Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965003
S. Pasinetti, Cristina Nuzzi, Davide Botturi, Gabriele Coffetti, Sara Mangili, Manuel Collina
Determining water stress in plants and how this affects their growth and yield quality is not an easy task. This is usually done by monitoring the soil's water stress and by manual measurements or visual inspection to detect any premature sign of wilting. However, these methods are unreliable and still require human intervention on the field. The proposed instrumented field is a step stone towards automated crop growth monitoring by means of low-cost equipment. The tested crops are string beans and tomatoes. The experiment was aimed at determining their water stress according to specific water conditions set beforehand on each field's row. Data acquired during the testing period include soil temperature and moisture, air temperature and humidity, and daily color images taken every 15 min. Preliminary analysis conducted on images by means of traditional image processing techniques allowed analysis of fruits and leaves health and water status
{"title":"How water affects growing plants: an experimental set-up based on 2D vision and on-the-edge sensing","authors":"S. Pasinetti, Cristina Nuzzi, Davide Botturi, Gabriele Coffetti, Sara Mangili, Manuel Collina","doi":"10.1109/MetroAgriFor55389.2022.9965003","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965003","url":null,"abstract":"Determining water stress in plants and how this affects their growth and yield quality is not an easy task. This is usually done by monitoring the soil's water stress and by manual measurements or visual inspection to detect any premature sign of wilting. However, these methods are unreliable and still require human intervention on the field. The proposed instrumented field is a step stone towards automated crop growth monitoring by means of low-cost equipment. The tested crops are string beans and tomatoes. The experiment was aimed at determining their water stress according to specific water conditions set beforehand on each field's row. Data acquired during the testing period include soil temperature and moisture, air temperature and humidity, and daily color images taken every 15 min. Preliminary analysis conducted on images by means of traditional image processing techniques allowed analysis of fruits and leaves health and water status","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126658495","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965084
S. Pasinetti, M. Maesano, E. Brunori, F. Moresi, Alessandra Bernardini, Paolo Cirenei, R. Biasi
In this paper, we proposed a new unmanned terrestrial vehicle (UTV) for the detection of vine canopy abiotic stress. The developed UTV is a customized version of an open source, open hardware robotic platform called MARRtino. The developed UTV has been equipped with a series of different cameras (RGB, FLIR and multispectral) that automatically acquire images of vineyard rows. Acquired images have been post processed applying stitching algorithms and generating the ortomosaic of the vine canopy. Structure from Motion (SFM) image technique has been then used to generate a 3D point cloud of the vineyard rows. Generated point clouds are very useful for canopy reconstruction, phenotyping and for information extraction that can be correlated to the management system of the vineyard. The size and volume of canopy can be converted into canopy indicators and linked to vegetation indices. These indices will be correlated with the ground-truth for defining the site-specific map in the vineyard and implementing a local monitoring for carry out the prescription map.
{"title":"Introducing on-the-go sensing rover for vines canopy abiotic stressors detection","authors":"S. Pasinetti, M. Maesano, E. Brunori, F. Moresi, Alessandra Bernardini, Paolo Cirenei, R. Biasi","doi":"10.1109/MetroAgriFor55389.2022.9965084","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965084","url":null,"abstract":"In this paper, we proposed a new unmanned terrestrial vehicle (UTV) for the detection of vine canopy abiotic stress. The developed UTV is a customized version of an open source, open hardware robotic platform called MARRtino. The developed UTV has been equipped with a series of different cameras (RGB, FLIR and multispectral) that automatically acquire images of vineyard rows. Acquired images have been post processed applying stitching algorithms and generating the ortomosaic of the vine canopy. Structure from Motion (SFM) image technique has been then used to generate a 3D point cloud of the vineyard rows. Generated point clouds are very useful for canopy reconstruction, phenotyping and for information extraction that can be correlated to the management system of the vineyard. The size and volume of canopy can be converted into canopy indicators and linked to vegetation indices. These indices will be correlated with the ground-truth for defining the site-specific map in the vineyard and implementing a local monitoring for carry out the prescription map.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127022276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965061
Francesco Zanotto, L. Marchi, S. Grigolato
Trees in the urban context provide several environmental services. The current climate change crisis is seriously compromising the health of trees in urban and periurban areas leading to an increment of tree collapses. As a consequence, there is high risk of damage to urban infrastructures and risk for the safety of the people. Preventing tree failure and assessing the tree stability is a current challenge to maintain the ecosystem services provided by the trees in urban context but at the same time to guarantee the well-being of the people. Several methods and instruments are used to assess the stability of trees, among them, the dynamic analyses methods monitor the behaviour of the tree considering it as an object that sways in a dynamic manner. That behaviour can be described with several dynamic properties like the fundamental sway frequencies, a key-property to understand the motion of the tree under wind loads. The purpose of this paper is to present a novel approach to measure the dynamic response of a tree. The method is based on the assessment of the sway fundamental frequency under free vibration without notable external forces, using a non-destructive method consisting of high-sensitivity accelerometers. The method used to rigidly attach the sensors without both provoking any damages to the tree and compromising the data acquisition was improved several times. Due to the thickness of the bark of one sample in the first test the method didn't correctly measure the fundamental sway frequencies and a few enhancements have been made before the other tests. In the second test each tree was tested using three accelerometers fixed on the surface of the tree through a 3D printed support, a couple of omega shape steel bars and a ratchet strap. The technique was then tested on seven different open-grown broadleaf trees. Results of the spectral analyses shows that a reliable estimation of the peak values under free vibration and without any artificial excitations can be achieved. Moreover, the experimental design of the method allows to monitor the fundamental sway frequency rapidly and without provoking damage to the bark or the sapwood of the tree.
{"title":"Preliminary results of a novel approach to assess the fundamental sway frequency of trees","authors":"Francesco Zanotto, L. Marchi, S. Grigolato","doi":"10.1109/MetroAgriFor55389.2022.9965061","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965061","url":null,"abstract":"Trees in the urban context provide several environmental services. The current climate change crisis is seriously compromising the health of trees in urban and periurban areas leading to an increment of tree collapses. As a consequence, there is high risk of damage to urban infrastructures and risk for the safety of the people. Preventing tree failure and assessing the tree stability is a current challenge to maintain the ecosystem services provided by the trees in urban context but at the same time to guarantee the well-being of the people. Several methods and instruments are used to assess the stability of trees, among them, the dynamic analyses methods monitor the behaviour of the tree considering it as an object that sways in a dynamic manner. That behaviour can be described with several dynamic properties like the fundamental sway frequencies, a key-property to understand the motion of the tree under wind loads. The purpose of this paper is to present a novel approach to measure the dynamic response of a tree. The method is based on the assessment of the sway fundamental frequency under free vibration without notable external forces, using a non-destructive method consisting of high-sensitivity accelerometers. The method used to rigidly attach the sensors without both provoking any damages to the tree and compromising the data acquisition was improved several times. Due to the thickness of the bark of one sample in the first test the method didn't correctly measure the fundamental sway frequencies and a few enhancements have been made before the other tests. In the second test each tree was tested using three accelerometers fixed on the surface of the tree through a 3D printed support, a couple of omega shape steel bars and a ratchet strap. The technique was then tested on seven different open-grown broadleaf trees. Results of the spectral analyses shows that a reliable estimation of the peak values under free vibration and without any artificial excitations can be achieved. Moreover, the experimental design of the method allows to monitor the fundamental sway frequency rapidly and without provoking damage to the bark or the sapwood of the tree.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116165204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9964889
A. Mencarelli, R. Cavalli, R. Greco
Lignocellulosic biomasses, in particular woody biofuels, represent a valuable resource for contributing to the energy demand of European countries, helping to increase the share of renewable energy produced. Among the biofuels used for domestic heating are wood briquettes. Although they have better quality characteristics than firewood, they are still poorly appreciated. The aim of this work was to highlight the physical-mechanical characteristics of the wood briquettes commonly found on the Italian market for domestic combustion. The possible existing relationships between the determined parameters, the effects they have during the combustion of briquettes and the possibility of use them inside automatic boilers and stoves was also discussed. Forty-three samples were analyzed in the period between 2016 and 2022. The moisture content, ash, heating value, particle density, mechanical durability and energy density were determined for all samples. Based on the results obtained, the briquettes prove to be fuels characterized by low ash content $boldsymbol{(< 1.0%)}$, high particle density $boldsymbol{(> 1.0mathrm{g}/text{cm}^{3}})$, high mechanical durability $boldsymbol{(>91 %)}$ and high energy density $boldsymbol{left(>13 text{GJ} / mathrm{m}^3right)}$. The lower heating value is similar to that of other woody biofuels (15.6 MJ/kg and 17.4 MJ/kg), with an average moisture content of about 10.0%. Thanks to their physical, energy and geometric homogeneity characteristics these could be positive exploited inside automatic domestic stoves and boilers. The diffusion of these systems, combined with an implementation of low-cost sensors for the monitoring of the combustion process, would lead to an increase of the combustion efficiency as well as a significant reduction in polluting emissions.
{"title":"Energy characterization of wood briquettes and possible use in automated domestic heating systems","authors":"A. Mencarelli, R. Cavalli, R. Greco","doi":"10.1109/MetroAgriFor55389.2022.9964889","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9964889","url":null,"abstract":"Lignocellulosic biomasses, in particular woody biofuels, represent a valuable resource for contributing to the energy demand of European countries, helping to increase the share of renewable energy produced. Among the biofuels used for domestic heating are wood briquettes. Although they have better quality characteristics than firewood, they are still poorly appreciated. The aim of this work was to highlight the physical-mechanical characteristics of the wood briquettes commonly found on the Italian market for domestic combustion. The possible existing relationships between the determined parameters, the effects they have during the combustion of briquettes and the possibility of use them inside automatic boilers and stoves was also discussed. Forty-three samples were analyzed in the period between 2016 and 2022. The moisture content, ash, heating value, particle density, mechanical durability and energy density were determined for all samples. Based on the results obtained, the briquettes prove to be fuels characterized by low ash content $boldsymbol{(< 1.0%)}$, high particle density $boldsymbol{(> 1.0mathrm{g}/text{cm}^{3}})$, high mechanical durability $boldsymbol{(>91 %)}$ and high energy density $boldsymbol{left(>13 text{GJ} / mathrm{m}^3right)}$. The lower heating value is similar to that of other woody biofuels (15.6 MJ/kg and 17.4 MJ/kg), with an average moisture content of about 10.0%. Thanks to their physical, energy and geometric homogeneity characteristics these could be positive exploited inside automatic domestic stoves and boilers. The diffusion of these systems, combined with an implementation of low-cost sensors for the monitoring of the combustion process, would lead to an increase of the combustion efficiency as well as a significant reduction in polluting emissions.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121584553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965068
M. Agosta, V. Bagarello, G. Caltabellotta, F. Carollo, Girolamo Vaccaro, V. Pampalone
- In this contribution, a theoretical approach was developed for predicting rainfall intensity for a small rainfall simulator. The developed equation was tested for two different devices and different pressure head and water temperature values. The proposed relationship was found to have a good predictive ability of rainfall intensity. The proposed theoretical approach could be usable with other devices that operate on the same principles of the simulator considered in this investigation.
{"title":"Theoretical prediction of rainfall intensity for a small rainfall simulator","authors":"M. Agosta, V. Bagarello, G. Caltabellotta, F. Carollo, Girolamo Vaccaro, V. Pampalone","doi":"10.1109/MetroAgriFor55389.2022.9965068","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965068","url":null,"abstract":"- In this contribution, a theoretical approach was developed for predicting rainfall intensity for a small rainfall simulator. The developed equation was tested for two different devices and different pressure head and water temperature values. The proposed relationship was found to have a good predictive ability of rainfall intensity. The proposed theoretical approach could be usable with other devices that operate on the same principles of the simulator considered in this investigation.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131541141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965065
Enrica Santolini, Marco Bovo, A. Barbaresi, Miki Agrusti, P. Tassinari, A. Pezzuolo, D. Torreggiani
The study presents the preliminary results of air monitoring process in a dairy farm by a monitoring system designed in the context of a national research project. This study, in particular, aims at developing innovative technical solutions for smart dairy farming in order to increase the herd productivity. The monitoring process, in fact, allows to improve environment conditions and animal welfare of dairy cows and consequently enhance reproduction and production. To this regard, the smart system involved in the study has a fundamental role operating as a tool for a more efficient management of the herd and of the herd housing. In this field, the Smart Monitoring System (SMS) used here has been effectively implemented in order to increase the animal welfare but at the same time increase the animal production. This system, which presents different type of sensors, allows collecting different type of data, giving the opportunity to control and elaborate the barn environmental conditions aiming to increase the dairy sector sustainability. It allows the acquisition of big data time series about physical and environmental conditions of the facilities hosting the cow herds starting from the collection of both indoor and outdoor environmental features. This data collection process allows to carry out a diagnosis of the operating conditions, and early alerts in case of anomalies, as presented in this study. This approach and its results can be useful to understand the seasonality conditions in dairy farms with the goal of improving animal welfare.
{"title":"Monitoring and Analysis of the Gaseous Emissions Collected in a Livestock Farm","authors":"Enrica Santolini, Marco Bovo, A. Barbaresi, Miki Agrusti, P. Tassinari, A. Pezzuolo, D. Torreggiani","doi":"10.1109/MetroAgriFor55389.2022.9965065","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965065","url":null,"abstract":"The study presents the preliminary results of air monitoring process in a dairy farm by a monitoring system designed in the context of a national research project. This study, in particular, aims at developing innovative technical solutions for smart dairy farming in order to increase the herd productivity. The monitoring process, in fact, allows to improve environment conditions and animal welfare of dairy cows and consequently enhance reproduction and production. To this regard, the smart system involved in the study has a fundamental role operating as a tool for a more efficient management of the herd and of the herd housing. In this field, the Smart Monitoring System (SMS) used here has been effectively implemented in order to increase the animal welfare but at the same time increase the animal production. This system, which presents different type of sensors, allows collecting different type of data, giving the opportunity to control and elaborate the barn environmental conditions aiming to increase the dairy sector sustainability. It allows the acquisition of big data time series about physical and environmental conditions of the facilities hosting the cow herds starting from the collection of both indoor and outdoor environmental features. This data collection process allows to carry out a diagnosis of the operating conditions, and early alerts in case of anomalies, as presented in this study. This approach and its results can be useful to understand the seasonality conditions in dairy farms with the goal of improving animal welfare.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130833647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9964568
Xinying Luo, Yihu Hu, Zicheng Gao, Battsetseg Damjin, Hao Guo, A. Ruchay, A. Pezzuolo
Parameter Measurement of animals can be used to characterize animals and is important for growth monitoring and assessment of animal welfare. Consumer-grade point cloud data acquisition equipment is inexpensive, has fast imaging speed, and is accurate enough for agricultural applications. There are many works related to the application of 3D point cloud data processing techniques to animal body measurement. However, there are still many challenges in applying these works to actual production, such as serious missing point clouds caused by occlusion and unstable positioning of keypoints for body measurement. In this study, a statistical shape model of real cattle is constructed on a topologically consistent 3D surface dataset. On this basis, the 3D mesh reconstruction algorithm and body measurement technique based on low quality point cloud are studied to overcome the application problem of animal body measurement directly on low-quality point cloud data. We validate the method using low-quality point cloud data of 99 cattle. The article calculated the four indicators of chest depth, ilium width, oblique body length and heart girth, and the overall measurement accuracy reached 91.40%. Compared with the latest research results, it shows that the method has strong robustness and feasibility for livestock body measurement.
{"title":"Construction of statistical shape model of real cattle and its application to body measurement","authors":"Xinying Luo, Yihu Hu, Zicheng Gao, Battsetseg Damjin, Hao Guo, A. Ruchay, A. Pezzuolo","doi":"10.1109/MetroAgriFor55389.2022.9964568","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9964568","url":null,"abstract":"Parameter Measurement of animals can be used to characterize animals and is important for growth monitoring and assessment of animal welfare. Consumer-grade point cloud data acquisition equipment is inexpensive, has fast imaging speed, and is accurate enough for agricultural applications. There are many works related to the application of 3D point cloud data processing techniques to animal body measurement. However, there are still many challenges in applying these works to actual production, such as serious missing point clouds caused by occlusion and unstable positioning of keypoints for body measurement. In this study, a statistical shape model of real cattle is constructed on a topologically consistent 3D surface dataset. On this basis, the 3D mesh reconstruction algorithm and body measurement technique based on low quality point cloud are studied to overcome the application problem of animal body measurement directly on low-quality point cloud data. We validate the method using low-quality point cloud data of 99 cattle. The article calculated the four indicators of chest depth, ilium width, oblique body length and heart girth, and the overall measurement accuracy reached 91.40%. Compared with the latest research results, it shows that the method has strong robustness and feasibility for livestock body measurement.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127830437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965110
F. Cotana, V. Coccia, Ramoon Barros Lovate Temporim, L. Lunghi
This work presents the results achieved in the national funded PRIN2017 “Biomass Circular Holistic Economy Approach to Energy Equipment (BIOCHEAPER) project. In particular, an innovative retrofitting solution for reducing the emission of particulate matter for pellet stoves for residential applications. The realized solution is a mini-cyclone, and it has been demonstrated that a reduction of up to 50% of the fine powder emissions can be reached in two different operating regimes. Both the pellet used for experiment and the resulting ashes and particulate have been characterized by means of particle counters and lab characterization instruments.
{"title":"Performance of a retrofitting solution for the reduction of particulate matter in small sized pellet stoves","authors":"F. Cotana, V. Coccia, Ramoon Barros Lovate Temporim, L. Lunghi","doi":"10.1109/MetroAgriFor55389.2022.9965110","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965110","url":null,"abstract":"This work presents the results achieved in the national funded PRIN2017 “Biomass Circular Holistic Economy Approach to Energy Equipment (BIOCHEAPER) project. In particular, an innovative retrofitting solution for reducing the emission of particulate matter for pellet stoves for residential applications. The realized solution is a mini-cyclone, and it has been demonstrated that a reduction of up to 50% of the fine powder emissions can be reached in two different operating regimes. Both the pellet used for experiment and the resulting ashes and particulate have been characterized by means of particle counters and lab characterization instruments.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115194869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9964544
L. Gentilini, D. Mengoli, S. Rossi, L. Marconi
Skid steering vehicles rely on tracks slipping to perform turning maneuvers. In this context, the estimation of the right amount of slip turns out to be significant to correctly perform precise movements. In a typical agricultural scenario, with rough terrain and narrow navigating spaces, a reliable slip estimation is crucial to perform safe motions. In this work, we propose a novel Gaussian Process approach to slip estimation in a tracked wheel robots by showing experimental results obtained from our prototype robotic platform.
{"title":"Data-Driven Model Predictive Control for Skid-Steering Unmanned Ground Vehicles","authors":"L. Gentilini, D. Mengoli, S. Rossi, L. Marconi","doi":"10.1109/MetroAgriFor55389.2022.9964544","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9964544","url":null,"abstract":"Skid steering vehicles rely on tracks slipping to perform turning maneuvers. In this context, the estimation of the right amount of slip turns out to be significant to correctly perform precise movements. In a typical agricultural scenario, with rough terrain and narrow navigating spaces, a reliable slip estimation is crucial to perform safe motions. In this work, we propose a novel Gaussian Process approach to slip estimation in a tracked wheel robots by showing experimental results obtained from our prototype robotic platform.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128904668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-03DOI: 10.1109/MetroAgriFor55389.2022.9965163
P. Dabove, V. Di Pietra
The use of GNSS for precision farming is not a novelty. In many cases, the GNSS receivers and antennas are only a subset of instruments usually considered and used in complex monitoring systems, e.g., for guidance, where more often continuous tracking and a precise location of the vehicle are required. In this case, the installed GNSS solution is composed of a dual frequency receiver, with a geodetic antenna and a display available to the driver, and a radio connection to one or more permanent stations to reduce the biases and increase the positioning accuracy. The management of the collected data is the most critical aspect because the approach, which is commonly used, assumes a kinematic position of the GNSS antenna during the acquisition time window. Several positioning solutions may be selected according to time, economy, and infrastructure readiness in the field. The methodology for data acquisition and positioning (real-time or post-processing), the type of receivers and antenna used (single or multi-constellation, single or dual frequency, mass-market or geodetic), and GNSS network services available, are also aspects to consider. In this work, the analysis of positioning solutions based on a low-cost GNSS network for precision agriculture is investigated, focusing on pedestrian and vehicular modes.
{"title":"Towards the use of low-cost GNSS receivers for permanent networks in precision agriculture","authors":"P. Dabove, V. Di Pietra","doi":"10.1109/MetroAgriFor55389.2022.9965163","DOIUrl":"https://doi.org/10.1109/MetroAgriFor55389.2022.9965163","url":null,"abstract":"The use of GNSS for precision farming is not a novelty. In many cases, the GNSS receivers and antennas are only a subset of instruments usually considered and used in complex monitoring systems, e.g., for guidance, where more often continuous tracking and a precise location of the vehicle are required. In this case, the installed GNSS solution is composed of a dual frequency receiver, with a geodetic antenna and a display available to the driver, and a radio connection to one or more permanent stations to reduce the biases and increase the positioning accuracy. The management of the collected data is the most critical aspect because the approach, which is commonly used, assumes a kinematic position of the GNSS antenna during the acquisition time window. Several positioning solutions may be selected according to time, economy, and infrastructure readiness in the field. The methodology for data acquisition and positioning (real-time or post-processing), the type of receivers and antenna used (single or multi-constellation, single or dual frequency, mass-market or geodetic), and GNSS network services available, are also aspects to consider. In this work, the analysis of positioning solutions based on a low-cost GNSS network for precision agriculture is investigated, focusing on pedestrian and vehicular modes.","PeriodicalId":374452,"journal":{"name":"2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127981332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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