Sim-to-Real Reinforcement Learning Framework for Autonomous Aerial Leaf Sampling

Using unmanned aerial systems (UAS) for leaf sampling is contributing to a better understanding of the influence of climate change on plant species, and the dynamics of forest ecology by studying hard-to-reach tree canopies. Currently, multiple skilled operators are required for UAS maneuvering and using the leaf sampling tool. This often limits sampling to only the canopy top or periphery. Sim-to-real reinforcement learning (RL) can be leveraged to tackle challenges in the autonomous operation of aerial leaf sampling in the changing environment of a tree canopy. However, trans- ferring an RL controller that is learned in simulation to real UAS applications is challenging due to the risk of crashes. UAS crashes pose safety risks to the operator and its surroundings which often leads to expensive UAS repairs. In this thesis, we present a Sim-to-Real Transfer framework using a computer numerical control (CNC) platform as a safer, and more robust proxy, before using the controller on a UAS. In addition, our framework provides an end-to-end complete pipeline to learn, and test, any deep RL controller for UAS or any three-axis robot for various control tasks. Our framework facilitates bi-directional iterative improvements to the simulation environment and real robot, by allowing instant deployment of the simulation learned controller to the real robot for performance verification and issue identification. Our results show that we can perform a zero-shot transfer of the RL agent, which is trained in simulation, to real CNC. The accuracy and precision do not meet the requirement for complex leaf sampling tasks yet. However, the RL agent trained for a static target following still follows or attempts to follow more dynamic and changing targets with predictable performance. This works lays the foundation by setting up the initial validation requirements for the leaf sampling tasks and identifies potential areas for improvement. Further tuning of the system and experimentation of the RL agent type would pave the way to autonomous aerial leaf sampling. Adviser: Carrick Detweile

Bruk av genteknologi og lyskvalitet for å kontrollere strekningsvekst hos julestjerne (Euphorbia pulcherrima Willd ex Klotzsch)

Poinsettia (Euphorbia pulcherrima Willd ex Klotzsch) is a non-food and non-feed, vegetatively propagated ornamental plant which is among the economically most important ornamentals worldwide. Desirable plant height is one of the most important traits in such species. To obtain compact plants, growers are regularly using chemical growth retardants such as CCC (chlormequat chloride) or alar/daminozide (dimethylaminosuccinamic acid), which inhibit the gibberellin (GA) biosynthesis, resulting in compact plants. However, growth retardants have negative impacts on the environment and human health among others by potentially being carcinogenic. Thus, it is highly desirable to further restrict their use. This PhD project has explored the use of a plant genetic engineering approach and regulation of light quality by using light emitting diodes (LEDs) to control shoot elongation in poinsettia. The SHORT INTERNODES gene from Arabidopsis thaliana (AtSHI) was introduced into poinsettia by the use of an Agrobacterium-based transformation system (paper I). Light quality effects on plant morphology was investigated in greenhouse compartments and growth chambers by comparing use of traditional high pressure sodium (HPS) lamps as supplementary light with a combination of 80% red (R) and 20% blue (B) light from light emitting diodes (LED) (paper II). Also, the effect a 30 min end-of-day (EOD) treatment provided by R LED light was investigated in both light regimes (Paper II). To investigate the effect of manipulation of the phytochrome system on hormone physiology, and since the knowledge on hormone physiology in poinsettia was limited, the effects of EOD-R and EOD-FR on hormone levels were compared (paper III). Three independent transgenic lines (TL1, TL2, TL3) harbouring AtSHI were identified by PCR, and stable integration was confirmed by Southern blot analysis (paper I). When grown under short (SD; 10 h) or long day (LD; 16 h) conditions all three transgenic lines showed reduced shoot elongation compared to untransformed wild type (WT) control plants. TL1 showed the shortest stems and internodes under SD with 52% and 49% reduction, respectively, compared to the WT. This correlated with the highest AtSHI expression, and a trend of 31% lower levels of indole-3 acetic acid (IAA) in TL1 compared to the WT. All three cultivars tested (‘Christmas Spirit’, ‘Christmas Eve’ and ‘Advent Red’) showed reduced plant height (20-34%) under 20% B and 80% R provided by LED light compared to the traditionally used HPS lamps (5% B) (paper II). The phytochrome photostationary state (PPS) under the LED and HPS was very similar, indicating that B light receptors such as cryptochromes are important to control stem elongation of poinsettia. Furthermore, in ‘Advent Red’ exposure to EOD-R resulted in reduced stem extension by 13% when HPS was used as supplementary light (paper II). By contrast, under the B-R supplementary LED light, EOD-R did not reduce shoot elongation, suggesting that the light-receptor dependent inhibition of shoot elongation had already been saturated due to the high content of B and R. In the other cultivar tested, ‘Christmas Eve’, no effect of the EOD-R-treatment was observed under any of the two light regimes. This might be due to differences in phytochrome light receptors or their action. Lower plants under EOD-R compared to EOD-FR correlated with lower levels of IAA, gibberellin (GA) and abscisic acid (21%, 28% and 19%, respectively) in shoot tips (paper III). The GA analyses revealed that the 13-hydroxylation pathway of GA biosynthesis is probably dominating over the non-13-hydroxylation pathway. In conclusion, these results demonstrates the potential for using genetic engineering and exploiting light quality responses in order to reduce the use of plant growth retardants in greenhouse production of poinsettia. However, the difference in response to EOD-R in the tested cultivars emphasizes the importance of investigating light quality responses in different commercially grown cultivars.Julestjerne (poinsettia; Euphorbia pulcherrima Willd ex Klotzsch), som verken benyttes til fôr eller mat og formeres vegetativt, er blant de økonomisk viktigste potteplantekulturer i verden. Kontroll av plantehøyden er av avgjørende betydning i slike arter. For å oppnå kompakte planter benyttes regelmessig behandling med kjemiske veksthemmere som CCC (chlormequat chloride) eller alar/daminozide (dimethylaminosuccinamic acid). Disse hemmer gibberellin- (GA) biosyntesen. Kjemiske veksthemmere har imidlertid negative effekter på miljøet og human helse, blant annet ved å være potensielt kreftframkallende. Det er derfor sterkt ønskelig å begrense bruken av disse ytterlige. Dette PhD-arbeidet har undersøkt muligheten for å benytte genteknologi og manipulering av lyskvalitet ved hjelp av lys-dioder (LED; fra engelsk «light emitting diodes») til å kontrollere strekningsveksten hos julestjerne. «SHORT INTERNODES»-genet fra vårskrinneblom (Arabidopsis thaliana) (AtSHI) ble satt inn i julestjerne ved hjelp av Agrobacterium-basert genteknologi (artikkel 1). Effekter av lyskvalitet på plantemorfologi ble undersøkt i veksthus og vekstkammere ved å sammenligne bruk av tradisjonelle høytrykksnatriumlamper (HPS; fra engelsk «high pressure sodium») som tilleggslys med bruk av LED-lys som ga en kombinasjon av 80% rødt (R) og 20% blått (B) lys (artikkel II). I tillegg ble effekten av en 30 minutters behandling med R LED-lys på slutten av dagen (EOD; fra engelsk «end of day») studert (artikkel II). For å undersøke effekten av manipulering av fytokromsystemet på hormonfysiologien, og siden kunnskapen om hormonfysiologien i julestjerne var begrenset, ble effektene av 30 minutter med EOD-R og EOD-mørkerødt (MR) på plantenes hormoninnhold sammenlignet (artikkel III). Tre uavhengige transgene linjer (T1, T2, T3) med innsatt AtSHI ble identifisert ved hjelp av PCR og stabil integrering bekreftet ved hjelp av southern blot-analyse (artikkel I). Ved dyrking under kort (KD; 10 timer) og lang dag (16 timer) viste alle tre linjer redusert strekningsvekst sammenlignet med ikke-tranformerte villtype-kontrollplanter. TL1 hadde de korteste stenglene og internodiene under KD med henholdsvis 52 % og 49 % reduksjon sammenlignet med villtypen. Dette korrelerte med det høyeste AtSHI-uttrykket og en tendens til lavere (31 %) nivåer av indol-3-eddiksyre (IAA) i TL1 sammenlignet med villtypen. Alle de tre testede julestjernesortene (‘Christmas Spirit’, ‘Christmas Eve’ og ‘Advent Red’) viste redusert plantehøyde (20-34 %) under 20 % B and 80 % R fra LED, sammenlignet med de tradisjonelt brukte HPS lampene (5 % B) (artikkel II). Fytokromstatus var svært lik under LED og HPS og dette tyder på at B-lysreseptorer som kryptokromer er viktige i å kontrollere strekningsveksten i julestjerne. I ‘Advent Red’ førte EOD-R til 13 % reduksjon i stengelstrekningen når HPS ble brukt som tilleggslys i veksthuset, sammenlignet med bruk av kun HPS uten EOD-R (artikkel II). I motsetning til dette, ble strekningsveksten ikke redusert av EOD-R-eksponering under B-R-LED-lysbehandlingen. Dette kan tyde på at lysavhengig hemming av stengelstrekning i dette tilfellet allerede var mettet på grunn av det høye nivået av B og R-lys. I den andre testede julestjernesorten, ‘Christmas Eve’, ble det ikke observert noen effekt av EOD-R under noen av de to lysregimene. Forskjellen mellom sortene kan muligens skyldes forskjeller i fytokrom-lysreseptorer eller deres virking. Lavere planter under EOD-R sammenlignet ned EOD-MR korrelerte med lavere nivåer av IAA, GA og abscisinsyre (henholdsvis 21 %, 28 % og 19 %) i skuddspissene (artikkel III). Analysene viste at 13-hydroksylerte gibberelliner forekom i større mengder enn ikke-13-hydroksylerte. De oppnådde resultatene viser potensial for å benytte genmodifisering og utnytte responser på lyskvalitet for å redusere bruk av kjemiske veksthemmere i veksthusdyrking av julestjerne. Forskjellene i respons på EOD-R i ulike julestjernesorter understreker imidlertid betydningen av å undersøke lyskvalitetsresponser i forskjellige kommersielt dyrkede sorter.Joint Proof-of-Concept Fun

AtomLbs: An Atom Based Convolutional Neural Network for Druggable Ligand Binding Site Prediction

Despite advances in drug research and development, there are few and ineffective treatments for a variety of diseases. Virtual screening can drastically reduce costs and accelerate the drug discovery process. Binding site identification is one of the initial and most important steps in structure-based virtual screening. Identifying and defining protein cavities that are likely to bind to a small compound is the objective of this task. In this research, we propose four different convolutional neural networks for predicting ligand-binding sites in proteins. A parallel optimized data pipeline is created to enable faster training of these neural network models on minimal hardware. The effectiveness of each method is assessed on well-established ligand binding site datasets. It is then compared with the state-of-the-art and widely used methods for ligand binding site identification. The result shows that our methods outperform most of the other methods and are comparable to the state-of-the-art methods

Theoretical modeling of paramagnetic chemical shifts in actinide complexes

Les déplacements chimiques RMN paramagnétiques sont les déplacements induits par un centre paramagnétique par comparaison à un équivalent diamagnétique. Ils comprennent deux termes: i) le terme de pseudo-contact correspond à l'interaction dipôle-dipôle et provient des propriétés magnétiques anisotropes du centre paramagnétique, ii) le terme de contact qui provient de la densité de spin au noyau actif en NMR, induite par la délocalisation de spin du centre paramagnétique. Pour exploiter les résultats de pNMR, il est nécessaire de séparer ces deux termes. Le modèle de Bleaney, élaboré dans les années 1970 pour les complexes de Ln(III) de symétrie axiale, est fondé sur la théorie du champ cristallin, et permet cette séparation à partir de la dépendance en température: les termes de contact et de pseudo-contact ont des dépendances respectives en T^(-1) et en T^(-2). De plus, l'anisotropie magnétique s'exprime à l'aide d'un unique paramètre de champ cristallin B_0^2 , paramètre effectif qui peut être déduit déduire des déplacements chimiques expérimentaux. Lors de cette thèse, nous avons montré que le modèle de Bleaney n'est pas valable dans les complexes d'actinide de symétrie axiale; en effet, l'anisotropie magnétique ne peut pas être décrite par un seul paramètre de champ cristallin, et la dépendance en température n'est pas celle des lanthanides. Ceci a été montré sur des complexes d'actinide de symétrie axiale formés avec les ligands DPA2- , DOTA4-, TEDGA. Leur synthèse et leur caractérisation spectroscopique a été effectuée au CEA Marcoule par l'équipe de Claude Berthon. Les complexes d'actinide montrent différents degrés d'oxydation (+III, +IV, +VI) par comparaison avec les lanthanides (généralement stables sous la forme +III) et leur structure électronique est plus complexe. Au degré d'oxydation +VI, les actinides du début de la série (U, Np, Pu) forment des cations actinyles linéaires AnO22+, qui ne peuvent pas être décrits par la théorie du champ des ligands. Nous avons montré que la théorie de Bleaney échoue totalement à décrire la dépendance en température des déplacements pNMR dans ces complexes. Les calculs ab initio suggèrent que ce sont les deux doublets de Kramers de basse énergie qui induisent la pNMR dans les complexes actinyles 5f1 . Par ailleurs, un doublet non Kramers bien séparé dicte les propriétés magnétiques dans les complexes 5f2 . Dans les chelates An(IV), les déplacements de pseudo-contact sont faibles par rapport aux termes de contact. Le terme de pseudo-contact est en T^(-1) et on doit ajouter un terme en T^(-3) au terme T^(-2) pour bien reproduire les données expérimentales. Les densités de spin sur les ligands peuvent être estimées des déplacements de contact; des calculs DFT permettent de rationaliser les schémas observés. Cette étude est complétée en analysant les tendances des paramètres de champs cristallins (CFP) dans les complexes Ln(III) et An(IV) DPA. Ces paramètres jouent un rôle essentiel pour la chimie des lanthanides et des actinides. Ils décrivent l'interaction des électrons de la couche f avec les ligands et peuvent inclure de façon effective la répulsion électron-électron, le couplage J-J, et la covalence. Notre analyse a mené aux conclusions suivantes: les CFPs décroissent globalement le long de la série des Ln(III) et An(IV) DPA, effet attribué à la diminution de la covalence qui inclue tous les effets au-délà de la théorie électrostatique. L'effet est plus important dans la série des An(IV) due à un large couplage J-J. Les CFPs axiaux d'ordre 4 et 6 (B_0^4, B_0^6) sont plus importants que ceux d'ordre deux B_0^4 dans les actinides. Ceci implique que la modélisation des déplacements pNMR dans les lanthanides et actinides de symétrie axiale par la théorie de Bleaney inclue de façon effective les effets d'ordres supérieurs. Et montre la limitation de cette théorie.Paramagnetic NMR (pNMR) shifts are the extra induced chemical shifts in a paramagnetic complex compared to its diamagnetic counterpart. The pNMR shift of a nucleus can be divided into two terms: the pseudocontact shift which is a 'through-space magnetic dipole-dipole interaction and originates from the anisotropic magnetic properties of the metal center, and the contact shift which arises from the presence of spin density at the nuclear position, a phenomenon due to the spin delocalization. In the 1970s, Bleaney had proposed a simple model based on crystal field theory (CFT) which permits the separation of the two terms based on their temperature dependency in the axially symmetric lanthanide complexes. According to his theory, the contact and the pseudocontact shifts behave as functions of T^(-1) and T^(-2) , respectively. Furthermore, his theory relates the magnetic anisotropy responsible for the pNMR shifts with only one crystal field parameter (CFP) B_0^2: an effective parameter that can be extracted from the experimental pNMR shifts, helps to model the zero field splitting and molecular magnetism. In this thesis, we have shown that Bleaney's model fails to describe pNMR shifts in axially symmetric actinide complexes, neither their magnetic anisotropy can be modeled with only one CFP nor the shifts follow the temperature dependency as proposed for lanthanides. This is shown by detailed studies performed in axially symmetric actinide complexes with DPA2- , DOTA4-, TEDGA ligands. Actinides show variable oxidation numbers (+III, +IV, +VI) compared to the Ln (mostly stable in +III) and the electronic structure is more complicated. In the +VI oxidation state, the earlier actinides (U, Np, Pu) form linear actinyl cations AnO22+, which cannot be described with the ligand field theory. We have shown that Bleaney's theory completely fails to describe the temperature dependency of the pNMR shifts in these complexes. Ab initio calculations suggest that two low-lying Kramers doublets are responsible for the pNMR shifts in the 5f1 actinyl complexes, whereas a well-isolated ground non-Kramers doublet dictates the magnetic properties in the 5f2 complexes. In the axially symmetric An(IV) DPA chelates, the pseudocontact shifts are small compared to the contact shifts, temperature dependency of the contact shifts mostly follow T^(-1) relationship whereas the pseudocontact shifts require T^(-3) term in addition to the T^(-2) to properly fit the experimental data. Spin density distributions on the ligands are estimated from the contact shifts; DFT-based evaluation plays an important role in support of the observed patterns. The survey is completed by analyzing the trends of the CFPs in the Ln(III) and An(IV) DPA complexes. CFT parametrically describe the interaction of the f electrons with the ligands and the CFPS effectively include various effects as the electron-electron repulsion, J-J coupling, covalency etc. Our analysis leads to the following conclusions- the overall magnitude of the CFPs decreases along both the Ln(III) and An(IV) DPA series, these declining trends are attributed to the decrease of covalency that includes all the effects beyond the electrostatic picture, the decrease was much larger in the An(IV) series due to large J-J coupling. The fourth and sixth orders axial CFPs (B_0^4, B_0^6) are larger than the second-order order B_0^2which implies that the modeling of the pNMR shifts in the axially symmetric Ln or An complexes according to Bleaney's theory effectively includes the higher-order effects in B_0^2 and denotes a limitation to this theory

Advanced microwave embedded sensors for infrastructure health monitoring

Microwave sensor systems have been widely investigated for many applications due to their ability to provide non-destructive, noncontact, one-sided and wireless testing. Among these applications infrastructure health monitoring of bridges, building, and dams using microwave sensors, which are mounted on or embedded in composite structures of infrastructure has been attracting an increasing interest. One of the current needs of infrastructure health monitoring includes the detection and monitoring of disbonding and gaps in concrete-based structures, which are also required for simultaneous characterization of concrete. A recently proposed microwave sensor technique exploiting a relatively simple waveguide sensor embedded in a concrete-metal structure such as a concrete-filled steel tube exhibited great potential. However, it suffers from a few drawbacks that need to be solved. This thesis aims to develop and investigate advanced microwave embedded sensors to solve main problems in the current microwave sensory technique including characterization of concrete in concrete-based structures at different stage of its life, size of the interface under inspection, detection and monitoring of a small gap between concrete and dielectric material surfaces and sensitivity to gaps. To achieve this aim the following five research contributions have been made: The first contribution is the methodology for the determination of the complex dielectric permittivity of concrete using both measurement data and simulation results at different stages (fresh, early-aged and dry) of its life. Firstly, it is developed and tested for a single flanged open-ended waveguide sensor with a hardened concrete specimen, and then the methodology is modified for the developed sensors embedded in concrete-based composite structures with fresh, early-age and dry concrete. Modern computational tool CST Microwave Studio and a performance network analyser are used for simulation and measurement, respectively, throughout this research work. The second contribution is a dual waveguide sensor, which is proposed, designed and applied for the detection and monitoring of a small gap in concrete-metal composite structures. It consists of two waveguide sections and a metal plate and uses the transmission of electromagnetic waves along gap when it occurs between the metal plate and concrete surfaces. It provides more measurement data than the single waveguide sensor for characterising concrete-metal structures such as transmission properties of guided waves along the gap and reflection properties of the metal–concrete interface at two different places at the same stage of concrete. As a result, the proposed sensor increases the size of the interface under inspection and sensitivity to the gap using the magnitude of reflection coefficient and magnitude of transmission coefficient together and/or independently. The third contribution is the design and application of a dual waveguide sensor with rectangular dielectric insertions that is proposed and tested for the characterisation of concrete–metal structures at different stages of the concrete life including its fresh stage. The dielectric insertions are designed and implanted in the waveguide sections in such a way that they create the resonant response of the sensor and prevent water and concrete entering the sections. The resonant properties of the sensor allow long-term monitoring of the concrete hydration, including the detection of the transition from fresh to hardened concrete on its first day. The proposed sensor along with the modified algorithm provides the determination of the complex dielectric permittivity of fresh concrete. The fourth contribution is a dual waveguide sensor with tapered dielectric insertions. Each tapered dielectric insertion is designed with a tapered part and rectangular part to reduce wave reflection from the insertions over an entire frequency band. The proposed sensor has improved performance at the resonant responses of a quarter-wavelength resonator formed by an open end at the tapered part and shorted end at the rectangular part of each insertion. The last contribution is the development of dual waveguide sensors with attached dielectric layer and their application for the detection and monitoring of gap between dielectric materials and concrete in metal-dielectric layer-concrete composites as well as the determination of complex dielectric permittivity of concrete at different stages of its life. One of the most attractive designs is the sensor with empty waveguide sections due to its simplicity and robustness, and capability of the layer for preventing penetration of the obstacles and water, and for optimization of the sensor. On the other hand, the sensors with dielectric insertions and the layer demonstrate a significantly higher magnitude of transmission coefficient. The proposed DWSs can be applied to characterise fresh concrete in a dielectric mould or on-line, and to investigate the shrinkage of different categories of concrete

pH Development Analysis of Alkaline and Low Salinity Water Flooding in sandstone cores

Master's thesis in Petroleum EngineeringLow salinity (LS) water flooding has been in the center of interest for conventional oil recovery in sandstone reservoir for more than two decades because of its low cost and potential for increased oil recovery. Though hundreds of researches have been done on LS EOR method, the mechanism behind the oil recovery is still debatable. Recently, Smart Water group of University of Stavanger has proposed a new chemical wettability alteration mechanism where protons (H+) from LS water replaces metal ions such as Ca2+, Na+ from the clay surface and made the surface more water wet by releasing polar organic oil components due to a pH increase. As a result, more oil is displaced towards production well and increases oil recovery. As the proton (H+) is adsorbed, pH of the produced water is increased and using this theory, Aksulu et. al. (2012) established a pH screening test as an experimental tool to check the LS potential for sandstone. pH of the system can also be increased by injecting alkaline water of high pH instead of creating in situ pH increase by LS water flooding. In this thesis, the transportability of alkalinity and development of pH was investigated for LS and alkaline water flooding. Three outcrop sandstone cores of different mineralogy were used for 12 pH screening tests at different temperatures. In addition with the pH screening test, pressure changes, density changes and ion chromatography tests were done during the flooding to observed the changes of produced water. pH-screening tests with alkaline water injection showed low potential for extra alkalinity compared with LS water injection. Almost two pH unit of injected high alkaline water is reduced by the minerals and formation water. On the other hand, the results of the pH-screening tests for LS water injection showed a potential for increasing the effluent LS water pH up to two units in comparison to its initial pH-value. Both the LS and alkaline water showed same trend of pH buildup though they had a big difference in bulk pH (almost 5 pH unit). Transportation of alkalinity through a mineral system with large surface area seemed to be challenging due to pH buffering from brine/mineral interactions as well as from chemical interactions involving inorganic cations from the formation water. It can be concluded after the thesis that an in-situ generation of alkaline conditions in the reservoir by injecting LS water seemed to have a larger potential for EOR purposes than transporting alkalinity by injecting high pH alkaline water through the reservoir

Hardware implementation of daubechies wavelet transforms using folded AIQ mapping

The Discrete Wavelet Transform (DWT) is a popular tool in the field of image and video compression applications. Because of its multi-resolution representation capability, the DWT has been used effectively in applications such as transient signal analysis, computer vision, texture analysis, cell detection, and image compression. Daubechies wavelets are one of the popular transforms in the wavelet family. Daubechies filters provide excellent spatial and spectral locality-properties which make them useful in image compression. In this thesis, we present an efficient implementation of a shared hardware core to compute two 8-point Daubechies wavelet transforms. The architecture is based on a new two-level folded mapping technique, an improved version of the Algebraic Integer Quantization (AIQ). The scheme is developed on the factorization and decomposition of the transform coefficients that exploits the symmetrical and wrapping structure of the matrices. The proposed architecture is parallel, pipelined, and multiplexed. Compared to existing designs, the proposed scheme reduces significantly the hardware cost, critical path delay and power consumption with a higher throughput rate. Later, we have briefly presented a new mapping scheme to error-freely compute the Daubechies-8 tap wavelet transform, which is the next transform of Daubechies-6 in the Daubechies wavelet series. The multidimensional technique maps the irrational transformation basis coefficients with integers and results in considerable reduction in hardware and power consumption, and significant improvement in image reconstruction quality

An overview of the environmental policies to ensure safe environment

As a human being, the environment-the Earth-is our home. We live, breathe, eat, and raise our children etc in the surrounding of environment. Undoubtfully, it is very crucial issue to protect the environment having a negative impact on human values such as good health or the 'clean, safe' environment. The protection of species and habitat, and the sustainability of the natural resources needed for human survival and economic growth. As a result we need to know the issues that have negative impact on environment and the policies to be taken to address the issues to control. Environmental policy is a commitment to the laws, regulations and other policy mechanisms concerning environmental issues and sustainability. Wide range of issues is not limited but includes the effects of pollution on our water, air, and land. The study of environmental policy and environmental issues are rich and diverse field. It includes the vast description, analysis and explanation on processes, tools, and institutional arrangements shape human interactions with and influence on the natural world. The environmental policy is quite complex as diverse type of actors i.e. government, non-government, industry, courts, scientists and local citizens must be considered to take and operate any kind of decision regardless individual, organizational and governmental. So the research basically focused on the environmental policies to be considered to address the environmental issues that have negative impact on human values