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Towards the Development of a Smart Flying Sensor: Illustration in the Field of Precision Agriculture.

Hernandez A, Murcia H, Copot C, De Keyser R - Sensors (Basel) (2015)

Bottom Line: Sensing is an important element to quantify productivity, product quality and to make decisions.Novelty lies in: (1) the development of a position-estimation method with time delay compensation based on inertial measurement unit (IMU) sensors and image processing; (2) a method to build a 3D map using information obtained from a regular camera; and (3) the design and implementation of a path-following control algorithm using model predictive control (MPC).Experimental results on a lab-scale system validate the effectiveness of the proposed methodology.

View Article: PubMed Central - PubMed

Affiliation: Department of Electrical Energy, Systems and Automation (EeSA), Ghent University, 9000 Ghent, Belgium. Andres.Hernandez@ugent.be.

ABSTRACT
Sensing is an important element to quantify productivity, product quality and to make decisions. Applications, such as mapping, surveillance, exploration and precision agriculture, require a reliable platform for remote sensing. This paper presents the first steps towards the development of a smart flying sensor based on an unmanned aerial vehicle (UAV). The concept of smart remote sensing is illustrated and its performance tested for the task of mapping the volume of grain inside a trailer during forage harvesting. Novelty lies in: (1) the development of a position-estimation method with time delay compensation based on inertial measurement unit (IMU) sensors and image processing; (2) a method to build a 3D map using information obtained from a regular camera; and (3) the design and implementation of a path-following control algorithm using model predictive control (MPC). Experimental results on a lab-scale system validate the effectiveness of the proposed methodology.

No MeSH data available.


Overview of the ultrasound sensor cone: the green cone indicates the range of the ultrasound sensor [7].
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f2-sensors-15-16688: Overview of the ultrasound sensor cone: the green cone indicates the range of the ultrasound sensor [7].

Mentions: The ultrasonic sensor is used for low altitudes (below 3 m); it operates using two different frequencies, 22.22 Hz and 25 Hz, in order to reduce noise or perturbations between quadrotors. It is important to clarify that even if the sound propagates in a cone-like manner, the ultrasonic sensor does not provide a map of what is inside the cone's area. Instead, it outputs a single measured value, which corresponds to the highest object on the ground present somewhere within the cone's area, as illustrated in Figure 2. This effect makes it more difficult to accurately determine the altitude in rough terrain or the presence of ground obstacles. The relation between the altitude and the diameter of the cone is represented in Equation (1).(1)Dcone[m]=2∗tan(0.2182∗altitude[m])


Towards the Development of a Smart Flying Sensor: Illustration in the Field of Precision Agriculture.

Hernandez A, Murcia H, Copot C, De Keyser R - Sensors (Basel) (2015)

Overview of the ultrasound sensor cone: the green cone indicates the range of the ultrasound sensor [7].
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541901&req=5

f2-sensors-15-16688: Overview of the ultrasound sensor cone: the green cone indicates the range of the ultrasound sensor [7].
Mentions: The ultrasonic sensor is used for low altitudes (below 3 m); it operates using two different frequencies, 22.22 Hz and 25 Hz, in order to reduce noise or perturbations between quadrotors. It is important to clarify that even if the sound propagates in a cone-like manner, the ultrasonic sensor does not provide a map of what is inside the cone's area. Instead, it outputs a single measured value, which corresponds to the highest object on the ground present somewhere within the cone's area, as illustrated in Figure 2. This effect makes it more difficult to accurately determine the altitude in rough terrain or the presence of ground obstacles. The relation between the altitude and the diameter of the cone is represented in Equation (1).(1)Dcone[m]=2∗tan(0.2182∗altitude[m])

Bottom Line: Sensing is an important element to quantify productivity, product quality and to make decisions.Novelty lies in: (1) the development of a position-estimation method with time delay compensation based on inertial measurement unit (IMU) sensors and image processing; (2) a method to build a 3D map using information obtained from a regular camera; and (3) the design and implementation of a path-following control algorithm using model predictive control (MPC).Experimental results on a lab-scale system validate the effectiveness of the proposed methodology.

View Article: PubMed Central - PubMed

Affiliation: Department of Electrical Energy, Systems and Automation (EeSA), Ghent University, 9000 Ghent, Belgium. Andres.Hernandez@ugent.be.

ABSTRACT
Sensing is an important element to quantify productivity, product quality and to make decisions. Applications, such as mapping, surveillance, exploration and precision agriculture, require a reliable platform for remote sensing. This paper presents the first steps towards the development of a smart flying sensor based on an unmanned aerial vehicle (UAV). The concept of smart remote sensing is illustrated and its performance tested for the task of mapping the volume of grain inside a trailer during forage harvesting. Novelty lies in: (1) the development of a position-estimation method with time delay compensation based on inertial measurement unit (IMU) sensors and image processing; (2) a method to build a 3D map using information obtained from a regular camera; and (3) the design and implementation of a path-following control algorithm using model predictive control (MPC). Experimental results on a lab-scale system validate the effectiveness of the proposed methodology.

No MeSH data available.