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Energy- and Safety-Aware Operation of Battery-Powered Autonomous Robots in Agriculture 电池供电的农业自主机器人的能源和安全意识操作
Pub Date : 2024-02-02 DOI: 10.1109/TAFE.2024.3353597
Shashank Dhananjay Vyas;Vigneshwar Kumutha Subash;Manav Mepani;Sai Venkatesh;Arpita Sinha;Anirban Guha;Satadru Dey
To improve food security and environmental sustainability amid the global crisis of climate change and nutrition quality requirements as well as low-cost agricultural needs and electricity issues, particularly in developing countries like India, it is essential to combine autonomy and newer energy storage methods with traditional agriculture. Existing field robotic mechanisms, path planning methods, and battery energy management systems are designed independent of each other. To ensure energy efficient and safety aware operation of autonomous agricultural robots, coordination between aforementioned techniques is necessary. With the aim to provide such solution, in this work we propose a framework to integrate robot mechanism, path planning, and battery management system. Simulations are performed to validate the performance of the algorithm.
为了在全球气候变化危机、营养质量要求以及低成本农业需求和电力问题的背景下提高粮食安全和环境可持续性,尤其是在印度等发展中国家,必须将自主性和更新的能源存储方法与传统农业相结合。现有的田间机器人机制、路径规划方法和电池能源管理系统在设计上是相互独立的。为了确保自主农业机器人的节能和安全运行,上述技术之间的协调是必要的。为了提供这样的解决方案,我们在这项工作中提出了一个整合机器人机构、路径规划和电池管理系统的框架。通过仿真验证了算法的性能。
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引用次数: 0
A Trajectory-Inspired Node Deployment Strategy in Solar Insecticidal Lamps Internet of Things Under Coverage and Maintenance Cost Considerations 在考虑覆盖范围和维护成本的情况下,太阳能杀虫灯物联网的轨迹启发节点部署策略
Pub Date : 2024-01-26 DOI: 10.1109/TAFE.2024.3349566
Fan Yang;Lei Shu
As a special type of node, solar insecticidal lamps (SILs) require regular maintenance to ensure effective insecticidal performance and accurate collection of pest information. While hiring professionals for management and maintenance is a viable solution, it comes with the drawback of high maintenance costs. An effective approach to reducing these costs is deploying SILs along routes frequently traversed by agricultural workers (AWs), as these tasks can be easily incorporated into their routine. Therefore, inspired by the trajectory of high-density AWs, this article focuses on studying the constrained SIL Deployment Problem under coverage and maintenance cost considerations, referred to as cSILDP-CMC. In this problem, SIL nodes are deployed at a limited set of weighted candidate locations (CLs) situated on the ridges. The objective of cSILDP-CMC is to select a subset of CLs for SIL placement, maximizing coverage while keeping the total maintenance cost within the allocated budget. To begin, we propose a method for quantifying the maintenance cost of each CL and assign a weight to them accordingly. Subsequently, we formulate cSILDP-CMC as a budgeted maximum coverage problem and prove that it is NP-Hardness. We then introduce a two-phase algorithm (TPA) as an approximation algorithm to address the defined optimization problem. Finally, to assess the effectiveness of our design, we conduct theoretical analysis of TPA and perform extensive simulations. The simulation results clearly demonstrate that TPA outperforms three other algorithms in terms of coverage ratio. It achieves a minimum coverage ratio increase of 2% while maintaining the same fixed maintenance cost. Furthermore, TPA also stands out in terms of maintenance costs by reducing them at least 3.9% while maintaining a comparable coverage level.
作为一种特殊的节点,太阳能杀虫灯(SIL)需要定期维护,以确保有效的杀虫性能和准确的害虫信息收集。虽然聘请专业人员进行管理和维护是一种可行的解决方案,但其缺点是维护成本高。降低这些成本的一个有效方法是在农业工人(AWs)经常经过的路线上部署 SIL,因为这些任务可以很容易地纳入他们的日常工作中。因此,受高密度农业工人轨迹的启发,本文重点研究了覆盖范围和维护成本考虑下的受限 SIL 部署问题,简称为 cSILDP-CMC。在这个问题中,SIL 节点部署在位于山脊上的一组有限的加权候选位置(CL)上。cSILDP-CMC 的目标是为 SIL 的部署选择一个 CL 子集,使覆盖范围最大化,同时将总维护成本控制在分配的预算范围内。首先,我们提出了一种量化每个 CL 维护成本的方法,并为它们分配相应的权重。随后,我们将 cSILDP-CMC 问题表述为预算最大覆盖率问题,并证明了它的 NP-Hardness。然后,我们引入了一种两阶段算法(TPA)作为近似算法来解决所定义的优化问题。最后,为了评估我们设计的有效性,我们对 TPA 进行了理论分析并进行了大量仿真。仿真结果清楚地表明,就覆盖率而言,TPA 优于其他三种算法。在保持固定维护成本不变的情况下,它实现了最低 2% 的覆盖率提升。此外,TPA 在维护成本方面也表现突出,在保持可比覆盖率水平的同时,至少降低了 3.9%。
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引用次数: 0
A Stand-Alone, In Situ, Soil Quality Sensing System for Precision Agriculture 用于精准农业的独立原位土壤质量传感系统
Pub Date : 2024-01-26 DOI: 10.1109/TAFE.2024.3351953
Marios Sophocleous;Andreas Karkotis;Antri Papasavva;Michale Goldberger;Loukia Vassiliou;Jose Vicente Ros-Lis;Yosi Shacham-Diamand;Julius Georgiou
The pressure on agricultural efficiency is nowadays greater than ever, hence there has been an abrupt technological involvement in this sector in the last decade. In this article, a stand-alone, in situ, soil quality sensing system is presented for the first time, capable of monitoring chemical parameters in the soil without any human intervention. The system is capable of measuring potassium and nitrate concentrations with a sensitivity of $sim$0.6 $mu$A/mM (R$^{2}$ = 0.9775) and $sim$2 $mu$A/mM (R$^{2}$ = 0.9708) in the range of 0.1–10 mM, pH with a sensitivity of $sim$−30 mV/pH (R$^{2}$ = 0.9068) in the range of 4–10, and temperature with a sensitivity of $sim$1.6 $Omega$/$^{o}$C (R$^{2}$ = 0.9999) in the range of −30 to 60 $^circ$C. It includes an impedance probe for impedance measurements up to 1 MHz. A unique packaging was also developed to protect the array from the soil while allowing enough time for the sensors to take precise measurements. The thick-film multisensor array was connected to a stand-alone, electronic node, while the complete system was deployed in the field, taking measurements every 30 min, showing the capability to track watering and fertilizing times.
如今,提高农业效率的压力比以往任何时候都要大,因此在过去十年中,该领域的技术发展突飞猛进。本文首次提出了一种独立的原位土壤质量传感系统,能够在没有任何人工干预的情况下监测土壤中的化学参数。该系统能够测量钾和硝酸盐浓度,灵敏度分别为 $sim$0.6 $mu$A/mM (R$^{2}$ = 0.9775) 和 $sim$2 $mu$A/mM (R$^{2}$ = 0.9708),测量范围为 0.1-10 mM,pH 值在 4-10 之间,灵敏度为 $sim$-30 mV/pH (R$^{2}$ = 0.9068),温度在 -30 至 60 $^circ$C 之间,灵敏度为 $sim$1.6 $Omega$/$^{o}$C (R$^{2}$ = 0.9999)。它包括一个阻抗探头,用于测量高达 1 MHz 的阻抗。此外,还开发了一种独特的封装,以保护阵列不受土壤的影响,同时让传感器有足够的时间进行精确测量。厚膜多传感器阵列连接到一个独立的电子节点,而整个系统则部署在田间,每 30 分钟测量一次,显示出跟踪浇水和施肥时间的能力。
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引用次数: 0
2023 Index IEEE Transactions on AgriFood Electronics Vol. 1 2023 索引 《电气和电子工程师学会农业食品电子期刊》第 1 卷
Pub Date : 2023-12-29 DOI: 10.1109/TAFE.2023.3348251
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引用次数: 0
IEEE Circuits and Systems Society Information 电气和电子工程师学会电路与系统协会信息
Pub Date : 2023-12-18 DOI: 10.1109/TAFE.2023.3339362
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引用次数: 0
An Incremental Learning Method for Preserving World Coffee Aromas by Using an Electronic Nose and Accumulated Specialty Coffee Datasets 利用电子鼻和积累的特种咖啡数据集保存世界咖啡香气的渐进式学习方法
Pub Date : 2023-12-18 DOI: 10.1109/TAFE.2023.3337887
I-Te Chen;Chien-Chang Chen;Hong-Jie Dai;Babam Rianto;Si-Kai Huang;Chung-Hong Lee
Specialty coffee beans have a unique aroma and flavor. The aromas of coffee in the world are affected by several issues, including growing area, climate, postharvest processing (such as dry and wet methods), roasting treatment, etc. These issues significantly contribute to the development of coffee-bean aromas. Since humans have a limited ability to recognize the aroma of coffee, we need a reliable system to resolve the method of characterizing the world's coffee aroma. Therefore, in this article, we proposed an incremental learning method for digitizing the complexity of coffee aromas using an electronic nose (E-nose) system. We also developed a method to create coffee-aroma fingerprints to represent their aromatic features among different coffees. In our experiments, the incremental learning model achieved high accuracy, proving the authenticity of recognizing various world specialty coffee aromas. The approach leverages an E-nose system and coffee-aroma datasets to preserve specialty coffee aromas around the world. In addition, the ultimate goal of this method is to build a scalable database of various coffee aromas while improving the accuracy of system recognition.
特种咖啡豆具有独特的香气和风味。世界上咖啡的香气受多个问题的影响,包括种植地区、气候、收获后处理(如干法和湿法)、烘焙处理等。这些问题对咖啡豆香气的形成有重要影响。由于人类识别咖啡香气的能力有限,我们需要一个可靠的系统来解决表征世界咖啡香气的方法问题。因此,我们在本文中提出了一种增量学习方法,利用电子鼻(E-nose)系统将复杂的咖啡香气数字化。我们还开发了一种创建咖啡香气指纹的方法,以表示不同咖啡的香气特征。在我们的实验中,增量学习模型达到了很高的准确度,证明了识别世界上各种特色咖啡香气的真实性。该方法利用电子鼻系统和咖啡香气数据集来保存世界各地的特色咖啡香气。此外,该方法的最终目标是建立一个可扩展的各种咖啡香气数据库,同时提高系统识别的准确性。
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引用次数: 0
IEEE Transactions on AgriFood Electronics Publication Information 电气和电子工程师学会农业食品电子学报》出版信息
Pub Date : 2023-12-18 DOI: 10.1109/TAFE.2023.3339360
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引用次数: 0
FoodExpert: Portable Intelligent Device for Rapid Screening of Pulse Quality and Adulteration FoodExpert:用于快速筛查脉搏质量和掺假的便携式智能设备
Pub Date : 2023-12-12 DOI: 10.1109/TAFE.2023.3336441
Harsh Pandey;Subhanshu Arya;Debanjan Das;Venkanna Udutalapally
Pulses are one of the most important food crops in the world due to their higher protein content, approximately 21%–25%. Therefore, it is crucial to analyze the crop's quality and impurity levels. Stones, pebbles, marble chips, and synthetic dyes, such as lead chromate, metanil yellow, and artificial colors, are some of the impurities added to pulse products, accidentally or on purpose. The existing analysis techniques are mostly laboratory-based, time-consuming, costly, and require human examination. To address this issue, this article presents an intelligent system, FoodExpert, based on image processing that automatically uses an image of a pulse sample to identify the region of interest and essential attributes. Then, machine learning frameworks are used to predict pulse quality and adulteration levels based on the obtained parameters. On the test dataset, the suggested model had a 96% accuracy rate for pulse quality prediction and 94% accuracy for adulteration level prediction. The model was successfully deployed on a Raspberry Pi-based hardware prototype and mobile application.
豆类是世界上最重要的粮食作物之一,因为其蛋白质含量较高,约为 21%-25%。因此,分析作物的质量和杂质含量至关重要。石子、卵石、大理石碎屑和合成染料(如铬酸铅、偏苯胺黄和人工色素)是意外或有意添加到豌豆产品中的一些杂质。现有的分析技术大多以实验室为基础,耗时长、成本高,而且需要人工检测。为解决这一问题,本文介绍了一种基于图像处理的智能系统 FoodExpert,它能自动使用脉搏样品的图像来识别感兴趣的区域和基本属性。然后,使用机器学习框架根据获得的参数预测脉搏质量和掺假程度。在测试数据集上,建议的模型预测脉搏质量的准确率为 96%,预测掺假水平的准确率为 94%。该模型已成功部署在基于 Raspberry Pi 的硬件原型和移动应用程序上。
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引用次数: 0
Real-Time Seed Detection and Germination Analysis in Precision Agriculture: A Fusion Model With U-Net and CNN on Jetson Nano 精准农业中的种子实时检测和发芽分析:Jetson Nano 上的 U-Net 与 CNN 融合模型
Pub Date : 2023-12-05 DOI: 10.1109/TAFE.2023.3332495
Ramesh Reddy Donapati;Ramalingaswamy Cheruku;Prakash Kodali
Precision agriculture involves the strategic utilization of resources, precise application of inputs, and continuous monitoring of crop health with the aim of enhancing productivity and sustainability in the field of agriculture. However, seed quality is difficult since natural differences among seed batches may affect germination rates, vigor, and crop performance. Hence, in this article, a novel fusion model for seed detection and germination is proposed. The proposed model combines the U-Net and CNN architectures for seed segmentation and classification, respectively. By harnessing U-Net's capabilities in image segmentation and CNN's strengths in classification, the proposed approach enables effective seed germination analysis. In addition, the model is specifically optimized for real-time processing and applications by implementing it on the NVIDIA Jetson Nano embedded GPU platform. The proposed fusion model achieved 0.91 pixel accuracy, 0.84 intersection over union, and 0.90 precision. The proposed model demonstrated excellent predictive ability when compared with the ResNet50, Inception, and LeNet. In addition, the proposed model requires less number of trainable parameters after LeNet. Further, the proposed model tested in real time and achieved 0.26 ms latency.
精准农业涉及资源的战略性利用、投入的精确应用和作物健康的持续监测,目的是提高农业领域的生产力和可持续性。然而,由于种子批次之间的自然差异可能会影响发芽率、活力和作物表现,因此种子质量很难保证。因此,本文提出了一种用于种子检测和发芽的新型融合模型。该模型结合了 U-Net 和 CNN 架构,分别用于种子分割和分类。通过利用 U-Net 在图像分割方面的能力和 CNN 在分类方面的优势,所提出的方法可实现有效的种子萌发分析。此外,通过在 NVIDIA Jetson Nano 嵌入式 GPU 平台上实现该模型,该模型还针对实时处理和应用进行了专门优化。所提出的融合模型实现了 0.91 的像素准确率、0.84 的交集大于联合率和 0.90 的精度。与 ResNet50、Inception 和 LeNet 相比,所提出的模型表现出卓越的预测能力。此外,与 LeNet 相比,提出的模型所需的可训练参数数量更少。此外,提出的模型进行了实时测试,延迟时间为 0.26 毫秒。
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引用次数: 0
Rapid Drought Stress Detection in Plants Using Bioimpedance Measurements and Analysis 利用生物阻抗测量和分析快速检测植物的干旱压力
Pub Date : 2023-11-29 DOI: 10.1109/TAFE.2023.3330583
James Reynolds;Matt Taggart;Devon Martin;Edgar Lobaton;Amanda Cardoso;Michael Daniele;Alper Bozkurt
Smart farming is the targeted use of phenotyping for the rapid, continuous, and accurate assessment of plant health in the field. Bioimpedance monitoring can play a role in smart farming as a phenotyping method, which is now accessible thanks to recent efforts to commoditize and miniaturize electronics. Here, we demonstrate that bioimpedance measurements reflect the physiological changes in live plant tissue with induced alterations in their environmental conditions. When plants were exposed to $-$1.0 MPa polyethylene glycol, to simulate drought conditions, the extracellular resistance was observed to increase prior to the intercellular resistance, where the low frequency bioimpedance measurements increased by 25% within one hour. Similar patterns were observed when drought stress was applied to the plants by water withholding, with a bioimpedance increase within a matter of a few hours. The bioimpedance measurements were also compared with leaf relative water content, imaging, and field transpirable soil water, which reinforced these findings. These preliminary results suggest that bioimpedance can function as a phenotyping tool for continuous and real time monitoring of plant stress to allow the development of strategies to prevent damage from environmental stresses such as drought.
智能农业是有针对性地使用表型技术,对田间植物健康状况进行快速、连续和准确的评估。生物阻抗监测作为一种表型方法,可以在智能农业中发挥作用,由于近年来电子产品的商品化和微型化,现在已经可以使用这种方法。在这里,我们证明了生物阻抗测量能反映活体植物组织在环境条件诱导下的生理变化。当植物暴露在 1.0 兆帕的聚乙二醇中以模拟干旱条件时,观察到细胞外电阻先于细胞间电阻增加,其中低频生物阻抗测量值在一小时内增加了 25%。在通过不给水对植物施加干旱胁迫时,也观察到了类似的模式,生物阻抗在几小时内就增加了。生物阻抗测量结果还与叶片相对含水量、成像和田间可渗透土壤水进行了比较,从而证实了这些发现。这些初步结果表明,生物阻抗可作为一种表型工具,用于连续、实时地监测植物胁迫,从而制定策略防止干旱等环境胁迫造成的损害。
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引用次数: 0
期刊
IEEE Transactions on AgriFood Electronics
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