We present a new vision for smart objects and the Internet of Things wherein mobile robots interact with wirelessly-powered, long-range, ultra-high frequency radio frequency identification (UHF RFID) tags outfitted with sensing capabilities. We explore the technology innovations driving this vision by examining recently-commercialized sensor tags that could be affixed-to or embedded-in objects or the environment to yield true embodied intelligence. Using a pair of autonomous mobile robots outfitted with UHF RFID readers, we explore several potential applications where mobile robots interact with sensor tags to perform tasks such as: soil moisture sensing, remote crop monitoring, infrastructure monitoring, water quality monitoring, and remote sensor deployment.
In the context of agricultural sensing, remote crop monitoring (usually via camera imaging) has already proved useful @cite_19 , and it's even feasible to have UAVs obtain direct measurements for applications such as water quality monitoring @cite_16 . Inexpensive sensorized UHF RFID tags have the potential to augment or supplement existing remote-sensing systems to provide precise, direct measurements (eg. for calibration), and could even be used by existing farm equipment to opportunistically obtain relevant agricultural data. Direct sensing can make agricultural systems safer, more efficient, more accurate, and more productive @cite_17 @cite_21 . However, agricultural applications frequently involve large, expansive areas where wiring for communication and power is undesirable or impracticable. Wireless sensor networks have been used collect agriculture data by distributing sensors throughout a field, and transmitting information back to a base station @cite_12 , sometimes using more-advanced mesh networking techniques @cite_9 . These sensor networks have been shown to provide actionable data that can improve growing conditions and irrigation schedules @cite_13 , but they still suffer from battery and cost constraints. UHF RFID sensor tags are a compelling approach to provide direct measurements that enhance other remote sensing techniques.
@cite_9 @cite_21 @cite_19 @cite_16 @cite_13 @cite_12 @cite_17
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Abstract Precision agriculture (PA) utilizes tools and technologies to identify in-field soil and crop variability for improving farming practices and optimizing agronomic inputs. Traditionally, optical remote sensing (RS) that utilizes visible light and infrared regions of the electromagnetic spectrum has been used as an integral part of PA for crop and soil monitoring. Optical RS, however, is slow in differentiating stress levels in crops until visual symptoms become noticeable. Surface temperature is considered to be a rapid response variable that can indicate crop stresses prior to their visual symptoms. By measuring estimates of surface temperature, thermal RS has been found to be a promising tool for PA. Compared to optical RS, applications of thermal RS for PA have been limited. Until recently (i.e., before the advancement of low cost RS platforms such as unmanned aerial systems (UAVs)), the availability of high resolution thermal images was limited due to high acquisition costs. Given recent developments in UAVs, thermal images with high spatial and temporal resolutions have become available at a low cost, which has increased opportunities to understand in-field variability of crop and soil conditions useful for various agronomic decision-making. Before thermal RS is adopted as a routine tool for crop and environmental monitoring, there is a need to understand its current and potential applications as well as issues and concerns. This review focuses on current and potential applications of thermal RS in PA as well as some concerns relating to its application. The application areas of thermal RS in agriculture discussed here include irrigation scheduling, drought monitoring, crop disease detection, and mapping of soil properties, residues and tillage, field tiles, and crop maturity and yield. Some of the issues related to its application include spatial and temporal resolution, atmospheric conditions, and crop growth stages. Remote sensing by Unmanned Aerial Vehicles (UAVs) is changing the way agriculture operates by increasing the spatial-temporal resolution of data collection. Micro-UAVs have the potential to further improve and enrich the data collected by operating close to the crops, enabling the collection of higher spatio-temporal resolution data. In this paper, we present a UAV-mounted measurement system that utilizes a laser scanner to compute crop heights, a critical indicator of crop health. The system filters, transforms, and analyzes the cluttered range data in real-time to determine the distance to the ground and to the top of the crops. We assess the system in an indoor testbed and in a corn field. Our findings indicate that despite the dense canopy and highly variable sensor readings, we can precisely fly over crops and measure its height to within 5cm of measurements gathered using current measurement technology. In this paper we present a perception system for agriculture robotics that enables an unmanned ground vehicle (UGV) equipped with a multi spectral camera to automatically perform the crop weed detection and classification tasks in real-time. Our approach exploits a pipeline that includes two different convolutional neural networks (CNNs) applied to the input RGB+near infra-red (NIR) images. A lightweight CNN is used to perform a fast and robust, pixel-wise, binary image segmentation, in order to extract the pixels that represent projections of 3D points that belong to green vegetation. A deeper CNN is then used to classify the extracted pixels between the crop and weed classes. A further important contribution of this work is a novel unsupervised dataset summarization algorithm that automatically selects from a large dataset the most informative subsets that better describe the original one. This enables to streamline and speed-up the manual dataset labeling process, otherwise extremely time consuming, while preserving good classification performance. Experiments performed on different datasets taken from a real farm robot confirm the effectiveness of our approach. Addressing the challenges of feeding the burgeoning world population with limited resources requires innovation in sustainable, efficient farming. The practice of precision agriculture offers many benefits towards addressing these challenges, such as improved yield and efficient use of such resources as water, fertilizer and pesticides. We describe the design and development of a light-weight, multi-spectral 3D imaging device that can be used for automated monitoring in precision agriculture. The sensor suite consists of a laser range scanner, multi-spectral cameras, a thermal imaging camera, and navigational sensors. We present techniques to extract four key data products — plant morphology, canopy volume, leaf area index, and fruit counts — using the sensor suite. We demonstrate its use with two systems: multi-rotor micro aerial vehicles and on a human-carried, shoulder-mounted harness. We show results of field experiments conducted in collaboration with growers and agronomists in vineyards, apple orchards and orange groves. The Remote Sensing Technologies Center (RSTC) at Mississippi State University (MSU) is investigating the application of high-resolution imagery in the areas of precision agriculture, forest resource management, and environmental assessments of transportation systems. For precision agriculture, the focus of the research is to develop the expertise to utilize this imagery to facilitate management decisions at the farm level. Decision making at the farm level requires high spatial resolution imagery (on the order of 1 meter or less) in order to develop prescriptions for nutrient supplements, integrated pest management (insects, weeds), irrigation, and to serve as a harvesting aid. This degree of analysis of the plant and soil also requires that higher spectral resolution be available to ascertain the nuances in the target vegetation's reflectance and to be able to relate this to specific agricultural problems. In addition, decisions at the farm level must be made within a few days of onset of a problem. Therefore, revisit frequencies for precision agriculture are on the order of 10-14 days. The requirement for high spatial, spectral, and temporal resolution imagery creates special image processing and analysis challenges. These include-data management, geometric and radiometric corrections, ground control points and georeferencing, and data analysis via such approaches as data fusion. The purpose of this paper is twofold. First, to illustrate the diversity of high spatial, spectral, and temporal resolution imagery required for precision agriculture applications. Second, to offer the opportunity to other data fusion researchers to join the author of this paper in developing new data fusion techniques for high-resolution imagery. We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed near-field antennas enables our sensor to obtain spatial information from tags at ranges of less than 1 meter. In this work, we characterize the near-field sensor's ability to detect tagged objects in the robots manipulator, present robot behaviors to determine the identity of a grasped object, and investigate how additional RF signal properties can be used for “pre-touch” capabilities such as servoing to grasp an object. The future combination of long-range (far-field) and short-range (near-field) UHF RFID sensing has the potential to enable roboticists to jump-start applications by obviating or supplementing false-positive-prone visual object recognition. These techniques may be especially useful in the healthcare and service sectors, where mis-identification of an object (for example, a medication bottle) could have catastrophic consequences. Mobile wireless sensor networks have been extensively deployed for enhancing environmental monitoring and surveillance. The availability of low-cost mobile robots equipped with a variety of sensors makes them promising in target coverage tasks. They are particularly suitable where quick, inexpensive, or nonlasting visual sensing solutions are required. In this paper, we consider the problem of low complexity target tracking to cover and follow moving targets using flying robots. We tackle this problem by clustering targets while estimating the camera location and orientation for each cluster separately through a cover-set coverage method. We also leverage partial knowledge of target mobility to enhance the efficiency of our proposed algorithms. Three computationally efficient approaches are developed: predictive fuzzy , predictive incremental fuzzy , and local incremental fuzzy . The objective is to find a compromise among coverage efficiency, traveled distance, number of drones required, and complexity. The targets move according to one of the following three possible mobility patterns: random waypoint, Manhattan grid, and reference point group mobility patterns. The feasibility of our algorithms and their performance are also tested on a real-world indoor testbed called drone-be-gone , using Parrot AR.Drone quadcopters. The deployment confirms the results obtained with simulations and highlights the suitability of the proposed solutions for real-time applications. The development of microelectronics began in 1948 and continued with the miniaturisation of sensors during the last ten years. Today, microsystems which are used in silicon microtechnology are called microelectromechanical systems (MEMS). Microsensors are defined as very small sized devices that convert humidity, moisture, temperature, pressure, pollutants, light intensity, etc. into electrical signal. Integration of MEMS with the radio frequency wireless communication technique put forward low power consuming, cheap and communicating small devices called wireless sensor networks (WSN). WSN have spatially distributed transceivers with microsensors that give the possibility of monitoring and collecting data easily and quickly. Nowadays, these devices are used in many different application areas like home automation, forest fire monitoring, traffic control, noise and pollutant detection in the crowded areas. Classical definition of Geographic Information Systems (GIS), which is known by everybody is a computer based system that collects, stores, edits, analyses and displays spatial data. GIS is a powerful tool to access, analyse and evaluate large amounts of spatial data. The total time to get the results is a strategic part of the study. GIS is very efficient for reaching the correct conclusion in a fraction of time. WSN provides huge amount of data. If it would be possible to integrate the power of WSN with GIS, the data can be obtained in a very short time and the evaluation time can be decreased. In this study, integration of WSN with GIS is used for preparation of the soil moisture distribution map of the studied area. Wireless devices with moisture sensed sensors are located at predetermined locations. Geographic coordinates of these points are obtained with GPS. The sensed data is collected by using WSN and evaluated by using GIS. Finally, moisture distribution map of the soil is prepared. We claim that the irrigation of the soil can be done more efficiently by using this prepared map. Moreover, dry situation can be alarmed with this system and adaquate irrigation can be done just on time. In the following section, we briefly introduce wireless sensor networks. In Section 3, and Section 4 we describe the application of WSN for agricultural studies and the integration of WSN and GIS for agricultural fields, respectively. Finally, in Section 5, we conclude the paper with our recommendations. A prototype real-time, smart sensor array for measuring soil moisture and soil temperature that uses off-the-shelf components was developed and evaluated for scheduling irrigation in cotton. The array consists of a centrally located receiver connected to a laptop computer and multiple sensor nodes installed in the field. The sensor nodes consist of sensors (up to three Watermark^(R) soil moisture sensors and up to four thermocouples), a specially designed circuit board, and a Radio Frequency IDentification (RFID) tag which transmits data to the receiver. The smart sensor array described here offers real potential for reliably monitoring spatially variable soil water status in crop fields. The relatively low cost of the system ( USD 2400 for a 20-sensor node system) allows for installation of a dense population of soil moisture sensors that can adequately represent the inherent soil variability present in fields. This paper describes the smart sensor array and testing in a cotton crop. Integration of the sensors with precision irrigation technologies will provide a closed loop irrigation system where inputs from the smart sensor array will determine timing and amounts for real-time site-specific irrigation applications. Wireless sensor and actuator networks have been extensively deployed for enhancing industrial control processes and supply-chains, and many forms of surveillance and environmental monitoring. The availability of low-cost mobile robots equipped with a variety of sensors in addition to communication and computational capabilities makes them particularly promising in target coverage tasks for ad hoc surveillance, where quick, low-cost or non-lasting visual sensing solutions are required, e.g. in border protection and disaster recovery. In this paper, we consider the problem of low complexity placement and orientation of mobile cameras to cover arbitrary targets. We tackle this problem by clustering proximal targets, while calculating estimating the camera location direction for each cluster separately through our cover-set coverage method. Our proposed solutions provide extremely computationally efficient heuristics with only a small increase in number of cameras used, and a small decrease in number of covered targets. Unmanned aerial vehicles (UAVs) have the potential to significantly impact early detection and monitoring of plant diseases. In this paper, we present preliminary work in developing a UAV-mounted sensor suite for detection of citrus greening disease, a major threat to Florida citrus production. We propose a depth-invariant sensing methodology for measuring reflectance of polarized amber light, a metric which has been found to measure starch accumulation in greening-infected leaves. We describe the implications of adding depth information to this method, including the use of machine learning models to discriminate between healthy and infected leaves with validation accuracies up to 93 . Additionally, we discuss stipulations and challenges of use of the system with UAV platforms. This sensing system has the potential to allow for rapid scanning of groves to determine the spread of the disease, especially in areas where infection is still in early stages, including citrus farms in California. Although presented in the context of citrus greening disease, the methods can be applied to a variety of plant pathology studies, enabling timely monitoring of plant health—impacting scientists, growers, and policymakers. Agricultural robots are expected to increase yields in a sustainable way and automate precision tasks, such as weeding and plant monitoring. At the same time, they move in a continuously changing, semi-structured field environment, in which features can hardly be found and reproduced at a later time. Challenges for Lidar and visual detection systems stem from the fact that plants can be very small, overlapping and have a steadily changing appearance. Therefore, a popular way to localize vehicles with high accuracy is based on ex- pensive global navigation satellite systems and not on natural landmarks. The contribution of this work is a novel image- based plant localization technique that uses the time-invariant stem emerging point as a reference. Our approach is based on a fully convolutional neural network that learns landmark localization from RGB and NIR image input in an end-to-end manner. The network performs pose regression to generate a plant location likelihood map. Our approach allows us to cope with visual variances of plants both for different species and different growth stages. We achieve high localization accuracies as shown in detailed evaluations of a sugar beet cultivation phase. In experiments with our BoniRob we demonstrate that detections can be robustly reproduced with centimeter accuracy. In recent years, there has been an increasing interest within the robotics community in investigating whether Radio Frequency Identification (RFID) technology can be utilized to solve localization and mapping problems in the context of mobile robots. We present a novel sensor model which can be utilized for localizing RFID tags and for tracking a mobile agent moving through an RFID-equipped environment. The proposed probabilistic sensor model characterizes the received signal strength indication (RSSI) information as well as the tag detection events to achieve a higher modeling accuracy compared to state-of-the-art models which deal with one of these aspects only. We furthermore propose a method that is able to bootstrap such a sensor model in a fully unsupervised fashion. Real-world experiments demonstrate the effectiveness of our approach also in comparison to existing techniques. Efficient water management is a major concern in many cropping systems in semiarid and arid areas. Distributed in-field sensor-based irrigation systemsoffer a potential solution to support site-specific irrigation management that allows producers to maximize their productivity while saving water. This paper describes details of the design and instrumentation of variable rate irrigation, a wireless sensor network, and software for real-time in-field sensing and control of a site-specific precision linear-move irrigation system. Field conditions were site-specifically monitored by six in-field sensor stations distributed across the field based on a soil property map, and periodically sampled and wirelessly transmitted to a base station. An irrigation machine was converted to be electronically controlled by a programming logic controller that updates georeferenced location of sprinklers from a differential Global Positioning System (GPS) and wirelessly communicates with a computer at the base station. Communication signals from the sensor network and irrigation controller to the base station were successfully interfaced using low-cost Bluetooth wireless radio communication. Graphic user interface-based software developed in this paper offered stable remote access to field conditions and real-time control and monitoring of the variable-rate irrigation controller. Recent advancements in manufacturing low-cost wireless battery operated cameras has made their application in Wireless Video Sensor Networks (WVSN) increasingly more feasible and affordable. The application of robotic sensing agents equipped with cameras in WVSNs, seems particularly promising in performing coverage tasks for ad hoc surveillance. Their application in this context can be specifically useful for surveying areas with little to no available or affordable infrastructure, or where quick deployment is necessary. In this paper, we address the target coverage problem for finding the minimum number of cameras, their placement, and orientation to cover arbitrarily located targets in an area of interest. We propose a computationally light-weight heuristic, where the number of used mobile cameras is close to those found by near-optimal algorithms. Specifically, we address this problem for non-uniform target distributions that naturally form clusters. Having light-weight heuristics will be particularly useful when the application is required to adapt to target mobility and or is implemented in embedded systems. Our simulation study shows that when clusters are sufficiently separated, the required number of cameras found by our proposed method is very close to those acquired by the near-optimal algorithm, whereas the computational complexity of our algorithm is about ten times less. We also deploy our algorithm on a drone testbed using off-the-shelf components to verify its feasibility. Low resolution satellite imagery has been extensively used for crop monitoring and yield forecasting for over 30 years and plays an important role in a growing number of operational systems. The combination of their high temporal frequency with their extended geographical coverage generally associated with low costs per area unit makes these images a convenient choice at both national and regional scales. Several qualitative and quantitative approaches can be clearly distinguished, going from the use of low resolution satellite imagery as the main predictor of final crop yield to complex crop growth models where remote sensing-derived indicators play different roles, depending on the nature of the model and on the availability of data measured on the ground. Vegetation performance anomaly detection with low resolution images continues to be a fundamental component of early warning and drought monitoring systems at the regional scale. For applications at more detailed scales, the limitations created by the mixed nature of low resolution pixels are being progressively reduced by the higher resolution offered by new sensors, while the continuity of existing systems remains crucial for ensuring the Current techniques for cyclone detection and tracking employ NCEP (National Centers for Environmental Prediction) models from in-situ measurements. This solution does not provide true global coverage, unlike remote satellite observations. However it is impractical to use a single Earth orbiting satellite to detect and track events such as cyclones in a continuous manner due to limited spatial and temporal coverage. One solution to alleviate such persistent problems is to utilize heterogeneous sensor data from multiple orbiting satellites. However, this solution requires overcoming other new challenges such as varying spatial and temporal resolution between satellite sensor data, the need to establish correspondence between features from different satellite sensors, and the lack of definitive indicators for cyclone events in some sensor data. We describe an automated cyclone discovery and tracking approach using heterogeneous near real-time sensor data from multiple satellites. This approach addresses the unique challenges associated with knowledge discovery and mining from heterogeneous satellite data streams. We consider two remote sensor measurements in our current implementation, namely: QuikSCAT wind satellite measurements, and merged precipitation data from TRMM and other satellites. More satellites will be incorporated in the near future and our solution is sufficiently powerful that it generalizes to multiple sensor measurement modalities. Our approach consists of three main components: (i) feature extraction from each sensor measurement, (ii) an ensemble classifier for cyclone discovery, and (iii) knowledge sharing between the different remote sensor measurements based on a linear Kalman filter for predictive cyclone tracking. Experimental results on historical hurricane datasets demonstrate the superior performance of our approach compared to previous work. Wireless sensor networks can revolutionize soil ecology by providing measurements at temporal and spatial granularities previously impossible. This paper presents an experimental soil monitoring network that we developed and deployed in a Baltimore urban forest as a first step towards realizing this vision. Each network node measures soil moisture and temperature every minute and stores the measurements in local memory. Raw measurements are periodically retrieved by a sensor gateway and inserted to a database in which a calibrated version is also derived and stored. At a high level, this was a successful test deployment exposing high level variations of soil factors. However, we encountered a number of challenging technical problems: need for low-level programming at multiple levels, calibration across space and time, and cross-reference of measurements with external sources. These problems must be addressed before sensor networks can fulfill their potential as experimental instruments that can be deployed by scientists without major effort or cost. Automatic multi-class object detection in remote sensing images in unconstrained scenarios is of high interest for several applications including traffic monitoring and disaster management. The huge variation in object scale, orientation, category, and complex backgrounds, as well as the different camera sensors pose great challenges for current algorithms. In this work, we propose a new method consisting of a novel joint image cascade and feature pyramid network with multi-size convolution kernels to extract multi-scale strong and weak semantic features. These features are fed into rotation-based region proposal and region of interest networks to produce object detections. Finally, rotational non-maximum suppression is applied to remove redundant detections. During training, we minimize joint horizontal and oriented bounding box loss functions, as well as a novel loss that enforces oriented boxes to be rectangular. Our method achieves 68.16 mAP on horizontal and 72.45 mAP on oriented bounding box detection tasks on the challenging DOTA dataset, outperforming all published methods by a large margin (+6 and +12 absolute improvement, respectively). Furthermore, it generalizes to two other datasets, NWPU VHR-10 and UCAS-AOD, and achieves competitive results with the baselines even when trained on DOTA. Our method can be deployed in multi-class object detection applications, regardless of the image and object scales and orientations, making it a great choice for unconstrained aerial and satellite imagery. Agricultural management increasingly uses crop maps based on classification of remotely sensed data. However, classification errors can translate to errors in model outputs, for instance agricultural production monitoring (yield, water demand) or crop acreage calculation. Hence, knowledge on the spatial variability of the classier performance is important information for the user. But this is not provided by traditional assessments of accuracy, which are based on the confusion matrix. In this study, classification uncertainty was analyzed, based on the support vector machines (SVM) algorithm. SVM was applied to multi-spectral time series data of RapidEye from different agricultural landscapes and years. Entropy was calculated as a measure of classification uncertainty, based on the per-object class membership estimations from the SVM algorithm. Permuting all possible combinations of available images allowed investigating the impact of the image acquisition frequency and timing, respectively, on the classification uncertainty. Results show that multi-temporal datasets decrease classification uncertainty for different crops compared to single data sets, but there was no “one-image-combination-fits-all” solution. The number and acquisition timing of the images, for which a decrease in uncertainty could be realized, proved to be specific to a given landscape, and for each crop they differed across different landscapes. For some crops, an increase of uncertainty was observed when increasing the quantity of images, even if classification accuracy was improved. Random forest regression was employed to investigate the impact of different explanatory variables on the observed spatial pattern of classification uncertainty. It was strongly influenced by factors related with the agricultural management and training sample density. Lower uncertainties were revealed for fields close to rivers or irrigation canals. This study demonstrates that classification uncertainty estimates by the SVM algorithm provide a valuable addition to traditional accuracy assessments. This allows analyzing spatial variations of the classifier performance in maps and also differences in classification uncertainty within the growing season and between crop types, respectively.