodiment, the direction of rotation of the tool 600T follows the direction of the tow vehicle (e.g. tractor).
  • the tow vehicle e.g. tractor
  • the control strategy 600 (or “slow operational control strategy) is performed in a sequence of four (4) stages, each defined by an angle of the tool 600T (by way of reference to the ground) and a target angular velocity.
  • the tool 600T is caused to pass from one stage to the next by operation of the electric motor (22), tracing out a desired path through the soil as the axis (X) moves with the motion/velocity of the tractor.
  • the target angular velocities are dependent on the tractor or tow vehicle’s velocity, which are intended to maintain a particular working face of the tool 600T upon engagement with the soil and leave minimal soil disturbance, all within the output torque capacity of the electric motor 22 (determined by the motor windings and electrical voltage/current of the supply).
  • the tool 600T is actuated by the electric motor 22, which is driven by an electronic circuit capable of measuring the electrical voltage and current (and thus power) draw of the electric motor 22.
  • the current passing through the electric motor 22 is proportional to the torque experienced by the electric motor (i.e., the load on the tool 600T). It will be appreciated that higher loads require higher currents (and thus more power).
  • the motor driver i.e., the electronic circuit and firmware that controls the current and voltage supplied to the electric motor
  • the motor driver adapts the electrical current so as to maintain the target angular velocities and angles of the control strategy 600 (slow operational control strategy), regardless of the load on the tool 600T.
  • the load on (or experienced by) the tool 600T is determined to be too large (eg., relative to a predetermined threshold level or reference)
  • the current draw will also be larger in order to maintain the same target angular velocity than if the loads were weaker.
  • the load on the tool 600T is dependent on the properties of the soil and the velocity of the tractor.
  • control strategy 600 will be described with reference to Figure 17. As shown, the control strategy 600 is based on positions A, B, C, and D, as indicated) – each corresponding to a respective angular position or orientation of the tool 600T relative to the ground within the rotation cycle (about the axis X). The control strategy 600 involves four stages: A-B, B-C, C-D, D-A.
  • a desired target angular velocity is assigned for movement during the course of each stage.
  • the excavation cycle involves the following positions of the tool 600T: at position A (defining the reference frame for the angular movement of the tool 600T) the tool 600T is in the standby position; at position B ( ⁇ 46 degrees for the present embodiment) the tool is about to engage the ground; at position C ( ⁇ 90 degrees for the present embodiment) the tool is approaching maximum depth into the ground; at position D ( ⁇ 134 degrees for the present embodiment) the tool is approaching the disengagement with the ground.
  • control position A of the control strategy 600 corresponds with the standby position EO (shown in Figure 11b); control position B corresponds with the engage position E – this being about 46 degrees relative to the standby control position A (or EO); control position C corresponds with the bottom position B – this being about 90 degrees relative to the standby control position A (or EO); and control position D corresponds with the disengage position D – this being about 134 degrees relative to the standby control position A (or EO). It will be appreciated that the number of positions and/or stages may be more or less than those shown and considered in this example.
  • the tool 600T is initially provided at position A at stage 601.
  • the tool 600T is provided ready to be operated to perform an excavation once a target weed of a type to be subject to an excavation is identified and selected for removal/severing. Once identified/selected, the tool 600T is moved at a target angular velocity at stage 602, and such target angular velocity is then set to be maintained at stage 603 during the course of “stage 1” – this being from the initial position A toward the next position B. Whether the tool 600T is at position B is tested at stage 604. If the tool 600T is not determined to be at position B, then the current angular velocity relevant to “stage 1” is maintained at stage 603 via decision pathway 604N.
  • Position C represents a high load position of the tool 600T that requires management in order to reduce the tool’s exposure to the loadings when engaged with the ground.
  • the “bounds” of the electric motor 22 denote the capabilities of the electric motor 22.
  • the electric motor 22 can only output so much torque (determined by the motor windings and electrical voltage/current of the supply). In one embodiment, when the tool 600T is close to 90 degrees, the torque on the tool 600T is maximised and the electric motor 22 will not be able to supply enough toque to keep the tool 600T at that angle. If this happens, then the electric motor 22 driver will likely lose control of the motor and might stop working properly. As the skilled reader will appreciate, the electric motor driver does this for safety reasons.
  • the tool 800T is caused to rotate through a movement of 180 degrees to return back to its starting position A (e.g., stand-by position) ready for another excavation operation.
  • the control strategy 800 (or “dynamic operational control strategy”) is performed in a sequence of three (3) stages. Stages 1 and 2 are substantially the same as stages 1 and 2 of the control strategy 600 (slow operational control strategy). However, in stage 3, once the tool 800T has reached position C, the weed engagement has been completed, and the system is now recovering the tool 800T.
  • the target angular velocity is set to be dynamic depending on a set current draw threshold value sensed from the electric motor 22, and controlled by a stiffness variable that determines how much the angular velocity of the tool 800T is increased by for each cycle the current is above the threshold.
  • a proportional integrated derivative (PID) controller can be used to control the strategy 800.
  • the current draw threshold value is a value set by the user (e.g., a specialist machinery service provider or technician or the farmer, or as might be specified within the operators manual), and is determined through consideration of the limitations of the available electrical power supply, the rated torque of the electric motor, and the rated torques of associated mechanical components (e.g. gearbox and bearings).
  • the load experienced by the tool 800T is variable. It is not possible to know beforehand how much torque the tool 800T will experience before the tool 800T enters the ground. If the ground is particularly hard at a particular location, or there is a rock or lots of roots, the torque may increase an unknown amount. For the embodiment of the control strategy 800, it is only possible to know how much torque is being placed on the electric motor 22 once engaged with the ground.
  • the stiffness variable relates to how sensitive the control strategy 800 is to the current draw above the set current draw threshold value. For example, if an electric motor is drawing 11A and the current draw threshold value is set to 10A, then the control strategy 800 will increase the tool’s angular velocity to try and reduce the current.
  • the stiffness variable defines by how much an increase in the angular velocity is to be in response to the determined differential between the actual current draw reading and the current draw threshold value. In a “soft” control strategy, for example, the stiffness variable would be set low. In this manner, the angular velocity would gradually increase until the determined actual current draw was below the set current threshold value. In a “hard” control strategy, for example, the stiffness variable would be set high. In this manner, the velocity would increase quickly until the determined actual current draw was below the set current threshold value.
  • the control strategy 800 is a simplified version of a proportional integrated derivative (PID) controller.
  • the stiffness variable is a proportionality factor: the step change in angular velocity at each cycle is proportional to the difference between actual current draw and the current draw threshold value (if the actual current draw is determined to be above the current draw threshold value), with the constant of proportionality determined by the stiffness variable.
  • the stiffness variable is therefore a value (set by the user) which determines how sensitive (in terms of response) the control strategy 800 is to over- current draw.
  • control position A of the control strategy 800 corresponds with the standby position EO (shown in Figure 11b); control position B corresponds with the engage position E – this being about 46 degrees relative to the standby control position A (or EO); control position C corresponds with the bottom position B – this being about 90 degrees relative to the standby control position A (or EO); and control position D corresponds with the disengage position D – this being about 134 degrees relative to the standby control position A (or EO).
  • the control strategy 800 starts in substantially the same manner as the control strategy 600 (“slow operational control strategy) for stages 1 and 2. but maintains the current draw below a pre-defined current draw threshold value as noted above. Broadly, during each cycle of the control software (e.g.
  • each cycle of the control software is about 2 ms)
  • the control algorithm reads the current draw of the electric motor (22), assesses if the current draw is too large, and, if so, adjusts the target angular velocity of the tool 800T to maintain the current threshold.
  • a current draw above the pre-defined current draw threshold value signifies that the tool 800T is experiencing high loading (or unacceptable loading)
  • the control strategy 800 is configured to respond by increasing the angular velocity of the tool 800T in order to decrease the relative speed of the working face moving through the soil thereby lowering the loading experience by the tool.
  • the working face is travelling in the same direction as the soil (relative to the tractor), but slower than the soil.
  • the working face is travelling forward through the soil, which is what causes the excavation.
  • the relative speed of the working face in the soil decreases. This means the working face is moving slower in the soil, and so the loads are lower.
  • the slow control strategy or that aligned with the control strategy 600
  • the horizontal velocity of the tool 800T is in the same direction as the ground surface relative to the tow vehicle (or its frame of reference). In effect, the working face of the tool 800T moves “backwards” relative to the tow vehicle.
  • the electric motor 22 experiences higher loads due to the tool 800T moving slower than the ground surface relative to the tow vehicle (or a reference frame of the tow vehicle). This serves to create the relative forward motion of the tool 800T in the soil, which excavates the target weed. To reduce the load experienced by the tool 800T, it is simply the angular velocity of the tool 800T that is increased. This has the effect of reducing the relative velocity of the tool 800T relative to the ground, thereby reducing the load experienced by the tool 800T.
  • the concept of increasing the angular velocity of the tool 800T is a key component of the control strategy 600 (control strategy) described above.
  • the tool 800T speeds up so the horizontal velocity of the tool matches the speed of the ground, and the torque requirements are minimised.
  • variations in the soil properties, uneven terrain, rocks, roots and misalignments of the tool all result in additional load on the tool 800T.
  • the strategy i.e., dynamically
  • a constant velocity is not ideal since the horizontal velocity of the working face of the tool 800T changes as the angle of the tool changes.
  • a constant velocity defined to minimise the load will only be optimal for a single angle. Put another way, the working face is constantly changing angle, so a fixed velocity is not optimal.
  • a dynamic control strategy finds advantage in the present context.
  • An additional benefit of the feedback is that it is possible to determine when to alternate between energy usage (for engaging the tool 800T) and energy recovery (when the tool 800T is being driven by the ground). Power generation will be maximised when the load on the tool 800T is highest. Once the weed is excavated (or killed), the tool 800T no longer needs to provide energy to the ground. Instead, it can be driven by the ground and the momentum of the tractor to reset to its standby position. During this process, energy may be recovered by electrical generation. Accordingly, with reference to Figure 18, the tool 800T is initially provided at position A at stage 801.
  • the tool 800T is provided ready to be operated to perform an excavation once a target weed of a type to be subject to an excavation is identified/selected.
  • the tool 800T is moved at a target angular velocity at stage 802, and such target angular velocity is then set to be maintained at stage 803 during the course of the “stage 1” movement – this being from the initial position A toward the next position B where the tool 800T is about to enter the ground.
  • the working face is travelling in the same direction as the soil (relative to the tractor), but slower than the soil. This means that, relative to the soil, the working face is travelling forward through the soil, which causes the excavation.
  • Whether the tool 800T is at position C is tested at stage 807. If the tool 800T is not determined to be at position C, then the current angular velocity relevant to “stage 2” is maintained at stage 806 via decision pathway 807N. If the tool 800T is determined to be at position C, then the angular velocity is then set to that defined as the target angular velocity for “stage 3” movement from position C toward position A via decision pathway 807Y. The tool 800T is then moved from position C toward position A at the “stage 3” target angular velocity in substantially the same manner (being a generally uniform/constant velocity) as for movement of the tool 800T from positions A-B and B-C. The target angular velocity for the tool 800T is set at stage 808.
  • the current draw of the electric motor 22 is tested at stage 809. If the current draw of the electric motor 22 is below a predetermined current draw threshold value, the target angular velocity of the tool 800T is maintained at stage 810 via decision pathway 809Y. If the current draw of the electric motor 22 is greater than the threshold value, the angular velocity of the tool 800T is increased at stage 811 via decision pathway 809N. This therefore reduces the load (torque loads) experienced by the tool 800T. At stage 812 whether the tool 800T has arrived at position A is tested. If not arrived at position A, the current draw of electric motor 22 is again tested at stage 809 via decision pathway 812N.
  • the angular velocity is set to zero so that the tool 800T is then in a reset or standby position A awaiting the next activation once another target weed is identified/selected.
  • Testing using the embodiment of the control strategy 800 following has shown that target weeds can be effectively killed within the first two stages of the control strategy 600 (or slow control strategy). This means that the tool path can deviate from the “slow control strategy” without negatively affecting the weed-kill efficacy, after the second stage of the action. This is also the point where the load on the tool (and hence current draw) is typically the largest.
  • any of the control strategies 600, 800 can be modified in which, for example, position B is determined from a sensing or feedback means or mechanism which senses when the ground is about to be or is engaged by the tool 10, rather than the angular position of the tool being defined by where it is expected to be at position B.
  • position B is determined from a sensing or feedback means or mechanism which senses when the ground is about to be or is engaged by the tool 10, rather than the angular position of the tool being defined by where it is expected to be at position B.
  • the target velocity of stage 3 is modified by looking at the current draw from the electric motor 22, it is possible to also use the current draw to determine the point of ground engagement.
  • the ground is expected to be engaged at an angle of about 30 degrees (reference is to be had to the control strategies 600, 800 described above, and the data provided in Tables A and B). Uneven surfaces and height variations may result in this angle not being correct.
  • any number of apparatuses 5 may be coupled to structures that are being towed or are part of a drone (or like vehicle e.g. unmanned ground vehicle (UGV)) for undertaking (remotely or autonomously) a tillage/cultivation operation.
  • UUV unmanned ground vehicle
  • Operation of the apparatus 5 is selective in order to provide a control means for enabling active and targeted tillage of weed bearing ground.
  • selective operation may be based on a manual observation or identification of target organic material or region of soil about to come into a targetable area of an apparatus 5 by an operator or controller module operable with the apparatus 5 during a tillage or ground cultivation operation.
  • the actuator assembly 20 and/or the control means or controller module may be powered by an electrical power source involving one or more batteries and/or one or more solar panels or a solar array.
  • any form of electrical power source could be used.
  • Selective operation may also be informed via a suitable sensing means operable with a control means, eg. a suitably configured electronic programmable logic controller.
  • Such control means may be operable so as to receive an input from one or more sensor module(s) configured for sensing organic material as the tillage/cultivation operation progresses.
  • the electronic controller may be configured with suitable means for processing the sensory input for discriminating between any sensed organic matter so as to identify one or more target organic material for selection for excavation using the apparatus 5.
  • Suitable sensing modules may comprise any of the following operating either in isolation (individually) or combination: a visible light camera module or modules, sensors using different wavelengths, light detection and ranging (LiDAR) technology, laser range sensors, infrared sensors, acoustic sensors, sonar.
  • LiDAR light detection and ranging
  • the discriminating/identification module may be configured so as to avail of normalised difference vegetation index (NDVI) and/or AI technologies for determining whether any sensed input is representative of a prospective weed to be excavated. Embodiments may also include use of GPS location techniques associated with pre-mapping of targetable plant/weeds.
  • the control means may comprise or be operable with one or more mechanical stop or detent arrangements or limits that are configured to stop/prevent rotation of the tool 10 at the non- ground engaging or standby condition, e.g. so as to retain the tool 10 in anticipation of operation to the ground engaging state on receipt of a signal corresponding to identification of target organic matter or region of soil to be excavated. Such stop/detent arrangements may operate individually or in cooperation with the control means.
  • Figures 12 and 13 show arrangements involving variations of the present disclosure. Like reference numerals are retained for like features for explanative purposes.
  • Figure 12 shows a schematic elevation view of an arrangement 100 using an apparatus 102 configured in accordance with the present disclosure.
  • the apparatus 5 may be arranged operable with a levelling means or equipment configured operable for use in levelling an embodiment of the apparatus 5 relative to the ground during operation.
  • the levelling means/equipment may be configured operable for providing passive stabilisation of the apparatus 5 for enabling the tool 10 to engage the (local or adjacent) ground to provide a substantially consistent incursion depth across any ground typography for a plurality of excavation events or cycles during a tillage operation.
  • the apparatus 5 may be arranged operable with a levelling means configured operable for use in providing the apparatus 5 substantially at a desired or target height relative to the ground local or adjacent (ie., localised levelling) of the apparatus during operation.
  • the levelling means may comprise existing equipment designed and produced for such purposes, such as for example, equipment made and sold by Orthman (www.orthman.com.au) known as Parallel Linkage BedListers. It will be appreciated that embodiments of the apparatus 5, 102 can be realised so as to be operable with any existing levelling equipment.
  • the apparatus 102 (having a tool 10 with respective blades 10b, 10c as shown) is carried by an arm 104 that itself is, at a proximal end 104, rotatably coupled (shown at 112) with a tyne shank 14 of a tyne assembly 15.
  • an arm 104 that itself is, at a proximal end 104, rotatably coupled (shown at 112) with a tyne shank 14 of a tyne assembly 15.
  • a wheel 110 At a distal end 108 of the arm 106, there is carried a wheel 110 that is biased in rolling contact with the ground over which the tyne assembly 15 is being towed by way of the rotatable coupling 112.
  • the biased rotatable coupling 112 is spring loaded (e.g., by way of a spring loading arrangement and/or the centre of mass, location, and size of the apparatus) so as to bias or prejudice the wheel 110 to remain in rolling contact with the ground thereby accommodating non-uniform surface topography during operation.
  • One or more stops or detents are provided in the arm 104 to serve as limit stops when brought into engagement with the tyne shank 14 defining the maximum allowable downward movement of the wheel 110.
  • the operational proximity of the apparatus 102 relative to the ground e.g., height
  • can be defined or preset ensuring consistency in the depth that the tool 10 works the ground during operation.
  • the apparatus 102 is shown generally central of the span of the arm 104. However, it will be appreciated that the apparatus 102 could be positioned at different locations along the span of the arm 104, e.g., closer to the wheel 110, or closer to the tyne shank 14.
  • the arrangement 100 is configured so that the apparatus 102 (and tool 10) trails the tyne shank 14, but arrangements could be configured where the apparatus 102 (and the tool 10) are operable ahead of the tyne shank 14.
  • the orientation of the tool 10 relative to the ground could be maintained passively by way of a 4-bar parallelogram linkage mechanism or arrangement.
  • Embodiments could be realised to additionally add the ability to compensate the orientation of the tool 10 or the apparatus 102 for inadvertent movement. Any such compensation could be done passively so that the arm 104, the tool 10 or the apparatus 102 remains parallel to the ground surface by coupling the tool 10 or apparatus 102 with the mount via a 4-bar parallelogram so that when the arm 104 moves the apparatus 102 stays at the same angle. Furthermore, embodiments enabling compensation for movement could be achieved actively. As one example, the standby position could be adjusted to remain level in real-time (i.e., not remain fixed with reference to the arm 104, but fixed with reference to the global horizontal).
  • one or more of the apparatus is/are arranged so as to operable with a respective levelling means so that each respective apparatus is provided substantially at a desired height relative to the ground during operation (either passively or actively).
  • each apparatus is arranged so as to be benefit from localised levelling relative to the ground during the operation.
  • the tool 10 or apparatus 102 or the working depth of the tool 10 can be controlled can be maintained reliably relative to the ground during use passively (e.g. requiring little to no unnecessary energy input).
  • active and passive arrangements would be possible with the requirement for additional energy requirements.
  • Figure 13(a) and Figure 13 (b) show respective embodiments involving multiple tools arranged in accordance with the present disclosure.
  • Figure 13(a) shows a front view of an arrangement 130 using first 135 and second 140 apparatuses each configured in accordance with the present disclosure.
  • the first apparatus 135 comprises a tool 10A having respective blades 10b- A, 10c-A as shown
  • the second apparatus 140 comprises a ground engaging tool 10B having respective blades 10b-B, 10c-B as shown.
  • the arrangement 130 comprises an actuator assembly 20 having a single motor module (for example, either electric or hydraulic) coupled with a tyne shank 14 of a tyne assembly 15.
  • the first 135’ (having actuator assembly 20A’, a ground engaging tool 10A’ with respective blades 10b-A’, 10c-A’ as shown) and second 140’ (having actuator assembly 20B’, a ground engaging tool 10B’ with respective blades 10b-B’, 10c-B’ as shown) apparatus are respectively coupled (28A’, 28B’) with a tyne shank 14’ of a tyne assembly 15’ so as to operate on opposite sides of the tyne shank 14’ (with respective blades 10b-A’, 10c-A’, 10b-B’, 10c-B’ extending outward of the centrally disposed tyne shank 14’).
  • first apparatus 135’ is coupled with the tyne shank 14’ upstream of the second apparatus 140’.
  • operation of driving movement provided by both actuator assemblies 20A’, 20B’ may be by way of, for example, a “T” gearbox 150’ to provide for an efficient and compact arrangement.
  • Other gearbox arrangements could comprise any of the types referred to above.
  • the skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the arrangement shown in Figure 13(b). In this manner, a double-sided tool can be provided with independent control functionality.
  • engagement of the tool 10 with the ground when the tool is rotating in the first or second directions of rotation may have the effect of (i) reducing the electrical energy needed by the electric motor to drive the tool 10 when working the ground, and/or (ii) cause the tool 10 to be driven, at least in part, by way of the movement of the apparatus 5 relative to the ground.
  • the tool 10 may, in effect, be driven in part about the axis X, or, at the least, electrical energy consumed by the electric motor 22 may be reduced.
  • the actuator assembly 20 may be arranged operable with a power take-off means or module or a mechanical to electrical transducer means or module (not shown) configured so that rotation of the tool 10, when driven in part by means other than the actuator assembly 20, can be recovered by conversion of said in part driven movement of the tool 10 into electrical energy.
  • the apparatus 5 of the present disclosure could be applied to all row cropping systems whether broad-acre, viticulture or horticultural (e.g. vegetable) with the presence of inter-row weeds (W).
  • use of the apparatus 5 could be particularly applicable to wide row-crop systems (e.g. sorghum, maize, cotton, etc).
  • wide row-crop systems e.g. sorghum, maize, cotton, etc.
  • the apparatus of the present disclosure When used in a narrow configuration the apparatus of the present disclosure could find particular application in narrow broad-acre cropping situations, eg. wheat, barley, etc, as well as horticultural applications (vegetables).
  • Embodiments of the apparatus 5 may be used in conjunction with other tillage cultivation tools for both intra-row and combined inter/intra-row tillage/cultivation operations.
  • Embodiments of the actuator 5 of the present aspect may provide a tool which can be mounted to conventional tyne tool bars of any tyne assembly thereby rendering those tynes site-specific targeted (i.e., spot) tillage devices for, in one aspect, inter-row weed control.
  • the apparatus 5 can be configured so as to include any suitable means of coupling or attachment to universally utilised existing agricultural mounting points and could be utilised across wide tool bars typical of tractor-powered agriculture.
  • Embodiments of the apparatus 5 could also be mounted to any platform, such as for example, a robotic autonomous platforms or systems whether large scale or small (e.g.
  • Figure 16a shows an arrangement which is a variation on that shown in Figure 14a.
  • the apparatus 5 is configured so that it is capable of movement laterally relative to the direction of travel of the towed assembly 200.
  • each apparatus 5 of the assembly 200 is coupled with its respective tyne shank 14 using a coupling arrangement that provides a translation or displacement means or arrangement 201 to allow the supported apparatus 5 to be capable of moving laterally across or within its local inter-row IrR region allowing it to increase the ‘reach’ of the relevant apparatus 5 within its respective inter- row region IrR to about either side of the bounding local intra-row regions.
  • the effectiveness of the assembly 200 can be increased in that more ground during a single pass of the assembly 200 can be the subject of active targeted tillage by the collection of apparatuses (5).
  • the translation or displacement means or arrangement 201 may comprise any suitable componentry that can be configured so as to result in any translational or displacement enabling movement, such as for example, one or more linear bearings, lead screws or like mechanical or mechanised arrangements that enable a displacement of any of the apparatuses (5) to occur (e.g., swing type or fish tail like mechanisms). Such movement may be laterally or arc like.
  • Figure 16b shows an arrangement which is a variation on that shown in Figures 14a and 16a. For the arrangement shown a plurality of apparatuses 5 are configured in an assembly having first R1 and second R2 rows as shown.
  • each of the apparatuses 5 of the second row R2 are laterally offset from those of the first row R1.
  • the apparatuses 5 of the second row R2 are positioned so as to be operable adjacent or within the intra-row region (IaR).
  • IaR intra-row region
  • any such rows can be arranged to carry apparatuses (5) positioned so as to be operable within inter-row IrR or intra-row IaR regions; for example, multiple apparatus (5) may be operable at different regions of an inter-row region IrR while being positioned at a different row of the tyne assembly.
  • the concepts shown in both Figures 16a and 16b can be included such that one or more of a plurality of apparatuses 5 of a multi-row assembly like that shown in Figure 16b can be operable with a respective translation means or arrangement 201 so as to enable the respective apparatus 5 to be movable laterally relative to the tow direction of the assembly.
  • any such rows can be arranged to carry apparatuses (5) positioned so as to be operable within inter-row IrR or intra-row laR regions; for example, multiple apparatus (5) may be operable at different regions of an inter-row region IrR while being positioned at a different row of the tyne assembly.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Power Engineering (AREA)
  • Insects & Arthropods (AREA)
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Abstract

The present disclosure relates generally to an apparatus and related method for use in a tillage or ground cultivation operation. In one embodiment, an apparatus (5) for coupling with a tyne bar of a tyne (14) or cultivator assembly for use in a tillage or ground cultivation operation is disclosed. In one form, the apparatus (5) comprises an actuator assembly (20) arranged for providing rotational drive about an axis (X) which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to the direction the apparatus is caused to be moved in. The apparatus (5) comprises a ground engaging element (10) configured so as to be driven during operation about the axis (X) by the actuator assembly (20) in a plane substantially parallel with the direction of movement. The apparatus (5) is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground, so as to drive the ground engaging element (10) by way of the actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby. The apparatus (5) is configured so as to then return or move the ground engaging element (10) to the or a state or condition in which the ground engaging element (10) is clear of engagement with the ground. Methods of use of embodiments of the apparatus (5) are also disclosed.

Description

Apparatus and Related Method for Tillage/Cultivation Operations Field This disclosure relates generally to an apparatus and related method for use in a tillage or ground cultivation operation. The present applications claims the benefit of Australian provisional patent application No. 2024900404 filed on 19 February 2024, the entire content of which is incorporated herein in its entirety Background Australian farmers have universally adopted conservation agriculture (CA) systems which, although environmentally sustainable and highly productive, are largely reliant on herbicidal weed control. This reliance has resulted in the increase of herbicide resistant populations of small seeded weed species, such as (for example) fleabane, feathertop Rhodes grass, barnyard grass and sowthistle, that proliferate crop and fallow phases, and are considered to cost producers more than $100M annually. There are now very high frequencies of glyphosate resistance in fleabane (^95%), Feathertop Rhodes grass (^68%), barnyard grass (^36%) and sowthistle (^14%) populations that are considered to have increased costs of control by ^$55/ha/y. These resistant species can survive early season herbicide treatments and may, regardless of further treatments, progress to reproductive development and maturity. Small seeded weed species such as fleabane, Feathertop Rhodes grass and sowthisle are prolific seed producers, and even low densities (<1.0 plant m2) of maturing plants can establish and sustain large and persistent seed banks. Thus, the in-crop survival of these plants is a significant threat to Australia’s food security. Tillage is highly effective in controlling problematic weed species and is used to address herbicide resistant populations. However, in these instances entire paddocks are cultivated which jeopardises the sustainability and productivity of highly effective CA systems. Accordingly, improvements to existing tillage technologies in addressing weed removal while maintaining compatibility with accepted/evolving CA farming principles are routinely sought. Summary In a first aspect, an embodiment provides an apparatus for coupling with a tyne assembly or other like support assembly for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis, a ground engaging element configured so as to be driven about the axis by the actuator assembly, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state toward a ground engaging state to engage or work a region of the ground for excavating or severing target organic material or soil hosted thereby. In a second aspect, an embodiment provides an apparatus for coupling with a tyne bar of a tyne or cultivator assembly arranged to be drawn or towable in a direction of travel for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to the direction the apparatus is caused to be moved in, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground, so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby, then returning or moving the ground engaging element to the or another state or condition in which the ground engaging element is clear of engagement with the ground. Embodiments of the above-described aspects, and those described below, may comprise, either individually or in combination, any of the following features. In one embodiment, the apparatus is configured so that the ground engaging element is selectively operable by way of the actuator assembly from the non-ground engaging state in which the ground engaging element is clear or free from engagement with the ground (e.g., in a ‘standby’ condition), to the ground engaging state in which the ground engaging element engages with the ground so as to engage/work a region of the ground for excavating or severing target organic material or soil hosted thereby, then back to the non-ground engaging state. In this manner, the ground engaging element is able to remain in the non-ground engaging or standby condition above the ground in anticipation of being driven by the actuator assembly to the ground engaging state on the identification/selection of the target organic material (e.g., an identified unwanted organic matter such as a weed) or soil requiring excavation. Accordingly, embodiments of the apparatus can be used for providing a means for active and targeted tillage of weed bearing ground. The selective or active nature of the operation of an embodiment of an apparatus consistent with the present disclosure seeks, in one sense, to reduce unnecessary damage to the ground/soil (e.g., soil/weed scatter/distribution, moisture loss, reduction in input energy, etc) during a tillage operation, as compared to conventional tillage strategies. In this manner, considerations of prospective damage to the ground/soil help inform the strategy used in a tillage operation in terms of the ground engagement tool geometry, its operational speed through the ground, and/or direction relative to a tow velocity over the ground, so that an appropriate ground engagement path/profile (through the ground) can be developed in order to not work the ground/soil more than what is necessary. With at least the above in mind, the skilled reader will appreciate that the principles of the present disclosure could render conventional cultivator bars (with the modules set at the planted crop row spacing) as targeted/active mechanical weeder with correct spacing to integrate into the relevant systems/assemblies. In an embodiment, the apparatus is configured so that operating the ground engaging element to the or another state or condition in which the ground engaging element is clear of the ground places or resets the ground engaging element to a standby state or condition ready awaiting another operation to the ground engaging state on identification or selection of another target organic material or region of ground. In an embodiment, the standby state or condition is angularly offset from the non-ground engaging state or condition by about 180 degrees relative to the axis. In another embodiment, the axis of the apparatus aligns substantially parallel with the ground. In another embodiment, the axis of the apparatus aligns substantially transverse or perpendicular to the direction the apparatus is caused to be moved in across the ground by a prime mover, a tow vehicle, or a host vehicle (e.g., an autonomously operable platform), during the tillage or ground cultivation operation. In a further embodiment, the actuator assembly and the ground engaging element are arranged operable so that, in use, rotary motion of the ground engaging element by the actuator assembly is in a plane that is substantially perpendicular, normal (surface normal) or orthogonal with the surface of the ground over which the apparatus is being caused to be drawn or moved. In another embodiment, where, for example, the apparatus is being drawn or towed over generally locally flat ground, the axis of the apparatus aligns substantially parallel with a generally horizontally aligned plane. In a further embodiment, the actuator assembly and the ground engaging element are arranged operable so that, in use, rotary motion of the ground engaging element by the actuator assembly is in a substantially vertically aligned plane. The ground engaging element may comprise a body having first and second ground engaging portions or segments extending away from the body and which are substantially equispaced about the axis. In this manner, the first and second ground engaging segments may be spaced about the axis at about 180 degrees from each other (generally symmetrical about the axis). In an embodiment, the body is of a generally planar form, and wherein the or each of the first, second ground engaging portions or segments extend outward or away from the body in respective directions that are substantially normal with the planar form of the body. The first and second ground engaging portions may comprise a respective ground engaging segment (e.g., blade or like formation) having a respective ground engaging edge configured for penetrating the ground. In an embodiment, each ground engaging segment extends outward or away from one or the same side of the body of the ground engaging element so as to define its respective ground engaging edge. In one embodiment, the ground engaging element comprises a body having first and second ground engaging portions or segments extending outward or away from the body and which are substantially equispaced about the axis from each other, the first, second ground engaging portions or segments comprise a respective ground engaging edge defined in part by its extension from the body, the first and second ground engaging portions configured for engaging or penetrating the ground. In one embodiment, the body is generally of planar form. In one embodiment, the or each ground engaging portion extends outward substantially normal to the planar form of the body. In an embodiment, each ground engaging segment may comprise first and second sides or faces. In an embodiment, each ground engaging segment is generally planar in form or profile providing respective first and second sides. In one form, one or both of the respective first, second sides or faces of each ground engaging segment may operate as a ground engaging or working face during a ground engagement event depending on the direction and/or angular velocity of rotation of the ground engaging element about the axis relative to a linear velocity of the apparatus when moved over the ground. In an embodiment, each first and second ground engaging segment positionally opposes the other at or near opposite generally distal ends of the body of the ground engaging element. In an embodiment, extension of each first and second ground engaging segment is aligned substantially normal to or with a plane in which the ground engaging element rotates about the axis. In an embodiment, extension of first, second ground engaging portion or segment from the body is aligned substantially normal with a plane in which the ground engaging element rotates about the axis, the respective extensions of the first, second ground engaging portions or segments defining respective first and second sides or faces of each first, second ground engaging portion or segment, one or both of which operates as a working side/face during engagement with the ground depending on the direction and/or angular velocity of rotation of the ground engaging element about the axis relative to a linear velocity of the apparatus when being caused to be moved over the ground. In an embodiment, the first and second ground engaging segments or portions and consequentially respective working side(s)/face(s) are arranged so as to present at an angle of engagement relative to the ground at the anticipated time of engagement therewith so as to improve or optimise engagement with the ground for completing the desired excavation event while reducing or minimising soil disruption. In an embodiment, each or one of the ground engaging segment or portions is configured or shaped so that one or both of the respective first, second sides/faces are of generally nonlinear or curvilinear form or profile. In an embodiment, a form or profile of one or both first, second sides of one or both ground engaging segments may be configured in a manner which seeks to improve or optimise its engagement with the ground. In an embodiment, each ground engaging segment is of finite length or distance in its extension outward from the body. The ground engaging segments may extend outward or away from the body about a distance within a range from about 70mm to about 200mm, or about 100mm. In one embodiment, each ground engaging segment is spaced from the axis so that a distal tip or edge of the relevant ground engagement segment (e.g., a tip or edge that engages with the ground during a ground engaging operation/event) is about 175mm from the axis (which, in one form, may equate to a radius of the ground engaging element). The skilled reader will appreciate that the principles of the present disclosure may be applied to various geometries as might be applicable for a specific context. Accordingly, the geometries described herein should not be seen as limiting the present disclosure. The ground engaging element may be rotated clockwise or counterclockwise about the axis. The direction of rotation about the axis may be informed by the operational control strategy or regime adopted for a given tillage/cultivation operation. In an embodiment, the actuator assembly may be arranged operable to drive the ground engaging element in: (i) a first direction of rotation about the axis in which one of the ground engaging portions or segments engages the ground at a location ahead of or upstream of the axis, and before or after the target organic material or region of ground to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation; or (ii) a second direction of rotation about the axis in which one of the ground engaging portions or segments engages the ground at a location behind or downstream of the axis and before the target organic material to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation. In various of such embodiments, one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground extending behind the relevant ground engaging segment, or between from about 0 degrees to about 45 degrees, or about 16 degrees. In one embodiment, the relevant angle of engagement is selected so as to reduce or minimise loading to which the ground engaging element is or becomes subject to when or during its engagement with the ground at a desired velocity of the apparatus moving across the ground. In another embodiment, the apparatus is configured so that the actuator assembly may be arranged operable to drive the ground engaging element in a first direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material to be excavated relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground (extending behind the relevant ground engaging segment) over which the apparatus is passing. In another embodiment, the apparatus is configured so that the actuator assembly may be arranged operable to drive the ground engaging element in a second direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location behind the axis, and before the target organic material to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation. In one embodiment, one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground (extending behind the relevant ground engaging segment) over which the apparatus is passing. In one embodiment, the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis for substantially a first quarter rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between (i) a range of from about 45 degrees to about 90 degrees, or (ii) a range of from about 45 to about 75 degrees, or (iii) a range of from about 75 degrees to about 90 degrees, or (iv) a range of from about 85 degrees to about 90 degrees (it has been noted that some testing to date suggests that angles of engagement of the ranges (iii)-(iv) may offer limited performance efficiencies). In such embodiments (often referred to as a ‘chip-in-chip- out’ operational control strategy), the actuator assembly is arranged operable to, following completion of the first quarter rotation, drive the ground engaging element in a second quarter rotation about the axis in a direction that is opposite to (or the reverse of) the second direction of the rotation back to the standby position thereby completing an excavation cycle ready to await commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. In this manner, a ‘chip-in/chip-out’ operation is achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate. In another embodiment, the apparatus may be configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis for substantially a half rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees. In such embodiments, the apparatus may be configured so that the actuator assembly is arranged operable to drive the ground engaging element through an arc of substantially 180 degrees about the axis from a first standby position so as to arrive at a second standby position thereby completing an excavation cycle and providing the ground engaging element in a state ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. In this manner, a tillage operation can be achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate. It will be appreciated that the direction of rotation of the ground engaging element will likely have implications on the nature of the plant or weed sought to be encountered during the tillage/cultivation operation and the extent that the above ground structure may interfere (or lead to a prospective entanglement) with any constituent part of the apparatus (e.g., parts of the body of the ground engaging element, the ground engaging segments, constituent parts of the actuator assembly, or the exemplification of the axis). In this manner, the operational control strategy used for any tillage/cultivation operation involving embodiments of the apparatus may be informed or have regard to any of the plants/weeds (size, reach of the relevant plant/weed) that will be encountered during a tillage/cultivation operation. In an embodiment, the actuator assembly is configured operable so as to drive a ground engaging portion or segment (e.g. one of the first, second ground engaging portions or segments) of the ground engaging element so as to follow or form a ground engaging profile or path when engaged with the ground, the geometry of the ground engaging profile or path being informed by: a velocity of the apparatus moving over the ground, an angular velocity of the ground engaging element driven by the actuator assembly, whether the ground engaging element is rotating in the first or second directions, a desired working depth for a ground engaging operation, a geometry or profile of the relevant ground engaging segments (e.g., the geometry (e.g., linearity, length, width dimensions etc of the ‘working’ portions of the ground engaging segment(s)) of the portion of the segment that engages with the ground), a distance of any portion of the ground engaging element or ground engaging segment that engages with the ground from the axis. For example, a ground engaging segment having a profile commensurate with a wire or like segment will provide a different ground engaging profile or path, but is still capable of working or displacing ground/soil, organic matter, or severing same. In one embodiment, one or both of the first and second ground engaging portions or segments relative to the ground may be configured (for example, in one embodiment, whether relative to the other or otherwise) so that their respective angles of engagement with the ground are configured so that a quarter rotation of the ground engaging element from the standby position, driven in either direction, followed by a reverse quarter rotation, completes an excavation of target organic material or region of soil, or substantially completes an excavation cycle. In one embodiment, one or both of the first and second ground engaging portions or segments may be configured (for example, in one embodiment, whether relative to the other or otherwise) so that their respective angles of engagement with the ground are configured so that a half rotation of the ground engaging element, driven in either direction, completes an excavation of target organic material or region of soil, or substantially completes an excavation cycle. In an embodiment, the actuator assembly may be configured operable so as to vary, in accordance with a desired operational control strategy, the angular velocity and/or direction of rotation of the ground engaging element when driven along or in accordance with a portion of the ground engagement profile/path. In an embodiment, the ground engagement profile/path followed or along which movement of one of the ground engaging segments progresses by operation of the apparatus occurs or is completed during about a first quarter rotation of the ground engaging element about the axis from the non-ground engaging state (e.g., standby condition) to a or the ground engaging state, followed by a second quarter rotation of the ground engaging element about the axis back to the non-ground engaging or standby state. In one form the second quarter rotation of the ground engaging element about the axis is the reverse movement of the first quarter rotation of the ground engaging element. In one embodiment, an excavation cycle comprises both the first and second quarter rotations. In an embodiment, the ground engagement profile/path followed or along which movement of one of the ground engaging segments progresses by operation of the apparatus occurs or is completed during about a half (or about 180 degree) rotation of the ground engaging element about the axis commencing from the non-ground engaging or standby state. In an embodiment, operation of the apparatus in a selective manner involves any of the following operations: (i) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis in either direction of rotation; (ii) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis, followed by about a half revolution about the axis in the reverse direction of rotation about the axis; (iii) operating the actuator assembly so as to drive the ground engaging element about a quarter revolution about the axis in either direction; (iv) operating the actuator assembly so as to operate the ground engaging element about a quarter revolution about the axis, followed by about a quarter revolution about the axis in the reverse direction of rotation about the axis; (v) combinations of any of the above in whole or in part; (vi) operating the actuator assembly so that rotational motion of the ground engaging element at any stage in any of the operations of (i)-(v) comprises a constant angular velocity or comprises angular acceleration or deceleration portions. In an embodiment, the ground engaging segments may be configured or oriented with the body of the ground engaging element so that the angle of engagement with the ground is within a generally acute range of angles from about 0 degrees to about 90 degrees, or between from about 0 degrees to about 45 degrees, or about 16 degrees. The angle of engagement of the ground engaging segments may be selected from within the latter ranges and configured so as to reduce the amount of loading to which the relevant ground engaging segment becomes subject on its engagement with the ground (e.g., so as to facilitate weed/soil penetration). In an embodiment, the apparatus and/or the ground engaging element is configured operable so as to, when caused to be rotating about the axis in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material), present a respective side or face of one of the first, second ground engaging portions/segments at a sufficiently acute angle of engagement relative the surface of the ground for engaging or entering the ground ahead of the axis relative to the direction that the apparatus is caused to be moved across the ground, said respective side or face being operable for engaging/working ground or soil ahead of or approaching the relevant segment. In an embodiment, the apparatus is configured so that, when in use where the apparatus is being moved forward across the ground in a direction of travel, for an angle of engagement of a ground engaging edge of one of the ground engaging segments with the ground that is at or near an upper range of the acute range of angles, or for example, at or near 90 degrees, the actuator assembly drives the ground engaging element in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and after the target organic material) at an angular velocity so that a ground speed (e.g. the magnitude of the horizontal velocity component of the resultant velocity vector of the distal tip or edge of the relevant ground engaging segment) of the ground engaging edge of the relevant of the ground engaging segment is equal to zero, or, if above zero, the ground speed of the ground engaging edge of the relevant of the ground engaging segments is directed in a direction opposite to said forward direction of travel the apparatus is being moved (or towed) across the ground. In this manner, a side of one of the first, second ground engaging portions/segments is operable for engaging/working ground or soil ahead of or approaching said side of the relevant segment. In this approach, said side of the relevant segment pushes the engaged soil. Accordingly, if the horizontal velocity component of the resultant velocity vector of the distal portion/tip of the relevant of the ground engaging segments is above zero, then said horizontal velocity component is to be directed in a direction opposite to the direction the apparatus is being moved (or towed) across the ground (which is caused by increasing the angular velocity of the ground engaging element or decreasing the travel speed). In an embodiment, for an angle of engagement with the ground of a ground engaging edge of one of the ground engaging portions or segments that is at or near a lower range of the acute range of angles (or for example, at or near 16 degrees) the apparatus is configured so as to be operated so that, when in use where the ground engaging element is being rotated by the actuator assembly in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material), one or both of the velocity the apparatus is being moved or towed across the ground and the angular velocity of the ground engaging element can be adjusted so that, for a portion of the ground engaging segment that is distal (e.g., the distal tip or edge of the segment) from the axis that is about to engage the ground, a resultant velocity vector of the distal portion (or tip) is established that is: (i) at a limit where the resultant velocity vector lies at said angle of engagement with the ground (or is colinear with the relevant ground engaging segment relative to the ground at said angle of engagement), or (ii) provides an angle of the established resultant velocity vector of the distal portion (relative to the ground surface) that is less than said angle of engagement of the relevant ground engaging edge with the ground, thereby causing a side or face of the relevant ground engaging portion or segment to operate as a working face during a ground engaging event, wherein said working face is a face or side of the relevant ground engaging portion or segment that faces the approaching target organic material as the ground engaging element rotates about the axis in the first direction. The apparatus may be couplable with the tyne or other support assembly (hereinafter, movable support) by way of a coupling arrangement configured so as to releasably attach the apparatus to the movable support. In one form, the coupling arrangement comprises one or more fasteners that operate with respective existing attachment means (e.g., a standard attachment point or provision on the relevant movable support) provided with the movable support. The fasteners may comprise a bolt which threadedly engages with a complimentary thread provided within an aperture of the movable support. In an embodiment, the apparatus may be couplable with the tyne bar of the tyne or cultivator assembly by way of a coupling arrangement configured so as to releasably attach the apparatus to a region of the tyne or other support assembly so that the ground engaging element is able to, when in use, engage regions of the ground that reside in a region between adjacent crop rows, or the inter-row region, of an area to be subject to a tillage or cultivation operation by the apparatus thereby providing an active tillage tool operable along said inter-row region during the operation. In this manner, embodiments of the apparatus consistent with the present disclosure are coupled with a tyne (for example, at a distal region of the tyne bar or shank that is proximal with the ground). In this manner, embodiments of the apparatus consistent with the present disclosure can be mounted with the tyne bar or shank where a conventional tillage tool would usually be mounted. Depending on the tillage or ground cultivation operation the apparatus may be coupled with the movable support (e.g., tyne shank) in a number of different orientations relative to the direction of movement over the ground (e.g., by a tow-vehicle such as a tractor, etc). In this regard, and in one implementation of use, for example, the apparatus (or multiple apparatuses of similar configuration) can be located/coupled with shanks of tyne assemblies (or other like support structure) so that operation of the apparatus causes the carried ground engaging element to be capable of engaging ground in desired inter-row region(s) having regard to the configuration of tyne assemblies involved in tillage or cropping operations. In one sense, it is considered that embodiments of the apparatus of the present disclosure lend well to inter-row tillage/cropping operations. However, embodiments of the apparatus of the present disclosure may be configured for use in intra-row tillage/cropping operations. The skilled reader would appreciate the nature and scope of such modifications or configurations to enable intra-row operations in view of the context of the present disclosure. In an embodiment, the apparatus and/or the coupling arrangement may be configured so as to enable the location, position, and/or angular orientation of the apparatus relative to the movable support or tyne shank to be changed or adjusted, either before operation or in-situ. In one embodiment, the apparatus and/or the coupling arrangement may be configured so that the apparatus can translate laterally (e.g., sideways) relative to the direction of travel, can translate forward/backward relative to the direction of travel, and/or rotate about a vertically aligned axis. Embodiments or implementations enabling such functionality may be particularly useful for mounting on a robotic platform. In one embodiment, one or more apparatuses are configured so as to be capable of movement laterally relative to the direction of travel during a tillage operation. In one form, each apparatus may be coupled with its respective tyne or other like support assembly using a coupling arrangement configured so as to provide a translation or displacement means or arrangement to allow the supported apparatus to be capable of moving across (or within) thereby allowing it to increase its ‘reach’ within one or both of the adjacent inter-row regions on either side. Such movement may be laterally or arc like. The translation or displacement means or arrangement may comprise any suitable componentry that can be configured so as to result in any translational or displacement enabling movement, such as for example, one or more linear bearings, lead screws or like mechanical or mechanised arrangements (e.g., swing type mechanisms). In this manner, for example, the effectiveness of the assembly of the apparatus (and indeed, even the effectiveness of a single apparatus when enabled in this manner) can be increased in that more ground during a single pass of the assembly can be the subject of active targeted tillage. The skilled reader will understand that any means by which translation or displacement of the apparatuses can be enabled/controlled can be used. More than one like formed apparatus may be couplable with the movable support and or arranged in different orientations so as to enable multiple regions of ground to be targetable during operation. The apparatus may be couplable with the movable support so that a plane in which the ground engaging element rotates is: (i) aligned generally orthogonal relative to a direction that the apparatus is being caused to move over the ground, or (ii) aligned generally parallel relative to a direction that the apparatus is being caused to move over the ground, or (iii) downstream or behind the movable support relative to a direction that the apparatus is being caused to move over the ground, or (iv) upstream or ahead of the movable support relative to a direction that the apparatus is being caused to move over the ground and the apparent movement of the ground as observed from the perspective of the axis. In one embodiment, the plane in which the ground engaging element rotates in is generally vertically aligned. In one form, the coupling arrangement is configured so as to operate with an existing attachment means (e.g., a standard attachment point or provision on the relevant tyne shank or other like support assembly) provided with the tyne assembly or other like support assembly. More than one like formed apparatus may be couplable to the tyne assembly or other like support assembly. In an embodiment, actuator assembly is configured so as to provide a direct drive arrangement. In another embodiment, the actuator assembly is operable with a reduction (eg. a speed reducer gearbox arrangement) or conversion arrangement or system, which may comprise any of a hydraulic, electromagnetic power or torque conversion arrangement or system. The actuator assembly may comprise an electric motor. In one form, for example, the electric motor is a brushless electric motor typical of a high-end battery-powered power-tool. In an embodiment, the actuator assembly comprises or is arranged operable with a gearbox arrangement configured operable so that power from a source of drive can be converted or modified. In one embodiment, the actuator assembly comprises or is arranged operable with a gearbox arrangement configured operable so that power from the electric motor (or for example a hydraulic motor) so that power from the electric motor (or other source of drive) is converted or modified. In this manner, the degree of drive provided to the ground engaging element by the actuator assembly can be varied as needed for a tillage or ground cultivation operation. Such a gearbox could be any of the following types (without limitation): a planetary gearbox, a cycloidal gearbox, a “T” gearbox, a worm drive, a crown gear or right-angle gearbox, a gearbox involving bevelled gears etc. The skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the present disclosure. In an embodiment, the actuator assembly may comprise a hydraulic motor. In such embodiments, the hydraulic motor may require operable association with an appropriate gearbox for power transmission. The skilled reader will appreciate that such gearbox arrangements could be any of those used with an electric motor. In one operable embodiment, the hydraulic motor (or more) is operable with a hydraulic power take off module or a source/supply of hydraulic fluid provided with a means of towing the apparatus. The skilled reader will appreciate various way in which a hydraulic motor embodied with the present disclosure could receive hydraulic fluid. Selective operation of the actuator assembly may be by way of a control means of or operably associated with the apparatus for selectively controlling operation of the actuator assembly for driving the ground engaging element to the ground engaging state from the non-ground engaging state (or standby condition), and back or returning to the non-ground engaging state. The apparatus may comprise or be arranged operable with a means for identifying targetable regions of ground or organic matter to engage for working purposes. In an embodiment, such identification means may be arranged operable with the controls means so as to inform selective operation of the apparatus. In one embodiment, the control means may be operable so as to receive an input from one or more sensor module(s) configured for sensing organic material as the tillage/cultivation operation progresses. In another embodiment, the control means may be configured operable with suitable means for processing the sensory input for use in discriminating between any sensed organic matter so as to identify target organic material or soil for excavation using the apparatus. In an embodiment, selective operation of the apparatus may involve the use of or incorporation of GPS location techniques associated with pre-mapping of targetable plant/weeds. In an embodiment, the control means is configured so as to stop rotation of the ground engaging element at the non-ground engaging or standby condition (e.g., so as to retain the ground engaging element in a standby condition in anticipation of operation of the ground engaging element to the ground engaging state on receipt of a signal corresponding to identification of target organic matter to be excavated). The actuator assembly and/or the control means may be powered by an electrical power source involving one or more batteries and/or one or more solar panels (e.g., multiple solar panels that form a solar array). In an embodiment, the apparatus comprises one or more stops that operate so as to stop rotation of the ground engaging element at the non-ground engaging or standby condition. The or each stops may operate individually or in cooperation with the control means. In an embodiment, the apparatus is provided in operable association with a power source for providing power to the actuator assembly and/or controlling hardware, which power source may comprise an electrical power source. In one embodiment, the source of electrical energy may comprise one or more batteries. In another embodiment, the power source could be a generator (e.g., a generator mounted on a tow vehicle or host tyne shank or assembly) which may be powered from a power take-off (PTO) or hydraulics or combustion engine provided with the tow vehicle (e.g., tractor) or host tyne shank/assembly. The actuator assembly may be arranged operable with a power take-off means or module or a mechanical to electrical transducer means or module configured so that rotation of the ground engaging element, when driven in-part by means other than the actuator assembly, can be recovered by conversion of said in-part driven movement of the ground engaging element into electrical energy. In this manner, a portion of electrical energy expended during driving of the ground engaging element (for example, by way of movement of the tow vehicle) may be recoverable during a ground engaging event. As such, in one embodiment, energy recovery is periodic across a tillage operation. The apparatus may be arranged operable with a levelling means configured operable for use in levelling an embodiment of the apparatus relative to the ground during operation. In one embodiment, the apparatus may be arranged operable with a levelling means configured operable for use in levelling an embodiment of the apparatus relative to the ground during operation, the levelling means is configured operable for providing passive stabilisation of the apparatus for enabling the ground engaging element of the apparatus to engage the ground to provide a substantially consistent incursion depth across a plurality of operations of the apparatus. In one embodiment, the apparatus is arranged operable with a levelling means configured operable for use in providing the apparatus substantially at a desired or target height relative to the ground local or adjacent of the apparatus during operation. Embodiments of such a levelling means may be configured operable for maintaining operation of an embodiment of the apparatus at about a predetermined height relative to the ground at which the ground engaging element operates. In this manner, a depth to which the ground engaging segments engage the ground can be controlled or reliably maintained during a tillage/cropping operation. In one form, the apparatus is arranged so as to be cooperably supported at a predetermined spacing from the ground by way of the movable support and a rollable element provided in rolling contact with the ground. In one embodiment, an embodiment of the apparatus is carried by a body that is coupled with the tyne/support assembly in a rotatable manner so that the body, and consequentially the apparatus, can rotate relative to the movable support. In another form, the coupling between the apparatus and the movable support is configured so as to bias the apparatus toward the ground, which bias is resisted by way of the rollable element being in rolling contact with the ground. Bias of the apparatus may be configured (e.g., by way of a spring loading arrangement and/or the centre of mass, location, and size of the apparatus) so as to also accommodate vertical movement of the apparatus operating against the applied bias due to the rollable element encountering non-uniform (e.g., undulating) surface topography during a tillage/cultivation operation. In another embodiment, the levelling means is configured so as to be adjustable so that the desired height of operation of the apparatus can be varied as might be required for a given tillage/cropping operation. The skilled reader will appreciate that the levelling means can be configured so that the degree of bias can be changed or adjusted as might be required for a given tillage/cropping operation. In an arrangement in which multiple apparatus are each coupled with a respective tyne shank or leg of a broader tyne or cultivator assembly, one or more of the apparatus is/are arranged so as to operable with a respective levelling means so that each respective apparatus is provided substantially at a desired height relative to the ground during operation (either passively or actively). In such embodiments, each apparatus is arranged so as to be benefit from localised levelling relative to the ground during the operation. In another form, the levelling means is configured so that an orientation or a height of the apparatus relative to the ground can be maintained passively by way of a 4-bar parallelogram linkage mechanism or arrangement. The skilled reader will appreciate other ways that the apparatus can be maintained relative to the ground during use or the working depth of the tool can be controlled passively or actively. In one embodiment, the levelling means is configured so that the apparatus trails the movable support or tyne shank. Embodiments could be configured where the apparatus is provided operable ahead of the movable support or tyne shank. Embodiments of the apparatus of the first or second aspects, or embodiments of apparatus as otherwise described herein, may be embodied with any of the features described herein so as to provide a system. In a third aspect, an embodiment provides a method for excavating or severing organic material or soil from a region of ground subject to a tillage or ground cultivation operation involving use of a tyne assembly (or other like support means), the method comprising: providing one or more apparatus comprising an actuator assembly and a ground engaging element configured so as to be driven by the actuator assembly in respect of an axis of the apparatus, coupling the or each apparatus with the tyne assembly (or other like support means), operating the or each apparatus in a selective manner so as to drive the ground engaging element about the axis from a first condition in which the ground engaging element is held in a non-ground engaging state to or toward a second condition in which the ground engaging element is engageable with the ground so as to engage or work a region of the ground for excavating or severing organic matter or soil targetable by the relevant apparatus. In various forms, the or each apparatus may be formed in accordance with any embodiment of the apparatus of the first or second aspects, or as otherwise described herein. In a fourth aspect, an embodiment provides a method of undertaking a tillage or ground cultivation operation using an apparatus coupled with a tyne bar of a tyne or ground cultivation assembly, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to a direction the apparatus is caused to be moved in during the tillage or ground cultivation operation, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, the method comprising: moving the apparatus over the ground during the tillage or cultivation operation, and, operating the apparatus in a selective manner on selection of a target organic material or region of ground so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby, then returning or moving the ground engaging element to the or a state or condition in which the ground engaging element is clear of engagement with the ground. Embodiments of the methods of the third or fourth aspects may comprise or involve, either individually or in combination, any of the following features, steps or processes. In an embodiment, the method comprises operating the or each apparatus so as to return or move the ground engaging element to a the or another first condition or non-ground engaging state (or standby condition/state) following operation of the ground engaging element at a second condition or ground engaging state. In one embodiment, operating the apparatus so as to return or move the ground engaging element to the or another state or condition in which the ground engaging element is clear of the ground places or resets the ground engaging element to a standby state or condition ready awaiting another operation to the ground engaging state on identification or selection of another target organic material or region of ground. In an embodiment, the standby state or condition is angularly offset from the non-ground engaging state or condition by about 180 degrees relative to the axis. In an embodiment, the method comprises selectively operating the or each apparatus on identification or selection of a target region of ground or organic matter to be excavated or severed within reach of the relevant apparatus. In an embodiment, coupling of the apparatus with a respective tyne assembly is arranged so as to enable the ground engaging element to work intra-row and/or inter-row regions of ground having regard to the configuration of tyne assemblies involved in the tillage or ground cultivation operation. In one embodiment, the method comprises coupling of one or more of the apparatus with a respective tyne bar of the tyne or cultivator assembly so as to enable the ground engaging element to work an inter-row region of the ground the subject of the tillage or ground cultivation operation. In an embodiment, varying or adjusting any of the following by way of operating (in a selective manner or otherwise) the or each apparatus and/or a vehicle by way of which the tyne or ground cultivation assembly is being caused to be moved: a position or orientation of the apparatus relative to the relevant tyne assembly or other like support assembly carrying or supporting the relevant apparatus, a velocity of the apparatus over the ground, an angular velocity of the ground engaging element about the axis, a direction of rotation of the ground engaging element about the axis, a desired working depth of the apparatus. Any of the latter may be varied or adjusted having regard to any of the following: a velocity of the apparatus over the ground, an angular velocity of the ground engaging element about the axis, a direction of rotation of the ground engaging element about the axis. In this manner, a ground or soil engagement profile/path followed or along which movement of the ground engaging segments progresses can be varied as required in excavating the target organic material or soil. The method may involve operating the or each apparatus in a selective manner in accordance with any of the following operations: (i) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis in either direction of rotation; (ii) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis, followed by about a half revolution about the axis in the reverse direction of rotation about the axis; (iii) operating the actuator assembly so as to drive the ground engaging element about a quarter revolution about the axis in either direction; (iv) operating the actuator assembly so as to operate the ground engaging element about a quarter revolution about the axis, followed by about a quarter revolution about the axis in the reverse direction of rotation about the axis; (v) combinations of any of the above in whole or in part; (vi) operating the actuator assembly so that rotational motion of the ground engaging element at any stage in any of the operations of (i)-(v) comprises a constant angular velocity or comprises angular acceleration or deceleration portions. In an embodiment, the method comprising providing or configuring the or each apparatus so as to provide or comprise one or more ground engaging portions or segments each extending from the ground engaging element, extension of the or each ground engaging portion or segment from the ground engaging element is aligned substantially normal with a plane in which the ground engaging element rotates about the axis, the extension of the or each ground engaging portion or segment defining at least one respective side of a respective ground engaging portion or segment which operates as a working face during engagement with the ground. In an embodiment, the ground engaging segments may be configured or oriented with the ground engaging element so that the angle of engagement with the ground is within a generally acute range of angles from about 0 degrees to about 90 degrees, or between from about 0 degrees to about 45 degrees, or about 16 degrees. The angle of engagement of the ground engaging segments may be selected from within the latter ranges and configured so as to reduce the amount of loading to which the relevant ground engaging segment becomes subject on its engagement with the ground (e.g., so as to facilitate weed/soil penetration). In one embodiment, the method comprises operating the apparatus so that the actuator assembly drives the ground engaging element in a second direction of rotation about the axis for substantially a first quarter rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or from about 75 degrees to about 90 degrees, or from about 85 degrees to about 90 degrees. In such embodiments, the actuator assembly is arranged operable to, following completion of the first quarter rotation, drive the ground engaging element in a second quarter rotation about the axis in a direction that is opposite to (or the reverse of) the second direction of the rotation back to the standby position thereby completing an excavation cycle ready to await commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. In this manner, a ‘chip-in/chip-out’ operation is achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate. In another embodiment, the method comprises operating the apparatus so that the actuator assembly drives the ground engaging element in a second direction of rotation about the axis for substantially a half rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees. In such embodiments, the actuator assembly is arranged operable to drive the ground engaging element through an arc of substantially 180 degrees about the axis from a first standby position so as to arrive at a second standby position thereby completing an excavation cycle and providing the ground engaging element in a state ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. In this manner, a tillage operation can be achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate. In an embodiment, the method comprising operating the apparatus so as to rotate the ground engaging element in a direction of rotation about the axis at an angular velocity relative to the velocity that the apparatus is being moved over the ground so that a working face of the relevant ground engaging portion or segment is upward and forward facing as it engages or enters the ground ahead of the axis and before the target organic material relative to the direction that the apparatus is caused to be moved across the ground. In this manner, a side or face of one of the first, second ground engaging portions/segments is operable as a working face for engaging/working ground, organic matter or soil ahead of or approaching said side of the relevant segment. In an embodiment, the or each apparatus is configured in accordance with any embodiment of the apparatus of the first or second aspects (or as otherwise described herein), wherein the method involves operating the or each apparatus so as to, rotate the relevant ground engaging element in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material), thereby presenting a respective side or face of one of the first, second ground engaging portions/segments at a sufficiently acute angle of engagement relative the surface of the ground for engaging or entering the ground ahead of the axis relative to the direction that the apparatus is caused to be moved across the ground, said respective side or face being operable for engaging/working ground or soil ahead of or approaching the relevant segment. In an embodiment, wherein each ground engaging portion or segment comprises a respective ground engaging edge defined by way of said extension of the respective ground engaging portion or segment from the ground engaging element, the ground engaging edge configured operable for penetrating the ground. In an embodiment, the method comprises, when in use where the apparatus is being moved forward across the ground in a direction of travel, for an angle of engagement of a ground engaging edge of one of the ground engaging segments with the ground that is at or near an upper range of the acute range of angles, or for example, at or near 90 degrees, operating the or each apparatus so that the actuator assembly drives the ground engaging element in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and after the target organic material) at an angular velocity so that a ground speed (e.g., the magnitude of the horizontal velocity component of the resultant velocity vector of the distal tip or edge of the relevant ground engaging segment) of the ground engaging edge of the relevant of the ground engaging segment is equal to zero, or, if above zero, the ground speed of the ground engaging edge of the relevant of the ground engaging segments is directed in a direction opposite to said forward direction of travel the apparatus is being moved (or towed) across the ground. Accordingly, for such embodiments, the method involves adjusting, or causing to be adjusted, one or both of the velocity the apparatus is being moved or towed across the ground and/or the angular velocity of the ground engaging element so that the horizontal component of the velocity of the ground engaging edge of one of the ground engaging segments is about equal to the velocity the apparatus is being moved (or towed) across the ground. If the horizontal velocity component of the resultant velocity vector of the distal portion/tip of the relevant of the ground engaging segments is above zero, then said horizontal velocity component is to be directed in a direction opposite to the direction the apparatus is being moved (or towed) across the ground (which is caused by increasing the angular velocity of the ground engaging element or decreasing the travel speed). In an embodiment, for an angle of engagement with the ground of a ground engaging edge of one of the ground engaging segments that is at or near a lower range of the acute range of angles (for example, at or near 16 degrees) when in use where the ground engaging element is being rotated by the actuator assembly in the first direction (in which one of the ground engaging portions or segments engages the ground at a location ahead of the axis and before the target organic material), the method comprises adjusting or causing to be adjusted, one or both of the velocity the apparatus is being moved or towed across the ground and the angular velocity of the ground engaging element so that, for a portion of the ground engaging portion or segment that is distal (e.g., the distal tip or edge of the segment) from the axis that is about to engage the ground, a resultant velocity vector of the distal portion/tip is established that is: (i) at a limit where the resultant velocity vector lies at said angle of engagement with the ground (or is colinear with the relevant ground engaging segment relative to the ground at said angle of engagement), or (ii) provides an angle of the established resultant velocity vector of the distal portion (relative to the ground surface) that is less than said angle of engagement of the relevant ground engaging edge with the ground., thereby causing a side or face of the relevant ground engaging portion or segment to operate as a working face during a ground engaging event, wherein said working face is a face or side of the relevant ground engaging portion or segment that faces the approaching target organic material as the ground engaging element rotates about the axis in the first direction. In an embodiment, the method may comprise operating or executing a first control method or strategy, which first control method or strategy may comprise any of the following steps or features. In one embodiment, the method comprises, on selection of a target organic material to be excavated or severed, operating the apparatus so that the ground engaging element undertakes an excavation cycle which commences from the non-ground engaging state and completes once the ground engaging element arrives at another non-ground engaging state on the ground engaging element being driven in the same direction, wherein engagement with the ground by one of the or each ground engaging portions or segments occurs between the axis and the ground before the selected target organic material relative to the direction the apparatus is moving. In an embodiment, the excavation cycle involves the ground engaging element being operated through an angle of about 180 degrees in said rotational direction. In an embodiment, the method comprises operating the apparatus so that an angular velocity of the ground engaging element in said rotational direction is substantially uniform during or across the duration of the excavation cycle. In an embodiment, the excavation cycle comprises one or more movements of the ground engaging element, and wherein the method comprises operating the apparatus during one of the or each movements of the ground engaging element so as to vary an angular velocity of the ground engaging element during the respective movement, the variation of the angular velocity enabling the ground engagement element to be subject to an angular acceleration or an angular deceleration. In an embodiment, the method comprises operating the apparatus so that an angular velocity of the ground engaging element during one of the or each movements of the ground engaging element is different to an angular velocity of the ground engaging element during another movement of the ground engaging element during the excavation cycle. In an embodiment, the excavation cycle comprises a first movement of the ground engaging element, the first movement of the ground engaging element commencing from the standby state and ends at about where the ground engaging element is about to engage the ground ahead of the axis and before the target organic material to be excavated relative to the direction the apparatus is moving. In an embodiment, the excavation cycle comprises a second movement of the ground engaging element, the second movement of the ground engaging element being from about where the ground engaging segment enters the ground, to about where the ground engaging element has disengaged from the ground or is about to disengage from the ground. In an embodiment, the excavation cycle comprises a third movement of the ground engaging element, the third portion of movement of the ground engaging element commencing from about where the ground engaging element engages the ground, to about where it reaches a maximum depth into the ground for the excavation event. In an embodiment, the excavation cycle comprises a fourth movement of the ground engaging element, the fourth movement of the ground engaging element being from about where the ground engaging segment has disengaged from the ground or is about to disengage from the ground, to about the standby state/condition. In an embodiment, the method comprises operating the apparatus so that an angular velocity of the ground engaging element during a movement of same is modified or varied based on a determination of an energy demand of the actuator assembly having regard to a predetermined threshold level of energy demand during driving of the ground engaging element during the relevant movement. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a first angular velocity from the non-ground engaging state to a first position at about which one of the or each ground engaging portions or segments is about to engage the ground between the axis and the target organic material or region of soil. In an embodiment, the method comprises determining if the first position is reached and carrying out the relevant of the following: (i) maintaining the first angular velocity if the first position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the first position has been reached, or (b) to the standby state/condition. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a second angular velocity from the first position to a second position at which one of the or each ground engaging segments is engaged in the ground either wholly or in part. In an embodiment, the third position is one at which one of the ground engaging segments has achieved incursion into the ground that represents about a maximum depth into the ground for the excavation cycle. In an embodiment, the method comprises determining if the second position is reached and carrying out the relevant of the following: (i) maintaining the second angular velocity if the second position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the second position has been reached, or (b) to the non-ground engaging state. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a third angular velocity from the second position to a third position at which one of the or each ground engaging segments has disengaged from the ground, or is about to disengage from the ground. In an embodiment, the method comprises determining if the third position is reached and carrying out the relevant of the following: (i) maintaining the third angular velocity if the third position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation event or cycle if it is determined that the third position has been reached, or (b) to or toward the non-ground engaging state. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a fourth angular velocity from the third position to or toward the non- ground engaging state. In an embodiment, the method comprises determining if the standby state/condition is reached and carrying out the relevant of the following: (i) maintaining the fourth angular velocity if the non-ground engaging state is determined to not have been reached, or (ii) ceasing rotation of the ground engaging element if it is determined that the non-ground engaging state has been reached. In an embodiment, the method comprises operating the apparatus so that any of the first, second, third, or fourth angular velocities are either: (i) substantially uniform, or (ii) non-uniform during the course of the relevant movement of the ground engaging element. In an embodiment, the method may comprise operating or executing a second control method or strategy, which second control method or strategy may comprise any of the following steps or features. In one form, the second control method or strategy is a dynamic control method or strategy. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a first angular velocity from the non-ground engaging state to a first position at about which one of the or each ground engaging portions or segments is about to engage the ground between the axis and the target organic material or region of soil. In an embodiment, the method comprises determining if the first position is reached and carrying out the relevant of the following: (i) maintaining the first angular velocity if the first position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the first position has been reached, or (b) to the standby state/condition. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a second angular velocity from the first position to a second position at which one of the or each ground engaging segments is engaged in the ground either wholly or in part. In an embodiment, the third position is one at which one of the ground engaging segments has achieved incursion into the ground that represents about a maximum depth into the ground for the excavation cycle. In an embodiment, the method comprises determining if the second position is reached and carrying out the relevant of the following: (i) maintaining the second angular velocity if the second position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the second position has been reached, or (b) to the non-ground engaging state. In an embodiment, the method comprises operating the apparatus so as to drive the ground engaging element at about a third angular velocity from the second position toward the standby state or condition. In an embodiment, the method comprises determining an energy demand of the actuator assembly and carrying out the relevant of the following: (i) maintaining the third angular velocity if the energy demand is determined to be below a predetermined threshold level, or (ii) modifying the third angular velocity if the energy demand is above the predetermined threshold level. In an embodiment, the method comprises determining if the standby state/condition is reached and carrying out the relevant of the following: (i) determining the energy demand of the actuator assembly and carrying out the relevant of the following: (a) maintaining the third angular velocity if the energy demand is determined to be below the predetermined threshold level, or (b) modifying the third angular velocity if the non-ground engaging state is determined to not have been reached, (ii) ceasing rotation of the ground engaging element if it is determined that the non- ground engaging state has been reached. In an embodiment, the modifying the angular velocity comprises increasing the third angular velocity. In an embodiment, the modifying of the angular velocity of the third angular velocity is based, at least in part on a differential between the determined energy demand of the actuator assembly and the predetermined threshold level. In an embodiment, a difference between the third angular velocity as modified from the third angular velocity prior to being modified is proportional to the differential between the determined energy demand of the actuator assembly and the predetermined threshold level. In an embodiment, the method comprises operating the apparatus so that any of the first, second, third, or fourth angular velocities are (i) substantially the same, or (ii) substantially different from each other. In an embodiment, the angular velocity of the ground engaging element is selected from a range up to about 60 radians per second. In an embodiment, the method comprises recovering energy from movement of the ground engaging element when caused to be moved by way of its interaction with the ground when engaged therewith during the excavation cycle. In an embodiment, operation of the apparatus in a selective manner involves any of the following operations: (i) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis in either direction of rotation; (ii) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis, followed by about a half revolution about the axis in the reverse direction of rotation about the axis; (iii) operating the actuator assembly so as to drive the ground engaging element about a quarter revolution about the axis in either direction; (iv) operating the actuator assembly so as to operate the ground engaging element about a quarter revolution about the axis, followed by about a quarter revolution about the axis in the reverse direction of rotation about the axis; (v) combinations of any of the above in whole or in part; (vi) operating the actuator assembly so that rotational motion of the ground engaging element at any stage in any of the operations of (i)-(v) comprises a constant angular velocity or comprises angular acceleration or deceleration portions. In an embodiment, the apparatus is an embodiment of the apparatus as described herein. In a further aspect, an embodiment provides a system for use in carrying out a tillage or ground cultivation operation involving one or more tyne assemblies (or other like support means), the system comprising: one or more apparatus each comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to a direction the apparatus is caused to be moved in during the tillage or ground cultivation operation, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, wherein, the or each apparatus are configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground within a reach of one of the apparatus, so as to drive the relevant ground engaging element by way of the relevant actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby, then returning or moving the ground engaging element to the or another state or condition in which the ground engaging element is clear of engagement with the ground. In one embodiment, the apparatus is configured so that operating the ground engaging element to the or another state or condition in which the ground engaging element is clear of the ground places or resets the ground engaging element to a standby state or condition ready awaiting another operation to the ground engaging state on identification or selection of another target organic material or region of ground In an embodiment, each of the apparatus may comprise any embodiment of the apparatus described herein. In another aspect, an embodiment provides a method of undertaking a tillage or ground cultivation operation comprising operating an embodiment of a system as described herein, comprising carrying out an embodiment or implementation of a method described herein in respect of one or more of the apparatuses of said system. In an embodiment, the or each apparatus is arranged in accordance with any embodiment of the apparatus of the first or second aspects, or as otherwise described herein. In another aspect, an embodiment provides a system for use in carrying out a tillage or ground cultivation operation involving one or more tyne assemblies (or other like support means), the system comprising: one or more apparatus comprising an actuator assembly and a ground engaging element configured so as to be driven by the actuator assembly in respect of an axis of the apparatus, the or each apparatus coupled with a respective tyne assembly (or other like support means), wherein, the or each apparatus are arranged so that each are, in use, selectively operable for driving the relevant ground engaging element about the axis from a first condition in which the ground engaging element is held in a non-ground engaging state to a second condition in which the ground engaging element is engageable with the ground so as to engage or work a region of the ground for excavating or severing organic matter or soil targetable by the relevant apparatus. In one form, the system is configured so that one or more apparatus are arranged so as to return the relevant ground engaging element to the first condition or non-ground engaging state (e.g., a standby condition) following engagement with the ground. In an embodiment, the system comprises means for selectively operating the or each apparatus on identification or selection of a target region of ground or organic matter to be excavated or severed within reach of the relevant apparatus. In an embodiment, the system comprises or is operable with a means for identifying/selecting a target region/weed to be targeted. In an embodiment, the system may comprise a plurality of apparatus coupled with a respective portion of the tyne assembly. In an embodiment, the portions of the tyne assembly to which a respective apparatus is coupled are spaced laterally relative to a direction the tyne assembly is being towed during use. In an embodiment, the system comprises the tyne assembly. In a further aspect, an embodiment provides an apparatus for coupling with a tyne assembly or other like support assembly for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly arranged for providing rotational drive in respect of first and second axes, a first ground engaging element configured so as to be driven about the first axis by the actuator assembly, a second ground engaging element configured so as to be driven about the second axis by the actuator assembly, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable so as to drive the first and/or second ground engaging elements by way of the actuator assembly from respective non-ground engaging states toward a respective ground engaging state to engage or work a region of the ground for excavating or severing target organic material or soil hosted thereby. Embodiments of the first and second ground engaging elements may comprise any of the embodiments of the ground engaging element described above, or as otherwise described herein. In an embodiment, the actuator assembly comprises a gearbox configured operable for providing drive to both the first and second actuators so as to operate substantially together. In an embodiment, the actuator assembly is configured so as to provide a direct drive arrangement to one or both first, second ground engaging elements from the same or a respective actuator module. In an embodiment, the actuator assembly comprises a first actuator module operably associated with the first ground engaging element so as to drive same about the first axis. In an embodiment, the actuator assembly comprises a second actuator module operably associated with the second ground engaging element so as to drive same about the second axis. In an embodiment, the first and second axes are arranged substantially coaxial with one another. In another embodiment, the first and second axes are offset from one another. In an embodiment, the first and second ground engaging elements are arranged in a back-to- back manner. In an embodiment, the first and second ground engaging elements are arranged so that one precedes (or trails) the other relative to the direction the apparatus is being moved/towed. In another embodiment, the actuator assembly is operable with a reduction (e.g., a speed reducer gearbox arrangement) or conversion arrangement or system, which may comprise any of a hydraulic, electromagnetic power or torque conversion arrangement or system. The actuator assembly or any of the first, second actuator modules may comprise an electric motor or a hydraulic motor. In one form, for example, the electric motor is a brushless electric motor typical of a high-end battery-powered power-tool. In an embodiment, the actuator assembly or any of the first, second actuator modules comprise(s) or is/are arranged operable with a gearbox arrangement configured operable with the electric motor (or hydraulic motor) so that power from at least one or the first, second actuator modules (whichever relevant) is converted or modified enroute to the first, second ground engaging elements. In this manner, the degree of drive provided to the first, second ground engaging elements by the actuator assembly can be varied as needed for a tillage or ground cultivation operation. Such a gearbox could be any of the following types (without limitation): a planetary gearbox, a cycloidal gearbox, a “T” gearbox, a worm drive, a crown gear or right-angle gearbox, a gearbox involving bevelled gears etc. The skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the present disclosure. In a further aspect, an embodiment provides an apparatus for coupling with a tyne assembly or other like support assembly for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly, a ground engaging element configured so as to be driven by the actuator assembly, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state toward a ground engaging state to engage or work a region of the ground for excavating or severing target organic material or soil hosted thereby, and return to the non- ground engaging state. Embodiments of the present aspect may comprise any of the features, either individually or in combination, as described in relation to apparatus of the first or second aspects, or as otherwise described herein. Further, such embodiments may be operated in accordance with various embodiment or implementations of the methods as described herein. In a further aspect, an embodiment provides a cultivator bar or related assembly comprising one or more embodiments of an apparatus as described herein for enabling active or targeted tillage capability for use in a tillage or cultivation operation. In an embodiment, the or each apparatus is arranged in accordance with any embodiment of the apparatus of the first or second aspects, or as otherwise described herein. In this specification, where a literary work, act or item of knowledge (or combinations thereof), is discussed, such reference is not an acknowledgment or admission that any of the information referred to formed part of the common general knowledge in the art, in Australia or any other country. Such information is included only for the purposes of providing context for facilitating an understanding of the inventive concept/principles and the various forms or embodiments in which those inventive concept/principles may be exemplified. Various aspects, examples or embodiments described herein can be practiced alone or in combination with any one or more of the other described aspects, examples or embodiments, as will be readily appreciated by those skilled in the relevant art. The various described aspects, examples or embodiments can optionally be provided in combination with one or more of the optional features described in relation to the other aspects, examples or embodiments. Furthermore, optional features described in relation to one aspect, example or embodiment can optionally be combined alone or together with other features described in relation different aspects, examples or embodiments. For the purposes of summarising the various aspects, examples, or embodiments exemplifying the principles described herein, certain aspects, advantages and novel features have been described above and herein. It is to be understood, however, that not necessarily all such advantage(s) may be achieved in accordance with any particular embodiment or carried out in a manner that achieves or optimises one advantage or group of advantages as taught herein without necessarily achieving other advantage(s) as may be taught or suggested herein. Throughout the specification and the claims that follow, unless the context requires otherwise, the word “comprise” or variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. Furthermore, throughout the specification and the claims that follow, unless the context requires otherwise, the word “include” or variations such as “includes” or “including”, will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. Brief Description of the Drawings Embodiments will now be described, by way of example only, with reference to the accompanying non-limiting figures, in which: Figure 1 shows a perspective view of an embodiment of an apparatus arranged in accordance with the present disclosure; Figure 2 shows a perspective view of the embodiment shown in Figure 1 when in a non- grounding engaging or a standby condition; Figure 3 shows a perspective view of the embodiment shown in Figure 1 when in a ground engaging state in use; Figure 4 shows an exploded view of the embodiment shown in Figures 1 to 3; Figures 5 to 10 show respective examples of simulated ground/soil engagement profiles of example tillage operations (Figure 8 showing a simulation of a conventional approach), in which Figure 5b shows schematic views of an embodiment of a ground engaging element arranged consistent with the present disclosure when used in an operation consistent with that simulated in Figures 5-6. Shown in Figure 5b is the relevant geometrical configuration of the ground engaging element’s ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and cycle path (C) during operation. Figure 7b shows schematic views of an embodiment of a ground engaging element arranged consistent with the present disclosure when used in an operation consistent with that simulated in Figures 7-10. Shown in Figure 7b is the relevant geometrical configuration of the ground engaging element's ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and cycle path (C) during operation. Figure 11a shows a further example of a simulated ground/soil engagement profile of an example tillage operation involving relatively slower rotation as compared the simulations shown in Figures 5 to 10. Figure 11b shows schematic views of an embodiment of a ground engaging element arranged consistent with the present disclosure when used in an operation consistent with that simulated in Figure 11a. Shown in Figure 11b is the relevant geometrical configuration of the ground engaging element's ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and cycle path (C) during operation. Figure 11c shows a further schematic view of the embodiment of the ground engaging element shown in Figure 11b. Figure 12 shows a schematic elevation view of another embodiment of an apparatus arranged in accordance with the present disclosure; Figure 13 shows (a) a schematic front-end view of a further embodiment of an apparatus arranged in accordance with the present disclosure, and (b) a schematic elevation view of the embodiment shown in Figure 13(a); Figure 14a shows a schematic plan view of an implementation of use of one embodiment of the apparatus arranged in accordance with the present disclosure; Figure 14b shows a perspective view of one embodiment of the apparatus involved in the implementation shown in Figure 14a; and Figure 15 shows a schematic plan view of a tillage operation. Figure 16a shows a schematic plan view of another implementation of use of one embodiment of the apparatus arranged in accordance with the present disclosure. Figure 16b shows a schematic plan view of a further implementation of use of one embodiment of the apparatus arranged in accordance with the present disclosure. Figure 17 shows a flow chart of one embodiment of a method of operation of an embodiment of an apparatus arranged in accordance with the present disclosure. Figure 18 shows a flow chart of another embodiment of a method of operation of an embodiment of an apparatus arranged in accordance with the present disclosure. Detailed Description of Embodiment(s) With reference to Figures 1 to 4 there is shown one embodiment of an apparatus 5 for use in carrying a ground engaging element or tool 10 (hereinafter, tool 10) for use in a tillage or ground cultivation operation (e.g., excavating unwanted organic material such as weeds W or region of soil (eg. in the form of a divot) from a region of ground). The apparatus 5 is arranged so as to be couplable with a tyne shank 14 of a tyne assembly or other/like support assembly (hereinafter, tyne assembly 15) that is moveable over the ground by way of a prime mover as part of the tillage or ground cultivation operation, such as for example a tractor T (see Figure 15). The apparatus 5 comprises an actuator assembly 20 that is arranged for providing rotational drive about an axis X. The apparatus 5 further comprises the tool 10 configured so as to be driven by the actuator assembly 20 about an axis X of rotation between a non-ground engaging state in which the tool 10 is clear or free from engagement with the ground (e.g., in a ‘standby’ position or state - the state shown in Figures 1 and 2), and a grounding engaging state in which the tool 10 engages with the ground so as to engage or work a region of ground/soil on selective operation of the actuator assembly 20 (the mid-ground engaging state can be seen in Figure 2). The apparatus 5 is configured selectively operable (e.g., by way of a suitably configured electronic controller) so as to, when in use, drive the tool 10 by way of the actuator assembly 20 from the ‘standby’ condition so as to selectively engage or work a region of the ground for excavating target organic material hosted thereby. In this manner, the tool 10 is able to remain in the non-ground engaging or standby position/condition above the ground in anticipation of being driven by the actuator assembly 20 to the ground engaging state on the identification or selection of target organic material or soil requiring excavation. In this manner, embodiments of the apparatus 5 can be used for providing a means for active and targeted tillage of weed bearing ground. For the embodiment described, the actuator assembly 20 is arranged for providing rotational drive about the axis X which, during operation, is aligned substantially parallel with the ground and substantially transverse or perpendicular to the direction the apparatus 5 is caused to be moved in (e.g., towed) by the tractor T (for example). The ground engaging element or tool 10 is configured so as to be driven during operation about the axis X by the actuator assembly 20 in a plane substantially parallel with the direction of movement the apparatus 5 is being moved/towed in. The actuator assembly 20 and the tool 10 are arranged operable so that, in use, rotary motion of the tool 10 driven by the actuator assembly 20 is in a plane that is substantially perpendicular, orthogonal or normal with the local surface of the ground over which the apparatus 5 is being caused to be drawn or moved. The apparatus 5 is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground, so as to drive the tool 10 by way of the actuator assembly 20 from the non-ground state or condition (e.g., standby state) toward the ground engaging state or condition for engaging/working a region of the ground for excavating or severing the target organic material or soil hosted thereby. The tool 10 is then returned or moved to the state or condition in which the ground engaging element is clear of engagement with the ground. The state or condition in which the tool 10 is clear of engagement with the ground could be the same initial standby state/condition, or another position in which the tool 10 is clear of engagement with the ground and is ready another operation to engage/work the ground once another target organic material or region of ground is selected/identified. With reference to Figures 1 to 4, the apparatus 5 is couplable with the tyne shank 14 of the tyne assembly 15 by way of a coupling arrangement 25 configured so as to releasably attach the apparatus 5 to a lower portion of the tyne shank 14. In the form shown, the coupling arrangement 25 comprises a body 28 configured having a first body portion 28a configured with an aperture 28c (see Figure 4) dimensioned so as to receive the actuator assembly 20, and a second body portion 28b configured for coupling with the tyne shank 14 in the manner shown in Figures 1 to 3. The coupling arrangement 25 is operable with fasteners that operate with an existing attachment means, e.g., a standard attachment point or provision on a region of the relevant shank 14 of the tyne assembly 15. A suitable bolt-nut fastener is used with an adapter plate 29 to secure the apparatus 5 with an aperture (not shown but implied in Figures 1 to 3) formed in the tyne shank 14 in a manner in which the apparatus 5 is keyed or splined with the shank 14 (i.e., fixedly associating the apparatus 5 with the shank 14). The coupling arrangement 25 may be part of the apparatus 5 or a separate arrangement associated with the shank 14 of the tyne assembly 15. The skilled reader would appreciate other types of coupling arrangements that could be used to secure the apparatus 5 with suitable supporting structure in the present context. With reference to Figure 2 (which assumes generally flat localised ground - which is generally horizontally aligned - is considered to be the subject of a weed tillage operation) the axis X of the apparatus 5 aligns substantially parallel with the horizontal plane and spaced above the ground. For this scenario, the actuator assembly 20 and the tool 10 are arranged operable so that, in use, rotary motion of the tool is in a substantially vertically aligned plane (this plane being substantially perpendicular, orthogonal or normal with the local surface of the ground over which the apparatus 5 is being caused to be drawn or moved). The tool 10 is rotatable clockwise or counterclockwise (as will be described in further detail below) by the actuator assembly 20 about the axis X. The direction of rotation of the tool 10 may be informed by the desired tillage effect, which could be, for example, informed by the type of organic material or region of soil being targeted for excavation. The direction of rotation about the axis X may be informed by the operational control strategy adopted for a given tillage/cultivation operation. For the embodiment shown, the tool 10 comprises a body 10a having first and second ground engaging portions provided respectively in the form of first 10b and second 10c ground engaging segments (hereinafter, blades 10b, 10c) which extend outward or away from a side of the body 10a, and which are provided in spaced relation relative to each other about the axis X (e.g., at about 180 degrees apart from each other). As seen in Figures 1 to 3, the body 10a is generally of a substantially planar form, and the first 10b and second 10c blades extend from the planar form of the body 10a in a direction that is substantially normal (directed outwards and orthogonal of the body) to the planar form of the body. It will be appreciated that more or less blades could be embodied depending on the prevailing circumstances. For the embodiment shown, the positioning of the blades 10b/c, 10 are equispaced and generally symmetrical about axis X. Each of the first 10b and second 10c blades comprise or present a respective ground engaging edge 10b-E, 10c-E which extend from the same side of the body 10a, as shown in Figures 1 to 3. In this manner, each ground engaging edge 10b-E, 10c-E extends from the side of the body 10a so as to be aligned substantially normal with the plane in which the tool 10 rotates about the axis X. The blades 10b/c may extend outward or away from the body 10a about a distance within a range from about 70mm to about 200mm, or about 100mm. In an embodiment, the body 10a may have a radius of about 175mm, this being the distance from the axis X to a respective ground engaging edge 10b-E, 10c-E (see various geometries in Figures 5b, 7b, and Figures 11b, 11c). The skilled reader would understand the scope of geometries applicable for embodiment of the present disclosure from the description and the Figures. Furthermore, the skilled reader will be readily aware of the appropriate materials from which embodiments of the tool 10 (and blades 10b/c) can be formed from for use in the present context, e.g., high strength metallic materials such as high strength steels, use of tungsten coatings where appropriate, and/or having non-corrosive characteristics. As shown in Figure 1 to 3, each blade 10b, 10c is generally of planar form or profile providing first 10b-1, 10c-1 and second 10b-2, 10c-2 sides (which are generally aligned in parallel relation). Either of the respective sides of each blades 10b, 10c may operate as a ground engaging or working face (hereinafter, working face) during a respective ground engaging event depending on the direction of rotation of the tool 10 about the axis X. As seen in Figure 2, each blade 10b, 10c is arranged so as to be angled relative to axis X. As will be described below, the respective angles of the blades 10b, 10c relative to the axis X (and consequentially, the relevant working face) are informed by a desired angle of engagement sought with the ground. The skilled reader will appreciate that the form or profile of the blades 10b, 10c may take different forms. For example, each blade may be configured or shaped so that one or both of the first 10b-1, 10c-1, second 10b-2, 10c-2 sides are of generally nonlinear or curvilinear form or profile. The skilled reader will also appreciate that a form or profile of one or both first 10b-1, 10c-1, second 10b-2, 10c-2 sides of one or both blades 10b, 10c may be configured in a manner which seeks to improve or optimise its engagement with the ground. In one form, the first 10b and second 10c blades are configured relative to the other so that a half rotation of the tool 10 achieves a substantially complete excavation of target organic material or soil. The ground engaging tool 10 can be configured so that each blade 10b, 10c positionally opposes the other at or near opposite distal ends of the body 10a of the tool 10. In this operational control strategy (i.e., a half rotation of the tool 10), the standby positions (where the tool 10 is clear of engagement with the ground) are angularly offset from each other by about 180 degrees relative to the axis X, i.e., movement from the first standby position to the next standby position is about 180 degrees (due to having two opposingly disposed blades 10b, 10c). The skilled reader will recognise that with more blades provided with the tool 10, the angular offset of the standby positions (where no ground engagement by the tool 10 occurs) will be less and driven by the geometry of the positioning of the blades about the axis X where no blade is engaged with the ground. In one form, the first 10b and second 10c blades are arranged so as to present at an angle of engagement relative to the ground at the anticipated time of engagement therewith. In some embodiments, the angle of engagement of the respective blades 10b, 10c are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or from about 45 degrees to about 75 degrees (e.g., for a ‘chip-in-chip-out’ operational strategy, i.e., second-first direction operational strategy), or in other embodiments from about 85 degrees to about 90 degrees (e.g. for 180 degree operational strategies). In an embodiment, for example that shown in Figure 11b, the angle of engagement of the respective blades 10b, 10c is configured so as to be about 16 degrees at about the position where the distal tip or leading edge 10b/c-E of the relevant blade engages the surface of the ground. The actuator assembly 20 may be configured so as to provide a direct drive arrangement. In other embodiments, the actuator assembly 20 may comprise or be arranged operable with a reduction (e.g., a speed reducer gearbox arrangement) or conversion arrangement or system, which may comprise any of a hydraulic, electromagnetic power or torque conversion arrangement or system. In the form shown, the actuator assembly 20 comprises an electric motor 22. In this embodiment, the electric motor 22 is a brushless electric motor, typical of a high-end battery- powered power-tool. In such cases, a source of electrical energy (e.g., one or more batteries or powered from a mounted generator which may be powered from the tractor power take-off (PTO) or hydraulics or combustion engine) is provided operable with the electric motor 22. The actuator assembly 20 and/or the control means may be powered by an electrical power source involving one or more batteries and/or one or more solar panels or a solar array. The actuator assembly 20 further comprises a gearbox arrangement 35 arranged operable with the electric motor 22 so that power from the electric motor 22 can be converted or modified on transmission to the tool 10. In this manner, the degree of drive provided to the tool 10 by the actuator assembly 20 can be varied as needed for a tillage or ground cultivation operation. Such a gearbox could be any of the following types (without limitation): a planetary gearbox, a cycloidal gearbox, a “T” gearbox, a worm drive, a crown gear or right-angle gearbox, a gearbox involving bevelled gears etc. The skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the present disclosure. It will be appreciated that other embodiments of the actuator assembly 20 may comprise a hydraulic motor. In such embodiments, the hydraulic motor may require operable association with an appropriate gearbox for power transmission. The skilled reader will appreciate that such gearbox arrangements could be any of those used with an electric motor or as described herein. In one operable embodiment, the hydraulic motor (or more) is operable with a hydraulic power take off module or a source/supply of hydraulic fluid of or provided with the means of towing the apparatus (e.g., tractor). With reference to Figure 4, an exploded view of the embodiment of the actuator assembly 20 of the apparatus 5 is shown. The gearbox arrangement 35 for the presently described embodiment is of the planetary type to facilitate a compact arrangement. The various components of the actuator assembly 20 shown include (working from the lower right to the upper left region of Figure 4): fasteners F, Nord-lock washers 35a, end cap 35b, laminated shim 35c, Fey-ring 35d, thrust bearing 35e, fasteners S, hub 35f, needle bearing assembly 35g, planet gear pins 35h, planet gears 35i, thrust bearing 35j, and motor housing 35k which threadedly engages with lock nut 35 through the aperture 28c of the body 28 as indicated. The nature of engagement by each blade 10b, 10c with the ground is influenced by the direction of rotation that the tool 10 is being driven about the axis X relative to the direction that the apparatus 5 is moving over the ground. Also relevant is the respective velocities, i.e. the velocity of the apparatus 5, and the angular velocity about the axis X of the tool 10 when driven. Variation of at least these parameters enables a ground or soil engagement profile or path to be engineered and along which movement of the blades 10b, 10c progresses so as to improve prospects of weed or soil excavation. In an embodiment, while weed or soil excavation are objectives of the principles of the present disclosure, a favourable outcome is severing of weed/plants below the growth point. The tool 10 may be rotated clockwise or counterclockwise about the axis X. The direction of rotation about the axis may be informed by the operational control strategy or regime adopted (a number of operational control strategies of use of embodiments of the present disclosure are described below) for a given tillage/cultivation operation. In one mode of operation, the actuator assembly 20 is arranged to drive the tool 10 in a first direction of rotation in which one of the blades 10b, 10c engages the ground ahead or upstream of the axis X relative to the direction the apparatus 5 is being moved over the ground (an example of the tool 10 rotating in the first direction of rotation is shown in Figure 11). In another mode of operation, the actuator assembly 20 is arranged to drive the tool 10 in a second direction of rotation (opposite the first direction of rotation) in which one of the blades 10b, 10c engages the ground behind or downstream of the axis X relative to the direction the apparatus 5 is being moved (an example of the tool 10 rotating in the second direction of rotation is shown in Figure 5). It will therefore be appreciated that the direction of rotation of the tool 10 will likely have implications on the nature of the plant/weed sought to be encountered during the tillage/cultivation operation and the extent that the above ground structure may interfere (entangle) with any constituent part of the apparatus 5 (e.g., any of the parts of the tool 10, blades 10b, 10c, constituent parts of the actuator assembly 20, gearbox module, including the exemplification of the axis X). In this manner, the operational control strategy used for any tillage/cultivation involving embodiments of the apparatus 5 may be informed or have regard to any of the plants/weeds that will be encountered during a tillage/cultivation operation. For a constant towing speed of the apparatus 5 with the tool 10 rotating in the first direction of rotation, the tool 10 engages with the ground with relatively less impact force than that expected when engaging with the ground when rotating in the second direction of rotation. This is because, for the case of the first direction of rotation of the tool 10, the respective linear tow velocity of the apparatus 5 and angular velocity of the tool 10 generally resolve and subtract at the ground engagement region given the length of the tool leading to a less agitated engagement with the ground. For the second direction of rotation of the tool 10, the respective velocities in the ground engagement region are additive leading to a more aggressive engagement and subjecting the tool 10 (and the apparatus 5) to a more intense loading profile while engaged with the ground. With the ability to control the respective velocities of the movement of the apparatus 5 (eg. adjusting the velocity of the prime mover) and the rotation of the tool 10 (its angular velocity magnitude and direction about the axis X), a desirous ground engagement profile/path (which profile/path is commensurate with a volume of a divot or excavation to be carried out) along which movement of at least one of the blades 10b, 10c progresses can be engineered so as to improve prospects of weed (including weed/plant severing) or soil excavation and, prospectively, energy consumption/recovery. Active control or setting of these parameters may be informed by the nature of the ground to be worked and/or the nature of the weeds known to be present in the ground. As will be described with reference to Figures 5 to 11 below, the ground or soil engagement paths can be varied using the apparatus 5 and the tow means (e.g., tractor T) providing multiple options depending on the requirements of the tillage/cultivation operation, the nature of the organic matter or region of soil being targeted, and or the distribution of the targeted matter in the context of the operation (eg. inter-row or intra-row, in the context shown in Figure 15). In this regard, the respective velocities (whether constant or varied during a particular movement) of the tow means and the tool 10 can be adjusted as needed to cause a desired engagement path with/through the ground/soil in a selective manner as desired. Depending on the tillage or ground cultivation operation the apparatus 5 can be coupled with the tyne shank 14 in a number of different orientations relative to the direction of movement over the ground (eg. by a prime mover). In this regard, and in one example implementation of use, the apparatus 5 (or multiple apparatuses of similar configuration) can be located/coupled with respective tyne shanks 14 so that operation of the apparatus (5) causes the carried tool 10 to be capable of engaging ground in desired inter-row region(s). In one sense, embodiments of the apparatus 5 of the present disclosure lend well to inter-row tillage/cropping operations. However, embodiments of the apparatus 5 may be configured for use in intra-row tillage/cropping operations. The skilled reader would appreciate the nature and scope of such modifications or configurations to enable intra-row operations in view of the context of the present disclosure. Figures 5 to 11 show simulated ground or soil engagement profile/paths for various operational scenarios involving, e.g., changes in rotational direction, changes in angular velocity of the tool 10, and/or changes in tow velocities relative to the ground. In each case, the simulations correspond to constant linear tow velocities (e.g., by a tractor) and angular velocities of the tool 10 during respective operational control strategies. As noted herein, constant angular velocities of the tool 10 are not essential as variable/non-constant velocities of the tow means and the tool 10 can be exploited to change the soil engagement path, as well as the consequential reaction time. For the following discussion of the operational control strategies shown in the simulations of Figures 5-11, the same reference numerals are used for analogous features where appropriate for ease and consistency of explanation. Four different tool 10 geometries are shown throughout Figures 5-11: the geometry of the tool 10 used in the simulations of Figures 5 to 6 is shown in Figure 5b and of conventional form; the geometry of the tool 10 used in the simulations of Figures 7 to 10 is shown in Figure 7b (and is functionally analogous to that shown in Figure 5b to account for a change in rotation direction). A revised geometry of a tool 10’ is used and shown in the simulation of Figure 11a. A variation of the tool 10’ geometry shown in Figure 11a is shown in Figures 11b and 11c. For both Figures 5b and 7b, the relevant geometrical configuration of the tool’s (10) ‘standby’ condition (A), ‘engagement’ position (E), ‘disengage’ position (D), and path (C) during operation is shown. The path (C) shown in Figures 5b and 7b represents the path of the leading edge 10b/c-E of the relevant blade 10b/c when the tool 10 is itself stationary, as compared the corresponding path DC of the leading and trailing edges 10b/c-E, 10b/c-T when the tip of the tool 10 is being towed during operation. On review of Figures 5b and 7b the skilled reader will appreciate that the tool 10 geometries are, in effect, inversions of each so that the presentation of the blades 10b/10c and respective working face (wf) to the ground at the engagement position E is the same for the direction of rotation for the relevant simulations, being at about 90 degrees with the ground and accounts. For the simulations shown in Figures 5 and 6, the direction of rotation is in the second direction (counter-clockwise direction in Figures 5 and 6). For the simulations of Figures 7 to 10 the direction of rotation is in the first direction (clockwise direction in Figures 5 and 6). Figure 5 shows one mode of operation of the apparatus 5 where engagement of the blade 10b is completed during an initial approximately quarter rotation (90 degrees) of the tool 10 shown about the axis X in the second direction of rotation (as defined above) from the non-ground engaging or standby state to the ground engaging state - this motion is referred to as a ‘stroke/dig’ action. This initial quarter rotation is followed by a reverse rotation of the tool 10 about the axis X back to the non-ground engaging or standby state – this reverse motion is referred to as a ‘reload’ action. This type of movement strategy is referred to as a ‘chip-in/chip- out’ cycle. During movement of the blade 10b along the engagement path, a side or face of the blade 10b operates as a working face (indicated as wf) serving to engage and work the ground/soil. For the case of the strategy shown in Figure 5, the working face wf is the side of the blade 10b that faces inwards towards the axis X. During its engagement with the ground/soil the working face wf works/engages an amount of ground/soil (hereinafter, worked volume wv, represented in the shaded region) between the ‘soil line’ and the engagement profile/path along which the blade 10b is caused to travel. Working of the ground in this manner serves to (theoretically) excavate the entirety of the worked volume wv. As can be seen from Figure 5b, the blade 10b and working face wf are configured or oriented with the tool 10 so as to arrive at the ground surface at an angle of engagement of about 90 degrees (relative to the surface of the ground) at the intended engage position E, being arrived at from the standby position S having passed/swept through an angle of about 46 degrees. Thus, in implementation of a suitable tillage strategy, the apparatus 5 can be operated so that the actuator assembly 20 drives the tool 10 in the second direction of rotation about the axis X for substantially a first quarter rotation in which one of the blades 10b/c is caused to engage the ground at a location behind the axis X and before the target organic material or region of ground to be excavated. This causes a face or side of the relevant blade 10b/c facing toward the axis X to become an active or working face/side that engages/works the ground. In one embodiment, one or both of the blades 10b/c are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or in some embodiments from about 75 degrees to about 90 degrees, or in other embodiments from about 85 degrees to about 90 degrees, or in other embodiments from about 45 degrees to about 75 degrees. In some embodiments, the actuator assembly 20 is arranged operable to, following completion of a first quarter rotation, drive the tool 10 in a second quarter rotation about the axis X in a direction that is opposite to (or the reverse of) the second direction of rotation back to the standby position, thereby completing an excavation cycle. The tool 10 is then ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. In this manner, the ‘chip-in/chip-out’ operation is achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate. For the case shown in Figure 5, the tow velocity is about 10km/h, and is higher than that used in conventional rotary hoeing. The tool 10 rotation is of relatively high revolutions per minute (RPM), being about 200 RPM (which equates to an angular velocity of about 20.9 rad/s). The operational case shown in Figure 5 aims to achieve a mechanical hoeing action. The shown second instance of soil engagement represents the quickest, or minimal distance at a given travel speed for two discrete consecutive triggering events. As the skilled reader will appreciate, as the velocity of engagement of the tool 10 with the ground is against the approaching ground (in the second direction of rotation), the forces experienced by the tool 10 are aggressive. It will also be seen that for the ‘chip-in-chip-out’ strategy shown in Figure 5, the ground/soil (or weed/plant) engaged by the working face wf of the blade 10b is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity. Figure 6 shows another mode of operation of the apparatus 5 where engagement of the blades 10b, 10c with the ground is completed during a half rotation (180 degrees) of the tool 10 shown at about 200 RPM (or about 20.9 rad/s). Figure 6 shows the ground/soil engagement path for the operational case where the tool 10 rotates at relatively high angular velocity in the second direction of rotation from the standby condition through 180 degrees causing the blade 10b to engage the ground, and continuing so as to arrive at the next standby condition with the blade 10c awaiting the next engagement with the ground. The tow velocity is 10km/h, being relatively fast for a tillage operation. As shown, the working face wf of each blade 10b/c of this strategy is the same as for the simulation in Figure 5. Like with the simulation shown in Figure 5, the ground/soil (or weed/plant) engaged by the working face wf of the blades 10b/c in turn is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity. Accordingly, in one implementation, the apparatus 5 can be operated so that the actuator assembly 20 drives the tool 10 in the second direction of rotation about the axis X for substantially a half rotation in which one of the blades 10b/c are caused to engage the ground at a location behind the axis X and before the target organic material or region of ground to be excavated. This causes a face or side of the relevant blade 10b/c facing toward the axis X to become an active or working face/side that engages/works the ground. In some embodiments, one or both of the blades 10b/c are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees. In such embodiments, the actuator assembly is arranged operable to drive the tool 10 through an arc of substantially 180 degrees about the axis X from a first standby position so as to arrive at a second standby position thereby completing an excavation cycle, and providing the tool 10 in a state ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. In this manner, a standard tillage operation can be achieved that is triggered on an active basis on identification/selection of a target weed or region of soil/ground to excavate. As will be seen from Figure 6, a longer/broader extent of ground/soil engagement path results which excavates a larger amount of worked volume wv as compared to that shown in Figure 5. This is due to the tool 10 spending more time engaged with the ground. However, this equates to a longer exposure to aggressive forces during ground engagement. Thus, while a broad engagement path may occur, and a greater worked volume wv achieved for this operational case, increased wear/tear (over a lengthy period of time) will be experienced by the tool 10 as well as an excessive spend in energy requirement. The simulations of Figures 7 to 10 (and that shown in Figure 11a) involve rotation of the tool 10 in the first direction of rotation (clockwise in Figure 7) – being opposite to that of the simulations of Figure 5 and 6. The geometry of the tool 10 used in the simulations of Figures 7 to 10 is shown in Figure 7b. As can be seen from Figure 7b, the blades 10b/c and working face wf are configured or oriented with the tool 10 so as to be presented at an angle of engagement of about 90 degrees relative to the surface of the ground at the intended engagement position E, being arrived at from the standby position S with the tool 10 having rotated through an angle of about 46 degrees. As noted above, the tool geometries shown in Figures 5b and 7b are ‘inversions’ of each other to enable the respective working faces wf to operate analogously for the change in rotation direction. Figure 7 shows a further mode of operation where the tool 10 shown undertakes a 180 degree movement when rotated in the first direction at relatively high angular velocity of about 200 RPM (or about 20.9 rad/s), and when subject to a relatively fast tow velocity (of about 10km/h). As shown, the blade 10b engages the ground initially, following through to complete the 180 degree cycle to arrive at the next standby condition ready for blade 10c to engage the ground at the next cycle. As noted above and shown across Figures 5b and 7b, the working face wf of each blade 10b, 10c of this strategy is the same as for the simulation in Figures 5 and 6 but mounted the opposite way around in order to achieve the ‘inverted’ configuration to account for the change in rotation direction. As with the simulations shown in Figures 5 and 6, the ground/soil (or weed/plant) engaged by the working face wf of the blades 10b/c is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity. As can be seen in Figure 7, the ground/soil engagement path, and corresponding worked volume wv, is significantly smaller as compared the strategies of Figures 5 and 6 with the spacing between ground engagements shown being the minimal amount possible (being larger than that shown in Figures 5 and 6) under the operational parameters than those shown in Figures 5 and Figure 6. As noted above, rotating the tool 10 in the first direction reduces time spent by each of the blades 10b/c engaged with the ground but subjects the tool to less ground engaging forces than that experienced when rotating in the converse (second) direction. Figure 8 shows the ground/soil engagement path for a simulation of an operational case for a conventional operation using the tool 10 rotating continuously at relatively high RPM in the first direction of rotation, e.g., rotating between from about 210-310 RPM (or about 22.0 to about 32.5 rad/s), and travelling at low linear tractor velocity (e.g., 4km/h). As shown, the working face wf of each blade 10b/c of this strategy is the same as for the simulations of Figures 5-7. With this strategy a generally continuous ground/soil tillage pattern is achieved (i.e., the dig/bite loops shown being close together, or even overlapping). As seen, the ground/soil engagement path comprises continuous repetitions of short length digs or bites into the ground generating a repetitious set of discrete or non-continuous worked volumes wv, as opposed to a broader single continuous excavation path (lengthier scoop) shown in Figure 6 (relatively slow tow velocity but with more aggressive loading on the tool 10). As with the simulations shown in Figures 5 to 7, the ground/soil (or weed/plant) engaged by the working face wf of the blades 10b/c is generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity. Figures 9 and 10 both show the simulated ground/soil engagement paths for both the leading (toe) edge 10c-E and trailing (heel) edge 10c-T (not shown in Figures 7 and 8) of the blade 10c when rotating at 200 RPM (or about 20.9 rad/s) in the first direction of rotation through a rotation of 180 degrees (from standby state to the following standby state). The geometrical parameters of the tool 10 and the working depth (0.05m), a2 (0.150m), and z1 (0.110m) values used for the simulations shown in Figures 9 and 10 are the same as for the simulations in Figures 5 to 8. For the simulations shown in Figures 9 and 10, the angular velocity of the tool 10 is the same. However, the tow velocity for the simulation shown in Figure 10 is increased to 15km/hr from the 10km/hr velocity used for the simulation of Figure 9. As can be seen, the ground/soil engagement path and respective worked volumes wv, wv’ of the leading (toe) 10c-E and trailing (heel) 10c-T edges are broader/longer for the case of Figure 10 than for the case of Figure 9 due to the higher tow velocity. For the same direction of rotation of the tool 10 shown, a higher tow velocity provides an increase in ground/soil engagement allowing the benefit of a quicker run speed while increasing prospects of weed excavation as more time is spent engaging the ground by the tool 10. For the simulation of Figure 10, the tool 10 is subject to less loading when engaged with the ground due in part to the direction of rotation (less wear/tear). However, engagement of the trailing (heel) edge 10c-T of the blade 10c is undesirable as, for the tool 10 geometry used (being conventional in nature), the trailing (heel) edge 10c-T of the blade tends to compact the ground/soil by effectively belting the soil. This has the effect of compacting the soil, as compared the toe edge which serves to break the surface. This behaviour of the heel edge 10c- T will become more severe/frequent at higher tow velocities. This therefore limits the towing velocity that can be used with conventional geometries as any increase will increase the risk of structural damage to the tool 10 (e.g., bending) as a result of impacts with the ground. Figure 10 therefore demonstrates that conventional tool geometries limit tow velocity which is why conventional rotary hoeing is performed at much slower tow velocities. In some embodiments, the apparatus 5 is configured so that, when in use where the apparatus is being moved forward across the ground in a direction of travel, for an angle of engagement of a ground engaging edge of one of the blades 10b/c (numeral 10 being used generally) with the ground that is at or near an upper range of the acute range of angles, or for example, at or near 90 degrees, the actuator assembly 20 drives the tool 10 in the first direction (in which one of the blades 10b/c engages the ground at a location ahead of the axis X and after the target organic material) at an angular velocity so that a ground speed (e.g. the magnitude of the horizontal velocity component of the resultant velocity vector of the distal tip or edge of the relevant blade 10b/c) of the ground engaging edge of the relevant of the blade 10b/c is equal to zero, or, if above zero, the ground speed of the ground engaging edge of the relevant blade 10b/c is directed in a direction opposite to said forward direction of travel the apparatus 5 is being moved (or towed) across the ground. In this manner, a side of one of the blades 10b/c is operable for engaging/working ground or soil ahead of or approaching said side of the relevant blade 10b/c. In this approach, said side of the relevant blade 10b/c pushes the engaged soil. Accordingly, if the horizontal velocity component of the resultant velocity vector of the distal portion/tip of the relevant of the blades 10b/c is above zero, then said horizontal velocity component is to be directed in a direction opposite to the direction the apparatus 5 is being moved (or towed) across the ground (which is caused by increasing the angular velocity of the tool 10 or decreasing the travel speed). As with the simulations shown in Figures 5 to 8, for the simulation in Figure 9 the ground/soil (or weed/plant) engaged by the working face wf of the blades 10b/c is again generally between the working face and the axis X due to the generally high rotation velocity of the tool 10 relative to the tow velocity. However, this is not the case for the simulation of Figure 10, as the comparative relationship between the rotation velocity of the tool 10 relative to the tow velocity changes due to the increase in tow velocity. It is considered that the simulation of Figure 10 also demonstrates that increasing the tow velocity causes an operational change in the side of the blades 10b/c that operates as the working face wf. For the combination of tow velocity, angular velocity and rotation direction (the first direction for both simulations of Figures 9-10) of the simulation of Figure 9, the working face wf is the same side of the blades 10b/c for the simulations of Figures 5-9. However, having regard to Figure 10, increasing the tow velocity relative to the angular velocity of the tool 10 results in the working face wf of the blade 10b changing to the alternate or forward-facing side of the blade 10b. The general affect is the working face wf pushing against the oncoming soil as it enters the ground. It is considered that this change in working faces is due to a cross- over or transitional change driven by a relationship between the angular velocity of the tool 10 and the tow velocity. This change in the side of the working face wf of the blade 10b is considered to be due to (when rotating in the first direction) the angular velocity of the tool 10 being such that a horizontal component resulting from the angular velocity of the ground engaging edge 10c-E of the blade 10b being about equal to or below the tow velocity as it is about to engage the ground (at the point shown in Figure 11c). While the worked volume wv shown in Figure 10 is of acceptably broader profile, it is considered that the geometry of the tool 10, particularly the angle of engagement of the blades 10b, 10c when engaging/entering the surface of the ground (at about 90 degrees, as shown in Figure 7b), could be revised for improved performance. This is described below in relation to the simulation shown in Figure 11a where a revised geometry (tool 10’) of the tool 10 is simulated. For example, the angle of engagement of the blades 10b, 10c may be configured so as to reduce the amount of loading to which the relevant blade becomes subject on its engagement with the ground when the angular velocity of the tool 10 is adjusted relative to the tow velocity so that the working face wf faces the oncoming ground, and to avoid engagement of the trailing heel 10c-T with the ground. The learnings from Figure 10 therefore suggest that there is advantage by a change in tool 10 geometry, operational control approach/strategy regarding tool 10 rotation direction, and/or tow velocity. Accordingly, the simulation of Figure 10 highlights various operational limitations associated with conventional geometry and angular velocities when the tow velocity is increased. Figures 11a-11c relate to a revised operational control strategy based on the observations from the simulation of Figure 10. This revised strategy uses different geometry for a tool 10’ (shown in Figure 11b) as compared to that used for the simulated strategies depicted in Figures 5-10. Following from the principles of the simulated strategy of Figure 10, the same direction of rotation of the tool 10 is retained and a higher tow velocity is used. In the simulated strategy shown in Figure 11a, an overarching goal is to minimise or reduce the energy required for the tool 10’ to engage the ground/soil. It has been found that this can be possible using revised tool geometry enabling the tow velocity to be increased (allowing for quicker runs) and the angular velocity of the tool 10’ to be comparatively reduced, both approaches serving to reduce the generation of ground engagement forces. The change in working face permits an increase in tow velocity and the reduction in tool rotation velocity which is counter to conventional tillage strategies. Other advantages may be a reduction in the energy consumption of the apparatus 5 during the excavation event. Furthermore, in increasing the tow velocity and reducing the rotation of the tool 10’ in accordance with the relationship described below, the working face wf of the tool remains on the forward-facing side of the blade 10b as for the simulation of Figure 10. In this manner, rather than ‘attacking’ the ground/soil as is the general case for conventional tillage operations using conventional tool geometries, use of the revised tool geometry with management of the tow velocity relative the tool rotation velocity, the interaction of the tool 10’ with the ground can be harnessed for advantage. The revised tool geometry (10’) used in the simulation shown in Figure 11a is shown schematically in Figure 11a. It will be seen that the orientation of the blade 10b’ has a very different angle of engagement with the ground (about 16 degrees) at the time of the engagement as compared the conventional tool geometries used in the simulations of Figures 5 to 10 (i.e., angle of engagement/attack of about 90 degrees relative the ground as shown in Figures 5b and 7b), where the angle of engagement is about 90 degrees with the ground surface – this is problematic in that, on incursion into the ground when rotating in the first direction of rotation (see Figures 7 to 10), the presentation of the generally flat face of the blade 10b/c to the oncoming ground results in significant drag creating high force loading, risking damage/wear to the tool (e.g., bent tools). In contrast, much lower angles of engagement penetrate the ground with more efficiency and less force consequences. In this manner, incursion into the ground is much less energy expensive than conventional tools. Figures 11b and 11c show tools geometries that differ slightly from that shown in Figure 11a, but that do embody the same principles. Much of the variation is due to structural considerations (informing fabrication details of the tool 10’) but the functional geometry remains in keeping with that shown in Figure 11a (e.g., the distance between the edge “EO“ and the axis of rotation of that shown in Figure 11b is the same as that shown for the tool 10’ shown in Figure 11a). Figure 11a shows the extent of the ground/soil engagement path and consequential worked volume wv of the tool 10’ which embodies the material aspects of the revised geometrical form (see Figures 11b and 11c) using a shallower angle of engagement for each of the blades 10b’/c’, when rotating in the first direction of rotation (drawing from the learnings of the operational case simulated in Figure 10). The angular velocity of the tool 10 is similar to that shown for the operational cases of Figures 9 and 10, and the tow velocity is increased another 5km/h to 20km/h. Figure 11a demonstrates the advantage offered by this operational control strategy in using the apparatus 5 over conventional tillage tools. As will be described below, the length of ground/soil engagement by the working face wf is broader/longer than that shown in Figure 10 due to the additional increase in tow velocity thereby increasing the time of engagement with the ground/soil. With the revised tool 10’ geometry management of the relative differential of the angular velocity of the tool 10’ and the tow velocity (either by adjusting the tow velocity or the angular velocity individually, or adjusting both in combination, either in- situ or prior to operation) may achieve any of the following advantages: improved trade-off between removal of a target weed relative to worked (or damaged) volume of ground (wv), less loading on the tool 10’ during engagement with the ground/soil occurs, and/or less energy consumed by the apparatus 5. As such, it is considered that the prospects of success in efficiency in removing (or severing) target weeds/plants can be higher in such excavation events. Moreover, quicker operational run times due to faster tow velocities enable higher overall operational efficiencies as compared conventional approaches. Figure 11c shows an annotated schematic of the geometry of the tool 10’ shown in Figure 11b, showing the defining parameters of the tool. As noted above, following the learnings from the simulation of Figure 10, in which the change in sides of the working face wf of the tool blade is considered to be due to (when rotating in the first direction) a horizontal component of the angular velocity of the ground engaging edge 10c-E of the blade 10b being about the same or below the tow velocity – which relates particularly to the high angle of engagement of the blade 10b (being about 90 degrees) shown in Figure 10. However, extrapolating from this general learning, a relationship between the tow velocity and the angular velocity (of the tool 10’) can be developed for (shallower) angles of engagement that are at/near the lower end of the acute range of angles for the case of Figure 11a. Figure 11c sets out an analysis using the following (example) parameters which develops a relationship that can be used to determine the appropriate tow and angular velocities that cause the working face wf of the relevant blade 10b’/c’ to accord with the simulation of Figure 11a (i.e., the side of the blade 10b’/c’) that faces oncoming ground: R=0.175m, Z0=0.125m, Gamma=16 degrees, tow velocity=2.78m/s (~10km/h). The physical variables for the analysis are shown in the schematic presented on the left-hand side of Figure 11c. At (1), shown on the right-hand side of Figure 11c, the rotational velocity of the tip/edge EO is expressed. The absolute tip/edge velocity components (horizontal and vertical) are then found at (2) for the resultant velocity vector VTOT (shown in vector form in the schematic). It is noted that the direction of VTOT is colinear with the angle of engagement of the blade 10b’ – i.e., at an angle gamma of 16 degrees from the ground surface. At (3) the ratio of the tow velocity and the angular velocity is found in terms of the key parameters, including the angle of engagement, gamma (in this case, being 16 degrees). The vector analysis shown at the tip/edge EO shows zone Z1, where Z1 is bounded by the ground surface and the line defining the angle of engagement of the blade 10b’ (which is colinear with the vector VTOT). Adjustment of one or both of the tow and angular velocities causing VTOT to reside in zone Z1 will ensure that the desired working face wf is forward facing of the blade 10b’ (relative to oncoming ground). Alternatively, adjustment of one or both of the tow and angular velocities causing VTOT to reside outside of zone Z1 (e.g., in zone Z2) with an angle to the ground surface greater than the engagement angle will cause the working face wf to switch to the alternate side/face of the blade 10b’. The derivation of the expression (3) therefore provides a relationship between the tow velocity and the angular velocity of the tool 10’. The calculated coefficient (from (4)) is particular to the geometry considered. For the case presented in Figure 11c, for a tow velocity of 10 km/h, an angular velocity of the tool 10’ of 5.03 rads/s is the transition limit below which the working face wf will reflect that shown in Figure 11a: below this transition limit will ensure that the desired working face wf is forward facing of the blade 10b’ (relative to oncoming ground), and above this limit the working face wf will switch to the alternate side/face of the blade 10b’. Accordingly, for a given tool geometry, a transition threshold of the angular velocity of the tool 10’ can be determined. Following from the above, in at least one embodiment, for an angle of engagement with the ground of a ground engaging edge of one of the blades 10b’/c’ that is at or near a lower range of the acute range of angles (or for example, at or near 16 degrees) the 5 is configured so as to be operated so that, when in use where the tool 10’ being rotated by the actuator assembly 20’ in the first direction (in which one of the blades 10b’/c’ engages the ground at a , one or both of the velocity the the angular velocity of the tool that is distal (e.g., the distal tip or edge of the blade) the axis X that is about to engage the ground, a resultant velocity vector of the distal (or tip) is established that is: (i) at a limit where the resultant velocity vector lies at said engagement with the ground (or is colinear with the relevant blade 10b’/c’ relative to the at said angle of engagement), or (ii) provides an angle of the established resultant of the distal portion (relative to the ground surface) that is less than said angle of engagement of the relevant ground engaging edge with the ground. This causes a face during a ground blade 10b’/c’ that faces the the axis X in the first direction. It is noted that the specific definition shown in Figure 11c is slightly different to the tool Accordingly, a different principles as described above The skilled reader will therefore appreciate that the principles of the present disclosure may be applied to various geometries (e.g., varying values for any of the parameters shown in Figure 11c) as might be applicable for a specific context. Accordingly, the geometries described herein should not be seen as limiting the application of the present disclosure. Furthermore, the skilled reader will appreciate the desire to reduce dimensions as much as possible whilst performance, including structural rigidity, given the desire to enable embodiments of the apparatus 5 to package smaller as they become more advanced. The broad operational control strategy of the simulation shown in Figure 11a, and the functional advantage of the geometry of the tool 10’ shown in Figures 11b and 11c, will now be described. It will be appreciated that the description below represents one embodiment or implementation that seeks to improve removal (and/or severing) of a target weed relative to worked (or damaged) volume of ground (wv), reduce/optimise loading to which the tool 10’ is subject when engaged with the ground, and/or reduce/optimise energy consumption of the apparatus 5. The skilled reader will appreciate that the core operational elements can be enabled or exemplified in different ways that seek to achieve any of the former noted objectives/advantages. With reference to Figure 11a, at position “S“ the tool 10’ is held in its ‘standby’ position ready for selective activation. For the description below, the standby position S represents the reference position (being the ‘0 degrees’ reference position) from which stages in the operational control strategy described below are referenced relative to. On activation, the tool 10’ is caused to be driven in the first direction (clockwise in Figure 11b, with the tow direction of the tool 10’ being toward the right-hand side of the page) from the 0 degrees ‘standby’ position S to a position in which the blade 10b’ is about to engage with the ground – this ‘engage’ position is marked “E” in Figure 11a. For the geometrical embodiment of the tool 10’ shown (where distance O-EO is about 175mm and desired working depth of about 50mm, as shown in Figure 11b), the ‘engage’ position E is reached at about 46 degrees from the standby position S. The specific angle passed through at which the tool 10’ engages the ground is a function of at least the length of the distance O-EO (refer, Figures 11b-11c) and the desired working depth and/or the desired angle of engagement that the blades 10b’, 10c’ are sought to engage the ground (e.g., to reduce or minimise impact loading). The angular velocity of the tool 10’ when driven from position S to position E may be selected to be any appropriate rate depending on prevailing circumstances/objectives of the operation, e.g., a high angular velocity may be desirous for convenience of operation. This movement merely serves to drive the tool 10’ so as to ready the blade 10b’ for engagement with the ground. Reference is now made to Figure 11b which shows the ‘standby’ position S of the tool 10’ (left- hand of figure), the engage position E (middle of figure), and a schematic (right-hand of figure) showing positions S (‘standby’), E (“engage”), bottom position “B” (being about 90 degrees relative to position S) in which the tool 10’ is at about maximum incursion depth, and a position “D” (being about 134 degrees relative to position S) in which the tool 10’ disengages from the ground (discussed below). For the embodiment shown, the configuration of the blades 10b’ and 10c’ is arranged so that when each arrive at the engagement position E shown, they are aligned so as to form a generally acute angle ^ with the ground surface so as to enable efficient incursion of the blade 10b’ into the ground. The acute angle ^ (between the blade 10b’ and the ground surface) is arranged to be about 16 degrees, but could be more or less as considered appropriate for pursuing any of the above noted objectives. As noted, for the case of the tool 10’ rotating in the first direction the forward-facing side or face of the blade 10b’ operates as the working face wf. The value of the angle from the standby position S that the blades 10b’, 10c’ engage the ground may vary as a function of the angle ^, or vice-versa (and indeed as functions of the extent of O-OE and the desired working depth wd as noted above). As the blade 10b’ enters the ground, increasing incursion causes the blade to become increasingly influenced by the relative motion between the blade 10b’ and the ground. If this influence is not affirmatively addressed, the tool 10’ will offer little or no resistance sufficient for working the ground. On entry of the blade 10b’ into the ground, or as the tool 10’ approaches the bottom position B, the angular velocity of the tool 10’ is slowed relative to the tow velocity to ensure that the working face wf indicated operates as the working side/face that engages with oncoming/approaching ground/soil. In this respect, the angular velocity of the tool 10’ is operated so as to maintain a relatively low angular velocity (with removal of any affirmative torque) as compared the tow velocity in accordance with the principles of the relationship developed in Figure 11c. Furthermore, once this relatively lower angular velocity is reached, it is maintained or controlled so as to account for the momentum developed by the tool 10’ due to its engagement with the ground. Reduction of the angular velocity of the tool 10’, and affirmative or active maintaining of same has the effect of braking or resisting any rotational movement, due to the momentum developed by the blade 10b’ caused due to its engagement with the ground. Accordingly, for a given constant tow velocity, once initial incursion has occurred the tool 10’ is operated to slow the rotation velocity of the tool 10b’ and be actively held at that angular velocity to provide sufficient resistance to the ground’s influence thereby enabling the working face wf of the blade 10b’ to work the ground (worked volume wv). The angular velocity of the tool 10’ as modified for incursion of the blade 10b’ into the ground generally continues for the majority of the time the blade is engaged with the ground. As the tool 10’ progresses from the engage position E to the disengage position D, it becomes increasingly under the influence of the relative motion of the ground, hence additional energy may be required to actively maintain the desired (‘slowed’) angular velocity. As shown in Figure 11a, as the engagement continues, the blade 10b’ approaches a position where it will be caused to disengage with the ground, which is about 134 degrees (but could be more or less) advanced from the standby position S. In some embodiments, as the tool 10’ approaches its exit at the disengage position D it is operated so as to increase its angular velocity. This can be advantageous so as to reduce the loading to which the tool 10’ becomes subject to as it approaches its exit from the ground at position C. Once the blade 10b’ has disengaged from the ground, the tool 10’ may be operated at any angular velocity so as to arrive back at the standby position A ready for the next activation. For the embodiment of the operational control strategy shown in Figure 11a, three ‘milestone’ positions are shown, and the nature of the angular velocities of driving movement of the tool 10’ between these positions at a constant tow velocity during a cycle of operation have been described. It will be appreciated that in various embodiments the angular velocity of the tool 10’ may be modified as each position is approached or progressed away from, e.g., ramp-up or ramp-down of the angular velocity during each interval of operation (i.e., between the positions shown) – such control behaviour can be operated or enabled by way of a dynamic control operation (800) as described in further detail below. Furthermore, while three intervals have been broadly described, it will be appreciated that more intervals could be used to improve or optimise performance of the tool 10’ having regard to any of the objectives noted above, i.e., increasing extent of target weed excavation while reducing/minimising worked or damage volume wv, reducing/optimising loading the tool 10’ experiences, and/or energy consumption during an excavation cycle. For example, implementations of operation involving four intervals per excavation cycle have been tested for a number of constant tow velocities. Table A below exemplifies three such tests/simulations, and provides four control positions of the tool 10’ (as angles relative to the standby position S shown in Figure 11b) during an excavation cycle with the angular velocity of the tool 10’b when driven between positions. As noted above, the angular velocity of the tool 10’ may be ramped-up or ramped-down when approaching or progressing from any position. Table A Tow velocity 6.5 km/h 10 km/h 6.5km/h (1.8m/s) (2.78m/s) (3.33m/s) Position Degrees Rads/second A 0 - - - B 30 (46) 17.45 17.45 17.45 C 75 (90) 2.62-4.36 2.62-4.36 4.36-6.11 D 100 (134) 10.47 15.71 21.82 A 180 19.2 19.2 21.82 Having regard to Table A above, and the control strategy 600 shown in Figure 17 for example reference: ^ Row 1 (Control position A) describes the tool 10’ in its standby position - position EO, as shown in Figure 11b. The tool 10’ is stationary. For the embodiment described, when target organic material is sensed, the slow control strategy begins at 601 of Figure 17. ^ Row 2 (Control position B) describes the movement of the tool 10’b from its stand-by to control position B. Control position B is the expected angle at which the tool 10’ first engages the ground. Thus, during this movement the tool 10’ is not engaging the ground. Control position B (30 degrees) corresponds with the engage position E shown in Figure 11b. As seen in Figure 11b, this angle is about 46 degrees relative to the standby position A (or EO in Figure 11b), and is included in brackets in Table A. The value for control position B (30 degrees) is an angular offset from the standby position A that is selected as an angular control position at about which the tool 10’ is desired to be rotating at a target angular velocity (shown in Table A as a function of tow velocity) by the time the engage position E (~46 degrees) is reached. ^ Row 3 (Control position C) describes the excavation portion of the action where the tool 10’ is moved from control position B (nominally the angle of first engagement with the ground) to control position C (the moment when the loads on the tool 10’ are considered too high). During this movement, the working face of the tool 10’ excavates the ground and the target organic material. Starting at 604, the tool 10’ decelerates from control position B to the target angular velocity of stage 2 (605) and maintains this speed (606) until control position C is reached (607). This stage (stage 2) of the action predominantly defines the length of the excavation zone. A slower stage 2 angular velocity results in a longer zone. The equation of Figure 11C defines, in one form, a nominally ideal angular velocity for stage 2. A range of angular velocities about this value can be used to adjust the length of the engagement zone. For the embodiment described, the speed of the tool 10’ is set lower, using the equation in Figure 11C as a guide. In Table A, a range of angular velocities is given which fall around that ideal angular velocity, which allows tuning of the engagement zone according to desired loads, weed types and divot shapes. in Figure dby value for A that is be ocity) by e me e o om pos on egrees s reac e . ^ Row 4 (Control position D) describes the portion of the action where, having completed the desired excavation, the tool 10’ is now at an angle (control position C) where the loads on the electric motor are typically maximum. The tool 10’ angular velocity is adjusted so that the horizontal velocity of the tip of the relevant blade of the tool 10’ matches the horizontal velocity of the ground, relative to the apparatus (tractor). In doing so, the horizontal velocity of the tip of the relevant blade of the tool 10’ relative to the ground is zero. The load on the tool 10’ is nominally minimised. Starting at 607, the tool 10’ accelerates from control position C to the target velocity of stage 3 (608) and maintains this speed (609) until control position D is reached (610). Control position D (100 degrees) corresponds with the disengage position D shown in Figure 11b. As seen in Figure 11b, this angle is about 134 degrees relative to the standby position A (or EO in Figure 11b), and is included in brackets in Table A. The value for control position D (100 degrees) is an angular offset from the standby position A that is selected as an angular control position at about which the tool 10’ is desired to be rotating at a target angular velocity (shown in Table A as a function of tow velocity) by the time the disengage position D (~134 degrees) is reached. ^ Row 5 (Control position A) describes the portion of the action where the tool 10’ moved out of the ground and returned to its standby position. For the majority of this action, the tool 10’ is not engaged with the ground and moves through free air. Starting at 610, the tool 10’ accelerates from control position D to the target angular velocity of stage 4 (611) and maintains this speed (612) until control position A is reached (613). Once the tool 10’ has reached control position A, the excavation action or cycle is complete (614). The skilled reader will understand that the data provided in Table A above is not limiting and merely indicative of a respective exemplification of the broad operational control strategy shown in simulated form in Figure 11a and described above. For example, in achieving any of the objectives noted above, an excavation cycle consistent with the simulation of Figure 11a may involve: more or less than four intervals (which are defined by respective control positions), each may involve tow velocities greater or less than those shown, may involve varying (using, for example, an embodiment or implementation of a dynamic control strategy (800) described further below with reference to Figure 18) or uniform/constant angular velocities of the tool 10’ between the constituent cycle intervals, and/or constituent intervals may be defined by different angles (i.e., respective selected control positions) as those shown. Figure 17 shows a flow chart of an embodiment or implementation of an example control strategy 600 which may involve in one form, for example, the data provided in Table A above. It will be seen that the values for the angular velocities of the tool when expected to be engaged with the ground for the tow velocities shown in Table A (generally around position “C”) are generally in keeping with values calculable from the relationship shown in Figure 11c (accounting for changes in geometry), i.e., generally much lower angular velocities as compared to those shown in the simulations of Figures 5 to 9. Table B below shows what could be considered improved or optimised values (based on testing to date) used in what the inventors considered to be successful trials at tow speeds of 9, 12, 15, and 18 km/h. The angular velocities of row 3 were selected so that the length of the excavation zone is substantially the same at all four tractor tow/travel speeds. As an example of the flexibility in the control strategy control position definition, it is noted that control position C in Table B is defined as 65 degrees (rather than 75 degrees) due to the high travel speeds generating more demanding response cycle characteristics (e.g., motor torque and response time). Table B Tow velocity 9 km/h 12 km/h 15 km/h 18 km/h (2.5 m/s) (3.33 m/s) (4.17 m/s) (5 m/s) Position Degrees Rad/s A 0 - - - - B 30 (46) 5.23 5.23 5.23 5.23 C 65 (90) 3.84 5.23 6.98 8.38 D 100 (134) 14.31 19.19 23.56 28.62 A 180 14.31 19.19 23.56 28.62 Thus, generally, the ground engaging profile or path (as aligned with the direction of travel of the apparatus 5) or worked volume wv is influenced in part by the relationship demonstrated above between the angular velocity of the tool 10 when rotated in the first direction of the rotation and the tow velocity of the apparatus 5 over the ground. In meeting this relationship for using this operational control strategy, the apparatus 5 or the actuator assembly 20 may be operated (using, for example, a suitably configured electronic controller) so that one or both of (i) the velocity of the apparatus 5 moving over the ground, or (ii) the angular velocity (of the tool 10 when rotated in the first direction to engage the ground), can be suitably adjusted or modified in accordance with the relationship described above so that the desired working face wf can become operable in the manner shown in Figure 11a. Accordingly, as shown by way of the operational cases of each of Figures 5 to 11, the geometry of the ground/soil engaging path can be influenced by any of the following: the velocity by which the apparatus 5 is towed, the angular velocity of the tool 10, the direction of rotation of the tool 10 relative to the direction of movement of the apparatus 5 over the ground, the geometry of the tool 10 (including the geometry/profile of the blades 10b/c, (e.g., linearity, length, width dimensions), the desired working depth, the distance of any portion of the tool 10 or blades 10b/c that engage with the ground from the axis X. It will also be understood that operation of the actuator assembly 20 (eg. using a suitable control means) may be configured operable so as to vary the angular velocity of the tool 10 during any desired rotational movement, as opposed to each movement being executed at a constant angular velocity. Depending on the specific tillage/cultivation operation required for execution, the apparatus 5 can be coupled with the tyne shank 14 of the tyne assembly 15 in a number of different orientations. In this regard, the apparatus 5 (or multiple units) can be located/coupled with shanks of tyne assemblies (or other like support structure) so that operation of the apparatus 5 causes the carried tool 10 to be capable of engaging ground in any desired inter-row (IrR) or intra-row (IaR) regions of the tillage/cultivation operation, as indicated in Figure 15 (which provides a schematic view showing relative inter-row (IrR) or intra-row (IaR) regions of a tillage/cropping operation). Examples of possible positioning of the apparatus 5 can include: upstream/ahead or downstream/behind of the tyne shank 14, on the left or right-hand sides of the tyne shank 14 (as shown in Figure 1). More than one apparatus 5 may be couplable to a tyne shank 14 as a tillage/cultivation operation may require. In this manner, multiple apparatus 5 can be orientated about a tyne shank 14 so as to be capable of targeting multiple areas for urse, the n using an 5 orientated as perational control ith the g g g . Consistent with the operations described herein, the tool 600T is caused to rotate via the control strategy 600 through a movement of 180 degrees to return back to its starting position (e.g., stand-by position) ready for another excavation operation. In this embodiment, the direction of rotation of the tool 600T follows the direction of the tow vehicle (e.g. tractor). For the embodiment shown in Figure 17 and described below, the control strategy 600 (or “slow operational control strategy) is performed in a sequence of four (4) stages, each defined by an angle of the tool 600T (by way of reference to the ground) and a target angular velocity. Broadly, the tool 600T is caused to pass from one stage to the next by operation of the electric motor (22), tracing out a desired path through the soil as the axis (X) moves with the motion/velocity of the tractor. In one embodiment, the target angular velocities are dependent on the tractor or tow vehicle’s velocity, which are intended to maintain a particular working face of the tool 600T upon engagement with the soil and leave minimal soil disturbance, all within the output torque capacity of the electric motor 22 (determined by the motor windings and electrical voltage/current of the supply). In this regard, In operation, the tool 600T is actuated by the electric motor 22, which is driven by an electronic circuit capable of measuring the electrical voltage and current (and thus power) draw of the electric motor 22. The current passing through the electric motor 22 is proportional to the torque experienced by the electric motor (i.e., the load on the tool 600T). It will be appreciated that higher loads require higher currents (and thus more power). During the tillage operation, the motor driver (i.e., the electronic circuit and firmware that controls the current and voltage supplied to the electric motor) adapts the electrical current so as to maintain the target angular velocities and angles of the control strategy 600 (slow operational control strategy), regardless of the load on the tool 600T. In other words, if the load on (or experienced by) the tool 600T is determined to be too large (eg., relative to a predetermined threshold level or reference), the current draw will also be larger in order to maintain the same target angular velocity than if the loads were weaker. The load on the tool 600T is dependent on the properties of the soil and the velocity of the tractor. For example, more compact/hard soil will lead to larger loads being experienced by tool 600T during engagement with the ground, and thus a higher current draw will occur. A tractor moving at a higher velocity also leads to higher loads. Higher loads are not favourable due to increased stress on the tool/gearbox/bearings/motor (leading to fatigue and damage), and increased power consumption (leading to excessive heating and energy usage). The control strategy 600 will be described with reference to Figure 17. As shown, the control strategy 600 is based on positions A, B, C, and D, as indicated) – each corresponding to a respective angular position or orientation of the tool 600T relative to the ground within the rotation cycle (about the axis X). The control strategy 600 involves four stages: A-B, B-C, C-D, D-A. A desired target angular velocity is assigned for movement during the course of each stage. For the embodiment of the control strategy 600, the excavation cycle involves the following positions of the tool 600T: at position A (defining the reference frame for the angular movement of the tool 600T) the tool 600T is in the standby position; at position B (~46 degrees for the present embodiment) the tool is about to engage the ground; at position C (~90 degrees for the present embodiment) the tool is approaching maximum depth into the ground; at position D (~134 degrees for the present embodiment) the tool is approaching the disengagement with the ground. Having reference to Figure 11b, control position A of the control strategy 600 corresponds with the standby position EO (shown in Figure 11b); control position B corresponds with the engage position E – this being about 46 degrees relative to the standby control position A (or EO); control position C corresponds with the bottom position B – this being about 90 degrees relative to the standby control position A (or EO); and control position D corresponds with the disengage position D – this being about 134 degrees relative to the standby control position A (or EO). It will be appreciated that the number of positions and/or stages may be more or less than those shown and considered in this example. The tool 600T is initially provided at position A at stage 601. At this stage, the tool 600T is provided ready to be operated to perform an excavation once a target weed of a type to be subject to an excavation is identified and selected for removal/severing. Once identified/selected, the tool 600T is moved at a target angular velocity at stage 602, and such target angular velocity is then set to be maintained at stage 603 during the course of “stage 1” – this being from the initial position A toward the next position B. Whether the tool 600T is at position B is tested at stage 604. If the tool 600T is not determined to be at position B, then the current angular velocity relevant to “stage 1” is maintained at stage 603 via decision pathway 604N. If the tool 600T is determined to be at position B, then the angular velocity is then set to that defined as the target angular velocity for “stage 2” movement from position B to position C via decision pathway 604Y. The tool 600T is then moved from position B toward position C at the “stage 2” target angular velocity in substantially the same manner as for movement of the tool 600T from position A to position B at the “stage 1” target angular velocity. The target angular velocity for the tool 600T is set at stage 605, and set to be maintained at stage 606. For the embodiment of the control strategy 600 described, the completion of stages 1 and 2 represents the bulk of the excavation of the target weed. The remaining stages, “stage 3” and “stage 4” described below, operate to recover the tool 600T and return it to its starting or standby position (position A) in a manner in which excessive loading on the tool 600T is reduced or, to the extent possible, minimised. Whether the tool 600T is at position C is tested at stage 607. If the tool 600T is not determined to be at position C, then the current angular velocity relevant to “stage 2” is maintained at stage 606 via decision pathway 607N. If the tool 600T is determined to be at position C, then the angular velocity is then set to that defined as the target angular velocity for “stage 3” movement from position C to position D via decision pathway 607Y. Position C represents a high load position of the tool 600T that requires management in order to reduce the tool’s exposure to the loadings when engaged with the ground. As noted above, the “bounds” of the electric motor 22 denote the capabilities of the electric motor 22. The electric motor 22 can only output so much torque (determined by the motor windings and electrical voltage/current of the supply). In one embodiment, when the tool 600T is close to 90 degrees, the torque on the tool 600T is maximised and the electric motor 22 will not be able to supply enough toque to keep the tool 600T at that angle. If this happens, then the electric motor 22 driver will likely lose control of the motor and might stop working properly. As the skilled reader will appreciate, the electric motor driver does this for safety reasons. As such, and in one embodiment, at position C (~75 degrees), the angular velocity of the tool 600T is increased so that the speed of the tool relative to the ground is reduced, and thus the torque is reduced. For a weaker electric motor, it would likely be necessary to increase the angular velocity at a lower angle. In one embodiment, the angle of position C is selected so as to give a compromise between divot size and motor control. For example, if the position C is set too low, then the divot will be too small and we might not excavate the weed. If we set position C too high, then the motor driver might give up control and might fail. The tool 600T is then moved from position C toward position D at the “stage 3” target angular velocity in substantially the same manner as for movement of the tool 600T from positions A-B and B-C. The target angular velocity for the tool 600T is set at stage 608, and set to be maintained at stage 609. Whether the tool 600T is at position D is tested at stage 610. If the tool 600T is not determined to be at position D, then the current angular velocity relevant to “stage 3” is maintained at stage 609 via decision pathway 610N. If the tool 600T is determined to be at position D, then the angular velocity is then set to that defined as the target angular velocity for “stage 4” movement from position D to the finished position via decision pathway 610Y. The tool 600T is then moved from position D toward the finished position at the “stage 4” target angular velocity in substantially the same manner as for movement of the tool 600T from positions A-B, B-C, and C-D. The target angular velocity for the tool 600T is set at stage 611, and set to be maintained at stage 612. Whether the tool 600T is at the finished or standby position (position A) is tested at stage 613. If the tool 600T is not determined to be at position A, then the current angular velocity relevant to “stage 4” is maintained at stage 612 via decision pathway 613N. If the tool 600T is determined to be at the position A, then the angular velocity is then set to zero via decision pathway 613Y so that the tool 600T is then reset in the standby position (position A) awaiting the next activation once another target weed is identified/selected. Testing using the embodiment of the control strategy 600 has shown that target weeds can be effectively excavated (or killed) within the first two stages of the operation. Stages 3 and 4 of the control strategy 600 involves the recovery of the tool 600T back to the starting or standby position (position A) and to avoid excessive loads while doing so. As noted above, a dynamic control strategy can be used to control operation of an embodiment of a tool 800T arranged in accordance with the embodiment shown in Figure 11b. Figure 18 shows a flow diagram of one embodiment or implementation of such a dynamic control strategy 800 that can be used. In this embodiment, the direction of rotation of the tool 800T causes the blades 10b/c of the tool 10 to engage with the soil ahead of the rotation axis X, or between the axis X and the target weed. Broadly, the embodiment of the dynamic control strategy 800 shown in Figure 18 involves operating a tool 800T arranged having substantially the same geometry as shown in Figure 11b: for example, substantially the same tool geometry engages the ground ahead of the rotation axis X, but before the weed to be the target of an excavation by the tool 800T. As noted herein, the tool 800T is caused to rotate through a movement of 180 degrees to return back to its starting position A (e.g., stand-by position) ready for another excavation operation. For the embodiment shown in Figure 18 and described below, the control strategy 800 (or “dynamic operational control strategy”) is performed in a sequence of three (3) stages. Stages 1 and 2 are substantially the same as stages 1 and 2 of the control strategy 600 (slow operational control strategy). However, in stage 3, once the tool 800T has reached position C, the weed engagement has been completed, and the system is now recovering the tool 800T. The target angular velocity is set to be dynamic depending on a set current draw threshold value sensed from the electric motor 22, and controlled by a stiffness variable that determines how much the angular velocity of the tool 800T is increased by for each cycle the current is above the threshold. A proportional integrated derivative (PID) controller can be used to control the strategy 800. The current draw threshold value is a value set by the user (e.g., a specialist machinery service provider or technician or the farmer, or as might be specified within the operators manual), and is determined through consideration of the limitations of the available electrical power supply, the rated torque of the electric motor, and the rated torques of associated mechanical components (e.g. gearbox and bearings). Having brief regard to the ‘stiffness variable’, the load experienced by the tool 800T is variable. It is not possible to know beforehand how much torque the tool 800T will experience before the tool 800T enters the ground. If the ground is particularly hard at a particular location, or there is a rock or lots of roots, the torque may increase an unknown amount. For the embodiment of the control strategy 800, it is only possible to know how much torque is being placed on the electric motor 22 once engaged with the ground. The stiffness variable relates to how sensitive the control strategy 800 is to the current draw above the set current draw threshold value. For example, if an electric motor is drawing 11A and the current draw threshold value is set to 10A, then the control strategy 800 will increase the tool’s angular velocity to try and reduce the current. The larger the difference between the actual current draw and the set current draw threshold value, the larger increase in velocity should set, for example, if the actual current draw is 15A, then the increase in angular velocity should be more than if the actual current draw is 11A. The stiffness variable defines by how much an increase in the angular velocity is to be in response to the determined differential between the actual current draw reading and the current draw threshold value. In a “soft” control strategy, for example, the stiffness variable would be set low. In this manner, the angular velocity would gradually increase until the determined actual current draw was below the set current threshold value. In a “hard” control strategy, for example, the stiffness variable would be set high. In this manner, the velocity would increase quickly until the determined actual current draw was below the set current threshold value. Soft control strategies lead to the current draw dropping too slowly, while hard strategies can lead to “overshooting”, where the angular velocity jumps so fast that the current draw drops too far below the set current draw threshold value. For the embodiment presently described the control strategy 800 is a simplified version of a proportional integrated derivative (PID) controller. The stiffness variable is a proportionality factor: the step change in angular velocity at each cycle is proportional to the difference between actual current draw and the current draw threshold value (if the actual current draw is determined to be above the current draw threshold value), with the constant of proportionality determined by the stiffness variable. The stiffness variable is therefore a value (set by the user) which determines how sensitive (in terms of response) the control strategy 800 is to over- current draw. For the embodiment of the control strategy 800, the excavation cycle involves the following positions of the tool 800T: at position A (defining the reference frame for the angular movement of the tool 800T) the tool 800T is in the standby position; at position B (~30 degrees for the present embodiment) the tool is about to engage the ground; at position C (~75 degrees for the present embodiment) the tool has reached or is near maximum depth into the ground. Having reference to Figure 11b, control position A of the control strategy 800 corresponds with the standby position EO (shown in Figure 11b); control position B corresponds with the engage position E – this being about 46 degrees relative to the standby control position A (or EO); control position C corresponds with the bottom position B – this being about 90 degrees relative to the standby control position A (or EO); and control position D corresponds with the disengage position D – this being about 134 degrees relative to the standby control position A (or EO). The control strategy 800 starts in substantially the same manner as the control strategy 600 (“slow operational control strategy) for stages 1 and 2. but maintains the current draw below a pre-defined current draw threshold value as noted above. Broadly, during each cycle of the control software (e.g. in one embodiment, each cycle of the control software is about 2 ms), the control algorithm reads the current draw of the electric motor (22), assesses if the current draw is too large, and, if so, adjusts the target angular velocity of the tool 800T to maintain the current threshold. A current draw above the pre-defined current draw threshold value signifies that the tool 800T is experiencing high loading (or unacceptable loading), and the control strategy 800 is configured to respond by increasing the angular velocity of the tool 800T in order to decrease the relative speed of the working face moving through the soil thereby lowering the loading experience by the tool. When the tool 800T enters the soil, the working face is travelling in the same direction as the soil (relative to the tractor), but slower than the soil. This means that, relative to the soil, the working face is travelling forward through the soil, which is what causes the excavation. By increasing the angular velocity of the tool 800T, the relative speed of the working face in the soil decreases. This means the working face is moving slower in the soil, and so the loads are lower. If the current draw is below the threshold, the slow control strategy (or that aligned with the control strategy 600) is maintained – as the loading profile experienced by the tool 800T is deemed to be at or within acceptable levels. The horizontal velocity of the tool 800T is in the same direction as the ground surface relative to the tow vehicle (or its frame of reference). In effect, the working face of the tool 800T moves “backwards” relative to the tow vehicle. The electric motor 22 experiences higher loads due to the tool 800T moving slower than the ground surface relative to the tow vehicle (or a reference frame of the tow vehicle). This serves to create the relative forward motion of the tool 800T in the soil, which excavates the target weed. To reduce the load experienced by the tool 800T, it is simply the angular velocity of the tool 800T that is increased. This has the effect of reducing the relative velocity of the tool 800T relative to the ground, thereby reducing the load experienced by the tool 800T. The concept of increasing the angular velocity of the tool 800T is a key component of the control strategy 600 (control strategy) described above. Once the target weed has been excavated (or killed), the tool 800T speeds up so the horizontal velocity of the tool matches the speed of the ground, and the torque requirements are minimised. However, in a practical setting, variations in the soil properties, uneven terrain, rocks, roots and misalignments of the tool, all result in additional load on the tool 800T. By taking into account the feedback allowed by an electrical motor 22, it is possible to further account for these variations by adjusting the strategy (i.e., dynamically) on the fly. Furthermore, a constant velocity is not ideal since the horizontal velocity of the working face of the tool 800T changes as the angle of the tool changes. A constant velocity defined to minimise the load will only be optimal for a single angle. Put another way, the working face is constantly changing angle, so a fixed velocity is not optimal. In addition, some relative speed between the tool 800T and the soil is desirous, otherwise the tool will not excavate. Hence, a dynamic control strategy (800) finds advantage in the present context. An additional benefit of the feedback is that it is possible to determine when to alternate between energy usage (for engaging the tool 800T) and energy recovery (when the tool 800T is being driven by the ground). Power generation will be maximised when the load on the tool 800T is highest. Once the weed is excavated (or killed), the tool 800T no longer needs to provide energy to the ground. Instead, it can be driven by the ground and the momentum of the tractor to reset to its standby position. During this process, energy may be recovered by electrical generation. Accordingly, with reference to Figure 18, the tool 800T is initially provided at position A at stage 801. At this stage, the tool 800T is provided ready to be operated to perform an excavation once a target weed of a type to be subject to an excavation is identified/selected. Once identified/selected, the tool 800T is moved at a target angular velocity at stage 802, and such target angular velocity is then set to be maintained at stage 803 during the course of the “stage 1” movement – this being from the initial position A toward the next position B where the tool 800T is about to enter the ground. When the tool 800T enters the soil, the working face is travelling in the same direction as the soil (relative to the tractor), but slower than the soil. This means that, relative to the soil, the working face is travelling forward through the soil, which causes the excavation. Whether the tool 800T is at position B is tested at stage 804. If the tool 800T is not determined to be at position B, then the current angular velocity relevant to “stage 1” is maintained at stage 803 via decision pathway 804N. If the tool 800T is determined to be at position B, then the angular velocity is then set to that defined as the target angular velocity for “stage 2” movement from position B to position C via decision pathway 804Y. The tool 800T is then moved from position B toward position C at the “stage 2” target angular velocity in substantially the same manner as for movement of the tool 800T from position A to position B at the “stage 1” velocity. The target angular velocity for the tool 800T is set at stage 805, and set to be maintained at stage 806. Whether the tool 800T is at position C is tested at stage 807. If the tool 800T is not determined to be at position C, then the current angular velocity relevant to “stage 2” is maintained at stage 806 via decision pathway 807N. If the tool 800T is determined to be at position C, then the angular velocity is then set to that defined as the target angular velocity for “stage 3” movement from position C toward position A via decision pathway 807Y. The tool 800T is then moved from position C toward position A at the “stage 3” target angular velocity in substantially the same manner (being a generally uniform/constant velocity) as for movement of the tool 800T from positions A-B and B-C. The target angular velocity for the tool 800T is set at stage 808. The current draw of the electric motor 22 is tested at stage 809. If the current draw of the electric motor 22 is below a predetermined current draw threshold value, the target angular velocity of the tool 800T is maintained at stage 810 via decision pathway 809Y. If the current draw of the electric motor 22 is greater than the threshold value, the angular velocity of the tool 800T is increased at stage 811 via decision pathway 809N. This therefore reduces the load (torque loads) experienced by the tool 800T. At stage 812 whether the tool 800T has arrived at position A is tested. If not arrived at position A, the current draw of electric motor 22 is again tested at stage 809 via decision pathway 812N. If the tool 800T is determined to be at the finished position, then the angular velocity is set to zero so that the tool 800T is then in a reset or standby position A awaiting the next activation once another target weed is identified/selected. Testing using the embodiment of the control strategy 800 following has shown that target weeds can be effectively killed within the first two stages of the control strategy 600 (or slow control strategy). This means that the tool path can deviate from the “slow control strategy” without negatively affecting the weed-kill efficacy, after the second stage of the action. This is also the point where the load on the tool (and hence current draw) is typically the largest. Any of the control strategies 600, 800 can be modified in which, for example, position B is determined from a sensing or feedback means or mechanism which senses when the ground is about to be or is engaged by the tool 10, rather than the angular position of the tool being defined by where it is expected to be at position B. For example, in the same way that the target velocity of stage 3 is modified by looking at the current draw from the electric motor 22, it is possible to also use the current draw to determine the point of ground engagement. Nominally, for the embodiment described, the ground is expected to be engaged at an angle of about 30 degrees (reference is to be had to the control strategies 600, 800 described above, and the data provided in Tables A and B). Uneven surfaces and height variations may result in this angle not being correct. It is possible to determine the point of ground contact by monitoring and considering the current draw from the electric motor 22, and to compare the current draw to a calibration. This calibration is taken by measuring the current draw of the electric motor 22 when the tool 10 rotates completely in free air at the travel speed. The main load sources experienced by the electric motor 22 when rotating in free air is due to the inertia of the tool 10 – motor- gearbox assembly and windage. The current profile can be expected to be the same whenever the tool 10 rotates in free air. When the tool 10 engages the soil, the current draw will deviate significantly from the calibration. This information can then be used to determine that the tool 10 has engaged with something and is no longer in free air. Based on this, position B can be defined. Furthermore, it would also be possible to define or modify the remaining positions in the excavation cycle if needed, or to optimise the performance of the apparatus 5. The skilled reader will appreciate that the apparatus 5 need not be connected to a tyne shank 14 of a tyne assembly 15, but could be coupled to other structures of farming or agricultural equipment that are being moved across the ground as part of a farming or tillage operation. For example, with the increasing use of unmanned autonomous or remotely operated drone technology in farming, any number of apparatuses 5 may be coupled to structures that are being towed or are part of a drone (or like vehicle e.g. unmanned ground vehicle (UGV)) for undertaking (remotely or autonomously) a tillage/cultivation operation. Operation of the apparatus 5 is selective in order to provide a control means for enabling active and targeted tillage of weed bearing ground. In this manner, selective operation may be based on a manual observation or identification of target organic material or region of soil about to come into a targetable area of an apparatus 5 by an operator or controller module operable with the apparatus 5 during a tillage or ground cultivation operation. The actuator assembly 20 and/or the control means or controller module may be powered by an electrical power source involving one or more batteries and/or one or more solar panels or a solar array. The skilled reader will appreciate that any form of electrical power source could be used. Selective operation may also be informed via a suitable sensing means operable with a control means, eg. a suitably configured electronic programmable logic controller. Such control means may be operable so as to receive an input from one or more sensor module(s) configured for sensing organic material as the tillage/cultivation operation progresses. The electronic controller may be configured with suitable means for processing the sensory input for discriminating between any sensed organic matter so as to identify one or more target organic material for selection for excavation using the apparatus 5. Suitable sensing modules may comprise any of the following operating either in isolation (individually) or combination: a visible light camera module or modules, sensors using different wavelengths, light detection and ranging (LiDAR) technology, laser range sensors, infrared sensors, acoustic sensors, sonar. The skilled reader would appreciate the various types of sensors applicable for use in the present context. The discriminating/identification module may be configured so as to avail of normalised difference vegetation index (NDVI) and/or AI technologies for determining whether any sensed input is representative of a prospective weed to be excavated. Embodiments may also include use of GPS location techniques associated with pre-mapping of targetable plant/weeds. The control means may comprise or be operable with one or more mechanical stop or detent arrangements or limits that are configured to stop/prevent rotation of the tool 10 at the non- ground engaging or standby condition, e.g. so as to retain the tool 10 in anticipation of operation to the ground engaging state on receipt of a signal corresponding to identification of target organic matter or region of soil to be excavated. Such stop/detent arrangements may operate individually or in cooperation with the control means. Figures 12 and 13 show arrangements involving variations of the present disclosure. Like reference numerals are retained for like features for explanative purposes. Figure 12 shows a schematic elevation view of an arrangement 100 using an apparatus 102 configured in accordance with the present disclosure. The apparatus 5 may be arranged operable with a levelling means or equipment configured operable for use in levelling an embodiment of the apparatus 5 relative to the ground during operation. The levelling means/equipment may be configured operable for providing passive stabilisation of the apparatus 5 for enabling the tool 10 to engage the (local or adjacent) ground to provide a substantially consistent incursion depth across any ground typography for a plurality of excavation events or cycles during a tillage operation. The apparatus 5 may be arranged operable with a levelling means configured operable for use in providing the apparatus 5 substantially at a desired or target height relative to the ground local or adjacent (ie., localised levelling) of the apparatus during operation. In some embodiments, the levelling means may comprise existing equipment designed and produced for such purposes, such as for example, equipment made and sold by Orthman (www.orthman.com.au) known as Parallel Linkage BedListers. It will be appreciated that embodiments of the apparatus 5, 102 can be realised so as to be operable with any existing levelling equipment. As shown in Figure 12, in one embodiment where a levelling means or arrangement is involved, the apparatus 102 (having a tool 10 with respective blades 10b, 10c as shown) is carried by an arm 104 that itself is, at a proximal end 104, rotatably coupled (shown at 112) with a tyne shank 14 of a tyne assembly 15. At a distal end 108 of the arm 106, there is carried a wheel 110 that is biased in rolling contact with the ground over which the tyne assembly 15 is being towed by way of the rotatable coupling 112. The biased rotatable coupling 112 is spring loaded (e.g., by way of a spring loading arrangement and/or the centre of mass, location, and size of the apparatus) so as to bias or prejudice the wheel 110 to remain in rolling contact with the ground thereby accommodating non-uniform surface topography during operation. One or more stops or detents (e.g., provided the form of pins 114) are provided in the arm 104 to serve as limit stops when brought into engagement with the tyne shank 14 defining the maximum allowable downward movement of the wheel 110. In this manner, the operational proximity of the apparatus 102 relative to the ground (e.g., height) can be defined or preset ensuring consistency in the depth that the tool 10 works the ground during operation. The skilled reader will appreciate other ways that the working depth of the tool 10 can be controlled. In Figure 12, the apparatus 102 is shown generally central of the span of the arm 104. However, it will be appreciated that the apparatus 102 could be positioned at different locations along the span of the arm 104, e.g., closer to the wheel 110, or closer to the tyne shank 14. In the form shown in Figure 12, the arrangement 100 is configured so that the apparatus 102 (and tool 10) trails the tyne shank 14, but arrangements could be configured where the apparatus 102 (and the tool 10) are operable ahead of the tyne shank 14. In another form, the orientation of the tool 10 relative to the ground could be maintained passively by way of a 4-bar parallelogram linkage mechanism or arrangement. Embodiments could be realised to additionally add the ability to compensate the orientation of the tool 10 or the apparatus 102 for inadvertent movement. Any such compensation could be done passively so that the arm 104, the tool 10 or the apparatus 102 remains parallel to the ground surface by coupling the tool 10 or apparatus 102 with the mount via a 4-bar parallelogram so that when the arm 104 moves the apparatus 102 stays at the same angle. Furthermore, embodiments enabling compensation for movement could be achieved actively. As one example, the standby position could be adjusted to remain level in real-time (i.e., not remain fixed with reference to the arm 104, but fixed with reference to the global horizontal). In an arrangement in which multiple apparatus are each coupled with a respective tyne shank or leg of a broader tyne or cultivator assembly, one or more of the apparatus is/are arranged so as to operable with a respective levelling means so that each respective apparatus is provided substantially at a desired height relative to the ground during operation (either passively or actively). In such embodiments, each apparatus is arranged so as to be benefit from localised levelling relative to the ground during the operation. The skilled reader will appreciate other ways that the tool 10 or apparatus 102 or the working depth of the tool 10 can be controlled can be maintained reliably relative to the ground during use passively (e.g. requiring little to no unnecessary energy input). The skilled reader will appreciate that either active and passive arrangements would be possible with the requirement for additional energy requirements. Figure 13(a) and Figure 13 (b) show respective embodiments involving multiple tools arranged in accordance with the present disclosure. Figure 13(a) shows a front view of an arrangement 130 using first 135 and second 140 apparatuses each configured in accordance with the present disclosure. The first apparatus 135 comprises a tool 10A having respective blades 10b- A, 10c-A as shown, and the second apparatus 140 comprises a ground engaging tool 10B having respective blades 10b-B, 10c-B as shown. The arrangement 130 comprises an actuator assembly 20 having a single motor module (for example, either electric or hydraulic) coupled with a tyne shank 14 of a tyne assembly 15. The actuator assembly 20 is configured in operable association with each of the tools 10A, 10B so that they are operable on opposite sides of the tyne shank 14 (with respective blades 10b-A, 10c-A, 10b-B, 10c-B extending outward of the centrally disposed tyne shank 14). While various arrangements are possible (as the skilled reader would appreciate), operation of driving movement provided by both actuator assembly 20 to both tools 10A/B may be by way of a suitable gearbox arrangement (and/or with a balanced bearing arrangement). Such a gearbox arrangement may comprise, for example, a “T” gearbox 150 to provide for an efficient and compact arrangement. Other gearbox arrangements could comprise any of the following types (without limitation): a planetary gearbox, a cycloidal gearbox, a worm drive, a crown gear or right-angle gearbox, a gearbox involving bevelled gears etc. In this manner, a double headed tool can be provided to achieve symmetry and increased width or lateral reach for treating wide areas of a crop row. The skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the present disclosure. Figure 13 (b) shows a side view of an arrangement 130’ using first 135’ and second 140’ apparatuses each configured in accordance with the present disclosure. The first 135’ (having actuator assembly 20A’, a ground engaging tool 10A’ with respective blades 10b-A’, 10c-A’ as shown) and second 140’ (having actuator assembly 20B’, a ground engaging tool 10B’ with respective blades 10b-B’, 10c-B’ as shown) apparatus are respectively coupled (28A’, 28B’) with a tyne shank 14’ of a tyne assembly 15’ so as to operate on opposite sides of the tyne shank 14’ (with respective blades 10b-A’, 10c-A’, 10b-B’, 10c-B’ extending outward of the centrally disposed tyne shank 14’). In the manner shown, the first apparatus 135’ is coupled with the tyne shank 14’ upstream of the second apparatus 140’. While various arrangements are possible (as the skilled reader would appreciate), operation of driving movement provided by both actuator assemblies 20A’, 20B’ may be by way of, for example, a “T” gearbox 150’ to provide for an efficient and compact arrangement. Other gearbox arrangements could comprise any of the types referred to above. The skilled reader will appreciate other types of gearbox configurations that could be applied, or configured for use, with embodiments of the apparatus of the arrangement shown in Figure 13(b). In this manner, a double-sided tool can be provided with independent control functionality. It is considered that engagement of the tool 10 with the ground when the tool is rotating in the first or second directions of rotation may have the effect of (i) reducing the electrical energy needed by the electric motor to drive the tool 10 when working the ground, and/or (ii) cause the tool 10 to be driven, at least in part, by way of the movement of the apparatus 5 relative to the ground. In this manner, with the tool 10 engaged with the ground, and depending on the rotation direction, the relative differential between the velocity of the apparatus 5 relative to the ground, and the angular velocity of the ground engaging tool 10 about the axis X (rotation in the first direction of rotation may enable this benefit), the tool 10 may, in effect, be driven in part about the axis X, or, at the least, electrical energy consumed by the electric motor 22 may be reduced. Accordingly, the actuator assembly 20 may be arranged operable with a power take-off means or module or a mechanical to electrical transducer means or module (not shown) configured so that rotation of the tool 10, when driven in part by means other than the actuator assembly 20, can be recovered by conversion of said in part driven movement of the tool 10 into electrical energy. In this manner, a portion of electrical energy expended during driving of the tool 10 may be recoverable during a ground engaging event. Figures 14a, 14b, and 15 serve to provide context of the apparatus 5 as might be used with multiple tyne assemblies 15 as part of a tillage operation. It is noted that the content of Figures 14a, 14b and 15 are representative only and not to be considered a limiting outline of use of the apparatus 5 in the present context. Figure 15 shows a schematic representation of an example distribution of weed W and plant P material relative to a usual row cropping operation, showing the intra IaR and inter IrR row regions which can be targeted using multiple units of the apparatus 5 orientated as appropriate with the tyne assemblies 15. Figure 14a represents an assembly of a plurality of tyne assemblies 15 having respective tyne shanks 14 to which an apparatus 5 (shown as a black square shape) of the present disclosure is coupled with. Noted on Figure 14a is the direction of tow by a prime mover such as a tractor T that each of the apparatuses 5 are towed in the tillage operation. Dashed lines trailing from each tyne shank 14 are indicated. Figure 14b shows an isolated perspective view of the outer most apparatus 5 (identified in Figure 14a) as coupled with a tyne shank 14 of its respective tyne assembly 15 as part of the overall towed assembly 200. The apparatus 5 of the present disclosure could be applied to all row cropping systems whether broad-acre, viticulture or horticultural (e.g. vegetable) with the presence of inter-row weeds (W). In one form, use of the apparatus 5 could be particularly applicable to wide row-crop systems (e.g. sorghum, maize, cotton, etc). When used in a narrow configuration the apparatus of the present disclosure could find particular application in narrow broad-acre cropping situations, eg. wheat, barley, etc, as well as horticultural applications (vegetables). Embodiments of the apparatus 5 may be used in conjunction with other tillage cultivation tools for both intra-row and combined inter/intra-row tillage/cultivation operations. Embodiments of the actuator 5 of the present aspect may provide a tool which can be mounted to conventional tyne tool bars of any tyne assembly thereby rendering those tynes site-specific targeted (i.e., spot) tillage devices for, in one aspect, inter-row weed control. The apparatus 5 can be configured so as to include any suitable means of coupling or attachment to universally utilised existing agricultural mounting points and could be utilised across wide tool bars typical of tractor-powered agriculture. Embodiments of the apparatus 5 could also be mounted to any platform, such as for example, a robotic autonomous platforms or systems whether large scale or small (e.g. swarm) devices involving a single or low number of tynes in a low number module configuration providing a smaller but sufficiently active/functional tillage platform. Farming operators may find advantage in the presently described principles given ease of adoption/use of the apparatus 5 across any tyne-bar system. Figure 16a shows an arrangement which is a variation on that shown in Figure 14a. For the arrangement shown the apparatus 5 is configured so that it is capable of movement laterally relative to the direction of travel of the towed assembly 200. For the arrangement shown, each apparatus 5 of the assembly 200 is coupled with its respective tyne shank 14 using a coupling arrangement that provides a translation or displacement means or arrangement 201 to allow the supported apparatus 5 to be capable of moving laterally across or within its local inter-row IrR region allowing it to increase the ‘reach’ of the relevant apparatus 5 within its respective inter- row region IrR to about either side of the bounding local intra-row regions. In this manner, the effectiveness of the assembly 200 can be increased in that more ground during a single pass of the assembly 200 can be the subject of active targeted tillage by the collection of apparatuses (5). The translation or displacement means or arrangement 201 may comprise any suitable componentry that can be configured so as to result in any translational or displacement enabling movement, such as for example, one or more linear bearings, lead screws or like mechanical or mechanised arrangements that enable a displacement of any of the apparatuses (5) to occur (e.g., swing type or fish tail like mechanisms). Such movement may be laterally or arc like. The skilled reader will understand that any means by which displacement of the apparatuses (5) can be enabled/controlled can be used. Figure 16b shows an arrangement which is a variation on that shown in Figures 14a and 16a. For the arrangement shown a plurality of apparatuses 5 are configured in an assembly having first R1 and second R2 rows as shown. As seen in Figure 16b, each of the apparatuses 5 of the second row R2 are laterally offset from those of the first row R1. In this manner, the apparatuses 5 of the second row R2 are positioned so as to be operable adjacent or within the intra-row region (IaR). In this manner, the effectiveness of the assembly can be increased or improved to enable more ground (during a single pass of the assembly 200 to be the subject of active targeted tillage by the collection of apparatuses (5). The skilled reader will appreciate that more rows can be included as desired/needed, any such rows can be arranged to carry apparatuses (5) positioned so as to be operable within inter-row IrR or intra-row IaR regions; for example, multiple apparatus (5) may be operable at different regions of an inter-row region IrR while being positioned at a different row of the tyne assembly. Furthermore, the concepts shown in both Figures 16a and 16b can be included such that one or more of a plurality of apparatuses 5 of a multi-row assembly like that shown in Figure 16b can be operable with a respective translation means or arrangement 201 so as to enable the respective apparatus 5 to be movable laterally relative to the tow direction of the assembly. The skilled reader will appreciate that a large number of different configurations are possible using the principles of the present disclosure when applied to multi-row tyne assemblies. Advantages of the principles of the present disclosure may be readily seen in benefits to growers in reduced herbicide reliance and the availability of low cost weed control that alleviates the burden of managing such weeds. These attributes, along with the weed control efficacy, prospectively drive grower adoption, with technology evaluations in collaboration with grower and industry representatives aimed at reinforcing these values and the weed control opportunity. As noted above, the principles of the present disclosure could render conventional cultivator bars (with the modules set at the planted crop row spacing) a mechanical weeder with correct spacing to integrate into that system. The words used in the specification are words of description rather than limitation, and it is to be understood that various changes may be made without departing from the spirit and scope of any aspect of the principles described herein. Those skilled in the art will readily appreciate that a wide variety of modifications, variations, alterations, and combinations can be made with respect to the above-described embodiments without departing from the spirit and scope of any aspect of the principles described, and that such modifications, alterations, and combinations are to be viewed as falling within the ambit of the inventive concept. It will be appreciated that future patent applications maybe filed in Australia or overseas on the basis of, or claiming priority from, the present application. It is to be understood that the following claims are provided by way of example only and are not intended to limit the scope of what may be claimed in any such future application. Features may be added to or omitted from the provisional claims at a later date so as to further define or re-define the invention or inventions. more rows can be included as desired/needed, any such rows can be arranged to carry apparatuses (5) positioned so as to be operable within inter-row IrR or intra-row laR regions; for example, multiple apparatus (5) may be operable at different regions of an inter-row region IrR while being positioned at a different row of the tyne assembly. Furthermore, the concepts shown in both Figures 16a and 16b can be included such that one or more of a plurality of apparatuses 5 of a multi-row assembly like that shown in Figure 16b can be operable with a respective translation means or arrangement 201 so as to enable the respective apparatus 5 to be movable laterally relative to the tow direction of the assembly. The skilled reader will appreciate that a large number of different configurations are possible using the principles of the present disclosure when applied to multi-row tyne assemblies.
Advantages of the principles of the present disclosure may be readily seen in benefits to growers in reduced herbicide reliance and the availability of low cost weed control that alleviates the burden of managing such weeds. These attributes, along with the weed control efficacy, prospectively drive grower adoption, with technology evaluations in collaboration with grower and industry representatives aimed at reinforcing these values and the weed control opportunity. As noted above, the principles of the present disclosure could render conventional cultivator bars (with the modules set at the planted crop row spacing) a mechanical weeder with correct spacing to integrate into that system.
The words used in the specification are words of description rather than limitation, and it is to be understood that various changes may be made without departing from the spirit and scope of any aspect of the principles described herein. Those skilled in the art will readily appreciate that a wide variety of modifications, variations, alterations, and combinations can be made with respect to the above-described embodiments without departing from the spirit and scope of any aspect of the principles described, and that such modifications, alterations, and combinations are to be viewed as falling within the ambit of the inventive concept.
It will be appreciated that future patent applications maybe filed in Australia or overseas on the basis of, or claiming priority from, the present application.
It is to be understood that the following claims are provided by way of example only and are not intended to limit the scope of what may be claimed in any such future application. Features may be added to or omitted from the provisional claims at a later date so as to further define or re-define the invention or inventions.

Claims

Claims 1. An apparatus for coupling with a tyne bar of a tyne or cultivator assembly arranged to be drawn or towable in a direction of travel for use in a tillage or ground cultivation operation, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to the direction the apparatus is caused to be moved in, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, wherein, the apparatus is configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground, so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby, then returning or moving the ground engaging element to the or another state or condition in which the ground engaging element is clear of engagement with the ground. 2. The apparatus of claim 1, wherein the apparatus is configured so that operating the ground engaging element to the or another state or condition in which the ground engaging element is clear of the ground places or resets the ground engaging element to a standby state or condition ready awaiting another operation to the ground engaging state on identification or selection of another target organic material or region of ground. 3. The apparatus of claim 1 or claim 2, wherein the actuator assembly and the ground engaging element are arranged operable so that, in use, rotary motion of the ground engaging element driven by the actuator assembly is in a plane that is substantially perpendicular, orthogonal or normal with the surface of the ground over which the apparatus is being caused to be drawn or moved. 4. The apparatus of any one of claims 1 to 3, wherein the ground engaging element comprises a body having first and second ground engaging portions or segments extending outward or away from the body and which are substantially equispaced about the axis from each other, the first, second ground engaging portions or segments comprise a respective ground engaging edge defined in part by its extension from the body, the first and second ground engaging portions configured for engaging or penetrating the ground. 5. The apparatus of claim 4, wherein the body is of a generally planar form, and wherein the or each of the first, second ground engaging portions or segments extend outward or away from the body in respective directions that are substantially normal with the planar form of the body. 6. The apparatus of claim 4 or claim 5, wherein extension of the first, second ground engaging portions or segments from the body is aligned substantially normal with a plane in which the ground engaging element rotates about the axis, the respective extensions of the first, second ground engaging portions or segments defining respective first and second sides of each first, second ground engaging portion or segment, one or both of which operates as a working face during engagement with the ground depending on the direction and/or angular velocity of rotation of the ground engaging element about the axis relative to a linear velocity of the apparatus when being caused to be moved over the ground. 7. The apparatus of any one of claims 4 to 6, wherein the first and second ground engaging segments or portions and consequentially respective working face(s) are arranged so as to present at an angle of engagement relative to the ground at the anticipated time of engagement therewith so as to improve or optimise engagement with the ground for completing a desired excavation event while reducing or minimising soil disruption. 8. The apparatus of claim 7, wherein the first, second ground engaging portions or segments are configured or oriented with the body of the ground engaging element so that the angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground extending behind the relevant ground engaging segment, or between from about 0 degrees to about 45 degrees, or about 16 degrees. 9. The apparatus of any one of claims 4 to 8, wherein the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element in a first direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material to be excavated relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground over which the apparatus is passing. 10. The apparatus of any one of claims 4 to 8, wherein the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location behind the axis, and before the target organic material to be excavated, relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground over which the apparatus is passing. 11. The apparatus of any one of claims 1 to 10, wherein the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis for substantially a first quarter rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or from about 75 degrees to about 90 degrees, or from about 85 degrees to about 90 degrees. 12. The apparatus of claim 11, wherein the actuator assembly is arranged operable to, following completion of the first quarter rotation, drive the ground engaging element in a second quarter rotation about the axis in a direction that is opposite to (or the reverse of) the second direction of the rotation back to the standby position thereby completing an excavation cycle ready to await commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. 13. The apparatus of any one of claims 1 to 10, wherein the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element in a second direction of rotation about the axis for substantially a half rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees. 14. The apparatus of claim 13, wherein the apparatus is configured so that the actuator assembly is arranged operable to drive the ground engaging element through an arc of substantially 180 degrees about the axis from a first standby position so as to arrive at a second standby position thereby completing an excavation cycle and providing the ground engaging element in a state ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. 15. The apparatus of any one of claims 4 to 14, wherein the angle of engagement of one or both of the first, second ground engaging portions or segments with the ground is selected so as to reduce or minimise loading to which the relevant of the first, second ground engaging portions/segments becomes subject to during its engagement with the ground. 16. The apparatus of any one of claims 4 to 15, wherein the actuator assembly is configured operable so as to drive one of the first, second ground engaging portions or segments of the ground engaging element so as to follow or form a ground engaging profile or path when engaged with the ground, the geometry of the ground engaging profile or path being informed by any of: a velocity of the apparatus moving over the ground, an angular velocity of the ground engaging element driven by the actuator assembly, whether the ground engaging element is rotating in the first or second directions, a desired working depth for a ground engaging operation, a geometry or profile of the relevant ground engaging segments, a distance of any portion of the ground engaging element or ground engaging segment that engages with the ground from the axis. 17. The apparatus of any one of claims 4 to 16, wherein one or both of the first and second ground engaging portions or segments are configured so that their respective angles of engagement with the ground is operable so that a quarter or half rotation of the ground engaging element, driven in either direction, achieves substantially complete excavation of the target organic material or soil, or substantially completes an excavation cycle. 18. The apparatus of any one of claims 9 to 17, wherein the apparatus is configured operable so as to, when caused to be rotating about the axis in the first direction, present a respective side or face of one of the first, second ground engaging portions/segments at a sufficiently acute angle of engagement relative the surface of the ground for engaging or entering the ground ahead of the axis relative to the direction that the apparatus is caused to be moved across the ground, said respective side or face being operable for engaging/working ground or soil ahead of or approaching the relevant segment. 19. The apparatus of claims 9 to 18, wherein, the apparatus is configured so that, when in use where the apparatus is being moved forward across the ground in a direction of travel, for an angle of engagement of a ground engaging edge of one of the ground engaging segments with the ground that is at or near an upper range of the acute range of angles, or for example, at or near 90 degrees, the actuator assembly drives the ground engaging element in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and after the target organic material) at an angular velocity so that a ground speed (e.g. the magnitude of the horizontal velocity component of the resultant velocity vector of the distal tip or edge of the relevant ground engaging segment) of the ground engaging edge of the relevant of the ground engaging segment is equal to zero, or, if above zero, the ground speed of the ground engaging edge of the relevant of the ground engaging segments is directed in a direction opposite to said forward direction of travel the apparatus is being moved (or towed) across the ground. 20. The apparatus of any one of claims 9 to 18, wherein, for an angle of engagement with the ground of a ground engaging edge of one of the ground engaging portions or segments that is at or near a lower range of the acute range of angles, the apparatus is configured so as to be operated so that, when in use where the ground engaging element is being rotated by the actuator assembly in the first direction, in which one of the ground engaging portions or segments engages the ground at a location ahead of the axis and before the target organic material, one or both of the velocity the apparatus is being moved or towed across the ground and the angular velocity of the ground engaging element can be adjusted so that, for a portion of the ground engaging segment that is distal from the axis that is about to engage the ground, a resultant velocity vector of the distal portion is established that is: (i) at a limit where the resultant velocity vector lies at said angle of engagement with the ground (or is colinear with the relevant ground engaging segment relative to the ground at said angle of engagement), or (ii) provides an angle of the established resultant velocity vector of the distal portion (relative to the ground surface) that is less than said angle of engagement of the relevant ground engaging edge with the ground, thereby causing a side or face of the relevant ground engaging portion or segment to operate as a working face during a ground engaging event, wherein said working face is a face or side of the relevant ground engaging portion or segment that faces the approaching target organic material as the ground engaging element rotates about the axis in the first direction. 21. The apparatus of any one of the preceding claims, wherein the apparatus is couplable with the tyne bar of the tyne or cultivator assembly by way of a coupling arrangement configured so as to releasably attach the apparatus to a region of the tyne or other support assembly so that the ground engaging element is able to, when in use, engage regions of the ground that reside in a region between adjacent crop rows, or the inter- row region, of an area to be subject to a tillage or cultivation operation by the apparatus thereby providing an active tillage tool operable along said inter-row region during the operation. 22. The apparatus of any one of the preceding claims, wherein the actuator assembly comprises an electric motor or a hydraulic motor. 23. The apparatus of any one of the preceding claims, wherein the actuator assembly comprises or is arranged operable with a gearbox arrangement configured operable so that, power from a source of drive is converted or modified, the gearbox arrangement being any of the following types: a planetary gearbox, a cycloidal gearbox, a “T” gearbox, a worm drive. 24. The apparatus of any one of the preceding claims, wherein selective operation of the actuator assembly is by way of a control means of or operably associated with the apparatus for selectively controlling operation of the actuator assembly for driving the ground engaging element to the ground engaging state from the non-ground engaging state, and return to the non-ground engaging state. 25. The apparatus of claim 24, wherein the control means is arranged so as to receive an input from a sensor module configured for sensing organic material as the tillage or ground cultivation operation progresses, the control means configured operable with suitable means for processing the sensory input for discriminating between any sensed organic matter so as to identify target organic material or soil for excavation using the apparatus. 26. The apparatus of claim 24 or claim 25, wherein the control means is configured so as to stop rotation of the ground engaging element at the non-ground engaging state thereby retaining the ground engaging element in said state in anticipation of operation of the ground engaging element to the ground engaging state on receipt of a signal corresponding to identification of target organic matter or soil to be excavated. 27. The apparatus of any one of claims 1 o 26, wherein the apparatus comprises one or more stops that operate so as to stop rotation of the ground engaging element at the non-ground engaging or standby condition, the or each stops configured to operate individually or in cooperation with the control means. 28. The apparatus of any one of the preceding claims, wherein the actuator assembly is arranged operable with a power take-off means or module or a mechanical to electrical transducer means or module configured so that rotation of the ground engaging element, when driven in part by means other than the actuator assembly, is recoverable by conversion of said in part driven movement of the ground engaging element into electrical energy. 29. The apparatus of any one of claims 4 to 28, wherein one or each of the first, second ground engaging segments or portions is/are configured or shaped so that one or both of the respective first, second sides are of generally nonlinear or curvilinear form or profile, 30. The apparatus of any one of claims 1 to 29, wherein the apparatus is arranged operable with a levelling means configured operable for use in providing the apparatus substantially at a desired or target height relative to the ground local or adjacent of the apparatus during operation, the levelling means configured operable for providing passive stabilisation of the apparatus for enabling the ground engaging element of the apparatus to engage the ground to provide a substantially consistent incursion depth across a plurality of operations of the apparatus. 31. The apparatus of claim 30, wherein the levelling means is configured so that a height of the apparatus relative to the ground is maintained passively by way of a 4-bar parallelogram linkage mechanism or arrangement. 32. The apparatus of claim 30 or claim 31, wherein the levelling means is configured so that the apparatus trails the tyne bar to which it is attached or is provided ahead of the tyne bar to which it is attached. 33. A tyne or cultivator bar or related assembly comprising one or more apparatus each arranged according to the apparatus of any one of claims 1 to 32 for enabling active or targeted tillage capability for use in a tillage or cultivation operation. 34. A method of undertaking a tillage or ground cultivation operation using an apparatus coupled with a tyne bar of a tyne or ground cultivation assembly, the apparatus comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to a direction the apparatus is caused to be moved in during the tillage or ground cultivation operation, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, the method comprising: moving the apparatus over the ground during the tillage or cultivation operation, and, operating the apparatus in a selective manner on selection of a target organic material or region of ground so as to drive the ground engaging element by way of the actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby, then returning or moving the ground engaging element to the or a state or condition in which the ground engaging element is clear of engagement with the ground. 35. The method of claim 34, wherein operating the apparatus so as to return or move the ground engaging element to the or another state or condition in which the ground engaging element is clear of the ground places or resets the ground engaging element to a standby state or condition ready awaiting another operation to the ground engaging state on identification or selection of another target organic material or region of ground. 36. The method of claim 34 or claim 35, comprising coupling of the apparatus with a respective tyne bar of the tyne or cultivator assembly so as to enable the ground engaging element to work an inter-row region of the ground the subject of the tillage or ground cultivation operation. 37. The method of any one of claims 34 to 36, comprising providing or configuring the or each apparatus so as to comprise one or more ground engaging portions or segments each extending from the ground engaging element, extension of the or each ground engaging portion or segment from the ground engaging element is aligned substantially normal with a plane in which the ground engaging element rotates about the axis, the extension of the or each ground engaging portion or segment defining at least one respective side of a respective ground engaging portion or segment which operates as a working face during engagement with the ground. 38. The method of claim 37, the method comprising operating the apparatus so as to rotate the ground engaging element in a direction of rotation about the axis at an angular velocity relative to the velocity that the apparatus is being moved over the ground so that the working face of the relevant ground engaging portion or segment is upward facing as it engages or enters the ground ahead of the axis and before the target organic material relative to the direction that the apparatus is caused to be moved across the ground. 39. The method of claim 37 or claim 38, the method comprising operating the apparatus so that the actuator assembly is arranged operable to drive the ground engaging element in a first direction of rotation about the axis in which one of the ground engaging segments engages the ground at a location ahead of the axis and before the target organic material to be excavated relative to a direction the apparatus is caused to be moved over the ground during the tillage/cultivation operation, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement with the ground is between a range from about 0 degrees to about 90 degrees relative to the surface of the ground over which the apparatus is passing 40. The method of any one of claims 37 to 39, the method comprises operating the apparatus so that the actuator assembly drives the ground engaging element in a second direction of rotation about the axis for substantially a first quarter rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 45 degrees to about 90 degrees, or from about 75 degrees to about 90 degrees, or from about 85 degrees to about 90 degrees. 41. The method of claim 40, wherein, following completion of the first quarter rotation, the actuator assembly is arranged operable to drive the ground engaging element in a second quarter rotation about the axis in a direction that is opposite to (or the reverse of) the second direction of the rotation back to the standby position thereby completing an excavation cycle ready to await commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. 42. The method of any one of claims 37 to 41, the method comprising operating the apparatus so that the actuator assembly drives the ground engaging element in a second direction of rotation about the axis for substantially a half rotation in which one of the ground engaging segments is caused to engage the ground at a location behind the axis and before the target organic material or region of ground to be excavated causing a face or side of the relevant ground engaging segment facing toward the axis to become an active or working face/side that engages/works the ground, and wherein one or both of the first, second ground engaging portions or segments are configured or oriented so that a respective angle of engagement of its respective distal tip or edge with the ground is between a range of from about 85 degrees to about 90 degrees. 43. The method of claim 42, the method comprising operating the apparatus so that the actuator assembly is operable to drive the ground engaging element through an arc of substantially 180 degrees about the axis from a first standby position so as to arrive at a second standby position thereby completing an excavation cycle and providing the ground engaging element in a state ready awaiting commencement of another such excavation cycle on identification/selection of another target weed or region of soil/ground to excavate. 44. The method of any one of claims 37 to 43, the method comprises, when in use where the apparatus is being moved forward across the ground in a direction of travel, for an angle of engagement of a ground engaging edge of one of the ground engaging segments with the ground that is at or near an upper range of the acute range of angles, or for example, at or near 90 degrees, operating the or each apparatus so that the actuator assembly drives the ground engaging element in the first direction (in which one of the ground engaging segments engages the ground at a location ahead of the axis and after the target organic material) at an angular velocity so that a ground speed (e.g. the magnitude of the horizontal velocity component of the resultant velocity vector of the distal tip or edge of the relevant ground engaging segment) of the ground engaging edge of the relevant of the ground engaging segment is equal to zero, or, if above zero, the ground speed of the ground engaging edge of the relevant of the ground engaging segments is directed in a direction opposite to said forward direction of travel the apparatus is being moved (or towed) across the ground. 45. The method of any one of claims 37 to 44, wherein, for an angle of engagement of a ground engaging edge of one of the ground engaging segments that is at or near a lower range of the acute range of angles when in use where the ground engaging element is being rotated by the actuator assembly in the first direction, in which one of the ground engaging portions or segments engages the ground at a location ahead of the axis and before the target organic material, the method comprises adjusting or causing to be adjusted, one or both of the velocity the apparatus is being moved or towed across the ground and the angular velocity of the ground engaging element so that, for a portion of the ground engaging portion or segment that is distal (e.g., the distal tip or edge of the segment) from the axis that is about to engage the ground, a resultant velocity vector of the distal portion/tip is established that is: (i) at a limit where the resultant velocity vector lies at said angle of engagement with the ground (or is colinear with the relevant ground engaging segment relative to the ground at said angle of engagement), or (ii) provides an angle of the established resultant velocity vector of the distal portion (relative to the ground surface) that is less than said angle of engagement of the relevant ground engaging edge with the ground, thereby causing a side or face of the relevant ground engaging portion or segment to operate as a working face during a ground engaging event, wherein said working face is a face or side of the relevant ground engaging portion or segment that faces the approaching target organic material as the ground engaging element rotates about the axis in the first direction. 46. The method of any one of claims 37 to 45, comprising, on selection of a target organic material to be excavated or severed, operating the apparatus so that the ground engaging element undertakes an excavation cycle which commences from the non- ground engaging state and completes once the ground engaging element arrives at another non-ground engaging state on the ground engaging element being driven in the same direction, wherein engagement with the ground by one of the or each ground engaging portions or segments occurs between the axis and the ground before the selected target organic material relative to the direction the apparatus is moving. 47. The method of any one of claims 46, wherein the excavation cycle involves the ground engaging element being operated through an angle of about 180 degrees in said rotational direction. 48. The method of claim 46 or claim 47, comprising operating the apparatus so that an angular velocity of the ground engaging element in said rotational direction is substantially uniform during or across the duration of the excavation cycle. 49. The method of any one of claims 46 to 48, wherein the excavation cycle comprises one or more movements of the ground engaging element, and wherein the method comprises operating the apparatus during one of the or each movements of the ground engaging element so as to vary an angular velocity of the ground engaging element during the respective movement, the variation of the angular velocity enabling the ground engagement element to be subject to an angular acceleration or an angular deceleration. 50. The method of claim 49, comprising operating the apparatus so that an angular velocity of the ground engaging element during one of the or each movements of the ground engaging element is different to an angular velocity of the ground engaging element during another movement of the ground engaging element during the excavation cycle. 51. The method of claim 49 or claim 50, wherein the excavation cycle comprises a first movement of the ground engaging element, the first movement of the ground engaging element commencing from the standby state and ends at about where the ground engaging element is about to engage the ground ahead of the axis and before the target organic material to be excavated relative to the direction the apparatus is moving. 52. The method of claim 51, wherein the excavation cycle comprises a second movement of the ground engaging element, the second movement of the ground engaging element being from about where the ground engaging segment enters the ground, to about where the ground engaging element has disengaged from the ground or is about to disengage from the ground. 53. The method of claim 52, wherein the excavation cycle comprises a third movement of the ground engaging element, the third portion of movement of the ground engaging element commencing from about where the ground engaging element engages the ground, to about where it reaches a maximum depth into the ground for the excavation event. 54. The method of claim 53, wherein the excavation cycle comprises a fourth movement of the ground engaging element, the fourth movement of the ground engaging element being from about where the ground engaging segment has disengaged from the ground or is about to disengage from the ground, to about the standby state/condition. 55. The method of any one of claims 46 to 54, comprising operating the apparatus so that an angular velocity of the ground engaging element during a movement of same is modified or varied based on a determination of an energy demand of the actuator assembly having regard to a predetermined threshold level of energy demand during driving of the ground engaging element during the relevant movement. 56. The method of any one of claims 37 to 55, comprising operating the apparatus so as to drive the ground engaging element at about a first angular velocity from the non-ground engaging state to a first position at about which one of the or each ground engaging portions or segments is about to engage the ground between the axis and the target organic material or region of soil. 57. The method of claim 56, comprising determining if the first position is reached and carrying out the relevant of the following: (i) maintaining the first angular velocity if the first position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the first position has been reached, or (b) to the standby state/condition. 58. The method of claim 56 or claim 57, comprising operating the apparatus so as to drive the ground engaging element at about a second angular velocity from the first position to a second position at which one of the or each ground engaging segments is engaged in the ground either wholly or in part. 59. The method of claim 58, wherein the third position is one at which one of the ground engaging segments has achieved incursion into the ground that represents about a maximum depth into the ground for the excavation cycle. 60. The method of claim 59, comprising determining if the second position is reached and carrying out the relevant of the following: (i) maintaining the second angular velocity if the second position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation cycle if it is determined that the second position has been reached, or (b) to the non-ground engaging state. 61. The method of claim 60, comprising operating the apparatus so as to drive the ground engaging element at about a third angular velocity from the second position to a third position at which one of the or each ground engaging segments has disengaged from the ground, or is about to disengage from the ground. 62. The method of claim 61, comprising determining if the third position is reached and carrying out the relevant of the following: (i) maintaining the third angular velocity if the third position is determined to not have been reached, or (ii) operating the apparatus so as to drive the ground engaging element to: (a) another position in the excavation event or cycle if it is determined that the third position has been reached, or (b) to or toward the non-ground engaging state. 63. The method of claim 62, comprising operating the apparatus so as to drive the ground engaging element at about a fourth angular velocity from the third position to or toward the non-ground engaging state. 64. The method of claim 63, comprising determining if the standby state/condition is reached and carrying out the relevant of the following: (i) maintaining the fourth angular velocity if the non-ground engaging state is determined to not have been reached, or (ii) ceasing rotation of the ground engaging element if it is determined that the non-ground engaging state has been reached. 65. The method of any one of claims 56 to 64, comprising operating the apparatus so that any of the first, second, third, or fourth angular velocities are either: (i) substantially uniform, or (ii) non-uniform during the course of the relevant movement of the ground engaging element. 66. The method of any one of claims 56 to 60, comprising operating the apparatus so as to drive the ground engaging element at about a third angular velocity from the second position toward the standby state or condition. 67. The method of claim 66, comprising determining an energy demand of the actuator assembly and carrying out the relevant of the following: (i) maintaining the third angular velocity if the energy demand is determined to be below a predetermined threshold level, or (ii) modifying the third angular velocity if the energy demand is above the predetermined threshold level. 68. The method of claim 67, comprising determining if the standby state/condition is reached and carrying out the relevant of the following: (i) determining the energy demand of the actuator assembly and carrying out the relevant of the following: (a) maintaining the third angular velocity if the energy demand is determined to be below the predetermined threshold level, or (b) modifying the third angular velocity if the non-ground engaging state is determined to not have been reached, (ii) ceasing rotation of the ground engaging element if it is determined that the non-ground engaging state has been reached. 69. The method of any one of claims 67 to 68, wherein the modifying the angular velocity comprises increasing the third angular velocity. 70. The method of claim 69, wherein the modifying of the angular velocity of the third angular velocity is based on, at least in part, a differential between the determined energy demand of the actuator assembly and the predetermined threshold level. 71. The method of claim 70, wherein a difference between the third angular velocity as modified from the third angular velocity prior to being modified is proportional to the differential between the determined energy demand of the actuator assembly and the predetermined threshold level and a predefined response characteristic. 72. The method of any one of claims 56 to 71, comprising operating the apparatus so that any of the first, second, third, or fourth angular velocities are (i) substantially the same, or (ii) substantially different from each other. 73. The method of any one of claims 34 to 72, wherein the angular velocity of the ground engaging element is selected from a range up to about 60 radians per second. 74. The method of any one of claims 34, to 73, comprising recovering energy from movement of the ground engaging element when caused to be moved by way of its interaction with the ground when engaged therewith during the excavation cycle. 75. The method of any one of claims 34 to 74, wherein operation of the apparatus in a selective manner involves any of the following operations: (i) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis in either direction of rotation; (ii) operating the actuator assembly so as to drive the ground engaging element about a half revolution about the axis, followed by about a half revolution about the axis in the reverse direction of rotation about the axis; (iii) operating the actuator assembly so as to drive the ground engaging element about a quarter revolution about the axis in either direction; (iv) operating the actuator assembly so as to operate the ground engaging element about a quarter revolution about the axis, followed by about a quarter revolution about the axis in the reverse direction of rotation about the axis; (v) combinations of any of the above in whole or in part; (vi) operating the actuator assembly so that rotational motion of the ground engaging element at any stage in any of the operations of (i)-(v) comprises a constant angular velocity or comprises angular acceleration or deceleration portions. 76. The method of any one of claims 34 to 75, wherein the apparatus is an embodiment of the apparatus of any one of claims 1 to 33. 77. A system for use in carrying out a tillage or ground cultivation operation involving one or more tyne assemblies (or other like support means), the system comprising: one or more apparatus each comprising: an actuator assembly arranged for providing rotational drive about an axis which, when operable, is aligned substantially parallel with the ground and substantially transverse or perpendicular to a direction the apparatus is caused to be moved in during the tillage or ground cultivation operation, a ground engaging element configured so as to be driven during operation about the axis by the actuator assembly in a plane substantially parallel with the direction of movement, wherein, the or each apparatus are configured so as to be, when in use where the apparatus is being moved over the ground during the tillage or ground cultivation operation, selectively operable, on selection of a target organic material or region of ground within a reach of one of the apparatus, so as to drive the relevant ground engaging element by way of the relevant actuator assembly from a non-ground engaging state or condition toward a ground engaging state or condition so as to engage or work a region of the ground for excavating or severing the target organic material or soil hosted thereby, then returning or moving the ground engaging element to the or a state or condition in which the ground engaging element is clear of engagement with the ground. 78. A system according to claim 77, wherein each of the apparatus is an embodiment of the apparatus of any one of claims 1 to 33. 79. A method of undertaking a tillage or ground cultivation operation comprising operating a system according to claim 77 or claim 78, comprising carrying out a method of any one of claim 34 to 76 in respect of one or more of the apparatus.
PCT/AU2025/050138 2024-02-19 2025-02-19 Apparatus and related method for tillage/cultivation operations Pending WO2025175345A1 (en)

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