14 research outputs found
Crop Yield Estimation Using Deep Learning Based on Climate Big Data and Irrigation Scheduling
Deep learning has already been successfully used in the development of decision support
systems in various domains. Therefore, there is an incentive to apply it in other important domains
such as agriculture. Fertilizers, electricity, chemicals, human labor, and water are the components
of total energy consumption in agriculture. Yield estimates are critical for food security, crop
management, irrigation scheduling, and estimating labor requirements for harvesting and storage.
Therefore, estimating product yield can reduce energy consumption. Two deep learning models,
Long Short-Term Memory and Gated Recurrent Units, have been developed for the analysis of
time-series data such as agricultural datasets. In this paper, the capabilities of these models and their
extensions, called Bidirectional Long Short-Term Memory and Bidirectional Gated Recurrent Units,
to predict end-of-season yields are investigated. The models use historical data, including climate
data, irrigation scheduling, and soil water content, to estimate end-of-season yield. The application
of this technique was tested for tomato and potato yields at a site in Portugal. The Bidirectional
Long Short-Term memory outperformed the Gated Recurrent Units network, the Long Short-Term
Memory, and the Bidirectional Gated Recurrent Units network on the validation dataset. The model
was able to capture the nonlinear relationship between irrigation amount, climate data, and soil
water content and predict yield with an MSE of 0.017 to 0.039. The performance of the Bidirectional
Long Short-Term Memory in the test was compared with the most commonly used deep learning
method, the Convolutional Neural Network, and machine learning methods including a Multi-Layer
Perceptrons model and Random Forest Regression. The Bidirectional Long Short-Term Memory
outperformed the other models with an R2 score between 0.97 and 0.99. The results show that
analyzing agricultural data with the Long Short-Term Memory model improves the performance of
the model in terms of accuracy. The Convolutional Neural Network model achieved the second-best
performance. Therefore, the deep learning model has a remarkable ability to predict the yield at
the end of the season.Project Centro-01-0145-FEDER000017-EMaDeS-Energy, Materials, and Sustainable Development, co-funded by the Portugal 2020 Program (PT 2020), within the Regional Operational Program of the Center (CENTRO 2020) and the EU through the European Regional Development Fund (ERDF). Fundação para a Ciência e a Tecnologia (FCT—MCTES) also provided financial support via project UIDB/00151/2020 (C-MAST).info:eu-repo/semantics/publishedVersio
Radial Basis Function Neural Network in Identifying The Types of Mangoes
Mango (Mangifera Indica L) is part of a fruit
plant species that have different color and texture
characteristics to indicate its type. The identification of the
types of mangoes uses the manual method through direct visual
observation of mangoes to be classified. At the same time, the
more subjective way humans work causes differences in their
determination. Therefore in the use of information technology,
it is possible to classify mangoes based on their texture using a
computerized system. In its completion, the acquisition process
is using the camera as an image processing instrument of the
recorded images. To determine the pattern of mango data
taken from several samples of texture features using Gabor
filters from various types of mangoes and the value of the
feature extraction results through artificial neural networks
(ANN). Using the Radial Base Function method, which
produces weight values, is then used as a process for classifying
types of mangoes. The accuracy of the test results obtained
from the use of extraction methods and existing learning
methods is 100%
Semantic Segmentation based deep learning approaches for weed detection
Global increase in herbicide use to control weeds has led to issues such as evolution of herbicide-resistant weeds, off-target herbicide movement, etc. Precision agriculture advocates Site Specific Weed Management (SSWM) application to achieve precise and right amount of herbicide spray and reduce off-target herbicide movement. Recent advancements in Deep Learning (DL) have opened possibilities for adaptive and accurate weed recognitions for field based SSWM applications with traditional and emerging spraying equipment; however, challenges exist in identifying the DL model structure and train the model appropriately for accurate and rapid model applications over varying crop/weed growth stages and environment. In our study, an encoder-decoder based DL architecture was proposed that performs pixel-wise Semantic Segmentation (SS) classifications of crop, soil, and weed patches in the fields. The objective of this study was to develop a robust weed detection algorithm using DL techniques that can accurately and reliably locate weed infestations in low altitude Unmanned Aerial Vehicle (UAV) imagery with acceptable application speed. Two different encoder-decoder based SS models of LinkNet and UNet were developed using transfer learning techniques. We performed various measures such as backpropagation optimization and refining of the dataset used for training to address the class-imbalance problem which is a common issue in developing weed detection models. It was found that LinkNet model with ResNet18 as the encoder section and use of ‘Focal loss’ loss function was able to achieve the highest mean and class-wise Intersection over Union scores for different class categories while performing predictions on unseen dataset. The developed state-of-art model did not require a large amount of data during training and the techniques used to develop the model in our study provides a propitious opportunity that performs better than the existing SS based weed detections models. The proposed model integrates a futuristic approach to develop a model that could be used for weed detection on aerial imagery from UAV and perform real-time SSWM applications
Advisor: Yeyin Sh
Application of Artificial Intelligence algorithms to support decision-making in agriculture activities
Deep Learning has been successfully applied to image recognition, speech recognition, and
natural language processing in recent years. Therefore, there has been an incentive to apply
it in other fields as well. The field of agriculture is one of the most important in which the
application of artificial intelligence algorithms, and particularly, of deep learning needs to
be explored, as it has a direct impact on human well-being. In particular, there is a need
to explore how deep learning models for decision-making can be used as a tool for optimal
planting, land use, yield improvement, production/disease/pest control, and other activities.
The vast amount of data received from sensors in smart farms makes it possible to use deep
learning as a model for decision-making in this field. In agriculture, no two environments are
exactly alike, which makes testing, validating, and successfully implementing such technologies
much more complex than in most other sectors. Recent scientific developments in the
field of deep learning, applied to agriculture, are reviewed and some challenges and potential
solutions using deep learning algorithms in agriculture are discussed. Higher performance
in terms of accuracy and lower inference time can be achieved, and the models can be made
useful in real-world applications. Finally, some opportunities for future research in this area
are suggested. The ability of artificial neural networks, specifically Long Short-Term Memory
(LSTM) and Bidirectional LSTM (BLSTM), to model daily reference evapotranspiration
and soil water content is investigated. The application of these techniques to predict these
parameters was tested for three sites in Portugal. A single-layer BLSTM with 512 nodes was
selected. Bayesian optimization was used to determine the hyperparameters, such as learning
rate, decay, batch size, and dropout size. The model achieved mean square error (MSE)
values ranging from 0.07 to 0.27 (mm d–1)² for ETo (Reference Evapotranspiration) and
0.014 to 0.056 (m³m–3)² for SWC (Soil Water Content), with R2 values ranging from 0.96
to 0.98. A Convolutional Neural Network (CNN) model was added to the LSTM to investigate
potential performance improvement. Performance dropped in all datasets due to the
complexity of the model. The performance of the models was also compared with CNN, traditional
machine learning algorithms Support Vector Regression, and Random Forest. LSTM
achieved the best performance. Finally, the impact of the loss function on the performance
of the proposed models was investigated. The model with the mean square error (MSE) as
loss function performed better than the model with other loss functions. Afterwards, the
capabilities of these models and their extension, BLSTM and Bidirectional Gated Recurrent
Units (BGRU) to predict end-of-season yields are investigated. The models use historical
data, including climate data, irrigation scheduling, and soil water content, to estimate endof-
season yield. The application of this technique was tested for tomato and potato yields at a
site in Portugal. The BLSTM network outperformed the GRU, the LSTM, and the BGRU networks
on the validation dataset. The model was able to capture the nonlinear relationship
between irrigation amount, climate data, and soil water content and predict yield with an
MSE of 0.017 to 0.039 kg/ha. The performance of the BLSTM in the test was compared with
the most commonly used deep learning method called CNN, and machine learning methods
including a Multi-Layer Perceptrons model and Random Forest regression. The BLSTM out-performed the other models with a R2-score between 0.97 and 0.99. The results show that
analyzing agricultural data with the LSTM model improves the performance of the model in
terms of accuracy. The CNN model achieved the second-best performance. Therefore, the
deep learning model has a remarkable ability to predict the yield at the end of the season. Additionally,
a Deep Q-Network was trained for irrigation scheduling. The agent was trained to
schedule irrigation for a tomato field in Portugal. Two LSTM models trained previously were
used as the agent environment. One predicts the total water in the soil profile on the next
day. The other one was employed to estimate the yield based on the environmental condition
during a season and then measure the net return. The agent uses this information to decide
the following irrigation amount. LSTM and CNN networks were used to estimate the Q-table
during training. Unlike the LSTM model, the ANN and the CNN could not estimate the Qtable,
and the agent’s reward decreased during training. The comparison of the performance
of the model was done with fixed-base irrigation and threshold-based irrigation. The trained
model increased productivity by 11% and decreased water consumption by 20% to 30% compared
to the fixed method. Also, an on-policy model, Advantage Actor–Critic (A2C), was
implemented to compare irrigation scheduling with Deep Q-Network for the same tomato
crop. The results show that the on-policy model A2C reduced water consumption by 20%
compared to Deep Q-Network with a slight change in the net reward. These models can be
developed to be applied to other cultures with high importance in Portugal, such as fruit,
cereals, and grapevines, which also have large water requirements. The models developed
along this thesis can be re-evaluated and trained with historical data from other cultures with
high production in Portugal, such as fruits, cereals, and grapes, which also have high water
demand, to create a decision support and recommendation system that tells farmers when
and how much to irrigate. This system helps farmers avoid wasting water without reducing
productivity. This thesis aims to contribute to the future steps in the development of precision
agriculture and agricultural robotics. The models developed in this thesis are relevant to
support decision-making in agricultural activities, aimed at optimizing resources, reducing
time and costs, and maximizing production.Nos últimos anos, a técnica de aprendizagem profunda (Deep Learning) foi aplicada com
sucesso ao reconhecimento de imagem, reconhecimento de fala e processamento de linguagem
natural. Assim, tem havido um incen tivo para aplicá-la também em outros sectores.
O sector agrícola é um dos mais importantes, em que a aplicação de algoritmos de inteligência
artificial e, em particular, de deep learning, precisa ser explorada, pois tem impacto direto
no bem-estar humano. Em particular, há uma necessidade de explorar como os modelos de
aprendizagem profunda para a tomada de decisão podem ser usados como uma ferramenta
para cultivo ou plantação ideal, uso da terra, melhoria da produtividade, controlo de produção,
de doenças, de pragas e outras atividades. A grande quantidade de dados recebidos
de sensores em explorações agrícolas inteligentes (smart farms) possibilita o uso de deep
learning como modelo para tomada de decisão nesse campo. Na agricultura, não há dois
ambientes iguais, o que torna o teste, a validação e a implementação bem-sucedida dessas
tecnologias muito mais complexas do que na maioria dos outros setores. Desenvolvimentos
científicos recentes no campo da aprendizagem profunda aplicada à agricultura, são revistos
e alguns desafios e potenciais soluções usando algoritmos de aprendizagem profunda na agricultura
são discutidos. Maior desempenho em termos de precisão e menor tempo de inferência
pode ser alcançado, e os modelos podem ser úteis em aplicações do mundo real. Por fim,
são sugeridas algumas oportunidades para futuras pesquisas nesta área. A capacidade de redes
neuronais artificiais, especificamente Long Short-Term Memory (LSTM) e LSTM Bidirecional
(BLSTM), para modelar a evapotranspiração de referência diária e o conteúdo de água
do solo é investigada. A aplicação destas técnicas para prever estes parâmetros foi testada em
três locais em Portugal. Um BLSTM de camada única com 512 nós foi selecionado. A otimização
bayesiana foi usada para determinar os hiperparâmetros, como taxa de aprendizagem,
decaimento, tamanho do lote e tamanho do ”dropout”. O modelo alcançou os valores de erro
quadrático médio na faixa de 0,014 a 0,056 e R2 variando de 0,96 a 0,98. Um modelo de
Rede Neural Convolucional (CNN – Convolutional Neural Network) foi adicionado ao LSTM
para investigar uma potencial melhoria de desempenho. O desempenho decresceu em todos
os conjuntos de dados devido à complexidade do modelo. O desempenho dos modelos
também foi comparado com CNN, algoritmos tradicionais de aprendizagem máquina Support
Vector Regression e Random Forest. O LSTM obteve o melhor desempenho. Por fim,
investigou-se o impacto da função de perda no desempenho dos modelos propostos. O modelo
com o erro quadrático médio (MSE) como função de perda teve um desempenho melhor
do que o modelo com outras funções de perda. Em seguida, são investigadas as capacidades
desses modelos e sua extensão, BLSTM e Bidirectional Gated Recurrent Units (BGRU) para
prever os rendimentos da produção no final da campanha agrícola. Os modelos usam dados
históricos, incluindo dados climáticos, calendário de rega e teor de água do solo, para estimar
a produtividade no final da campanha. A aplicação desta técnica foi testada para os rendimentos
de tomate e batata em um local em Portugal. A rede BLSTM superou as redes GRU,
LSTM e BGRU no conjunto de dados de validação. O modelo foi capaz de captar a relação não
linear entre dotação de rega, dados climáticos e teor de água do solo e prever a produtividade com um MSE variando de 0,07 a 0,27 (mm d–1)² para ETo (Evapotranspiração de Referência)
e de 0,014 a 0,056 (m³m–3)² para SWC (Conteúdo de Água do Solo), com valores de R2
variando de 0,96 a 0,98. O desempenho do BLSTM no teste foi comparado com o método de
aprendizagem profunda CNN, e métodos de aprendizagem máquina, incluindo um modelo
Multi-Layer Perceptrons e regressão Random Forest. O BLSTM superou os outros modelos
com um R2 entre 97% e 99%. Os resultados mostram que a análise de dados agrícolas
com o modelo LSTM melhora o desempenho do modelo em termos de precisão. O modelo
CNN obteve o segundo melhor desempenho. Portanto, o modelo de aprendizagem profunda
tem uma capacidade notável de prever a produtividade no final da campanha. Além disso,
uma Deep Q-Network foi treinada para programação de irrigação para a cultura do tomate.
O agente foi treinado para programar a irrigação de uma plantação de tomate em Portugal.
Dois modelos LSTM treinados anteriormente foram usados como ambiente de agente. Um
prevê a água total no perfil do solo no dia seguinte. O outro foi empregue para estimar a produtividade
com base nas condições ambientais durante uma o ciclo biológico e então medir
o retorno líquido. O agente usa essas informações para decidir a quantidade de irrigação.
As redes LSTM e CNN foram usadas para estimar a Q-table durante o treino. Ao contrário
do modelo LSTM, a RNA e a CNN não conseguiram estimar a tabela Q, e a recompensa do
agente diminuiu durante o treino. A comparação de desempenho do modelo foi realizada
entre a irrigação com base fixa e a irrigação com base em um limiar. A aplicação das doses
de rega preconizadas pelo modelo aumentou a produtividade em 11% e diminuiu o consumo
de água em 20% a 30% em relação ao método fixo. Além disso, um modelo dentro da táctica,
Advantage Actor–Critic (A2C), é foi implementado para comparar a programação de
irrigação com o Deep Q-Network para a mesma cultura de tomate. Os resultados mostram
que o modelo de táctica A2C reduziu o consumo de água consumo em 20% comparado ao
Deep Q-Network com uma pequena mudança na recompensa líquida. Estes modelos podem
ser desenvolvidos para serem aplicados a outras culturas com elevada produção em Portugal,
como a fruta, cereais e vinha, que também têm grandes necessidades hídricas. Os modelos
desenvolvidos ao longo desta tese podem ser reavaliados e treinados com dados históricos
de outras culturas com elevada importância em Portugal, tais como frutas, cereais e uvas,
que também têm elevados consumos de água. Assim, poderão ser desenvolvidos sistemas
de apoio à decisão e de recomendação aos agricultores de quando e quanto irrigar. Estes
sistemas poderão ajudar os agricultores a evitar o desperdício de água sem reduzir a produtividade.
Esta tese visa contribuir para os passos futuros na evolução da agricultura de
precisão e da robótica agrícola. Os modelos desenvolvidos ao longo desta tese são relevantes
para apoiar a tomada de decisões em atividades agrícolas, direcionadas à otimização de recursos,
redução de tempo e custos, e maximização da produção.Centro-01-0145-FEDER000017-EMaDeS-Energy,
Materials, and Sustainable Development, co-funded by the Portugal 2020 Program (PT 2020),
within the Regional Operational Program of the Center (CENTRO 2020) and the EU through
the European Regional Development Fund (ERDF). Fundação para a Ciência e a Tecnologia
(FCT—MCTES) also provided financial support via project UIDB/00151/2020 (C-MAST).
It was also supported by the R&D Project BioDAgro – Sistema operacional inteligente de
informação e suporte á decisão em AgroBiodiversidade, project PD20-00011, promoted by
Fundação La Caixa and Fundação para a Ciência e a Tecnologia, taking place at the C-MAST
- Centre for Mechanical and Aerospace Sciences and Technology, Department of Electromechanical
Engineering of the University of Beira Interior, Covilhã, Portugal
Realistic texture synthesis for point-based fruitage phenotype.
Although current 3D scanner technology can acquire textural images from a point model, visible seams in the image, inconvenient data acquisition and occupancy of a large space during use are points of concern for outdoor fruit models. In this paper, an SPSDW (simplification and perception based subdivision followed by down-sampling weighted average) method is proposed to balance memory usage and texture synthesis quality using a crop fruit, such as apples, as a research subject for a point-based fruit model. First, the quadtree method is improved to make splitting more efficient, and a reasonable texton descriptor is defined to promote query efficiency. Then, the color perception feature is extracted from the image for all pixels. Next, an advanced sub-division scheme and down-sampling strategy are designed to optimize memory space. Finally, a weighted oversampling method is proposed for high-quality texture mixing. This experiment demonstrates that the SPSDW method preserves the mixed texture more realistically and smoothly and preserves color memory up to 94%, 84.7% and 85.7% better than the two-dimesional processing, truncating scalar quantitative and color vision model methods, respectively
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Robotic Blossom Thinning System for Tree Fruit Crops
Tree fruit production industry around the world heavily relies on semi-skilled seasonal workforce for critical field operations such as training, pruning, blossom and fruitlet thinning, and harvesting. Blossom thinning is an essential crop-load management technique that relies heavily on laborious and labor-intensive manual operation to achieve the desired thinning result. While large-scale thinning approaches such as chemical and mechanical thinning are available, chemical thinning results can be unpredictable, and mechanical thinning may damage a significant part of the tree canopy while also offering no-to-limited selectivity. Therefore, developing an efficient system that can perform precise blossom thinning in the target canopy regions with high accuracy, effectiveness, and robustness is crucial.This study focused on the design, development, and field evaluation of a robotic blossom thinning system that employed a machine vision system, and a mechatronic system consisting of a robotic manipulator and end-effector for targeted, selective blossom thinning in tree fruit crops. Robust machine vision systems were investigated for the identification, segmentation, density estimation, localization, and counting of apple flowers. Furthermore, a miniature, electrically-actuated end-effector was designed, fabricated, and tested for blossom thinning in space-constrained locations in tree canopies. All these components were integrated to develop a robotic thinning system and evaluated in a commercial orchard. Two thinning methods, boundary and center thinning, were investigated to assess the integrated system performance in selectively thinning flower clusters in target canopy regions. Boundary thinning was used to thin flowers along the flower cluster boundary, whereas center thinning was used to thin flowers by actuating the thinning end-effector at the center of the target cluster. The field evaluation results demonstrated that the integrated system could selectively thin blossoms from targeted clusters based on the chosen thinning strategy. The boundary thinning approach achieved a 67.2% thinning with a cycle time of 9.0 seconds, whereas the center thinning approach thinned 59.4% of flowers with a cycle time of 7.2 seconds per cluster. When implemented at a wider scale with additional improvements, the proposed system could address the problems associated with current hand, chemical, and mechanical blossom thinning approaches. Furthermore, the proposed system could aid in the commercial viability and practical adoption of the robotic systems intended for operation in tree fruit crops
Assessment of monthly rain fade in the equatorial region at C & KU-band using measat-3 satellite links
C & Ku-band satellite communication links are the most commonly used for equatorial satellite communication links. Severe rainfall rate in equatorial regions can cause a large rain attenuation in real compared to the prediction. ITU-R P. 618 standards are commonly used to predict satellite rain fade in designing satellite communication network. However, the prediction of ITU-R is still found to be inaccurate hence hinder a reliable operational satellite communication link in equatorial region. This paper aims to provide an accurate insight by assessment of the monthly C & Ku-band rain fade performance by collecting data from commercial earth stations using C band and Ku-band antenna with 11 m and 13 m diameter respectively. The antennas measure the C & Ku-band beacon signal from MEASAT-3 under equatorial rain conditions. The data is collected for one year in 2015. The monthly cumulative distribution function is developed based on the 1-year data. RMSE analysis is made by comparing the monthly measured data of C-band and Ku-band to the ITU-R predictions developed based on ITU-R’s P.618, P.837, P.838 and P.839 standards. The findings show that Ku-band produces an average of 25 RMSE value while the C-band rain attenuation produces an average of 2 RMSE value. Therefore, the ITU-R model still under predicts the rain attenuation in the equatorial region and this call for revisit of the fundamental quantity in determining the rain fade for rain attenuation to be re-evaluated