Precision Agriculture without borders: Practical issues and improvements in farmland coverage with aerial vehicles.

This work presents a solution for the aerial coverage of a field by using a fleet of aerial vehicles. The use of Unmanned Aerial Vehicles allows to obtain high resolution mosaics to be used in Precision Agriculture techniques. This report is focus on providing a solution for the full simultaneous coverage problem taking into account restrictions as the required spatial resolution and overlap while maintaining similar light conditions and safety operation of the drones. Results obtained from real field tests are finally reported

A waypoint-based mission planner for a farmland coverage with an aerial robot - a precision farming tool

Remote sensing (RS) with aerial robots is becoming more usual in every day time in Precision Agriculture (PA) practices, do to their advantages over conventional methods. Usually, available commercial platforms providing off-the-shelf waypoint navigation are adopted to perform visual surveys over crop fields, with the purpose to acquire specific image samples. The way in which a waypoint list is computed and dispatched to the aerial robot when mapping non empty agricultural workspaces has not been yet discussed. In this paper we propose an offline mission planner approach that computes an efficient coverage path subject to some constraints by decomposing the environment approximately into cells. Therefore, the aim of this work is contributing with a feasible waypoints-based tool to support PA practices

Techniques for Area Discretization and Coverage in Aerial Photography for Precision Agriculture employing mini quad-rotors

Remote sensed imagery acquired with mini aerial vehicles, in conjunction with GIS technology enable a meticulous analysis from surveyed agricultural sites. This paper sums up the ongoing work in area discretization and coverage with mini quad-­?rotors applied to Precision Agriculture practices under the project RHEA.

Termination and cost analysis: Complexity and precision issues

The research in this thesis is related to static cost and termination analysis. Cost analysis aims at estimating the amount of resources that a given program consumes during the execution, and termination analysis aims at proving that the execution of a given program will eventually terminate. These analyses are strongly related, indeed cost analysis techniques heavily rely on techniques developed for termination analysis. Precision, scalability, and applicability are essential in static analysis in general. Precision is related to the quality of the inferred results, scalability to the size of programs that can be analyzed, and applicability to the class of programs that can be handled by the analysis (independently from precision and scalability issues). This thesis addresses these aspects in the context of cost and termination analysis, from both practical and theoretical perspectives. For cost analysis, we concentrate on the problem of solving cost relations (a form of recurrence relations) into closed-form upper and lower bounds, which is the heart of most modern cost analyzers, and also where most of the precision and applicability limitations can be found. We develop tools, and their underlying theoretical foundations, for solving cost relations that overcome the limitations of existing approaches, and demonstrate superiority in both precision and applicability. A unique feature of our techniques is the ability to smoothly handle both lower and upper bounds, by reversing the corresponding notions in the underlying theory. For termination analysis, we study the hardness of the problem of deciding termination for a speci�c form of simple loops that arise in the context of cost analysis. This study gives a better understanding of the (theoretical) limits of scalability and applicability for both termination and cost analysis.

High precision pressure sensors based on SAW devices in the GHz range

In this paper, an AlN/free-standing nanocrystalline diamond (NCD) system is proposed in order to process high frequency surface acoustic wave (SAW) resonators for sensing applications. The main problem of synthetic diamond is its high surface roughness that worsens the sputtered AlN quality and hence the device response. In order to study the feasibility of this structure, AlN films from 150 nm up to 1200 nm thick have been deposited on free-standing NCD. We have then analysed the influence of the AlN layer thickness on its crystal quality and device response. Optimized thin films of 300 nm have been used to fabricate of one-port SAW resonators operating in the 10–14 GHz frequency range. A SAW based sensor pressure with a sensibility of 0.33 MHz/bar has been fabricated.

Performance of pressure control valves and flow meters precision in operational irrigation-water balance accuracy

In pressure irrigation-water distribution networks, pressure regulating devices for controlling the discharged flow rate by irrigation units are needed due to the variability of flow rate. In addition, applied water volume is used controlled operating the valve during a calculated time interval, and assuming constant flow rate. In general, a pressure regulating valve PRV is the commonly used pressure regulating device in a hydrant, which, also, executes the open and close function. A hydrant feeds several irrigation units, requiring a wide range in flow rate. In addition, some flow meters are also available, one as a component of the hydrant and the rest are placed downstream. Every land owner has one flow meter for each group of field plots downstream the hydrant. Its lecture could be used for refining the water balance but its accuracy must be taken into account. Ideal PRV performance would maintain a constant downstream pressure. However, the true performance depends on both upstream pressure and the discharged flow rate. The objective of this work is to asses the influence of the performance on the applied volume during the whole irrigation events in a year. The results of the study have been obtained introducing the flow rate into a PRV model. Variations on flow rate are simulated by taking into account the consequences of variations on climate conditions and also decisions in irrigation operation, such us duration and frequency application. The model comprises continuity, dynamic and energy equations of the components of the PRV.

Analysis and validation of CFD wind farm models in complex terrain. Effects induced by topography and wind turbines

Wind farms have been extensively simulated through engineering models for the estimation of wind speed and power deficits inside wind farms. These models were designed initially for a few wind turbines located in flat terrain. Other models based on the parabolic approximation of Navier Stokes equations were developed, making more realistic and feasible the operational resolution of big wind farms in flat terrain and offshore sites. These models have demonstrated to be accurate enough when solving wake effects for this type of environments. Nevertheless, few analyses exist on how complex terrain can affect the behaviour of wind farm wake flow. Recent numerical studies have demonstrated that topographical wakes induce a significant effect on wind turbines wakes, compared to that on flat terrain. This circumstance has recommended the development of elliptic CFD models which allow global simulation of wind turbine wakes in complex terrain. An accurate simplification for the analysis of wind turbine wakes is the actuator disk technique. Coupling this technique with CFD wind models enables the estimation of wind farm wakes preserving the extraction of axial momentum present inside wind farms. This paper describes the analysis and validation of the elliptical wake model CFDWake 1.0 against experimental data from an operating wind farm located in complex terrain. The analysis also reports whether it is possible or not to superimpose linearly the effect of terrain and wind turbine wakes. It also represents one of the first attempts to observe the performance of engineering models compares in large complex terrain wind farms.

Prediction of wake effects on wind farm power production using a RANS approach. Part II. Offshore: Case studies from the UPWIND project

The estimation of power losses due to wind turbine wakes is crucial to understanding overall wind farm economics. This is especially true for large offshore wind farms, as it represents the primary source of losses in available power, given the regular arrangement of rotors, their generally largerdiameter and the lower ambient turbulence level, all of which conspire to dramatically affect wake expansion and, consequently, the power deficit. Simulation of wake effects in offshore wind farms (in reasonable computational time) is currently feasible using CFD tools. An elliptic CFD model basedon the actuator disk method and various RANS turbulence closure schemes is tested and validated using power ratios extracted from Horns Rev and Nysted wind farms, collected as part of the EU-funded UPWIND project. The primary focus of the present work is on turbulence modeling, as turbulent mixing is the main mechanism for flow recovery inside wind farms. A higher-order approach, based on the anisotropic RSM model, is tested to better take into account the imbalance in the length scales inside and outside of the wake, not well reproduced by current two-equation closure schemes.

Farm nitrogen balances in six European landscapes as an indicator for nitrogen losses and basis for improved management.

Improved management of nitrogen (N) in agriculture is necessary to achieve a sustainable balance between the production of food and other biomass, and the unwanted effects of N on water pollution, greenhouse gas emissions, biodiversity deterioration and human health. To analyse farm N-losses and the complex interactions within farming systems, efficient methods for identifying emissions hotspots and evaluating mitigation measures are therefore needed. The present paper aims to fill this gap at the farm and landscape scales. Six agricultural landscapes in Poland (PL), the Netherlands (NL), France (FR), Italy (IT), Scotland (UK) and Denmark (DK) were studied, and a common method was developed for undertaking farm inventories and the derivation of farm N balances, N surpluses and for evaluating uncertainty for the 222 farms and 11 440 ha of farmland included in the study. In all landscapes, a large variation in the farm N surplus was found, and thereby a large potential for reductions. The highest average N surpluses were found in the most livestock-intensive landscapes of IT, FR, and NL; on average 202 ± 28, 179 ± 63 and 178 ± 20 kg N ha−1 yr−1, respectively. All landscapes showed hotspots, especially from livestock farms, including a special UK case with large-scale landless poultry farming. Overall, the average N surplus from the land-based UK farms dominated by extensive sheep and cattle grazing was only 31 ± 10 kg N ha−1 yr−1, but was similar to the N surplus of PL and DK (122 ± 20 and 146 ± 55 kg N ha−1 yr−1, respectively) when landless poultry farming was included. We found farm N balances to be a useful indicator for N losses and the potential for improving N management. Significant correlations to N surplus were found, both with ammonia air concentrations and nitrate concentrations in soils and groundwater, measured during the period of N management data collection in the landscapes from 2007–2009. This indicates that farm N surpluses may be used as an independent dataset for validation of measured and modelled N emissions in agricultural landscapes. No significant correlation was found with N measured in surface waters, probably because of spatial and temporal variations in groundwater buffering and biogeochemical reactions affecting N flows from farm to surface waters. A case study of the development in N surplus from the landscape in DK from 1998–2008 showed a 22% reduction related to measures targeted at N emissions from livestock farms. Based on the large differences in N surplus between average N management farms and the most modern and N-efficient farms, it was concluded that additional N-surplus reductions of 25–50%, as compared to the present level, were realistic in all landscapes. The implemented N-surplus method was thus effective for comparing and synthesizing results on farm N emissions and the potentials of mitigation options. It is recommended for use in combination with other methods for the assessment of landscape N emissions and farm N efficiency, including more detailed N source and N sink hotspot mapping, measurements and modelling.

Cover crops effect on farm benefits and nitrate leaching: Linking economic and environmental analysis.

Introducing cover crops (CC) interspersed with intensively fertilized crops in rotation has the potential to reduce nitrate leaching. This paper evaluates various strategies involving CC between maize and compares the economic and environmental results with respect to a typical maize?fallow rotation. The comparison is performed through stochastic (Monte-Carlo) simulation models of farms? profits using probability distribution functions (pdfs) of yield and N fertilizer saving fitted with data collected from various field trials and pdfs of crop prices and the cost of fertilizer fitted from statistical sources. Stochastic dominance relationships are obtained to rank the most profitable strategies from a farm financial perspective. A two-criterion comparison scheme is proposed to rank alternative strategies based on farm profit and nitrate leaching levels, taking the baseline scenario as the maize?fallow rotation. The results show that when CC biomass is sold as forage instead of keeping it in the soil, greater profit and less leaching of nitrates are achieved than in the baseline scenario. While the fertilizer saving will be lower if CC is sold than if it is kept in the soil, the revenue obtained from the sale of the CC compensates for the reduced fertilizer savings. The results show that CC would perhaps provide a double dividend of greater profit and reduced nitrate leaching in intensive irrigated cropping systems in Mediterranean regions.

Control de movimientos en presas de hormigón mediante DGPS. Comparación con otros métodos de auscultación e implicaciones para la seguridad. Estudio de caso en la presa de La Aceña (Ávila)

Las normativas que regulan la seguridad de las presas en España han recogido la necesidad de conocer los desplazamientos y deformaciones de sus estructuras y cimientos. A día de hoy, son muchas las presas en explotación que no cuentan con un sistema de auscultación adecuado para controlar este tipo de variables, ya que la instalación de métodos clásicos de precisión en las mismas podría no ser viable técnicamente y, de serlo, supondría un coste económico importante y una dudosa garantía del proceso de ejecución de la obra civil correspondiente. Con el desarrollo de las nuevas tecnologías, la informática y las telecomunicaciones, han surgido nuevos sistemas de auscultación de desplazamientos. Los sistemas GPS actuales, diseñados para el control de estructuras, guiado de maquinaria, navegación y topografía, estabilidad de taludes, subsidencias, etc. permiten alcanzar precisiones centimétricas. El sistema de control de movimientos basado en la tecnología DGPS (GPS diferencial) combinada con un filtro estadístico con el que se alcanzan sensibilidades de hasta ±1 mm en el sistema, suficientes para una auscultación normal de presas según los requerimientos de la normativa actual. Esta exactitud se adapta a los desplazamientos radiales de las presas, donde son muy comunes valores de amplitudes en coronación de hasta 15 mm en las de gravedad y de hasta 45 mm en el caso de las presas bóveda o arco. La presente investigación tiene por objetivo analizar la viabilidad del sistema DGPS en el control de movimientos de presas de hormigón comparando los diferentes sistemas de auscultación y su correlación con las variables físicas y las vinculadas al propio sistema GPS diferencial. Ante la necesidad de dar respuesta a estas preguntas y de validar e incorporar a la mencionada tecnología en la ingeniería civil en España, se ha llevado a cabo un estudio de caso en La Aceña (Ávila). Esta es una de las pocas presas españolas que se está controlando con dicha tecnología y de forma simultánea con los sistemas clásicos de auscultación y algunos otros de reciente aplicación La presente investigación se ha organizado con idea de dar respuesta a varias preguntas que el explotador de presas se plantea y que no se analizan en el estado del arte de la técnica: cómo hacer la configuración espacial del sistema y cuáles son los puntos necesarios que se deben controlar, qué sistemas de comunicaciones son los más fiables, cuáles son los costes asociados, calibración del software, vida útil y mantenimientos requeridos, así como la posibilidad de telecontrolar los datos. Entre las ventajas del sistema DGPS, podemos señalar su bajo coste de implantación y posibilidad de controlarlo de forma remota, así como la exactitud y carácter absoluto de los datos. Además, está especialmente indicado para presas aisladas o mal comunicadas y para aquellas otras en las que el explotador no tiene referencia alguna de la magnitud de los desplazamientos o deformaciones propias de la presa en toda su historia. Entre los inconvenientes de cualquier sistema apoyado en las nuevas tecnologías, destaca la importancia de las telecomunicaciones ya sea en el nivel local en la propia presao desde su ubicación hasta el centro de control de la explotación. Con la experiencia alcanzada en la gestión de la seguridad de presas y sobre la base de la reciente implantación de los nuevos métodos de auscultación descritos, se ha podido analizar cada una de sus ventajas e inconvenientes. En el capítulo 5, se presenta una tabla de decisión para el explotador que servirá como punto de partida para futuras inversiones. El impacto de esta investigación se ha visto reflejado en la publicación de varios artículos en revistas indexadas y en el debate suscitado entre gestores y profesionales del sector en los congresos nacionales e internacionales en los que se han presentado resultados preliminares. All regulations on the safety of dams in Spain have collected the need to know the displacements and deformations of the structure and its foundation. Today there are many dams holding not have an adequate system of auscultation to control variables such as the installation of classical methods of precision in the same might not be technically feasible, and if so, would cost important economic and guarantee the implementation process of the dubious civil works. With the development of new technologies, computing and telecommunications, new displacements auscultation systems have emerged. Current GPS systems designed to control structures, machine guidance, navigation and topography, slope stability, subsidence, etc, allow to reach centimeter-level accuracies. The motion control system based on DGPS technology applies a statistical filter that sensitivities are achieved in the system to ± 1 mm, sufficient for normal auscultation of dams as required by current regulations. This accuracy is adapted to the radial displacement of dams, which are common values in coronation amplitudes up to 15 mm in gravity dams and up to 45 mm in arch or arc dams. This research aims to analyze the feasibility of DGPS system in controlling movements of concrete dams, comparing the different systems auscultation and its correlation with physical variables and linked to differential GPS system itself. Given the need to answer this question and to validate and incorporate this technology to civil engineering in Spain, has conducted a case study in real time at the dam La Aceña (Ávila). This dam is one of the few Spanish companies, which are controlling with this technology and simultaneously with the classic auscultation systems and some other recent application. This research has been organized with a view to responding to questions that the dam operator arises and in the state of the art technique not discussed: how to make spatial configuration of the system and what are the necessary control points what communication systems are the most reliable, what are the associated costs, calibration software, service life and maintenance requirements, possibility of monitoring, etc. Among the advantages we can point to its low cost of implementation, the possibility of remote, high accuracy and absolute nature of the data. It could also be suitable for those isolated or poorly communicated dams and those in which the operator has no reference to the magnitude of displacements or deformations own prey in its history. The disadvantages of any system based on the new technologies we highlight the importance of telecommunications, either locally or from this dam control center of the farm. With the experience gained in the management of dam safety and based on the recent introduction of new methods of auscultation described, it has been possible to analyze each of their advantages and disadvantages. A decision table for the operator, which will serve as a starting point for future investments is presented. The impact of research, has been reflected in the publication of several articles in refereed journals and discussion among managers and professionals in national and international conferences in which they participated.

Managing Soil Organic Carbon: A Farm Perspective

Farming practices that lead to declining returns and inputs of carbon to soils pose a threat to key soil functions. The EU FP 7 interdisciplinary project Smart SOIL is using scientific testing and modeling to identify management practices that can optimize soil carbon storage and crop productivity. A consultation with advisors and policymakers in six European case study regions seeks to identify barriers to, and incentives for, uptake of such practices. Results from preliminary interviews are reported. Overall advisor and farmer awareness of management practices specifically directed towards soil carbon. is low. Most production- related decisions are taken in the short term, but managing soil carbon needs a long- term approach. Key barriers to uptake of practices include: perceived scientifi c uncertainty about the effi cacy of practices; lack of real life ?best practice? examples to show farmers; diffi culty in demonstrating the positive effects of soil carbon management practices and economic benefi ts over a long time scale; and advisors being unable to provide suitable advice due to inadequate information or training. Most farmers are unconvinced of the economic benefi ts of practices for managing soil carbon. Incentives are therefore needed, either as subsidies or as evidence of the cost effectiveness of practices. All new measures and advice should be integrated into existing programmes to avoid a fragmented policy approach.

Routines in precision agriculture technology: an action research study

A crop management and precision agriculture software application facilitates the flow of information between disparate software/equipment and the network of individuals that work with them. A new generation of farmers are using precision technology to help them more efficiently manage their roplands. By measuring precisely the way their fields reflect and emit energy at visible and infrared wavelengths, precision farmers can monitor a wide range of variables that affect their crops,such as soil moisture, surface temperature, photosynthetic activity, and weed or pest infestations. Over thirty years have passed since Nelson and Winter put the concept of routines firmly at the center of the analysis of organizational and economic change. Taken as the central unit of analysis, routines would help understand energy and agriculture economy evolution.

Can small horticulture crops improve family farm incomes in mountains areas of Central America?

Small family farm in mountain areas can found in horticulture one alternative to increase incomes. Horticulture crop required more labour and increased the land intensification. Market of production will be the key factor in the future of this family farms.