Sistemes lidar (radar laser) d'ona contínua i baixa potència per a la detecció i mesura de concentració de gasos amb resolució espacial

The present project has performed the study and development of a new technique for the detection of gases with range resolution. This technique called FMCW-lidar is a technique that evolves from the FMCW-radar technique to be applied to lidar systems. Moreover, it takes advantage of the appearance of spectral absorption lines because of the interaction between light and gases to tune the light wavelength of a laser emitter with one of this spectral lines and then detects the backscattered light and analyzes it in order to obtain gas concentration measurements. The first part of the project consisted in the analysis of the WMS technique which is a technique for the in-situ measurement of gases. A complete theoretical analysis has been performed and some experiments have been carried out in order to test the technique and to validate its application to an FMCW-modulated system for the detection of gases. The second part of the project consisted in the analysis of the lidar FMCW technique for solid target detection and its extension to continuous media. The classical form of this technique has been analyzed for a distributed medium and a filtering effect has been found which prevents the accurate acquisition of the medium response. A modification of the technique has been proposed and a validation via simulations and some experiments has been carried on. After performing these tests, a novel system is proposed to be developed and tested in order to perform the indicated gas detection with range resolution.

Generación de mapas digitales de vegetación a nivel de parcela mediante la utilización de un escáner láser terrestre (LIDAR)

El present projecte final de carrera s'engloba dins de l'àmbit de l'Agricultura de Precisió (AP). La qual es presenta com una resposta als nous condicionants i reptes existents que giren entorn a l'agricultura, entre el quals caldria citar: la seguretat, el respecte del medi ambient, la qualitat i l'augment de la competitivitat dins del sector agrícola. Per tant, per fer front davant d'aquest escenari, cal plantejar-se una nova manera d'entendre l'agricultura. El principal fonament de la AP es basa en la necessitat de dur a terme totes les accions agrícoles tenint en compte la variabilitat inherent que existeix a les parcel·les. Doncs bé, el present treball es realitza en una plantació de vinya. Concretament s'utilitza una tecnologia làser capaç de caracteritzar la vegetació del cultiu i posteriorment, mitjançant l'ús d'eines matemàtiques, s'arriba a la generació de mapes de vegetació juntament amb la creació de diferents zones de maneig. Per tant, el resultat d'aquest treball és posar a disposició de l'agricultura una metodologia capaç de generar mapes de vegetació, que serviran de base per a l'aplicació dels diferents insums, tenint en compte la variabilitat intraparcelària.

Bioinspired electronic white cane implementation based on a LIDAR, a tri-axial accelerometer and a tactile belt

This work proposes the creation of a bioinspired electronic white cane for blind people using the whiskers principle for short-range navigation and exploration. Whiskers are coarse hairs of an animal's face that tells the animal that it has touched something using the nerves of the skin. In this work the raw data acquired from a low-size terrestrial LIDAR and a tri-axial accelerometer is converted into tactile information using several electromagnetic devices configured as a tactile belt. The LIDAR and the accelerometer are attached to the user’s forearm and connected with a wire to the control unit placed on the belt. Early validation experiments carried out in the laboratory are promising in terms of usability and description of the environment.

Characterisation of the LMS200 laser beam under the influence of blockage surfaces. Influence on 3D scanning of tree orchards

The geometric characterisation of tree orchards is a high-precision activity comprising the accurate measurement and knowledge of the geometry and structure of the trees. Different types of sensors can be used to perform this characterisation. In this work a terrestrial LIDAR sensor (SICK LMS200) whose emission source was a 905-nm pulsed laser diode was used. Given the known dimensions of the laser beam cross-section (with diameters ranging from 12 mm at the point of emission to 47.2 mm at a distance of 8 m), and the known dimensions of the elements that make up the crops under study (flowers, leaves, fruits, branches, trunks), it was anticipated that, for much of the time, the laser beam would only partially hit a foreground target/object, with the consequent problem of mixed pixels or edge effects. Understanding what happens in such situations was the principal objective of this work. With this in mind, a series of tests were set up to determine the geometry of the emitted beam and to determine the response of the sensor to different beam blockage scenarios. The main conclusions that were drawn from the results obtained were: (i) in a partial beam blockage scenario, the distance value given by the sensor depends more on the blocked radiant power than on the blocked surface area; (ii) there is an area that influences the measurements obtained that is dependent on the percentage of blockage and which ranges from 1.5 to 2.5 m with respect to the foreground target/object. If the laser beam impacts on a second target/object located within this range, this will affect the measurement given by the sensor. To interpret the information obtained from the point clouds provided by the LIDAR sensors, such as the volume occupied and the enclosing area, it is necessary to know the resolution and the process for obtaining this mesh of points and also to be aware of the problem associated with mixed pixels.

Innovative LIDAR 3D dynamic measurement system to estimate fruit-tree leaf area

In this work, a LIDAR-based 3D Dynamic Measurement System is presented and evaluated for the geometric characterization of tree crops. Using this measurement system, trees were scanned from two opposing sides to obtain two three-dimensional point clouds. After registration of the point clouds, a simple and easily obtainable parameter is the number of impacts received by the scanned vegetation. The work in this study is based on the hypothesis of the existence of a linear relationship between the number of impacts of the LIDAR sensor laser beam on the vegetation and the tree leaf area. Tests performed under laboratory conditions using an ornamental tree and, subsequently, in a pear tree orchard demonstrate the correct operation of the measurement system presented in this paper. The results from both the laboratory and field tests confirm the initial hypothesis and the 3D Dynamic Measurement System is validated in field operation. This opens the door to new lines of research centred on the geometric characterization of tree crops in the field of agriculture and, more specifically, in precision fruit growing.

Ultrasonic and LIDAR sensors for electronic canopy characterization in vineyards: advances to improve pesticide application methods

Canopy characterization is a key factor to improve pesticide application methods in tree crops and vineyards. Development of quick, easy and efficient methods to determine the fundamental parameters used to characterize canopy structure is thus an important need. In this research the use of ultrasonic and LIDAR sensors have been compared with the traditional manual and destructive canopy measurement procedure. For both methods the values of key parameters such as crop height, crop width, crop volume or leaf area have been compared. Obtained results indicate that an ultrasonic sensor is an appropriate tool to determine the average canopy characteristics, while a LIDAR sensor provides more accuracy and detailed information about the canopy. Good correlations have been obtained between crop volume (CVU) values measured with ultrasonic sensors and leaf area index, LAI (R2 = 0.51). A good correlation has also been obtained between the canopy volume measured with ultrasonic and LIDAR sensors (R2 = 0.52). Laser measurements of crop height (CHL) allow one to accurately predict the canopy volume. The proposed new technologies seems very appropriate as complementary tools to improve the efficiency of pesticide applications, although further improvements are still needed.

Measuring oscillating walking paths with a LIDAR

This work describes the analysis of different walking paths registered using a Light Detection And Ranging (LIDAR) laser range sensor in order to measure oscillating trajectories during unsupervised walking. The estimate of the gait and trajectory parameters were obtained with a terrestrial LIDAR placed 100 mm above the ground with the scanning plane parallel to the floor to measure the trajectory of the legs without attaching any markers or modifying the floor. Three different large walking experiments were performed to test the proposed measurement system with straight and oscillating trajectories. The main advantages of the proposed system are the possibility to measure several steps and obtain average gait parameters and the minimum infrastructure required. This measurement system enables the development of new ambulatory applications based on the analysis of the gait and the trajectory during a walk.

Discriminating crop, weeds and soil surface with a terrestrial LIDAR sensor

In this study, the evaluation of the accuracy and performance of a light detection and ranging (LIDAR) sensor for vegetation using distance and reflection measurements aiming to detect and discriminate maize plants and weeds from soil surface was done. The study continues a previous work carried out in a maize field in Spain with a LIDAR sensor using exclusively one index, the height profile. The current system uses a combination of the two mentioned indexes. The experiment was carried out in a maize field at growth stage 12–14, at 16 different locations selected to represent the widest possible density of three weeds: Echinochloa crus-galli (L.) P.Beauv., Lamium purpureum L., Galium aparine L.and Veronica persica Poir.. A terrestrial LIDAR sensor was mounted on a tripod pointing to the inter-row area, with its horizontal axis and the field of view pointing vertically downwards to the ground, scanning a vertical plane with the potential presence of vegetation. Immediately after the LIDAR data acquisition (distances and reflection measurements), actual heights of plants were estimated using an appropriate methodology. For that purpose, digital images were taken of each sampled area. Data showed a high correlation between LIDAR measured height and actual plant heights (R2 = 0.75). Binary logistic regression between weed presence/absence and the sensor readings (LIDAR height and reflection values) was used to validate the accuracy of the sensor. This permitted the discrimination of vegetation from the ground with an accuracy of up to 95%. In addition, a Canonical Discrimination Analysis (CDA) was able to discriminate mostly between soil and vegetation and, to a far lesser extent, between crop and weeds. The studied methodology arises as a good system for weed detection, which in combination with other principles, such as vision-based technologies, could improve the efficiency and accuracy of herbicide spraying.

Classificação de sistemas meteorológicos e comparação da precipitação estimada pelo radar e medida pela rede telemétrica na bacia hidrográfica do alto Tietê

Foram analisadas características da precipitação estimada a partir de 145.194 campos de refletividade, de um total de 827 dias entre 1998 e 2003, obtidos do Radar Meteorológico de São Paulo (RSP). Os eventos foram classificados de acordo com intensidades de precipitação; em Convectivos (EC) e Estratiformes (EE). Quanto à morfologia, cinco tipos de sistemas foram identificados; Convecção Isolada (CI), Brisa Marítima (BM), Linhas de Instabilidade (LI), Bandas Dispersas (BD) e Frentes Frias (FF). Eventos convectivos dominam na primavera e verão e estratiformes no outono e inverno. A CI e a BM tiveram maiores picos de atuação entre outubro e março enquanto as FF de abril a setembro. BD atuam durante todo o ano e as LI só não foram observadas nos meses de junho e julho. Uma comparação pontual entre a precipitação medida pela telemetria e estimada com o radar foi realizada e, mostrou haver, na maioria dos casos, um viés positivo do RSP, para acumulações de 10, 30 e 60 minutos. Com o objetivo de integrar as estimativas de precipitação do radar com as medidas da rede telemétrica, por meio de uma análise objetiva estatística, foram obtidas dos campos de precipitação do radar as estruturas das correlações espaciais em função da distância para acumulações de chuva de 15, 30, 60 e 120 minutos para os cinco tipos de sistemas precipitantes que foram caracterizados. As curvas das correlações espaciais médias de todos os eventos de precipitação de cada sistema foram ajustadas por funções polinomiais de sexta ordem. Os resultados indicam diferenças significativas na estrutura espacial das correlações entre os sistemas precipitantes.

Delineation of sulphide ore-zones by borehole radar tomography at Hellyer Mine, Australia

Velocity and absorption tomograms are the two most common forms of presentation of radar tomographic data. However, mining personnel, geophysicists included, are often unfamiliar with radar velocity and absorption. In this paper, general formulae are introduced, relating velocity and attenuation coefficient to conductivity and dielectric constant. The formulae are valid for lossy media as well as high-resistivity materials. The transformation of velocity and absorption to conductivity and dielectric constant is illustrated via application of the formulae to radar tomograms from the Hellyer zinc-lead-silver mine, Tasmania, Australia. The resulting conductivity and dielectric constant tomograms constructed at Hellyer demonstrated the potential of radar tomography to delineate sulphide ore zones. (C) 2001 Elsevier Science B.V. All rights reserved.

Air target detection via bistatic radar based on LEOS communication signals

The paper discusses the bistatic radar parameters for the case when the transmitter is a satellite emitting communication signals. The model utilises signals from an Iridium-like low earth orbiting satellite system. The maximum detection range, when thermal noise-limited, is discussed at the theoretical level and these results are compared with experimentation. Satellite-radar signal levels and the power of ground reflections are evaluated.

Three-dimensional space-borne synthetic aperture radar (SAR) imaging with multiple pass processing

Three-dimensional (3D) synthetic aperture radar (SAR) imaging via multiple-pass processing is an extension of interferometric SAR imaging. It exploits more than two flight passes to achieve a desired resolution in elevation. In this paper, a novel approach is developed to reconstruct a 3D space-borne SAR image with multiple-pass processing. It involves image registration, phase correction and elevational imaging. An image model matching is developed for multiple image registration, an eigenvector method is proposed for the phase correction and the elevational imaging is conducted using a Fourier transform or a super-resolution method for enhancement of elevational resolution. 3D SAR images are obtained by processing simulated data and real data from the first European Remote Sensing satellite (ERS-1) with the proposed approaches.

Resistively loaded helical antennas for ground-penetrating radar

Resistively loaded helical antennas, used in the normal mode and horizontally polarised, are modelled using the moment method above typical lossy ground. The distributed resistive loading was adjusted to maintain a two octave bandwidth. The centre frequency of 1 m dipoles was reduced from 250 MHz for the straight resistive wire to 50 MHz for a helix of pitch 2.5 cm and diameter 5 cm. The reduction in efficiency required to maintain the bandwidth for this helix was 12 dB. This agrees reasonably with the theory for small antennas in free space. The results were also verified by comparing measurements performed on a monopole resistively loaded helical antenna in a watertank with the numerical model used elsewhere.

An investigation of magnetic antennas for ground penetrating radar

For ground penetrating radar (GPR), smaller antennas would provide considerable practical advantages. Some of which are: portability; ease of use; and higher spatial sampling. A theoretical comparison of the fundamental limits of a small electric field antenna and a small magnetic field antenna shows that the minimum Q constraints are identical. Furthermore, it is shown that only the small magnetic loop antenna can be constructed to approach, arbitrarily closely, the fundamental minimum Q limit. This is achieved with the addition of a high permeability material which reduces energy stored in the magnetic fields. This is of special interest to some GPR applications. For example, applications requiring synthetic aperture data collection would benefit from the increased spatial sampling offered by electrically smaller antennas. Low frequency applications may also benefit, in terms of reduced antenna dimensions, by the use of electrically small antennas. Under these circumstances, a magnetic type antenna should be considered in preference to the typical electric field antenna. Numerical modeling data supports this assertion.