Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy

With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to reduce costs, human workload, and required resources. Nevertheless, achieving sufficient autonomous navigation capabilities requires the simultaneous cooperation of different processes; localization, mapping, and path planning are just some of the steps that aim at providing to the machine the right set of skills to operate in semi-structured and unstructured environments. In this context, this study presents a low-cost local motion planner for autonomous navigation in vineyards based only on an RGB-D camera, low range hardware, and a dual layer control algorithm. The first algorithm exploits the disparity map and its depth representation to generate a proportional control for the robotic platform. Concurrently, a second back-up algorithm, based on representations learning and resilient to illumination variations, can take control of the machine in case of a momentaneous failure of the first block. Moreover, due to the double nature of the system, after initial training of the deep learning model with an initial dataset, the strict synergy between the two algorithms opens the possibility of exploiting new automatically labeled data, coming from the field, to extend the existing model knowledge. The machine learning algorithm has been trained and tested, using transfer learning, with acquired images during different field surveys in the North region of Italy and then optimized for on-device inference with model pruning and quantization. Finally, the overall system has been validated with a customized robot platform in the relevant environment

Long-term monitoring of geodynamic surface deformation using SAR interferometry

Thesis (Ph.D.) University of Alaska Fairbanks, 2014Synthetic Aperture Radar Interferometry (InSAR) is a powerful tool to measure surface deformation and is well suited for surveying active volcanoes using historical and existing satellites. However, the value and applicability of InSAR for geodynamic monitoring problems is limited by the influence of temporal decorrelation and electromagnetic path delay variations in the atmosphere, both of which reduce the sensitivity and accuracy of the technique. The aim of this PhD thesis research is: how to optimize the quantity and quality of deformation signals extracted from InSAR stacks that contain only a low number of images in order to facilitate volcano monitoring and the study of their geophysical signatures. In particular, the focus is on methods of mitigating atmospheric artifacts in interferograms by combining time-series InSAR techniques and external atmospheric delay maps derived by Numerical Weather Prediction (NWP) models. In the first chapter of the thesis, the potential of the NWP Weather Research & Forecasting (WRF) model for InSAR data correction has been studied extensively. Forecasted atmospheric delays derived from operational High Resolution Rapid Refresh for the Alaska region (HRRRAK) products have been compared to radiosonding measurements in the first chapter. The result suggests that the HRRR-AK operational products are a good data source for correcting atmospheric delays in spaceborne geodetic radar observations, if the geophysical signal to be observed is larger than 20 mm. In the second chapter, an advanced method for integrating NWP products into the time series InSAR workflow is developed. The efficiency of the algorithm is tested via simulated data experiments, which demonstrate the method outperforms other more conventional methods. In Chapter 3, a geophysical case study is performed by applying the developed algorithm to the active volcanoes of Unimak Island Alaska (Westdahl, Fisher and Shishaldin) for long term volcano deformation monitoring. The volcano source location at Westdahl is determined to be approx. 7 km below sea level and approx. 3.5 km north of the Westdahl peak. This study demonstrates that Fisher caldera has had continuous subsidence over more than 10 years and there is no evident deformation signal around Shishaldin peak.Chapter 1. Performance of the High Resolution Atmospheric Model HRRR-AK for Correcting Geodetic Observations from Spaceborne Radars -- Chapter 2. Robust atmospheric filtering of InSAR data based on numerical weather prediction models -- Chapter 3. Subtle motion long term monitoring of Unimak Island from 2003 to 2010 by advanced time series SAR interferometry -- Chapter 4. Conclusion and future work

Design and construction of the MicroBooNE Cosmic Ray Tagger system

The MicroBooNE detector utilizes a liquid argon time projection chamber (LArTPC) with an 85 t active mass to study neutrino interactions along the Booster Neutrino Beam (BNB) at Fermilab. With a deployment location near ground level, the detector records many cosmic muon tracks in each beam-related detector trigger that can be misidentified as signals of interest. To reduce these cosmogenic backgrounds, we have designed and constructed a TPC-external Cosmic Ray Tagger (CRT). This sub-system was developed by the Laboratory for High Energy Physics (LHEP), Albert Einstein center for fundamental physics, University of Bern. The system utilizes plastic scintillation modules to provide precise time and position information for TPC-traversing particles. Successful matching of TPC tracks and CRT data will allow us to reduce cosmogenic background and better characterize the light collection system and LArTPC data using cosmic muons. In this paper we describe the design and installation of the MicroBooNE CRT system and provide an overview of a series of tests done to verify the proper operation of the system and its components during installation, commissioning, and physics data-taking

Guidance for benthic habitat mapping: an aerial photographic approach

This document, Guidance for Benthic Habitat Mapping: An Aerial Photographic Approach, describes proven technology that can be applied in an operational manner by state-level scientists and resource managers. This information is based on the experience gained by NOAA Coastal Services Center staff and state-level cooperators in the production of a series of benthic habitat data sets in Delaware, Florida, Maine, Massachusetts, New York, Rhode Island, the Virgin Islands, and Washington, as well as during Center-sponsored workshops on coral remote sensing and seagrass and aquatic habitat assessment. (PDF contains 39 pages) The original benthic habitat document, NOAA Coastal Change Analysis Program (C-CAP): Guidance for Regional Implementation (Dobson et al.), was published by the Department of Commerce in 1995. That document summarized procedures that were to be used by scientists throughout the United States to develop consistent and reliable coastal land cover and benthic habitat information. Advances in technology and new methodologies for generating these data created the need for this updated report, which builds upon the foundation of its predecessor

Commercial Applications Multispectral Sensor System

NASA's Office of Commercial Programs is funding a multispectral sensor system to be used in the development of remote sensing applications. The Airborne Terrestrial Applications Sensor (ATLAS) is designed to provide versatility in acquiring spectral and spatial information. The ATLAS system will be a test bed for the development of specifications for airborne and spaceborne remote sensing instrumentation for dedicated applications. This objective requires spectral coverage from the visible through thermal infrared wavelengths, variable spatial resolution from 2-25 meters; high geometric and geo-location accuracy; on-board radiometric calibration; digital recording; and optimized performance for minimized cost, size, and weight. ATLAS is scheduled to be available in 3rd quarter 1992 for acquisition of data for applications such as environmental monitoring, facilities management, geographic information systems data base development, and mineral exploration

Application of advanced technology to space automation

Automated operations in space provide the key to optimized mission design and data acquisition at minimum cost for the future. The results of this study strongly accentuate this statement and should provide further incentive for immediate development of specific automtion technology as defined herein. Essential automation technology requirements were identified for future programs. The study was undertaken to address the future role of automation in the space program, the potential benefits to be derived, and the technology efforts that should be directed toward obtaining these benefits

Reconstruction of the gravitational wave signal h(t)h(t) during the Virgo science runs and independent validation with a photon calibrator

The Virgo detector is a kilometer-scale interferometer for gravitational wave detection located near Pisa (Italy). About 13 months of data were accumulated during four science runs (VSR1, VSR2, VSR3 and VSR4) between May 2007 and September 2011, with increasing sensitivity. In this paper, the method used to reconstruct, in the range 10 Hz-10 kHz, the gravitational wave strain time series $h(t)$ from the detector signals is described. The standard consistency checks of the reconstruction are discussed and used to estimate the systematic uncertainties of the $h(t)$ signal as a function of frequency. Finally, an independent setup, the photon calibrator, is described and used to validate the reconstructed $h(t)$ signal and the associated uncertainties. The uncertainties of the $h(t)$ time series are estimated to be 8% in amplitude. The uncertainty of the phase of $h(t)$ is 50 mrad at 10 Hz with a frequency dependence following a delay of 8 $\mu$s at high frequency. A bias lower than $4\,\mathrm{\mu s}$ and depending on the sky direction of the GW is also present.Comment: 35 pages, 16 figures. Accepted by CQ

Coseismic surface deformation from air photos: The Kickapoo step over in the 1992 Landers rupture

Coseismic deformation of the ground can be measured from aerial views taken before and after an earthquake. We chose the area of the Kickapoo-Landers step over along the 1992 Landers earthquake zone, using air photos (scale 1:40,000) scanned at 0.4 m resolution. Two photos acquired after the earthquake are used to assess the accuracy and to evaluate various sources of noise. Optical distortions, film deformation, scanning errors, or errors in viewing parameters can yield metric bias at wavelength larger than 1 km. Offset field at shorter wavelength is more reliable and mainly affected by temporal decorrelation of the images induced by changes in radiometry with time. Temporal decorrelation and resulting uncertainty on offsets are estimated locally from the correlation degree between the images. Relative surface displacements are measured independently every about 15 m and with uncertainty typically below 10 cm (RMS). The offset field reveals most of the surface ruptures mapped in the field. The fault slip is accurate to about 7 cm (RMS) and measured independently every 200 m from stacked profiles. Slip distribution compares well with field measurements at the kilometric scale but reveals local discrepancies suggesting that deformation is generally, although not systematically, localized on the major fault zone located in the field. This type of data can provide useful insight into the fault zone's mechanical properties. Our measurements indicate that elastic coseismic strain near the fault zone can be as large as 0.5 × 10^(−3), while anelastic yielding was attained for strain in excess of about 1–2 × 10^(−3)