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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.


Case studies to describe the relation between the absolute and the relative coordinate systems.
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f8-sensors-15-16688: Case studies to describe the relation between the absolute and the relative coordinate systems.

Mentions: Concerning the relationship between the relative and the absolute coordinate systems, four cases were analyzed (Figure 8). The first case represents a angular displacement on the UAV orientation with respect to the absolute space, thus meaning that the speeds in the relative axes are the same as those of the absolute axes: “VX = vx” and “VY = vy”. Cases 2 and 4 represent an angular displacement of 90° and −90°, respectively. The third case represents an angular displacement of −180°, which implies an opposite effect in the “x” and “y” axes.


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)

Case studies to describe the relation between the absolute and the relative coordinate systems.
© Copyright Policy
Related In: Results  -  Collection

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

f8-sensors-15-16688: Case studies to describe the relation between the absolute and the relative coordinate systems.
Mentions: Concerning the relationship between the relative and the absolute coordinate systems, four cases were analyzed (Figure 8). The first case represents a angular displacement on the UAV orientation with respect to the absolute space, thus meaning that the speeds in the relative axes are the same as those of the absolute axes: “VX = vx” and “VY = vy”. Cases 2 and 4 represent an angular displacement of 90° and −90°, respectively. The third case represents an angular displacement of −180°, which implies an opposite effect in the “x” and “y” axes.

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.