Search results for: Rasmus N. Jørgensen

Authors: Simon L. Madsen, Mads Dyrmann, Morten S. Laursen, Rasmus N. Jørgensen

Abstract:

Recent advances in the Unmanned Aerial System (UAS) safety and perception systems enable safe low altitude autonomous terrain following flights recently demonstrated by the consumer DJI Mavic PRO and Phamtom 4 Pro drones. This paper presents the first prototype system utilizing this functionality in form of semi-automated UAS based collection of crop/weed images where the embedded perception system ensures a significantly safer and faster gathering of weed images with sub-millimeter resolution. The system is to be used when the weeds are at cotyledon stage and prior to the harvest recognizing the grass weed species, which cannot be discriminated at the cotyledon stage.

Keywords: weed mapping, UAV, DJI SDK, automation, cotyledon plants

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Authors: Morten Stigaard Laursen, Rasmus Nyholm Jørgensen, Mads Dyrmann, Robert Poulsen

Abstract:

For the past three years, the Danish project, RoboWeedSupport, has sought to bridge the gap between the potential herbicide savings using a decision support system and the required weed inspections. In order to automate the weed inspections it is desired to generate a map of the weed species present within the field, to generate the map images must be captured with samples covering the field. This paper investigates the economical cost of performing this data collection based on a camera system mounted on a all-terain vehicle (ATV) able to drive and collect data at up to 50 km/h while still maintaining a image quality sufficient for identifying newly emerged grass weeds. The economical estimates are based on approximately 100 hectares recorded at three different locations in Denmark. With an average image density of 99 images per hectare the ATV had an capacity of 28 ha per hour, which is estimated to cost 6.6 EUR/ha. Alternatively relying on a boom solution for an existing tracktor it was estimated that a cost of 2.4 EUR/ha is obtainable under equal conditions.

Keywords: weed mapping, integrated weed management, weed recognition, image acquisition

Procedia PDF Downloads 201

Authors: Morten Stigaard Laursen, Rasmus Nyholm Jørgensen, Henrik Skov Midtiby, Anders Krogh Mortensen, Sanmohan Baby

Abstract:

This work contributes a statistical model and simulation framework yielding the best estimate possible for the potential herbicide reduction when using the MoDiCoVi algorithm all the while requiring a efficacy comparable to conventional spraying. In June 2013 a maize field located in Denmark were seeded. The field was divided into parcels which was assigned to one of two main groups: 1) Control, consisting of subgroups of no spray and full dose spraty; 2) MoDiCoVi algorithm subdivided into five different leaf cover thresholds for spray activation. In addition approximately 25% of the parcels were seeded with additional weeds perpendicular to the maize rows. In total 299 parcels were randomly assigned with the 28 different treatment combinations. In the statistical analysis, bootstrapping was used for balancing the number of replicates. The achieved potential herbicide savings was found to be 70% to 95% depending on the initial weed coverage. However additional field trials covering more seasons and locations are needed to verify the generalisation of these results. There is a potential for further herbicide savings as the time interval between the first and second spraying session was not long enough for the weeds to turn yellow, instead they only stagnated in growth.

Keywords: herbicide reduction, macrosprayer, weed crop discrimination, site-specific, sprayer boom

Procedia PDF Downloads 270

Authors: Troels Bo Jørgensen, Preben Hagh Strunge Holm, Henrik Gordon Petersen, Norbert Kruger

Abstract:

This paper presents a simulation framework for using machine learning techniques to determine robust robotic motions for handling deformable objects. The main focus is on applications in the meat sector, which mainly handle three-dimensional objects. In order to optimize the robotic handling, the robot motions have been parameterized in terms of grasp points, robot trajectory and robot speed. The motions are evaluated based on a dynamic simulation environment for robotic control of deformable objects. The evaluation indicates certain parameter setups, which produce robust motions in the simulated environment, and based on a visual analysis indicate satisfactory solutions for a real world system.

Keywords: deformable objects, robotic manipulation, simulation, real world system

Procedia PDF Downloads 252

Authors: Masoud Irannezhad, Sirpa Rasmus, Saghar Ahmadian, Deliang Chen, Bjorn Klove

Abstract:

Variability and changes in thermal conditions play a crucial role in functioning of human society, particularly over cold climate regions like Finland. Accordingly, the frost-free season (FFS) parameters in terms of start (FFSS), end (FFSE) and length (FFSL) have substantial effects not only on natural environment (e.g. flora and fauna), but also on human requirements (e.g. agriculture, forestry and energy generation). Applying the 0°C threshold of minimum temperature (Tmin), the FFS was defined as the period between the last spring frost as FFSS and the first fall frost as FFSE. For this study, gridded (10 x 10 km2) daily minimum temperature datasets throughout Finland during 1961-2011 was used to investigate recent spatio-temporal variations and trends in frost-free season (FFS) parameters and their relationships with the well-known large-scale climate teleconnections (CTs). The FFS in Finland naturally increases from north (~60 days) to south (~190 days), in association with earlier FFSS (~24 April) and later FFSE (~30 October). Statistically significant (p<0.05) trends in FFSL were all positive (increasing) ranged between 0 and 13.5 (days/decade) and mainly observed in the east, upper west, centre and upper north of Finland. Such lengthening trends in FFS were attributable to both earlier FFSS and later FFSE mostly over central and upper northern Finland, while only to later FFSE in eastern and upper western parts. Variations in both FFSL and FFSS were significantly associated with the Polar (POL) pattern over northern Finland, while with the East Atlantic (EA) pattern over eastern and upper western areas. However, the POL and Scandinavia (SCA) patterns were most influential CTs for FFSE variability over northern Finland.

Keywords: climate teleconnections, Finland, frost-free season, trend analysis

Procedia PDF Downloads 167

Authors: Stig H. Jørgensen, Trond Nordfjærn, Øyvind Teige Hedenstrøm, Torbjørn Rundmo

Abstract:

The aim of the paper is to estimate and forecast road traffic injuries in the coming 10-15 years given new targets in urban transport policy and shifts of mode of transport, including injury cross-effects of mode changes. The paper discusses possibilities and limitations in measuring and quantifying possible injury reductions. Injury data (killed and seriously injured road users) from six urban areas in Norway from 1998-2012 (N= 4709 casualties) form the basis for estimates of changing injury patterns. For the coming period calculation of number of injuries and injury rates by type of road user (categories of motorized versus non-motorized) by sex, age and type of road are made. A prognosticated population increase (25 %) in total population within 2025 in the six urban areas will curb the proceeded fall in injury figures. However, policy strategies and measures geared towards a stronger modal shift from use of private vehicles to safer public transport (bus, train) will modify this effect. On the other side will door to door transport (pedestrians on their way to/from public transport nodes) imply a higher exposure for pedestrians (bikers) converting from private vehicle use (including fall accidents not registered as traffic accidents). The overall effect is the sum of these modal shifts in the increasing urban population and in addition diminishing return to the majority of road safety countermeasures has also to be taken into account. The paper demonstrates how uncertainties in the various estimates (prediction factors) on increasing injuries as well as decreasing injury figures may partly offset each other. The paper discusses road safety policy and welfare consequences of transport mode shift, including reduced use of private vehicles, and further environmental impacts. In this regard, safety and environmental issues will as a rule concur. However pursuing environmental goals (e.g. improved air quality, reduced co2 emissions) encouraging more biking may generate more biking injuries. The study was given financial grants from the Norwegian Research Council’s Transport Safety Program.

Keywords: road injuries, forecasting, reduced private care use, urban, Norway

Procedia PDF Downloads 207