Optimal field coverage path planning on 2D and 3D surfaces

With the rapid adoption of automatic guidance systems, automated path planning has great potential to further optimize field operations. Field operations should be done in a manner that minimizes time, travel over field surfaces and is coordinated with specific field operations, machine characteristics and topographical features of arable lands. To reach this goal, intelligent coverage path planning algorithm is key. This dissertation documents our innovative research in optimal field coverage path planning on both 2D and 3D surfaces. To determine the full coverage pattern of a given 2D planar field by using boustrophedon paths, it is necessary to know whether to and how to decompose a field into sub-regions and how to determine the travel direction within each sub-region. A geometric model was developed to represent this coverage path planning problem, and a path planning algorithm was developed based on this geometric model. The search mechanism of the algorithm was guided by a customized cost function resulting from the analysis of different headland turning types and implemented with a divide-and-conquer strategy. The complexity of the algorithm was analyzed, and methods for reducing the computational time were discussed. Field examples with complexity ranging from a simple convex shape to an irregular polygonal shape that has multiple obstacles within its interior were tested with this algorithm. The results were compared with other reported approaches or farmers\u27 actual driving patterns. These results indicated the proposed algorithm was effective in producing optimal field decomposition and coverage path direction in each sub-region. In real world, a great proportion of farms have rolling terrains, which have considerable influences to the design of coverage paths. Coverage path planning in 3D space has a great potential to further optimize field operations. To design optimal coverage paths on 3D terrain surfaces, there were five important steps: terrain modeling and representation, topography impacts analysis, terrain decomposition and classification, coverage cost analysis and the development of optimal path searching algorithm. Each of the topics was investigated in this dissertation research. The developed algorithms and methods were successfully implemented in software and tested with practical 3D terrain farm fields with various topographical features. Each field was decomposed into sub-regions based on terrain features. An optimal seed curve was found for each sub-region and parallel coverage paths were generated by offsetting the seed curve sideways until the whole sub-region was completely covered. Compared with the 2D planning results, the experimental results of 3D coverage path planning showed its superiority in reducing both headland turning cost and soil erosion cost

Conservation Practices for Small-Scale Hawaiian Farms

This material is based upon work supported by the Natural Resources Conservation Service, U.S. Department of Agriculture, under Conservation Innovative Grant # NRCS#69-3A75-11-212. Any opinions, findings, conclusions, or recommendations expressed in this publication are those of the author(s) and do not necessarily reflect the views of the U.S. Department of Agriculture.The purpose of this handbook is to provide small-scale farmers on the Hawaiian Islands with the information necessary to implement effective soil management practices on their farms, with specific focus on soil and water conservation. Small-scale farms are becoming more common in Hawai'i as plantation agriculture involving sugarcane and pineapple has diminished, diversified agriculture has gained a firm foothold, and markets for fresh, local produce have expanded. Small-scale farmers are producing food to feed their families, to meet the increasing demand for locally and sustainably grown agricultural products, and to move the Islands, which import between 60-70% of fresh fruits and vegetables alone, toward food self-sufficiency

Mapping infiltration in an urbanizing mixed-land-use watershed with multi-temporal satellite imagery

Digital soil mapping (DSM) is a field of soil science that aims to improve traditional soil maps by producing higher resolution predictive maps of soil properties using spatial environmental data. DSM has historically relied primarily on static environmental covariates—such as slope gradient, slope aspect, and other topographic variables derived from digital terrain models—for predicting static soil properties, like soil texture. Advancements in satellite imagery and statistical modeling improve the accuracy of digital soil maps by incorporating multi-temporal data that can capture landscape-scale change over relatively short periods of time. Adding these dynamic environmental covariates may be especially useful for spatial prediction of dynamic soil properties, like infiltration rate, that are strongly affected by phenomenon that satellite imagery can detect, like land use that changes rapidly due to human activity. Infiltration strongly impacts soil health and hydrologic characteristics in a watershed. Understanding infiltration for sustainable land management is vital for making best management decisions in urbanizing environments like the West Run Watershed in Morgantown, West Virginia. We hypothesized that infiltration could be predicted at a higher accuracy and a finer spatiotemporal scale using digital soil mapping techniques than is currently provided by the current official soil data and maps produced by the National Cooperative Soil Survey. Spatial predictions of infiltration rate were produced for the West Run watershed using both static and dynamic environmental covariates as inputs into multiple linear regression (MLR) and random forest (RF) models, each of which were made using 10-fold cross validation. Training and independent validation sampling locations were selected using a conditioned Latin hypercube sampling scheme and observed saturated hydraulic conductivity of the soil surface was collected using automated dual-head infiltrometers. The MLR and RF models had R 2 of 0.302 and 0.201, respectively. Validation sampling was stratified by the predicted infiltration values of the MLR model. Validation R 2 values for the MLR and RF models were 0.080 and 0.103. The results from this study will benefit the development of a dynamic soil survey and will improve hydrologic models in this and potentially other mixed-land-use watersheds

Erosion and sedimentation control in strip mining operations

CER75-76KM-VMP-EVR30.Includes bibliographical references.May 1976

Using hydrological models and digital soil mapping for the assessment and management of catchments: A case study of the Nyangores and Ruiru catchments in Kenya (East Africa)

Human activities on land have a direct and cumulative impact on water and other natural resources within a catchment. This land-use change can have hydrological consequences on the local and regional scales. Sound catchment assessment is not only critical to understanding processes and functions but also important in identifying priority management areas. The overarching goal of this doctoral thesis was to design a methodological framework for catchment assessment (dependent upon data availability) and propose practical catchment management strategies for sustainable water resources management. The Nyangores and Ruiru reservoir catchments located in Kenya, East Africa were used as case studies. A properly calibrated Soil and Water Assessment Tool (SWAT) hydrologic model coupled with a generic land-use optimization tool (Constrained Multi-Objective Optimization of Land-use Allocation-CoMOLA) was applied to identify and quantify functional trade-offs between environmental sustainability and food production in the ‘data-available’ Nyangores catchment. This was determined using a four-dimension objective function defined as (i) minimizing sediment load, (ii) maximizing stream low flow and (iii and iv) maximizing the crop yields of maize and soybeans, respectively. Additionally, three different optimization scenarios, represented as i.) agroforestry (Scenario 1), ii.) agroforestry + conservation agriculture (Scenario 2) and iii.) conservation agriculture (Scenario 3), were compared. For the data-scarce Ruiru reservoir catchment, alternative methods using digital soil mapping of soil erosion proxies (aggregate stability using Mean Weight Diameter) and spatial-temporal soil loss analysis using empirical models (the Revised Universal Soil Loss Equation-RUSLE) were used. The lack of adequate data necessitated a data-collection phase which implemented the conditional Latin Hypercube Sampling. This sampling technique reduced the need for intensive soil sampling while still capturing spatial variability. The results revealed that for the Nyangores catchment, adoption of both agroforestry and conservation agriculture (Scenario 2) led to the smallest trade-off amongst the different objectives i.e. a 3.6% change in forests combined with 35% change in conservation agriculture resulted in the largest reduction in sediment loads (78%), increased low flow (+14%) and only slightly decreased crop yields (3.8% for both maize and soybeans). Therefore, the advanced use of hydrologic models with optimization tools allows for the simultaneous assessment of different outputs/objectives and is ideal for areas with adequate data to properly calibrate the model. For the Ruiru reservoir catchment, digital soil mapping (DSM) of aggregate stability revealed that susceptibility to erosion exists for cropland (food crops), tea and roadsides, which are mainly located in the eastern part of the catchment, as well as deforested areas on the western side. This validated that with limited soil samples and the use of computing power, machine learning and freely available covariates, DSM can effectively be applied in data-scarce areas. Moreover, uncertainty in the predictions can be incorporated using prediction intervals. The spatial-temporal analysis exhibited that bare land (which has the lowest areal proportion) was the largest contributor to erosion. Two peak soil loss periods corresponding to the two rainy periods of March–May and October–December were identified. Thus, yearly soil erosion risk maps misrepresent the true dimensions of soil loss with averages disguising areas of low and high potential. Also, a small portion of the catchment can be responsible for a large proportion of the total erosion. For both catchments, agroforestry (combining both the use of trees and conservation farming) is the most feasible catchment management strategy (CMS) for solving the major water quantity and quality problems. Finally, the key to thriving catchments aiming at both sustainability and resilience requires urgent collaborative action by all stakeholders. The necessary stakeholders in both Nyangores and Ruiru reservoir catchments must be involved in catchment assessment in order to identify the catchment problems, mitigation strategies/roles and responsibilities while keeping in mind that some risks need to be shared and negotiated, but so will the benefits.:TABLE OF CONTENTS DECLARATION OF CONFORMITY........................................................................ i DECLARATION OF INDEPENDENT WORK AND CONSENT ............................. ii LIST OF PAPERS ................................................................................................. iii ACKNOWLEDGEMENTS ..................................................................................... iv THESIS AT A GLANCE ......................................................................................... v SUMMARY ............................................................................................................ vi List of Figures......................................................................................................... x List of Tables........................................................................................................... x ABBREVIATION..................................................................................................... xi PART A: SYNTHESIS 1. INTRODUCTION ............................................................................................... 1 1.1 Catchment management ...................................................................................1 1.2 Tools to support catchment assessment and management ..............................4 1.3 Catchment management strategies (CMSs)......................................................9 1.4 Concept and research objectives.......................................................................11 2. MATERIAL AND METHODS................................................................................15 2.1. STUDY AREA ..................................................................................................15 2.1.1. Nyangores catchment ...................................................................................15 2.1.2. Ruiru reservoir catchment .............................................................................17 2.2. Using SWAT conceptual model and land-use optimization ..............................19 2.3. Using soil erosion proxies and empirical models ..............................................21 3. RESULTS AND DISCUSSION..............................................................................24 3.1. Assessing multi-metric calibration performance using the SWAT model...........25 3.2. Land-use optimization using SWAT-CoMOLA for the Nyangores catchment. ..26 3.3. Digital soil mapping of soil aggregate stability ..................................................28 3.4. Spatio-temporal analysis using the revised universal soil loss equation (RUSLE) 29 4. CRITICAL ASSESSMENT OF THE METHODS USED ......................................31 4.1. Assessing suitability of data for modelling and overcoming data challenges...31 4.2. Selecting catchment management strategies based on catchment assessment . 35 5. CONCLUSION AND RECOMMENDATIONS ....................................................36 6. REFERENCES ............................ .....................................................................38 PART B: PAPERS PAPER I .................................................................................................................47 PAPER II ................................................................................................................59 PAPER III ...............................................................................................................74 PAPER IV ...............................................................................................................8

Guide to Residential Landscape Development for Logan, Utah

The \u27\u27Guide to Residential Landscape Development has been written for the Logan City Planning Department as a supplement to the City of Logan Guidelines for Development , a comprehensive planning tool adopted in 1976. The Guide is primarily intended to motivate Logan homeowners in designing, constructing and maintaining their residential properties by pointing out methods of design and construction that : reduce costs of electricity, oil and natura l gas by reducing energy needs Increase property values maximize effective use of the property improve the aesthetic qualities of the homesite The Guide also serves as a prototype of the kind of consumer advocacy tool needed in many cities to help inform private citizens. of the vital role they can play in conserving energy and improving the natural and cultural environment in which they live