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.

An image segmentation based on a genetic algorithm for determining soil coverage by crop residues

Determination of the soil coverage by crop residues after ploughing is a fundamental element of Conservation Agriculture. This paper presents the application of genetic algorithms employed during the fine tuning of the segmentation process of a digital image with the aim of automatically quantifying the residue coverage. In other words, the objective is to achieve a segmentation that would permit the discrimination of the texture of the residue so that the output of the segmentation process is a binary image in which residue zones are isolated from the rest. The RGB images used come from a sample of images in which sections of terrain were photographed with a conventional camera positioned in zenith orientation atop a tripod. The images were taken outdoors under uncontrolled lighting conditions. Up to 92% similarity was achieved between the images obtained by the segmentation process proposed in this paper and the templates made by an elaborate manual tracing process. In addition to the proposed segmentation procedure and the fine tuning procedure that was developed, a global quantification of the soil coverage by residues for the sampled area was achieved that differed by only 0.85% from the quantification obtained using template images. Moreover, the proposed method does not depend on the type of residue present in the image. The study was conducted at the experimental farm “El Encín” in Alcalá de Henares (Madrid, Spain).

Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots

In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Low-density InAs QDs with subcritical coverage obtained by conversion of In nanocrystals

We report growth of InAs/GaAs quantum dots (QDs) by molecular beam epitaxy with low density of 2 μm−2 by conversion of In nanocrystals deposited at low temperatures. The total amount of InAs used is about one monolayer, which is less than the critical thickness for conventional Stranski–Krastanov QDs. We also demonstrate the importance of the starting surface reconstruction for obtaining uniform QDs. The QD emission wavelength is easily tunable upon post-growth annealing with no wetting layer signal visible for short anneals. Microphotoluminescence measurements reveal well separated and sharp emission lines of individual QDs.

Procedure for verification of sound source coverage over façades according to the International Standard ISO 140-5

This paper presents a new verification procedure for sound source coverage according to ISO 140?5 requirements. The ISO 140?5 standard applies to the measurement of façade insulation and requires a sound source able to achieve a sufficiently uniform sound field in free field conditions on the façade under study. The proposed method involves the electroacoustic characterisation of the sound source in laboratory free field conditions (anechoic room) and the subsequent prediction by computer simulation of the sound free field radiated on a rectangular surface equal in size to the façade being measured. The loudspeaker is characterised in an anechoic room under laboratory controlled conditions, carefully measuring directivity, and then a computer model is designed to calculate the acoustic free field coverage for different loudspeaker positions and façade sizes. For each sound source position, the method provides the maximum direct acoustic level differences on a façade specimen and therefore determines whether the loudspeaker verifies the maximum allowed level difference of 5 dB (or 10 dB for façade dimensions greater than 5 m) required by the ISO standard. Additionally, the maximum horizontal dimension of the façade meeting the standard is calculated and provided for each sound source position, both with the 5 dB and 10 dB criteria. In the last section of the paper, the proposed procedure is compared with another method used by the authors in the past to achieve the same purpose: in situ outdoor measurements attempting to recreate free field conditions. From this comparison, it is concluded that the proposed method is able to reproduce the actual measurements with high accuracy, for example, the ground reflection effect, at least at low frequencies, which is difficult to avoid in the outdoor measurement method, and it is fully eliminated with the proposed method to achieve the free field requisite.

Assessment of insurance coverage and claims in rainfall related risks in processing tomato in Western Spain

An extension of guarantees related to rainfall-related risks in the insurance of processing tomato crops has been accompanied with a large increase in claims in Western Spain, suggesting that damages may have been underestimated in previous years. A database was built by linking agricultural insurance records, meteorological data from local weather stations, and topographic data. The risk of rainfall-related damages in processing tomato in the Extremenian Guadiana river basin (W Spain) was studied using a logistic model. Risks during the growth of the crop and at harvesting were modelled separately. First, the risk related to rainfall was modelled as a function of meteorological, terrain and management variables. The resulting models were used to identify the variables responsible for rainfall-related damages, with a view to assess the potential impact of extending insurance coverage, and to develop an index to express the suitability of the cropping system for insurance. The analyses reveal that damages at different stages of crop development correspond to different hazards. The geographic dependence of the risk influences the scale at which the model might have validity, which together with the year dependency, the possibility of implementing index based insurances is questioned.

Aerial Coverage Path Planning applied to Mapping

In the last decade we have seen how small and light weight aerial platforms - aka, Mini Unmanned Aerial Vehicles (MUAV) - shipped with heterogeneous sensors have become a 'most wanted' Remote Sensing (RS) tool. Most of the off-the-shelf aerial systems found in the market provide way-point navigation. However, they do not rely on a tool that compute the aerial trajectories considering all the aspects that allow optimizing the aerial missions. One of the most demanded RS applications of MUAV is image surveying. The images acquired are typically used to build a high-resolution image, i.e., a mosaic of the workspace surface. Although, it may be applied to any other application where a sensor-based map must be computed. This thesis provides a study of this application and a set of solutions and methods to address this kind of aerial mission by using a fleet of MUAVs. In particular, a set of algorithms are proposed for map-based sampling, and aerial coverage path planning (ACPP). Regarding to map-based sampling, the approaches proposed consider workspaces with different shapes and surface characteristics. The workspace is sampled considering the sensor characteristics and a set of mission requirements. The algorithm applies different computational geometry approaches, providing a unique way to deal with workspaces with different shape and surface characteristics in order to be surveyed by one or more MUAVs. This feature introduces a previous optimization step before path planning. After that, the ACPP problem is theorized and a set of ACPP algorithms to compute the MUAVs trajectories are proposed. The problem addressed herein is the problem to coverage a wide area by using MUAVs with limited autonomy. Therefore, the mission must be accomplished in the shortest amount of time. The aerial survey is usually subject to a set of workspace restrictions, such as the take-off and landing positions as well as a safety distance between elements of the fleet. Moreover, it has to avoid forbidden zones to y. Three different algorithms have been studied to address this problem. The approaches studied are based on graph searching, heuristic and meta-heuristic approaches, e.g., mimic, evolutionary. Finally, an extended survey of field experiments applying the previous methods, as well as the materials and methods adopted in outdoor missions is presented. The reported outcomes demonstrate that the findings attained from this thesis improve ACPP mission for mapping purpose in an efficient and safe manner.

Aerial Coverage Path Planning applied to Mapping

In the last decade we have seen how small and light weight aerial platforms - aka, Mini Unmanned Aerial Vehicles (MUAV) - shipped with heterogeneous sensors have become a 'most wanted' Remote Sensing (RS) tool. Most of the off-the-shelf aerial systems found in the market provide way-point navigation. However, they do not rely on a tool that compute the aerial trajectories considering all the aspects that allow optimizing the aerial missions. One of the most demanded RS applications of MUAV is image surveying. The images acquired are typically used to build a high-resolution image, i.e., a mosaic of the workspace surface. Although, it may be applied to any other application where a sensor-based map must be computed. This thesis provides a study of this application and a set of solutions and methods to address this kind of aerial mission by using a fleet of MUAVs. In particular, a set of algorithms are proposed for map-based sampling, and aerial coverage path planning (ACPP). Regarding to map-based sampling, the approaches proposed consider workspaces with different shapes and surface characteristics. The workspace is sampled considering the sensor characteristics and a set of mission requirements. The algorithm applies different computational geometry approaches, providing a unique way to deal with workspaces with different shape and surface characteristics in order to be surveyed by one or more MUAVs. This feature introduces a previous optimization step before path planning. After that, the ACPP problem is theorized and a set of ACPP algorithms to compute the MUAVs trajectories are proposed. The problem addressed herein is the problem to coverage a wide area by using MUAVs with limited autonomy. Therefore, the mission must be accomplished in the shortest amount of time. The aerial survey is usually subject to a set of workspace restrictions, such as the take-off and landing positions as well as a safety distance between elements of the fleet. Moreover, it has to avoid forbidden zones to y. Three different algorithms have been studied to address this problem. The approaches studied are based on graph searching, heuristic and meta-heuristic approaches, e.g., mimic, evolutionary. Finally, an extended survey of field experiments applying the previous methods, as well as the materials and methods adopted in outdoor missions is presented. The reported outcomes demonstrate that the findings attained from this thesis improve ACPP mission for mapping purpose in an efficient and safe manner.

Assessment of insurance coverage and claims in rainfall related risksin processing tomato in Western Spain

An extension of guarantees related to rainfall-related risks in the insurance of processing tomato crops hasbeen accompanied with a large increase in claims in Western Spain, suggesting that damages may havebeen underestimated in previous years. A database was built by linking agricultural insurance records,meteorological data from local weather stations, and topographic data. The risk of rainfall-related dam-ages in processing tomato in the Extremenian Guadiana river basin (W Spain) was studied using a logisticmodel. Risks during the growth of the crop and at harvesting were modelled separately. First, the riskrelated to rainfall was modelled as a function of meteorological, terrain and management variables. Theresulting models were used to identify the variables responsible for rainfall-related damages, with a viewto assess the potential impact of extending insurance coverage, and to develop an index to express thesuitability of the cropping system for insurance. The analyses reveal that damages at different stages ofcrop development correspond to different hazards. The geographic dependence of the risk influences the scale at which the model might have validity, which together with the year dependency, hampers the possibilityof implementing index based insurances is questioned.

DNA immunization circumvents deficient induction of T helper type 1 and cytotoxic T lymphocyte responses in neonates and during early life

The relative deficiency of T helper type 1 (Th1) and cytotoxic T lymphocyte (CTL) responses in early life is associated with an increased susceptibility to infections by intracellular microorganisms. This is likely to reflect a preferential polarization of immature CD4 T cells toward a Th2 rather than a Th1 pattern upon immunization with conventional vaccines. In this report, it is shown that a single immunization within the first week of life with DNA plasmids encoding viral (measles virus hemagglutinin, Sendai virus nucleoprotein) or bacterial (C fragment of tetanus toxin) vaccine antigens can induce adult-like Th1 or mixed Th1/Th2 responses indicated by production of IgG2a vaccine-specific antibodies and preferential secretion of interferon-γ (IFN-γ) compared with interleukin (IL)-5 by antigen-specific T cells, as well as significant CTL responses. However, in spite of this potent Th1-driving capacity, subsequent DNA immunization was not capable of reverting the Th2-biased responses induced after early priming with a recombinant measles canarypox vector. Thus, DNA vaccination represents a novel strategy capable of inducing Th1 or mixed Th1/Th2 and CTL responses in neonates and early life, providing it is performed prior to exposure to Th2-driving conventional vaccine antigens.

Immunostimulatory oligodeoxynucleotides containing the CpG motif are effective as immune adjuvants in tumor antigen immunization

Recent advances in our understanding of the immune response are allowing for the logical design of new approaches to cancer immunization. One area of interest is the development of new immune adjuvants. Immunostimulatory oligodeoxynucleotides containing the CpG motif (CpG ODN) can induce production of a wide variety of cytokines and activate B cells, monocytes, dendritic cells, and NK cells. Using the 38C13 B cell lymphoma model, we assessed whether CpG ODN can function as immune adjuvants in tumor antigen immunization. The idiotype served as the tumor antigen. Select CpG ODN were as effective as complete Freund’s adjuvant at inducing an antigen-specific antibody response but were associated with less toxicity. These CpG ODN induced a higher titer of antigen-specific IgG2a than did complete Freund’s adjuvant, suggesting an enhanced TH1 response. Mice immunized with CpG ODN as an adjuvant were protected from tumor challenge to a degree similar to that seen in mice immunized with complete Freund’s adjuvant. We conclude that CpG ODN are effective as immune adjuvants and are attractive as part of a tumor immunization strategy.

Immunization with live attenuated simian immunodeficiency virus induces strong type 1 T helper responses and β-chemokine production

Immunization with live attenuated simian immunodeficiency virus (SIV) strains has proved to be one of the most effective strategies to induce protective immunity in the SIV/macaque model. To better understand the role that CD4+ T helper responses may play in mediating protection in this model, we characterized SIV-specific proliferative and cytokine responses in macaques immunized with live attenuated SIV strains. Macaques chronically infected with live attenuated SIV had strong proliferative responses to SIV proteins, with stimulation indices of up to 74. The magnitude of the proliferative response to SIV Gag varied inversely with the degree of attenuation; Gag-specific but not envelope-specific responses were lower in animals infected with more highly attenuated SIV strains. SIV-specific stimulation of lymphocytes from vaccinated macaques resulted in secretion of interferon-γ, IL-2, regulated-upon-activation, normal T cells expressed and secreted (RANTES), macrophage inflammatory protein (MIP)-1α, and MIP-1β but not IL-4 or IL-10. Intracellular flow cytometric analysis documented that, in macaques vaccinated with SIVmac239Δnef, up to 2% of all CD4+T cells were specific for SIV p55. The ability of live attenuated SIV to induce a strong, sustained type 1 T helper response may play a role in the success of this vaccination approach to generate protection against challenge with wild-type SIV.

DNA immunization: Induction of higher avidity antibody and effect of route on T cell cytotoxicity

Immunizations of mice with plasmid DNAs encoding ovalbumin (OVA), human Ig, and hen egg lysozyme were compared with doses of soluble protein (without adjuvant) that induced similar IgG responses. The route of immunization influenced the magnitude of the antibody (Ab) response in that intradermal (i.d.) injection elicited higher IgG Ab levels than i.m. injection in both DNA- and protein-immunized mice. Although total IgG levels were similar to soluble protein controls, the avidity of the anti-OVA Abs generated by DNA immunization were 100- and 1,000-fold higher via the i.m. or i.d. route, respectively. However, despite the generation of high-avidity Ab in DNA-immunized mice, germinal centers could not be detected in either DNA- or protein-immunized mice. Examination of the IgG subclass response showed that IgG2a was induced by i.m. DNA immunization, coinciding with elevated interferon γ production, whereas a dominant and elevated IgG1 response, coinciding with detectable interleukin 4 production, was generated after i.d. immunization with DNA or soluble OVA and hen egg lysozyme but not human Ig protein. As expected, cytotoxic T cell (CTL) responses could be detected only after DNA immunization. I.d. immunization produced the strongest CTL responses early (2 weeks) but was similar to i.m. later. Therefore, DNA immunization can differ from protein immunization by its ability to induce rapid CTL responses and higher avidity Ab, both of which are advantageous for vaccination.