scholarly journals Terrain Analytics for Precision Agriculture with Automated Vehicle Sensors and Data Fusion

2021 ◽  
Vol 13 (5) ◽  
pp. 2905
Author(s):  
Wei Zhao ◽  
Tianxin Li ◽  
Bozhao Qi ◽  
Qifan Nie ◽  
Troy Runge
Keyword(s):  
Data Fusion ◽  
Precision Agriculture ◽  
Low Cost ◽  
Measurement Unit ◽  
Nutrient Runoff ◽  
Automated Vehicle ◽  
Terrain Attributes ◽  
Simulated Environments ◽  
Set Up ◽  
Vehicle Sensors

Precision agriculture aims to use minimal inputs to generate maximal yields by managing the plant and its environment at a discrete instead of a field level. This new farming methodology requires localized field data including topological terrain attributes, which influence irrigation, field moisture, nutrient runoff, soil compaction, and traction and stability for traversing agriculture machines. Existing research studies have used different sensors, such as distance sensors and cameras, to collect topological information, which may be constrained by energy cost, performance, price, etc. This study proposed a low-cost method to perform farmland topological analytics using sensor implementation and data processing. Inertial measurement unit sensors, which are widely used in automated vehicle study, and a camera are set up on a robot vehicle. Then experiments are conducted under indoor simulated environments that include five common topographies that would be encountered on farms, combined with validation experiments in a real-world field. A data fusion approach was developed and implemented to track robot vehicle movements, monitor the surrounding environment, and finally recognize the topography type in real time. The resulting method was able to clearly recognize topography changes. This low-cost and easy-mount method will be able to augment and calibrate existing mapping algorithms with multidimensional information. Practically, it can also achieve immediate improvement for the operation and path planning of large agricultural machines.

A Low-Cost, High Rate Motion Software Sensor System Based on Novel Data Fusion for Unmanned Surface Vehicle Navigation and Oceanographic Instrumentation Motion Correction

2011 ◽  
Author(s):  
Chrystel R. Gelin ◽  
Nikolaos I. Xiros
Keyword(s):  
Data Fusion ◽  
Low Cost ◽  
Underwater Vehicles ◽  
High Rate ◽  
Measurement Unit ◽  
Vehicle Navigation ◽  
Gps Receiver ◽  
Unmanned Surface Vehicle ◽  
Flux Gate ◽  
Tilt Sensor

One of the major challenges in the navigation of underwater vehicles is obtaining precise and reliable positioning updates. Dead-Reckoning aided with Doppler velocity measurement has been, and remains, the most common method for underwater navigation for small vehicles. DR uses a set of navigation instruments to estimate the position of the vehicle by integrating the body-fixed velocity, accelerations, and angular rates with respect to time. Instrument error and bias lead to position error that increases exponentially with time. Thus, current DR systems require frequent position recalibrations. The Global Positioning System (GPS) provides measurements of geodetic coordinates for air and surface vehicles and it is often used to correct positioning error. However, underwater vehicles cannot use GPS for inflight navigation because GPS signals only penetrate a few centimeters past the air-sea interface. Thus, underwater vehicle navigation systems are limited to periodic position update from the GPS when they surface and extend an antenna through the air-sea interface. Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicle (USV). To overcome this, a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. Some of the instruments have digital output (Compass/ADCP/GPS) while others have an analog output (IMU/tilt sensor). The proposed data fusion technique integrates the IMU, GPS receiver, flux-gate compass as well as tilt sensor and develops an embeddable software package, using real time data fusion methods, for a USV to aid in navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP). While ADCPs non-intrusively measure water flow, they suffer from the inability to distinguish between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this text provides the motion measurements and processing to accomplish this task.

scholarly journals A low-cost IMU/GPS position accuracy experimental study using extended kalman filter data fusion in real environments

2021 ◽  
Vol 297 ◽  
pp. 01040
Author(s):  
Aziz El Fatimi ◽  
Adnane Addaim ◽  
Zouhair Guennoun
Keyword(s):  
Experimental Study ◽  
Data Fusion ◽  
Low Cost ◽  
Three Dimensional ◽  
Measurement Unit ◽  
Circular Path ◽  
Positioning System ◽  
Fusion Algorithm ◽  
Position Accuracy ◽  
The Stability

In a three-dimensional environment, the navigation of a vehicle in airspace, terrestrial space, or maritime space presents complex aspects concerning the determination of its position, its orientation, and the stability of the processing of the asynchronous data coming from the various sensors during navigation. In this context, this paper presents an experimental analysis of the position accuracy estimated by a low-cost inertial measurement unit coupled, by the extended Kalman data fusion algorithm, with a system of absolute measurements of a positioning system received from a GPS which designates the global positioning system. The different scenarios of the experimental study carried out during this work concerned three tests in a real environment, such as the navigation in a course inside the city of Rabat/Morocco with a moderate speed, a section on the highway at a speed of 120 Km/h and a circular path around a roundabout. The experimental results proved that the low-cost sensors studied are a good candidate for civil navigation applications.

scholarly journals A New Optical Sensor Based on Laser Speckle and Chemometrics for Precision Agriculture: Application to Sunflower Plant-Breeding

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4652
Author(s):  
Maxime Ryckewaert ◽  
Daphné Héran ◽  
Emma Faur ◽  
Pierre George ◽  
Bruno Grèzes-Besset ◽  
...  
Keyword(s):  
Precision Agriculture ◽  
Measurement Errors ◽  
Low Cost ◽  
Laser Speckle ◽  
Average Error ◽  
Accurate Information ◽  
Promising Tool ◽  
Cost Constraints ◽  
Speckle Patterns ◽  
Set Up

New instruments to characterize vegetation must meet cost constraints while providing accurate information. In this paper, we study the potential of a laser speckle system as a low-cost solution for non-destructive phenotyping. The objective is to assess an original approach combining laser speckle with chemometrics to describe scattering and absorption properties of sunflower leaves, related to their chemical composition or internal structure. A laser diode system at two wavelengths 660 nm and 785 nm combined with polarization has been set up to differentiate four sunflower genotypes. REP-ASCA was used as a method to analyze parameters extracted from speckle patterns by reducing sources of measurement error. First findings have shown that measurement errors are mostly due to unwilling residual specular reflections. Moreover, results outlined that the genotype significantly impacts measurements. The variables involved in genotype dissociation are mainly related to scattering properties within the leaf. Moreover, an example of genotype classification using REP-ASCA outcomes is given and classify genotypes with an average error of about 20%. These encouraging results indicate that a laser speckle system is a promising tool to compare sunflower genotypes. Furthermore, an autonomous low-cost sensor based on this approach could be used directly in the field.

scholarly journals Validation of an IMU-camera fusion algorithm using an industrial robot

2020 ◽  
pp. 101-111
Author(s):  
Gonzalo Perez-Paina ◽  
Claudio Paz ◽  
Martín Pucheta ◽  
Bruno Bianchini ◽  
Fernando Martínez ◽  
...  
Keyword(s):  
Position Control ◽  
Industrial Robot ◽  
Low Cost ◽  
Measurement Unit ◽  
Control Loop ◽  
Fusion Algorithm ◽  
Safe Alternative ◽  
Position And Orientation ◽  
Estimation System ◽  
Set Up

The integration of down-looking camera with an in-ertial measurement unit (IMU) sensor makes possible to provide a lightweight and low-cost pose estimation system for unmanned aerial vehicles (UAVs) and micro-UAVs (MAVs). Recently, the authors developed an algorithm for IMU and exteroceptive sensor fusion filter for position and orientation estimation. The aim of the estimation is to be used in the outer control loop of an UAV for position control. This work presents an experimental set up to test that algorithm using an industrial robot to produce accurate planar trajectories as a safe alternative to testing the algorithm on real UAVs. The results of the IMU-camera fusion estimation for linear positions and linear velocities show an error admissible to be integrated on real UAVs.

scholarly journals Smart System for Automated Irrigation Using Internet of Things Devices

2021 ◽  
pp. 1-10
Author(s):  
Rhuanito Soranz Ferrarezi ◽  
Tzu Wei Peng
Keyword(s):  
Internet Of Things ◽  
Precision Agriculture ◽  
Data Transfer ◽  
Low Cost ◽  
The Internet ◽  
Online Application ◽  
Crop Field ◽  
Set Up ◽  
The Right ◽  
Python Programming

Precision agriculture involves applying artificial intelligence, computers, sensors, and automation to improve crop field productivity while monitoring environmental conditions to conserve soil, water, and other natural resources focusing on agricultural sustainability. Despite many applications in agriculture, data monitoring and recording technologies have limited use due to the price. Low-cost open-source systems, like the ones available with the Internet of things (IoT) world, can potentially be developed as a universal-fit and cloud-connected technology for multiple applications. We designed and built a basic data collecting system using a commercial standalone embedded computer with Python programming language, serial data interface (SDI)-12/analog sensor adaptor, and digital sensors to monitor soil moisture and transmit the data remotely. SDI-12 is a standard communication protocol that transfers digital sensor measurements to a data recorder. We set up a pilot study that automatically collected and uploaded the data into the Internet to allow remote data transfer and access. The system performed reliably over 1 week with potting soil under field conditions without maintenance and successfully recorded data in real-time. The volumetric water content ranged from 0.03 to 0.23 m3·m−3, dielectric permittivity from 3.3 to 18.9 (unitless), EC from 0.0 to 0.3 dS·m−1, and soil temperature from 20.7 to 44.8 °C. All the data were successfully collected and uploaded to the cloud every 20 min, allowing users to remotely monitor the data using a free online application. However, heavy rainfall and high insolation could damage the system through excessive moisture or overheating, requiring a waterproof and heavy-duty protection case. The ThingSpeak channel allows customizing to suit a user’s specific requirements or adding more features for further development, such as automated irrigation, which can improve irrigation and fertilization efficiency by applying water and fertilizers at the right time based on sensor readings.

Development of a Capacitor Probe to Detect Subsurface Deterioration in Concrete

1997 ◽  
Vol 503 ◽  
Author(s):  
B. K. Diefenderfer ◽  
I. L. Al-Qadi ◽  
J. J. Yoho ◽  
S. M. Riad ◽  
A. Loulizi
Keyword(s):  
Dielectric Constant ◽  
Portland Cement ◽  
Electromagnetic Waves ◽  
Low Cost ◽  
Complex Dielectric Constant ◽  
Life Cycle Costs ◽  
Parallel Plates ◽  
Portland Cement Concrete ◽  
Cement Concrete ◽  
Set Up

ABSTRACTPortland cement concrete (PCC) structures deteriorate with age and need to be maintained or replaced. Early detection of deterioration in PCC (e.g., alkali-silica reaction, freeze/thaw damage, or chloride presence) can lead to significant reductions in maintenance costs. However, it is often too late to perform low-cost preventative maintenance by the time deterioration becomes evident. By developing techniques that would enable civil engineers to evaluate PCC structures and detect deterioration at early stages (without causing further damage), optimization of life-cycle costs of the constructed facility and minimization of disturbance to the facility users can be achieved.Nondestructive evaluation (NDE) methods are potentially one of the most useful techniques ever developed for assessing constructed facilities. They are noninvasive and can be performed rapidly. Portland cement concrete can be nondestructively evaluated by electrically characterizing its complex dielectric constant. The real part of the dielectric constant depicts the velocity of electromagnetic waves in PCC. The imaginary part, termed the “loss factor,” describes the conductivity of PCC and the attenuation of electromagnetic waves.Dielectric properties of PCC have been investigated in a laboratory setting using a parallel plate capacitor operating in the frequency range of 0.1 to 40.1MIHz. This capacitor set-up consists of two horizontal-parallel plates with an adjustable separation for insertion of a dielectric specimen (PCC). While useful in research, this approach is not practical for field implementation. A new capacitor probe has been developed which consists of two plates, located within the same horizontal plane, for placement upon the specimen to be tested. Preliminary results show that this technique is feasible and results are promising; further testing and evaluation is currently underway.

Fault Localization of Power-Ground Short via Signal Injection and Oscilloscope Technique

2010 ◽  
Author(s):  
Binh Nguyen
Keyword(s):  
Low Cost ◽  
Short Circuit ◽  
Fault Localization ◽  
Fault Isolation ◽  
Test Apparatus ◽  
Good Working ◽  
Signal Injection ◽  
Set Up ◽  
Non Destructive ◽  
Short Circuit Condition

Abstract For those attempting fault isolation on computer motherboard power-ground short issues, the optimal technique should utilize existing test equipment available in the debug facility, requiring no specialty equipment as well as needing a minimum of training to use effectively. The test apparatus should be both easy to set up and easy to use. This article describes the signal injection and oscilloscope technique which meets the above requirements. The signal injection and oscilloscope technique is based on the application of Ohm's law in a short-circuit condition. Two experiments were conducted to prove the effectiveness of these techniques. Both experiments simulate a short-circuit condition on the VCC3 power rail of a good working PC motherboard and then apply the signal injection and oscilloscope technique to localize the short. The technique described is a simple, low cost and non-destructive method that helps to find the location of the power-ground short quickly and effectively.

scholarly journals Biomechanics of Trail Running Performance: Quantification of Spatio-Temporal Parameters by Using Low Cost Sensors in Ecological Conditions

2021 ◽  
Vol 11 (5) ◽  
pp. 2093
Author(s):  
Noé Perrotin ◽  
Nicolas Gardan ◽  
Arnaud Lesprillier ◽  
Clément Le Goff ◽  
Jean-Marc Seigneur ◽  
...  
Keyword(s):  
Heart Rate ◽  
Low Cost ◽  
Step Length ◽  
Measurement Unit ◽  
Ecological Conditions ◽  
Sports Science ◽  
Ground Contact Time ◽  
Spatio Temporal ◽  
Performance Results ◽  
Trail Running

The recent popularity of trail running and the use of portable sensors capable of measuring many performance results have led to the growth of new fields in sports science experimentation. Trail running is a challenging sport; it usually involves running uphill, which is physically demanding and therefore requires adaptation to the running style. The main objectives of this study were initially to use three “low-cost” sensors. These low-cost sensors can be acquired by most sports practitioners or trainers. In the second step, measurements were taken in ecological conditions orderly to expose the runners to a real trail course. Furthermore, to combine the collected data to analyze the most efficient running techniques according to the typology of the terrain were taken, as well on the whole trail circuit of less than 10km. The three sensors used were (i) a Stryd sensor (Stryd Inc. Boulder CO, USA) based on an inertial measurement unit (IMU), 6 axes (3-axis gyroscope, 3-axis accelerometer) fixed on the top of the runner’s shoe, (ii) a Global Positioning System (GPS) watch and (iii) a heart belt. Twenty-eight trail runners (25 men, 3 women: average age 36 ± 8 years; height: 175.4 ± 7.2 cm; weight: 68.7 ± 8.7 kg) of different levels completed in a single race over a 8.5 km course with 490 m of positive elevation gain. This was performed with different types of terrain uphill (UH), downhill (DH), and road sections (R) at their competitive race pace. On these sections of the course, cadence (SF), step length (SL), ground contact time (GCT), flight time (FT), vertical oscillation (VO), leg stiffness (Kleg), and power (P) were measured with the Stryd. Heart rate, speed, ascent, and descent speed were measured by the heart rate belt and the GPS watch. This study showed that on a ≤10 km trail course the criteria for obtaining a better time on the loop, determined in the test, was consistency in the effort. In a high percentage of climbs (>30%), two running techniques stand out: (i) maintaining a high SF and a short SL and (ii) decreasing the SF but increasing the SL. In addition, it has been shown that in steep (>28%) and technical descents, the average SF of the runners was higher. This happened when their SL was shorter in lower steep and technically challenging descents.

Optimum Design for the Frame of Open Type Abrasive Flow Polish Machine

2012 ◽  
Vol 497 ◽  
pp. 89-93
Author(s):  
Liang Liang Yuan ◽  
Ke Hua Zhang ◽  
Li Min
Keyword(s):  
Finite Element ◽  
Natural Frequency ◽  
Finite Element Methods ◽  
Optimization Design ◽  
Low Cost ◽  
Three Dimensional ◽  
Force Model ◽  
Optimization Analysis ◽  
Open Type ◽  
Set Up

In order to process heterotype hole of workpiece precisely, an open abrasive flow polish machine is designed, and the optimization design of machine frame is done for low cost. Firstly, basing on the parameters designed with traditional ways, three-dimensional force model is set up with the soft of SolidWorks. Secondly, the statics and modal analysis for machine body have been done in Finite element methods (FEM), and then the optimization analysis of machine frame has been done. At last, the model of rebuild machine frame has been built. Result shows that the deformation angle value of machine frame increased from 0.72′ to 1.001′, the natural frequency of the machine decreased from 75.549 Hz to 62.262 Hz, the weight of machine decreased by 74.178 Kg after optimization. It meets the strength, stiffness and angel stiffness requirement of machine, reduces the weight and cost of machine.

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