Evolutionary Optimization Techniques for 3D Simultaneous Localization and Mapping

Mención Internacional en el título de doctorMobile robots are growing up in applications to move through indoors and outdoors environments, passing from teleoperated applications to autonomous applications like exploring or navigating. For a robot to move through a particular location, it needs to gather information about the scenario using sensors. These sensors allow the robot to observe, depending on the sensor data type. Cameras mostly give information in two dimensions, with colors and pixels representing an image. Range sensors give distances from the robot to obstacles. Depth Cameras mix both technologies to expand their information to three-dimensional information. Light Detection and Ranging (LiDAR) provides information about the distance to the sensor but expands its range to planes and three dimensions alongside precision. So, mobile robots use those sensors to scan the scenario while moving. If the robot already has a map, the sensors measure, and the robot finds features that correspond to features on the map to localize itself. Men have used Maps as a specialized form of representing the environment for more than 5000 years, becoming a piece of important information in today’s daily basics. Maps are used to navigate from one place to another, localize something inside some boundaries, or as a form of documentation of essential features. So naturally, an intuitive way of making an autonomous mobile robot is to implement geometrical information maps to represent the environment. On the other hand, if the robot does not have a previous map, it should build it while moving around. The robot computes the sensor information with the odometer sensor information to achieve this task. However, sensors have their own flaws due to precision, calibration, or accuracy. Furthermore, moving a robot has its physical constraints and faults that may occur randomly, like wheel drifting or mechanical miscalibration that may make the odometers fail in the measurement, causing misalignment during the map building. A novel technique was presented in the mid-90s to solve this problem and overpass the uncertainty of sensors while the robot is building the map, the Simultaneous Localization and Mapping algorithm (SLAM). Its goal is to build a map while the robot’s position is corrected based on the information of two or more consecutive scans matched together or find the rigid registration vector between them. This algorithm has been broadly studied and developed for almost 25 years. Nonetheless, it is highly relevant in innovations, modifications, and adaptations due to the advances in new sensors and the complexity of the scenarios in emerging mobile robotics applications. The scan matching algorithm aims to find a pose vector representing the transformation or movement between two robot observations by finding the best possible value after solving an equation representing a good transformation. It means searching for a solution in an optimum way. Typically this optimization process has been solved using classical optimization algorithms, like Newton’s algorithm or solving gradient and second derivatives formulations, yet this requires an initial guess or initial state that helps the algorithm point in the right direction, most of the time by getting this information from the odometers or inertial sensors. Although, it is not always possible to have or trust this information, as some scenarios are complex and reckon sensors fail. In order to solve this problem, this research presents the uses of evolutionary optimization algorithms, those with a meta-heuristics definition based on iterative evolution that mimics optimization processes that do not need previous information to search a limited range for solutions to solve a fitness function. The main goal of this dissertation is to study, develop and prove the benefits of evolutionary optimization algorithms in simultaneous localization and mapping for mobile robots in six degrees of freedom scenarios using LiDAR sensor information. This work introduces several evolutionary algorithms for scan matching, acknowledge a mixed fitness function for registration, solve simultaneous localization and matching in different scenarios, implements loop closure and error relaxation, and proves its performance at indoors, outdoors and underground mapping applications.Los robots móviles están creciendo en aplicaciones para moverse por entornos interiores y exteriores, pasando de aplicaciones teleoperadas a aplicaciones autónomas como explorar o navegar. Para que un robot se mueva a través de una ubicación en particular, necesita recopilar información sobre el escenario utilizando sensores. Estos sensores permiten que el robot observe, según el tipo de datos del sensor. Las cámaras en su mayoría brindan información en dos dimensiones, con colores y píxeles que representan una imagen. Los sensores de rango dan distancias desde el robot hasta los obstáculos. Las Cámaras de Profundidad mezclan ambas tecnologías para expandir su información a información tridimensional. Light Detection and Ranging (LiDAR) proporciona información sobre la distancia al sensor, pero amplía su rango a planos y tres dimensiones así como mejora la precisión. Por lo tanto, los robots móviles usan esos sensores para escanear el escenario mientras se mueven. Si el robot ya tiene un mapa, los sensores miden y el robot encuentra características que corresponden a características en dicho mapa para localizarse. La humanidad ha utilizado los mapas como una forma especializada de representar el medio ambiente durante más de 5000 años, convirtiéndose en una pieza de información importante en los usos básicos diarios de hoy en día. Los mapas se utilizan para navegar de un lugar a otro, localizar algo dentro de algunos límites o como una forma de documentación de características esenciales. Entonces, naturalmente, una forma intuitiva de hacer un robot móvil autónomo es implementar mapas de información geométrica para representar el entorno. Por otro lado, si el robot no tiene un mapa previo, deberá construirlo mientras se desplaza. El robot junta la información del sensor de distancias con la información del sensor del odómetro para lograr esta tarea de crear un mapa. Sin embargo, los sensores tienen sus propios defectos debido a la precisión, la calibración o la exactitud. Además, mover un robot tiene sus limitaciones físicas y fallas que pueden ocurrir aleatoriamente, como el desvío de las ruedas o una mala calibración mecánica que puede hacer que los contadores de desplazamiento fallen en la medición, lo que provoca una desalineación durante la construcción del mapa. A mediados de los años 90 se presentó una técnica novedosa para resolver este problema y superar la incertidumbre de los sensores mientras el robot construye el mapa, el algoritmo de localización y mapeo simultáneos (SLAM). Su objetivo es construir un mapa mientras se corrige la posición del robot en base a la información de dos o más escaneos consecutivos emparejados o encontrar el vector de correspondencia entre ellos. Este algoritmo ha sido ampliamente estudiado y desarrollado durante casi 25 años. No obstante, es muy relevante en innovaciones, modificaciones y adaptaciones debido a los avances en sensores y la complejidad de los escenarios en las aplicaciones emergentes de robótica móvil. El algoritmo de correspondencia de escaneo tiene como objetivo encontrar un vector de pose que represente la transformación o el movimiento entre dos observaciones del robot al encontrar el mejor valor posible después de resolver una ecuación que represente una buena transformación. Significa buscar una solución de forma óptima. Por lo general, este proceso de optimización se ha resuelto utilizando algoritmos de optimización clásicos, como el algoritmo de Newton o la resolución de formulaciones de gradientes y segundas derivadas, pero esto requiere una conjetura inicial o un estado inicial que ayude al algoritmo a apuntar en la dirección correcta, la mayoría de las veces obteniendo esta información de los sensores odometricos o sensores de inercia, aunque no siempre es posible tener o confiar en esta información, ya que algunos escenarios son complejos y los sensores fallan. Para resolver este problema, esta investigación presenta los usos de los algoritmos de optimización evolutiva, aquellos con una definición meta-heurística basada en la evolución iterativa que imita los procesos de optimización que no necesitan información previa para buscar dentro de un rango limitado el grupo de soluciones que resuelve una función de calidad. El objetivo principal de esta tesis es estudiar, desarrollar y probar los usos de algoritmos de optimización evolutiva en localización y mapeado simultáneos para robots móviles en escenarios de seis grados de libertad utilizando información de sensores LiDAR. Este trabajo introduce varios algoritmos evolutivos que resuelven la correspondencia entre medidas, soluciona el problema de SLAM, implementa una fusion de funciones objetivos y demuestra sus ventajas con pruebas en escenarios reales tanto en interiores, exteriores como mapeado de escenarios subterraneos.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Gerardo Fernández López.- Secretario: María Dolores Blanco Rojas.- Vocal: David Álvarez Sánche

Global Localization based on Evolutionary Optimization Algorithms for Indoor and Underground Environments

Mención Internacional en el título de doctorA fully autonomous robot is defined by its capability to sense, understand and move within the environment to perform a specific task. These qualities are included within the concept of navigation. However, among them, a basic transcendent one is localization, the capacity of the system to know its position regarding its surroundings. Therefore, the localization issue could be defined as searching the robot’s coordinates and rotation angles within a known environment. In this thesis, the particular case of Global Localization is addressed, when no information about the initial position is known, and the robot relies only on its sensors. This work aims to develop several tools that allow the system to locate in the two most usual geometric map representations: occupancy maps and Point Clouds. The former divides the dimensional space into equally-sized cells coded with a binary value distinguishing between free and occupied space. Point Clouds define obstacles and environment features as a sparse set of points in the space, commonly measured through a laser sensor. In this work, various algorithms are presented to search for that position through laser measurements only, in contrast with more usual methods that combine external information with motion information of the robot, odometry. Therefore, the system is capable of finding its own position in indoor environments, with no necessity of external positioning and without the influence of the uncertainty that motion sensors typically induce. Our solution is addressed by implementing various stochastic optimization algorithms or Meta-heuristics, specifically those bio-inspired or commonly known as Evolutionary Algorithms. Inspired by natural phenomena, these algorithms are based on the evolution of a series of particles or population members towards a solution through the optimization of a cost or fitness function that defines the problem. The implemented algorithms are Differential Evolution, Particle Swarm Optimization, and Invasive Weed Optimization, which try to mimic the behavior of evolution through mutation, the movement of swarms or flocks of animals, and the colonizing behavior of invasive species of plants respectively. The different implementations address the necessity to parameterize these algorithms for a wide search space as a complete three-dimensional map, with exploratory behavior and the convergence conditions that terminate the search. The process is a recursive optimum estimation search, so the solution is unknown. These implementations address the optimum localization search procedure by comparing the laser measurements from the real position with the one obtained from each candidate particle in the known map. The cost function evaluates this similarity between real and estimated measurements and, therefore, is the function that defines the problem to optimize. The common approach in localization or mapping using laser sensors is to establish the mean square error or the absolute error between laser measurements as an optimization function. In this work, a different perspective is introduced by benefiting from statistical distance or divergences, utilized to describe the similarity between probability distributions. By modeling the laser sensor as a probability distribution over the measured distance, the algorithm can benefit from the asymmetries provided by these divergences to favor or penalize different situations. Hence, how the laser scans differ and not only how much can be evaluated. The results obtained in different maps, simulated and real, prove that the Global Localization issue is successfully solved through these methods, both in position and orientation. The implementation of divergence-based weighted cost functions provides great robustness and accuracy to the localization filters and optimal response before different sources and noise levels from sensor measurements, the environment, or the presence of obstacles that are not registered in the map.Lo que define a un robot completamente autónomo es su capacidad para percibir el entorno, comprenderlo y poder desplazarse en ´el para realizar las tareas encomendadas. Estas cualidades se engloban dentro del concepto de la navegación, pero entre todas ellas la más básica y de la que dependen en buena parte el resto es la localización, la capacidad del sistema de conocer su posición respecto al entorno que lo rodea. De esta forma el problema de la localización se podría definir como la búsqueda de las coordenadas de posición y los ángulos de orientación de un robot móvil dentro de un entorno conocido. En esta tesis se aborda el caso particular de la localización global, cuando no existe información inicial alguna y el sistema depende únicamente de sus sensores. El objetivo de este trabajo es el desarrollo de varias herramientas que permitan que el sistema encuentre la localización en la que se encuentra respecto a los dos tipos de mapa más comúnmente utilizados para representar el entorno: los mapas de ocupación y las nubes de puntos. Los primeros subdividen el espacio en celdas de igual tamaño cuyo valor se define de forma binaria entre espacio libre y ocupado. Las nubes de puntos definen los obstáculos como una serie dispersa de puntos en el espacio comúnmente medidos a través de un láser. En este trabajo se presentan varios algoritmos para la búsqueda de esa posición utilizando únicamente las medidas de este sensor láser, en contraste con los métodos más habituales que combinan información externa con información propia del movimiento del robot, la odometría. De esta forma el sistema es capaz de encontrar su posición en entornos interiores sin depender de posicionamiento externo y sin verse influenciado por la deriva típica que inducen los sensores de movimiento. La solución se afronta mediante la implementación de varios tipos de algoritmos estocásticos de optimización o Meta-heurísticas, en concreto entre los denominados bio-inspirados o comúnmente conocidos como Algoritmos Evolutivos. Estos algoritmos, inspirados en varios fenómenos de la naturaleza, se basan en la evolución de una serie de partículas o población hacia una solución en base a la optimización de una función de coste que define el problema. Los algoritmos implementados en este trabajo son Differential Evolution, Particle Swarm Optimization e Invasive Weed Optimization, que tratan de imitar el comportamiento de la evolución por mutación, el movimiento de enjambres o bandas de animales y la colonización por parte de especies invasivas de plantas respectivamente. Las distintas implementaciones abordan la necesidad de parametrizar estos algoritmos para un espacio de búsqueda muy amplio como es un mapa completo, con la necesidad de que su comportamiento sea muy exploratorio, así como las condiciones de convergencia que definen el fin de la búsqueda ya que al ser un proceso recursivo de estimación la solución no es conocida. Estos algoritmos plantean la forma de buscar la localización ´optima del robot mediante la comparación de las medidas del láser en la posición real con lo esperado en la posición de cada una de esas partículas teniendo en cuenta el mapa conocido. La función de coste evalúa esa semejanza entre las medidas reales y estimadas y por tanto, es la función que define el problema. Las funciones típicamente utilizadas tanto en mapeado como localización mediante el uso de sensores láser de distancia son el error cuadrático medio o el error absoluto entre distancia estimada y real. En este trabajo se presenta una perspectiva diferente, aprovechando las distancias estadísticas o divergencias, utilizadas para establecer la semejanza entre distribuciones probabilísticas. Modelando el sensor como una distribución de probabilidad entorno a la medida aportada por el láser, se puede aprovechar la asimetría de esas divergencias para favorecer o penalizar distintas situaciones. De esta forma se evalúa como difieren las medias y no solo cuanto. Los resultados obtenidos en distintos mapas tanto simulados como reales demuestran que el problema de la localización se resuelve con éxito mediante estos métodos tanto respecto al error de estimación de la posición como de la orientación del robot. El uso de las divergencias y su implementación en una función de coste ponderada proporciona gran robustez y precisión al filtro de localización y gran respuesta ante diferentes fuentes y niveles de ruido, tanto de la propia medida del sensor, del ambiente y de obstáculos no modelados en el mapa del entorno.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Fabio Bonsignorio.- Secretario: María Dolores Blanco Rojas.- Vocal: Alberto Brunete Gonzále

A water flow algorithm for optimization problems

Ph.DDOCTOR OF PHILOSOPH

Invasive elodea threatens remote ecosystem services in Alaska: a spatially-explicit bioeconomic risk analysis

Thesis (Ph.D.) University of Alaska Fairbanks, 2017This dissertation links human and ecological systems research to analyze resource management decisions for elodea, Alaska's first submerged aquatic invasive plant. The plant likely made it to Alaska through the aquarium trade. It was first discovered in urban parts of the state but is being introduced to remote water bodies by floatplanes and other pathways. Once introduced, elodea changes freshwater systems in ways that can threaten salmon and make floatplane destinations inaccessible. The analysis integrates multiple social and ecological data to estimate the potential future economic loss associated with its introduction to salmon fisheries and floatplane pilots. For estimating the effects on commercial sockeye fisheries, multiple methods of expert elicitation are used to quantify and validate expert opinion about elodea's ecological effects on salmon. These effects are believed to most likely be negative, but can in some instances be positive. Combined with market-based economic valuation, the approach accounts for the full range of potential ecological and economic effects. For analyzing the lost trip values to floatplane pilots, the analysis uses contingent valuation to estimate recreation demand for landing spots. A spatially-explicit model consisting of seven regions simulates elodea's spread across Alaska and its erratic population dynamics. This simulation model accounts for the change in region-specific colonization rates as elodea populations are eradicated. The most probable economic loss to commercial fisheries and recreational floatplane pilots is $97 million per year, with a 5$456 million annually. The analysis describes how loss varies among stakeholders and regions, with more than half of statewide loss accruing to commercial sockeye salmon fisheries in Bristol Bay. Upfront management of all existing invasions is found to be the optimal management strategy for minimizing long-term loss. Even though the range of future economic loss is large, the certainty of long-term damage favors investments to eradicate current invasions and prevent new arrivals. The study serves as a step toward risk management aimed at protecting productive ecosystems of national and global significance.General introduction -- Chapter 1. Quantifying Expert Knowledge Using a Discrete Choice Model: Persistence of Salmonids in Habitat Invaded by Elodea -- Chapter 2. Aquatic Invasive Species Change Ecosystem Services from the World's Largest Sockeye Salmon Fisheries in Alaska -- Chapter 3. Aquatic Invasive Plants Alter Recreation Access for Alaska's Floatplane Pilots: an Application of Stated Geographic Preferences to Economic Valuation -- Chapter 4. Aquatic Invasive Species from Urban Source Lakes Threaten Remote Ecosystem Services in Alaska: Linking Floatplane Pathway Dynamics with Bioeconomic Risk Analysis -- General Conclusion -- References -- Appendix

Collaborative gold mining algorithm : an optimization algorithm based on the natural gold mining process

In optimization algorithms, there are some challenges, including lack of optimal solution, slow convergence, lack of scalability, partial search space, and high computational demand. Inspired by the process of gold exploration and exploitation, we propose a new meta-heuristic and stochastic optimization algorithm called collaborative gold mining (CGM). The proposed algorithm has several iterations; in each of these, the center of mass of points with the highest amount of gold is calculated for each miner (agent), with this process continuing until the point with the highest amount of gold or when the optimal solution is found. In an n-dimensional geographic space, the CGM algorithm can locate the best position with the highest amount of gold in the entire search space by collaborating with several gold miners. The proposed CGM algorithm was applied to solve several continuous mathematical functions and several practical problems, namely, the optimal placement of resources, the traveling salesman problem, and bag-of-tasks scheduling. In order to evaluate its efficiency, the CGM results were compared with the outputs of some famous optimization algorithms, such as the genetic algorithm, simulated annealing, particle swarm optimization, and invasive weed optimization. In addition to determining the optimal solutions for all the evaluated problems, the experimental results show that the CGM mechanism has an acceptable performance in terms of optimal solution, convergence, scalability, search space, and computational demand for solving continuous and discrete problems

Symbiotic Organisms Search Algorithm: theory, recent advances and applications

The symbiotic organisms search algorithm is a very promising recent metaheuristic algorithm. It has received a plethora of attention from all areas of numerical optimization research, as well as engineering design practices. it has since undergone several modifications, either in the form of hybridization or as some other improved variants of the original algorithm. However, despite all the remarkable achievements and rapidly expanding body of literature regarding the symbiotic organisms search algorithm within its short appearance in the field of swarm intelligence optimization techniques, there has been no collective and comprehensive study on the success of the various implementations of this algorithm. As a way forward, this paper provides an overview of the research conducted on symbiotic organisms search algorithms from inception to the time of writing, in the form of details of various application scenarios with variants and hybrid implementations, and suggestions for future research directions

A Tale of Four “Carp”: Invasion Potential and Ecological Niche Modeling

. We assessed the geographic potential of four Eurasian cyprinid fishes (common carp, tench, grass carp, black carp) as invaders in North America via ecological niche modeling (ENM). These “carp” represent four stages of invasion of the continent (a long-established invader with a wide distribution, a long-established invader with a limited distribution, a spreading invader whose distribution is expanding, and a newly introduced potential invader that is not yet established), and as such illustrate the progressive reduction of distributional disequilibrium over the history of species' invasions.We used ENM to estimate the potential distributional area for each species in North America using models based on native range distribution data. Environmental data layers for native and introduced ranges were imported from state, national, and international climate and environmental databases. Models were evaluated using independent validation data on native and invaded areas. We calculated omission error for the independent validation data for each species: all native range tests were highly successful (all omission values <7%); invaded-range predictions were predictive for common and grass carp (omission values 8.8 and 19.8%, respectively). Model omission was high for introduced tench populations (54.7%), but the model correctly identified some areas where the species has been successful; distributional predictions for black carp show that large portions of eastern North America are at risk.ENMs predicted potential ranges of carp species accurately even in regions where the species have not been present until recently. ENM can forecast species' potential geographic ranges with reasonable precision and within the short screening time required by proposed U.S. invasive species legislation

Finding spectral features for the early identification of biotic stress in plants

Early detection of biotic stress in plants is vital for precision crop protection, but hard to achieve. Prediction of plant diseases or weeds at an early stage has significant influence on the extent and effectiveness of crop protection measures. The precise measure depends on specific weeds and plant diseases and their economic thresholds. Weeds and plant diseases at an early stage, however, are difficult to identify. Non-invasive optical sensors with high resolution are promising for early detection of biotic stress. The data of these sensors, e.g. hyperspectral or fluorescence signatures, contain relevant information about the occurrence of pathogens. Shape parameters, derived from bispectral images, have enormous potential for an early identification of weeds in crops. The analysis of this high dimensional data for an identification of weeds and pathogens as early as possible is demanding as the sensor signal is affected by many influencing factors. Nevertheless, advanced methods of machine learning facilitate the interpretation of these signals. Whereas traditional statistics estimate the posterior probability of the class by probability distribution, machine learning methods provide algorithms for optimising prediction accuracy by the discriminant function. Machine learning methods with robust training algorithms play a key role in handling non-linear classification problems. This thesis presents an approach which integrates modern sensor techniques and advanced machine learning methods for an early detection and differentiation of plant diseases and weeds. Support vector machines (SVMs) equipped with non-linear kernels prove as effective and robust classifiers. Furthermore, it is shown that even a presymptomatic identification based on the combination of spectral vegetation indices is realised. Using well-established data analysis methods of this scientific field, this has not achieved so far. Identifying disease specific features from the underlying original high dimensional sensor data selection is conducted. The high dimensionality of data affords a careful selection of relevant and non-redundant features depending on classification problem and feature properties. In the case of fluorescence signatures an extraction of new features is necessary. In this context modelling of signal noise by an analytical description of the spectral signature improves the accuracy of classification substantially. In the case of weed discrimination accuracy is improved by exploiting the hierarchy of weed species. This thesis outlines the potential of SVMs, feature construction and feature selection for precision crop protection. A problem-specific extraction and selection of relevant features, in combination with task-oriented classification methods, is essential for robust identification of pathogens and weeds as early as possible.Früherkennung von biotischem Pflanzenstress ist für den Präzisionspflanzenschutz wesentlich, aber schwierig zu erreichen. Die Vorhersage von Pflanzenkrankheiten und Unkräutern in einem frühen Entwicklungsstadium hat signifikanten Einfluss auf das Ausmaß und die Effektivität einer Pflanzenschutzmaßnahme. Aufgrund der Abhängigkeit einer Maßnahme von der Art der Pflanzenkrankheit oder des Unkrauts und ihrer ökonomischer Schadschwelle ist eine präzise Identifizierung der Schadursache essentiell, aber gerade im Frühstadium durch die Ähnlichkeit der Schadbilder problematisch. Nicht-invasive optische Sensoren mit hoher Auflösung sind vielversprechend für eine Früherkennung von biotischem Pflanzenstress. Daten dieser Sensoren, beispielsweise Hyperspektral- oder Fluoreszenzspektren, enthalten relevante Informationen über das Auftreten von Pathogenen; Formparameter, abgeleitet aus bispektralen Bildern, zeigen großes Potential für die Früherkennung von Unkräutern in Kulturpflanzen. Die Analyse dieser hochdimensionalen Sensordaten unter Berücksichtigung vielfältiger Faktoren ist eine anspruchsvolle Herausforderung. Moderne Methoden des maschinellen Lernens bieten hier zielführende Möglichkeiten. Während die traditionelle Statistik die a-posteriori Wahrscheinlichkeit der Klasse basierend auf Wahrscheinlichkeitsverteilungen schätzt, verwenden maschinelle Lernverfahren Algorithmen für eine Optimierung der Vorhersagegenauigkeit auf Basis diskriminierender Funktionen. Grundlage zur Bearbeitung dieser nicht-linearen Klassi kationsprobleme sind robuste maschinelle Lernverfahren. Die vorliegende Dissertationsschrift zeigt, dass die Integration moderner Sensortechnik mit fortgeschrittenen Methoden des maschinellen Lernens eine Erkennung und Differenzierung von Pflanzenkrankheiten und Unkräutern ermöglicht. Einen wesentlichen Beitrag für eine effektive und robuste Klassifikation leisten Support Vektor Maschinen (SVMs) mit nicht-linearen Kernels. Weiterhin wird gezeigt, dass SVMs auf Basis spektraler Vegetationsindizes die Detektion von Pflanzenkrankheiten noch vor Auftreten visuell wahrnehmbarer Symptome ermöglichen. Dies wurde mit bekannten Verfahren noch nicht erreicht. Zur Identifikation krankheitsspezifischer Merkmale aus den zugrunde liegenden originären hochdimensionalen Sensordaten wurden Merkmale konstruiert und selektiert. Die Selektion ist sowohl vom Klassifikationsproblem als auch von den Eigenschaften der Merkmale abhängig. Im Fall von Fluoreszenzspektren war eine Extraktion von neuen Merkmalen notwendig. In diesem Zusammenhang trägt die Modellierung des Signalrauschens durch eine analytische Beschreibung der spektralen Signatur zur deutlichen Verbesserung der Klassifikationsgenauigkeit bei. Im Fall der Differenzierung von unterschiedlichen Unkräutern erhöht die Ausnutzung der Hierarchie der Unkrautarten die Genauigkeit signifikant. Diese Arbeit zeigt das Potential von Support Vektor Maschinen, Merkmalskonstruktion und Selektion für den Präzisionspflanzenschutz. Eine problemspezifische Extraktion und Selektion relevanter Merkmale in Verbindung mit sachbezogenen Klassifikationsmethoden ermöglichen eine robuste Identifikation von Pathogenen und Unkräutern zu einem sehr frühen Zeitpunkt

Sustainable Agriculture and Advances of Remote Sensing (Volume 1)

Agriculture, as the main source of alimentation and the most important economic activity globally, is being affected by the impacts of climate change. To maintain and increase our global food system production, to reduce biodiversity loss and preserve our natural ecosystem, new practices and technologies are required. This book focuses on the latest advances in remote sensing technology and agricultural engineering leading to the sustainable agriculture practices. Earth observation data, in situ and proxy-remote sensing data are the main source of information for monitoring and analyzing agriculture activities. Particular attention is given to earth observation satellites and the Internet of Things for data collection, to multispectral and hyperspectral data analysis using machine learning and deep learning, to WebGIS and the Internet of Things for sharing and publishing the results, among others

THE ECOLOGY OF DISTURBANCES AND GLOBAL CHANGE IN THE MONTANE GRASSLANDS OF THE NILGIRIS, SOUTH INDIA

Biodiversity rich regions worldwide face threats from various global change agents. This research quantifies environmental influences on vegetation, and the impacts of exotic woody plant invasion and anthropogenic nitrogen (N) deposition in a global biodiversity hotspot. The study was conducted in the montane grasslands of the Nilgiris, Western Ghats, and outlines potential management options for this region. Specifically, I examined (1) the role of environmental factors in influencing native plant distribution and ecosystem properties, (2) the status and impact of exotic shrub (Scotch broom, henceforth broom) invasion, (3) the role of disturbances in the success of broom, (4) the role of fire in restoring invaded grasslands, and (5) the impacts of terrestrial N loading on the grassland ecosystem. I used experiments and surveys to assess these. Distributions of several key species were explained by a few complex environmental gradients. In invaded-grasslands, broom populations consisted mainly of intermediate size and age classes, with no clear indication of population decline. Invasion negatively impacted plant community structure and drastically changed composition, favoring shade-tolerant and weedy species. However, invasion did not greatly alter ecosystem function. Fire successfully eliminated mature broom stands, but resulted in a short-term increase in broom seedling recruitment. At the end of 18 months, the fire effects on uninvaded-grasslands were not apparent, but there was no conclusive evidence of the formerly invaded patches attaining the composition of uninvaded-grasslands following burning. N fertilization strongly influenced soil N dynamics, and shoot N concentrations, but effects on aboveground production were weak. Surprisingly, N enrichment had positive effects on diversity in the short-term. It is clear that these grasslands need immediate management intervention to forestall degradation from invasion. Fire could be used to eliminate mature broom stands and deplete persistent seedbanks, which will facilitate colonization by shade-intolerant grassland plants. Active restoration should be mindful of environmental preferences of framework species. Long-term studies of the impacts of N deposition in the context of disturbances will help determine realistic critical thresholds and utilize disturbances to buffer the potential adverse effects of increasing N loading