  The Modular Automated Crop Array Online System (MACARONS) is an extensible,
scalable, open hardware system for plant transport in automated horticulture
systems such as vertical farms. It is specified to move trays of plants up to
1060mm x 630mm and 12.5kg at a rate of 100mm/s along the guide rails and
41.7mm/s up the lifts, such as between stations for monitoring and actuating
plants. The cost for the construction of one grow unit of MACARONS is 144.96USD
which equates to 128.85USD/m2 of grow area. The designs are released and meets
the requirements of CERN-OSH-W, which includes step-by-step graphical build
instructions and can be built by a typical technical person in one day at a
cost of 1535.50USD. Integrated tests are included in the build instructions are
used to validate against the specifications, and we report on a successful
build. Through a simple analysis, we demonstrate that MACARONS can operate at a
rate sufficient to automate tray loading/unloading, to reduce labour costs in a
vertical farm.
