Unapređenje tehnologije gajenja krmnih biljaka u funkciji proizvodnje zdravstveno bezbedne stočne hrane

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Unapređenje tehnologije gajenja krmnih biljaka u funkciji proizvodnje zdravstveno bezbedne stočne hrane (en)
Унапређење технологије гајења крмних биљака у функцији производње здравствено безбедне сточне хране (sr)
Unapređenje tehnologije gajenja krmnih biljaka u funkciji proizvodnje zdravstveno bezbedne stočne hrane (sr_RS)
Authors

Publications

The effect of field pea (Pisum sativum L.) companion crop management on red clover (Trifolium pratense L.) establishment and productivity

Ćupina, Branko; Krstić, Djordje; Mikić, Aleksandar; Erić, Pero; Vučković, Savo; Pejić, Borivoj

(Tubitak Scientific & Technical Research Council Turkey, Ankara, 2010)

TY  - JOUR
AU  - Ćupina, Branko
AU  - Krstić, Djordje
AU  - Mikić, Aleksandar
AU  - Erić, Pero
AU  - Vučković, Savo
AU  - Pejić, Borivoj
PY  - 2010
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/2315
AB  - Field pea (Pisum sativum L.) has the potential to be a suitable companion crop for the establishment of red clover (Trifolium pratense L.), as it is fast growing and is harvested early, and thus reduces the duration of competition and allows light to be transmitted through its canopy to an undersown species more so than other companion crops such as small grains. The aim of this study was to determine the suitability of field pea as a companion crop for red clover, and in particular to determine the effect of pea cultivar and plant population density. The field experiment comprised 2 sowing years, (2004 and 2005), and the first cut in the first full harvest year in 2005 and 2006. The factorial component of the experiment involved 2 pea varieties (Jezero: semi-leafless; Javor: normal leaves with reduced leaflet size) and 3 densities (30, 60, and 90 plants m(-2)). Two control treatments were also included in the experiment, i.e. red clover grown as pure stand (control I) and red clover with oat as a cover crop (control II). When the field pea had reached the harvestable stage all plots were cut, followed by 2 additional cuts in the sowing year. Yields at the first cut in the following year were also recorded. Forage and protein yields, as well as the weed proportion were measured. On average, control II produced the highest forage yield, followed by pea as the cover crop; the lowest yield was obtained in the pure stand of red clover. Field pea cultivar yields did not differ significantly. The highest average yield was obtained with 90 plants m(-2). The first cut comprised the highest proportion of annual yield (50%-69% when field pea was included). Red clover establishment was not adversely affected by competition from peas. As crude protein content did not vary much, crude protein yield followed the same trend as forage yield (r = 0.83).
PB  - Tubitak Scientific & Technical Research Council Turkey, Ankara
T2  - Turkish Journal of Agriculture and Forestry
T1  - The effect of field pea (Pisum sativum L.) companion crop management on red clover (Trifolium pratense L.) establishment and productivity
EP  - 283
IS  - 4
SP  - 275
VL  - 34
DO  - 10.3906/tar-0904-23
ER  - 
@article{
author = "Ćupina, Branko and Krstić, Djordje and Mikić, Aleksandar and Erić, Pero and Vučković, Savo and Pejić, Borivoj",
year = "2010",
abstract = "Field pea (Pisum sativum L.) has the potential to be a suitable companion crop for the establishment of red clover (Trifolium pratense L.), as it is fast growing and is harvested early, and thus reduces the duration of competition and allows light to be transmitted through its canopy to an undersown species more so than other companion crops such as small grains. The aim of this study was to determine the suitability of field pea as a companion crop for red clover, and in particular to determine the effect of pea cultivar and plant population density. The field experiment comprised 2 sowing years, (2004 and 2005), and the first cut in the first full harvest year in 2005 and 2006. The factorial component of the experiment involved 2 pea varieties (Jezero: semi-leafless; Javor: normal leaves with reduced leaflet size) and 3 densities (30, 60, and 90 plants m(-2)). Two control treatments were also included in the experiment, i.e. red clover grown as pure stand (control I) and red clover with oat as a cover crop (control II). When the field pea had reached the harvestable stage all plots were cut, followed by 2 additional cuts in the sowing year. Yields at the first cut in the following year were also recorded. Forage and protein yields, as well as the weed proportion were measured. On average, control II produced the highest forage yield, followed by pea as the cover crop; the lowest yield was obtained in the pure stand of red clover. Field pea cultivar yields did not differ significantly. The highest average yield was obtained with 90 plants m(-2). The first cut comprised the highest proportion of annual yield (50%-69% when field pea was included). Red clover establishment was not adversely affected by competition from peas. As crude protein content did not vary much, crude protein yield followed the same trend as forage yield (r = 0.83).",
publisher = "Tubitak Scientific & Technical Research Council Turkey, Ankara",
journal = "Turkish Journal of Agriculture and Forestry",
title = "The effect of field pea (Pisum sativum L.) companion crop management on red clover (Trifolium pratense L.) establishment and productivity",
pages = "283-275",
number = "4",
volume = "34",
doi = "10.3906/tar-0904-23"
}
Ćupina, B., Krstić, D., Mikić, A., Erić, P., Vučković, S.,& Pejić, B.. (2010). The effect of field pea (Pisum sativum L.) companion crop management on red clover (Trifolium pratense L.) establishment and productivity. in Turkish Journal of Agriculture and Forestry
Tubitak Scientific & Technical Research Council Turkey, Ankara., 34(4), 275-283.
https://doi.org/10.3906/tar-0904-23
Ćupina B, Krstić D, Mikić A, Erić P, Vučković S, Pejić B. The effect of field pea (Pisum sativum L.) companion crop management on red clover (Trifolium pratense L.) establishment and productivity. in Turkish Journal of Agriculture and Forestry. 2010;34(4):275-283.
doi:10.3906/tar-0904-23 .
Ćupina, Branko, Krstić, Djordje, Mikić, Aleksandar, Erić, Pero, Vučković, Savo, Pejić, Borivoj, "The effect of field pea (Pisum sativum L.) companion crop management on red clover (Trifolium pratense L.) establishment and productivity" in Turkish Journal of Agriculture and Forestry, 34, no. 4 (2010):275-283,
https://doi.org/10.3906/tar-0904-23 . .
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11

Impact of management practices on Italian ryegrass seed quality

Simić, Aleksandar; Vučković, Savo; Ćupina, Branko; Krstić, Djordje; Stanisavljević, Rade; Milivojević, Marija

(Univerzitet u Beogradu - Poljoprivredni fakultet, Beograd, 2010)

TY  - JOUR
AU  - Simić, Aleksandar
AU  - Vučković, Savo
AU  - Ćupina, Branko
AU  - Krstić, Djordje
AU  - Stanisavljević, Rade
AU  - Milivojević, Marija
PY  - 2010
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/2243
AB  - Thousand-seed weight and total germination from the first production year and two seed harvests were measured in tetraploid Italian ryegrass (cv. Tetraflorum) to study variations in seed quality. Four-year field experiments were carried out (2002-2006) in western Serbia and Italian ryegrass was established with three row spacings (20, 40 and 60 cm), four seeding rates (5, 10, 15 and 20 kg ha-1) and using four spring nitrogen rates (0, 50, 100 and 150 kg ha-1). High seed quality was obtained, except for the first experimental year (2003) and the second seed harvests which yielded the seed of unsatisfactory quality and validity. Applied factors and treatments did not change seed quality significantly unlike environmental conditions of production years which had considerable influence on seed quality.
AB  - Ispitivana je masa 1000 semena i ukupna klijavost tetraploidnog italijanskog ljulja (sorte Tetraflorum) iz prve proizvodne godine i dve semenske žetve radi utvrđivanja razlika u kvalitetu semena. Četvorogodišnji poljski eksperiment je izveden (2002-2006) u zapadnoj Srbiji i italijanski ljulj je zasnivan na 3 međuredna rastojanja (20, 40 i 60 cm), četiri setvene norme (5, 10, 15 i 20 kg ha-1) i primenom četiri doze prihrane azotom (0, 50, 100 i 150 kg ha-1). Ostvaren je visok kvalitet semena, izuzev prve godine ispitivanja (2003), a ostvarena je i druga semenska žetva sa semenom nezadovoljavajućeg kvaliteta i upotrebljivosti. Primenjeni faktori i nivoi ispitivanja nisu značajno menjali kvalitet semena za razliku od vremenskih uslova u proizvodnim godinama koji su značajno uticali na kvalitet semena.
PB  - Univerzitet u Beogradu - Poljoprivredni fakultet, Beograd
T2  - Journal of Agricultural Sciences (Belgrade)
T1  - Impact of management practices on Italian ryegrass seed quality
T1  - Uticaj agrotehničkih mera na kvalitet semena italijanskog ljulja
EP  - 140
IS  - 2
SP  - 131
VL  - 55
DO  - 10.2298/JAS1002131S
ER  - 
@article{
author = "Simić, Aleksandar and Vučković, Savo and Ćupina, Branko and Krstić, Djordje and Stanisavljević, Rade and Milivojević, Marija",
year = "2010",
abstract = "Thousand-seed weight and total germination from the first production year and two seed harvests were measured in tetraploid Italian ryegrass (cv. Tetraflorum) to study variations in seed quality. Four-year field experiments were carried out (2002-2006) in western Serbia and Italian ryegrass was established with three row spacings (20, 40 and 60 cm), four seeding rates (5, 10, 15 and 20 kg ha-1) and using four spring nitrogen rates (0, 50, 100 and 150 kg ha-1). High seed quality was obtained, except for the first experimental year (2003) and the second seed harvests which yielded the seed of unsatisfactory quality and validity. Applied factors and treatments did not change seed quality significantly unlike environmental conditions of production years which had considerable influence on seed quality., Ispitivana je masa 1000 semena i ukupna klijavost tetraploidnog italijanskog ljulja (sorte Tetraflorum) iz prve proizvodne godine i dve semenske žetve radi utvrđivanja razlika u kvalitetu semena. Četvorogodišnji poljski eksperiment je izveden (2002-2006) u zapadnoj Srbiji i italijanski ljulj je zasnivan na 3 međuredna rastojanja (20, 40 i 60 cm), četiri setvene norme (5, 10, 15 i 20 kg ha-1) i primenom četiri doze prihrane azotom (0, 50, 100 i 150 kg ha-1). Ostvaren je visok kvalitet semena, izuzev prve godine ispitivanja (2003), a ostvarena je i druga semenska žetva sa semenom nezadovoljavajućeg kvaliteta i upotrebljivosti. Primenjeni faktori i nivoi ispitivanja nisu značajno menjali kvalitet semena za razliku od vremenskih uslova u proizvodnim godinama koji su značajno uticali na kvalitet semena.",
publisher = "Univerzitet u Beogradu - Poljoprivredni fakultet, Beograd",
journal = "Journal of Agricultural Sciences (Belgrade)",
title = "Impact of management practices on Italian ryegrass seed quality, Uticaj agrotehničkih mera na kvalitet semena italijanskog ljulja",
pages = "140-131",
number = "2",
volume = "55",
doi = "10.2298/JAS1002131S"
}
Simić, A., Vučković, S., Ćupina, B., Krstić, D., Stanisavljević, R.,& Milivojević, M.. (2010). Impact of management practices on Italian ryegrass seed quality. in Journal of Agricultural Sciences (Belgrade)
Univerzitet u Beogradu - Poljoprivredni fakultet, Beograd., 55(2), 131-140.
https://doi.org/10.2298/JAS1002131S
Simić A, Vučković S, Ćupina B, Krstić D, Stanisavljević R, Milivojević M. Impact of management practices on Italian ryegrass seed quality. in Journal of Agricultural Sciences (Belgrade). 2010;55(2):131-140.
doi:10.2298/JAS1002131S .
Simić, Aleksandar, Vučković, Savo, Ćupina, Branko, Krstić, Djordje, Stanisavljević, Rade, Milivojević, Marija, "Impact of management practices on Italian ryegrass seed quality" in Journal of Agricultural Sciences (Belgrade), 55, no. 2 (2010):131-140,
https://doi.org/10.2298/JAS1002131S . .
3

Changes of crude protein content in Italian ryegrass influenced by spring nitrogen application

Simić, Aleksandar; Vučković, Savo; Kresović, Mirjana; Vrbničanin, Sava; Božić, Dragana

(Institut za stočarstvo, Beograd, 2009)

TY  - JOUR
AU  - Simić, Aleksandar
AU  - Vučković, Savo
AU  - Kresović, Mirjana
AU  - Vrbničanin, Sava
AU  - Božić, Dragana
PY  - 2009
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/1865
AB  - During a three-year field experiment with Italian ryegrass forage in the first production year, a dynamics of crude protein content under the influence of different levels of spring nitrogen application was examined. Crude protein content decreased from stem elongation to flowering, but the changes had different intensity among years and treatments. The highest crude protein content during stem elongation was obtained using the highest nitrogen rate - 150 kg ha-1, even 100% higher than control treatment in 2006 and 2007. Differences among treatments decreased prior flowering, and all treatments hay yield was equable per year. The highest hay yield was reached in 2007. and it was influenced by spring nitrogen rates.
AB  - U trogodišnjim ispitivanjima krme italijanskog ljulja prve proizvodne godine praćena je dinamika sadržaja sirovih proteina pod uticajem različitih nivoa primenjenog azota u proleće. Prema očekivanju, sadržaj proteina je opadao od fenofaze vlatanja do cvetanja, ali su promene bile različitog intenziteta po godinama, kao i među tretmanima. Najveći sadržaj proteina pri vlatanju je bio pri najvećoj primenjenoj dozi azota od 150 kg ha-1, čak dvostruko veći u odnosu na kontrolu tokom 2006. i 2007. godine. Razlike među tretmanima prihrane su se smanjivale do cvetanja, a i prinos sena svih tretmana je bio ujednačen po pojedinim godinama. Najviši prinos sena je ostvaren u 2007. godini i povećavao se s rastućim dozama azota.
PB  - Institut za stočarstvo, Beograd
T2  - Biotechnology in Animal Husbandry
T1  - Changes of crude protein content in Italian ryegrass influenced by spring nitrogen application
T1  - Promene sadržaja sirovih proteina italijanskog ljulja pod uticajem prolećne prihrane azotom
EP  - 1179
IS  - 5-6-2
SP  - 1171
VL  - 25
UR  - https://hdl.handle.net/21.15107/rcub_agrospace_1865
ER  - 
@article{
author = "Simić, Aleksandar and Vučković, Savo and Kresović, Mirjana and Vrbničanin, Sava and Božić, Dragana",
year = "2009",
abstract = "During a three-year field experiment with Italian ryegrass forage in the first production year, a dynamics of crude protein content under the influence of different levels of spring nitrogen application was examined. Crude protein content decreased from stem elongation to flowering, but the changes had different intensity among years and treatments. The highest crude protein content during stem elongation was obtained using the highest nitrogen rate - 150 kg ha-1, even 100% higher than control treatment in 2006 and 2007. Differences among treatments decreased prior flowering, and all treatments hay yield was equable per year. The highest hay yield was reached in 2007. and it was influenced by spring nitrogen rates., U trogodišnjim ispitivanjima krme italijanskog ljulja prve proizvodne godine praćena je dinamika sadržaja sirovih proteina pod uticajem različitih nivoa primenjenog azota u proleće. Prema očekivanju, sadržaj proteina je opadao od fenofaze vlatanja do cvetanja, ali su promene bile različitog intenziteta po godinama, kao i među tretmanima. Najveći sadržaj proteina pri vlatanju je bio pri najvećoj primenjenoj dozi azota od 150 kg ha-1, čak dvostruko veći u odnosu na kontrolu tokom 2006. i 2007. godine. Razlike među tretmanima prihrane su se smanjivale do cvetanja, a i prinos sena svih tretmana je bio ujednačen po pojedinim godinama. Najviši prinos sena je ostvaren u 2007. godini i povećavao se s rastućim dozama azota.",
publisher = "Institut za stočarstvo, Beograd",
journal = "Biotechnology in Animal Husbandry",
title = "Changes of crude protein content in Italian ryegrass influenced by spring nitrogen application, Promene sadržaja sirovih proteina italijanskog ljulja pod uticajem prolećne prihrane azotom",
pages = "1179-1171",
number = "5-6-2",
volume = "25",
url = "https://hdl.handle.net/21.15107/rcub_agrospace_1865"
}
Simić, A., Vučković, S., Kresović, M., Vrbničanin, S.,& Božić, D.. (2009). Changes of crude protein content in Italian ryegrass influenced by spring nitrogen application. in Biotechnology in Animal Husbandry
Institut za stočarstvo, Beograd., 25(5-6-2), 1171-1179.
https://hdl.handle.net/21.15107/rcub_agrospace_1865
Simić A, Vučković S, Kresović M, Vrbničanin S, Božić D. Changes of crude protein content in Italian ryegrass influenced by spring nitrogen application. in Biotechnology in Animal Husbandry. 2009;25(5-6-2):1171-1179.
https://hdl.handle.net/21.15107/rcub_agrospace_1865 .
Simić, Aleksandar, Vučković, Savo, Kresović, Mirjana, Vrbničanin, Sava, Božić, Dragana, "Changes of crude protein content in Italian ryegrass influenced by spring nitrogen application" in Biotechnology in Animal Husbandry, 25, no. 5-6-2 (2009):1171-1179,
https://hdl.handle.net/21.15107/rcub_agrospace_1865 .

Productivity of Italian ryegrass grown for seed under competition with Galium aparine L.

Simić, Aleksandar; Božić, Dragana; Vrbničanin, Sava; Vučković, Savo; Kresović, Mirjana

(Herbološko društvo Srbije, 2008)

TY  - JOUR
AU  - Simić, Aleksandar
AU  - Božić, Dragana
AU  - Vrbničanin, Sava
AU  - Vučković, Savo
AU  - Kresović, Mirjana
PY  - 2008
UR  - http://aspace.agrif.bg.ac.rs/handle/123456789/1689
AB  - Italian ryegrass cv. Tetraflorum sown at different inter-row spacings and seeding rates was examined under agroecological conditions of Mačva. The study tested a hypothesis that Galium aparine growing in Italian ryegrass seed fields reduces the growth of established species and consequently decreases seed yield. Four established methods were tested: narrow and broad row spacings (20 and 60 cm) in combination with low and high seeding rates (5 and 20 kg ha-1). Control treatments were sprayed with the herbicide Starane-250 (1 l ha-1) to eradicate G. aparine. Italian ryegrass was affected by G. aparine in three of the four cultivation methods. In this experiment, seed yield reached 973 kg ha-1 in control treatments and 956 kg ha-1 in the presence of G. aparine. Italian ryegrass straw yield was in linear correlation with seed yield. Italian ryegrass seed quality was very high and the effect of experimental factors insignificant.
AB  - U proizvodnji semena italijanskog ljulja prilepača (Galium aparine L.) predstavlja opasan korov koji dovodi do poleganja i neujednačenog sazrevanja semenskog useva. Ovaj rad testira hipotezu da prisustvo ove korovske vrste u semenskom usevu italijanskog ljulja (Lolium italicum L.) smanjuje rast gajene vrste što smanjuje prinos semena i biomase. Ogled je izveden na području Mačve, gde se često gaji italijanski ljulj a korovska vrsta G. aparine je veoma zastupljena. Istraživana je produkcija semena i biomase italijanskog ljulja u uslovima zakorovljenosti sa G. aparine pri četiri načina zasnivanja semenskog useva: uskoreda i širokoreda setva (20 i 60 cm) sa malom i velikom setvenom normom ljulja (5 i 20 kg ha-1). Kontrolne varijante su tretirane herbicidom Starane-250 (a.s. fluroksipir, 250 g l-1) u količini 1 l ha-1 radi praćenja produkcije ljulja bez korova. U tri od četiri tretmana gajenja italijanskog ljulja za seme, G. aparine je smanjivao prinos semena i slame italijanskog ljulja. U zavisnosti od načina i gustine setve, prinos semena se kretao od 653 do 973 kg ha-1 na kontrolnim varijantama, a na zakorovljenim od 628 do 956 kg ha-1. Prinos slame italijanskog ljulja na zakorovljenim i kontrolnim varijantama je bio u pozitivnoj korelaciji sa prinosom semena. Takođe, ostvaren je visok kvalitet semena ljulja, bez značajne razlike na tretmanima sa prilepačom u odnosu na varijantu gde je primenjivan herbicid.
PB  - Herbološko društvo Srbije
T2  - Acta herbologica
T1  - Productivity of Italian ryegrass grown for seed under competition with Galium aparine L.
T1  - Produktivnost semenskog useva italijanskog ljulja u uslovima kompeticije sa Galium aparine L.
EP  - 143
IS  - 2
SP  - 137
VL  - 17
UR  - https://hdl.handle.net/21.15107/rcub_agrospace_1689
ER  - 
@article{
author = "Simić, Aleksandar and Božić, Dragana and Vrbničanin, Sava and Vučković, Savo and Kresović, Mirjana",
year = "2008",
abstract = "Italian ryegrass cv. Tetraflorum sown at different inter-row spacings and seeding rates was examined under agroecological conditions of Mačva. The study tested a hypothesis that Galium aparine growing in Italian ryegrass seed fields reduces the growth of established species and consequently decreases seed yield. Four established methods were tested: narrow and broad row spacings (20 and 60 cm) in combination with low and high seeding rates (5 and 20 kg ha-1). Control treatments were sprayed with the herbicide Starane-250 (1 l ha-1) to eradicate G. aparine. Italian ryegrass was affected by G. aparine in three of the four cultivation methods. In this experiment, seed yield reached 973 kg ha-1 in control treatments and 956 kg ha-1 in the presence of G. aparine. Italian ryegrass straw yield was in linear correlation with seed yield. Italian ryegrass seed quality was very high and the effect of experimental factors insignificant., U proizvodnji semena italijanskog ljulja prilepača (Galium aparine L.) predstavlja opasan korov koji dovodi do poleganja i neujednačenog sazrevanja semenskog useva. Ovaj rad testira hipotezu da prisustvo ove korovske vrste u semenskom usevu italijanskog ljulja (Lolium italicum L.) smanjuje rast gajene vrste što smanjuje prinos semena i biomase. Ogled je izveden na području Mačve, gde se često gaji italijanski ljulj a korovska vrsta G. aparine je veoma zastupljena. Istraživana je produkcija semena i biomase italijanskog ljulja u uslovima zakorovljenosti sa G. aparine pri četiri načina zasnivanja semenskog useva: uskoreda i širokoreda setva (20 i 60 cm) sa malom i velikom setvenom normom ljulja (5 i 20 kg ha-1). Kontrolne varijante su tretirane herbicidom Starane-250 (a.s. fluroksipir, 250 g l-1) u količini 1 l ha-1 radi praćenja produkcije ljulja bez korova. U tri od četiri tretmana gajenja italijanskog ljulja za seme, G. aparine je smanjivao prinos semena i slame italijanskog ljulja. U zavisnosti od načina i gustine setve, prinos semena se kretao od 653 do 973 kg ha-1 na kontrolnim varijantama, a na zakorovljenim od 628 do 956 kg ha-1. Prinos slame italijanskog ljulja na zakorovljenim i kontrolnim varijantama je bio u pozitivnoj korelaciji sa prinosom semena. Takođe, ostvaren je visok kvalitet semena ljulja, bez značajne razlike na tretmanima sa prilepačom u odnosu na varijantu gde je primenjivan herbicid.",
publisher = "Herbološko društvo Srbije",
journal = "Acta herbologica",
title = "Productivity of Italian ryegrass grown for seed under competition with Galium aparine L., Produktivnost semenskog useva italijanskog ljulja u uslovima kompeticije sa Galium aparine L.",
pages = "143-137",
number = "2",
volume = "17",
url = "https://hdl.handle.net/21.15107/rcub_agrospace_1689"
}
Simić, A., Božić, D., Vrbničanin, S., Vučković, S.,& Kresović, M.. (2008). Productivity of Italian ryegrass grown for seed under competition with Galium aparine L.. in Acta herbologica
Herbološko društvo Srbije., 17(2), 137-143.
https://hdl.handle.net/21.15107/rcub_agrospace_1689
Simić A, Božić D, Vrbničanin S, Vučković S, Kresović M. Productivity of Italian ryegrass grown for seed under competition with Galium aparine L.. in Acta herbologica. 2008;17(2):137-143.
https://hdl.handle.net/21.15107/rcub_agrospace_1689 .
Simić, Aleksandar, Božić, Dragana, Vrbničanin, Sava, Vučković, Savo, Kresović, Mirjana, "Productivity of Italian ryegrass grown for seed under competition with Galium aparine L." in Acta herbologica, 17, no. 2 (2008):137-143,
https://hdl.handle.net/21.15107/rcub_agrospace_1689 .