Aspects of automation of selective cleaning

Cleaning (pre-commercial thinning) is a silvicultural operation, primarily used to improve growing conditions of remaining trees in young stands (ca. 3 - 5 m of height). Cleaning costs are considered high in Sweden and the work is laborious. Selective cleaning with autonomous artificial agents (robots) may rationalise the work, but requires new knowledge. This thesis aims to analyse key issues regarding automation of cleaning; suggesting general solutions and focusing on automatic selection of main-stems. The essential requests put on cleaning robots are to render acceptable results and to be cost competitive. They must be safe and be able to operate independently and unattended for several hours in a dynamic and non-deterministic environment. Machine vision, radar, and laser scanners are promising techniques for obstacle avoidance, tree identification, and tool control. Horizontal laser scannings were made, demonstrating the possibility to find stems and make estimations regarding their height and diameter. Knowledge regarding stem selections was retrieved through qualitative interviews with persons performing cleaning. They consider similar attributes of trees, and these findings and current cleaning manuals were used in combination with a field inventory in the development of a decision support system (DSS). The DSS selects stems by the attributes species, position, diameter, and damage. It was used to run computer-based simulations in a variety of young forests. A general follow-up showed that the DSS produced acceptable results. The DSS was further evaluated by comparing its selections with those made by experienced cleaners, and by a test in which laymen performed cleanings following the system. The DSS seems to be useful and flexible, since it can be adjusted in accordance with the cleaners’ results. The laymen’s results implied that the DSS is robust and that it could be used as a training tool. Using the DSS in automatic, or semi-automatic, cleaning operations should be possible if and when selected attributes can be automatically perceived. A suitable base-machine and thorough research, regarding e.g. safety, obstacle avoidance, and target identification, is needed to develop competitive robots. However, using the DSS as a training-tool for inexperienced cleaners could be an interesting option as of today

Identifying the time profile of everyday activities in the home using smart meter data

Activities are a descriptive term for the common ways households spend their time. Examples include cooking, doing laundry, or socialising. Smart meter data can be used to generate time profiles of activities that are meaningful to households’ own lived experience. Activities are therefore a lens through which energy feedback to households can be made salient and understandable. This paper demonstrates a multi-step methodology for inferring hourly time profiles of ten household activities using smart meter data, supplemented by individual appliance plug monitors and environmental sensors. First, household interviews, video ethnography, and technology surveys are used to identify appliances and devices in the home, and their roles in specific activities. Second, ‘ontologies’ are developed to map out the relationships between activities and technologies in the home. One or more technologies may indicate the occurrence of certain activities. Third, data from smart meters, plug monitors and sensor data are collected. Smart meter data measuring aggregate electricity use are disaggregated and processed together with the plug monitor and sensor data to identify when and for how long different activities are occurring. Sensor data are particularly useful for activities that are not always associated with an energy-using device. Fourth, the ontologies are applied to the disaggregated data to make inferences on hourly time profiles of ten everyday activities. These include washing, doing laundry, watching TV (reliably inferred), and cleaning, socialising, working (inferred with uncertainties). Fifth, activity time diaries and structured interviews are used to validate both the ontologies and the inferred activity time profiles. Two case study homes are used to illustrate the methodology using data collected as part of a UK trial of smart home technologies. The methodology is demonstrated to produce reliable time profiles of a range of domestic activities that are meaningful to households. The methodology also emphasises the value of integrating coded interview and video ethnography data into both the development of the activity inference process

Dura

The reactive event processing language, that is developed in the context of this project, has been called DEAL in previous documents. When we chose this name for our language it has not been used by other authors working in the same research area (complex event processing). However, in the meantime it appears in publications of other authors and because we have not used the name in publications yet we cannot claim that we were the first to use it. In order to avoid ambiguities and name conflicts in future publications we decided to rename our language to Dura which stands for “Declarative uniform reactive event processing language”. Therefore the title of this deliverable has been updated to “Dura – Concepts and Examples”

Data mining as a tool for environmental scientists

Over recent years a huge library of data mining algorithms has been developed to tackle a variety of problems in fields such as medical imaging and network traffic analysis. Many of these techniques are far more flexible than more classical modelling approaches and could be usefully applied to data-rich environmental problems. Certain techniques such as Artificial Neural Networks, Clustering, Case-Based Reasoning and more recently Bayesian Decision Networks have found application in environmental modelling while other methods, for example classification and association rule extraction, have not yet been taken up on any wide scale. We propose that these and other data mining techniques could be usefully applied to difficult problems in the field. This paper introduces several data mining concepts and briefly discusses their application to environmental modelling, where data may be sparse, incomplete, or heterogenous