Distributed Sensing in Horticultural Environments
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Distributed Sensing in Horticultural Environments
George KantorCarnegie Mellon University
International Horticultural Congress Lisboa 2010Colloquium 6: Technical Innovation in Horticulture
25 August 2010
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Sensor Networks for Agriculture
basestation
node
Sensors(leaf wetness, temperature, humidity, etc.)
field
Internet
• self-contained “nodes” (radio+IO)• ad-hoc network• data collected, relayed back to central
point• can also send control signals
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Visualizing Time Series(PSU FREC, ZedX Inc.)
FREC Building
North
50m
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Visualizing Spatial Variation
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics Institute
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Sensor Net Sensor Requirements• Hands off operation
• No/little calibration required
• Extremely rugged
• Inexpensive
• Generate small amounts of data
• Require low computational power
• Require low electrical power
Examples: today: temperature, RH, PAR, light, rain, soil moisture, soil EC, leaf wetness, wind speed/direction, etc.future: stem water potential, fruit temperature, fruit size, sap flow, others???
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Technology Overview: Robot
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Laser Scanning
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Building Point Clouds
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
point cloud created by Ben Grocholsky
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Technology Overview: Robot
cameras
NDVI
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Robot Sensing Requirements• Hands off operation
• Can have non-trivial calibration step
• Moderately rugged
• Can be expensive
• Can generate large amounts of data
• Can require large computing power
• Can require large electrical power
Examples: today: laser scanners, cameras, hyperspectral imagery future: gas exchange, chlorophyll, pheromone, leaf area,…
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Robots vs. Sensor Nets
• High spatial resolution
• Low temporal resolution
• Sophisticated sensing
• More Expensive
• Moderate spatial resolution
• High temporal resolution
• Simple sensing
• Less expensive
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Robots vs. Sensor Nets
• High spatial resolution
• Low temporal resolution
• Sophisticated sensing
• More Expensive
• Moderate spatial resolution
• High temporal resolution
• Simple sensing
• Less expensive
x
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Robots living together in harmony with Sensor Nets
• High spatial resolution
• Low temporal resolution
• Sophisticated sensing
• More Expensive
• Moderate spatial resolution
• High temporal resolution
• Simple sensing
• Less expensive
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Information is Worthless…
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Information is Worthless…
…unless you use it to do something!
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Set Point Irrigation
high setpoint
low setpoint
soil moisture measurement
irrigation events
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Ongoing Work: Experimental Setup
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Human in the Loop
basestation irrigation
scheduler
John Lea-Cox Charles Bauers
soil moisture sensors at 12 locations
38% increase in #1 stems
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Automatic Decision Making: Modeling Approach
ModelMapping to
Control Decision
Model Parameters
sensorinputs
modeloutputs control
signal
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Example: Petunia Model [van Iersel et al.]
Model
Mapping to Control Decision (replace
amount of water used)
Model Parameters
varietyplant age
sensor inputs:temperatureRHlight
model output:water use irrigation
command
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Feedforward Modification
Model(with
parameters)
replace difference
sensor inputs:temperatureRHlight
water useirrigationcommand
Model(with
parameters)
set daily irrigation schedule
weather forecast:temperatureRHlight
predictedwater use irrigation
schedule
At the beginning of each day:
At the end of each day:
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Example: MAESTRA [e.g., Bauerle et al.]
Model
Mapping to Control Decision (replace
amount of water used)
Model Parameters
tree location, geometry, s
oil type, LAI, leaf physiology…
sensor inputs:temperatureRHPARwind
model output:water use irrigation
command
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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Example: MAESTRA [e.g., Bauerle et al.]
Model
Mapping to Control Decision (replace
amount of water used)
Model Parameterstree location,
geometry, soil type, LAI, leaf physiology…
sensor inputs:temperatureRHPARwind
model output:water use irrigation
command
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics Institute
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Obrigado
• USDA SCRI CASC Project: CMU, Penn State, Washington State, Purdue, Oregon State, Vision Robotics
• USDA SCRI MINDS Project: U. Maryland, CMU, Georgia, Colorado State, Cornell, Decagon Devices, Antir Software
• Jim McFerson and WTFRC
• IHC 2010 OrganizersIHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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O Fim