distributed sensing in horticultural environments
DESCRIPTION
George KantorTRANSCRIPT
Distributed Sensing in Horticultural Environments
George KantorCarnegie Mellon University
International Horticultural Congress Lisboa 2010Colloquium 6: Technical Innovation in Horticulture
25 August 2010
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
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Visualizing Time Series(PSU FREC, ZedX Inc.)
FREC Building
North
50m
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Visualizing Spatial Variation
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics Institute
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
Technology Overview: Robot
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Laser Scanning
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Building Point Clouds
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
point cloud created by Ben Grocholsky
Technology Overview: Robot
cameras
NDVI
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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
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
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
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
Information is Worthless…
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Information is Worthless…
…unless you use it to do something!
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Set Point Irrigation
high setpoint
low setpoint
soil moisture measurement
irrigation events
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
Ongoing Work: Experimental Setup
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics InstituteSensing for Horticulture
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
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
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
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
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
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
IHC 2010Lisboa25 August 2010
G. KantorCMU Robotics Institute
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
O Fim