This chapter addresses the advances in technology that have been aimed at improving tillage systems which should ultimately reduce the time, energy and cost of field operations to help enhance the soil environment and benefit crop production. It highlights the current position in sensor technology for detecting soil compaction operating either below the soil surface or above the soil surface (non-invasive). Image analysis and mechanical transducer techniques are reported. For potentially larger field scale applications the results of a study with light drone RGB 3D imaging techniques are given. Details of alternative methods using mechanical, ultrasonic and data fusion to measure the real time working depth of implements are described. With increasing concern over the availability and use of herbicides, the advances in mechanical methods to control both inter and intra-row weeds are reported.