Subcanopy MAV Suk Yung Lee Adam Wolf Kelly Caylor Roland Brockers October 3 2014 Overview Project objective Fly a quadcopter through a forest and survey trees autonomously Rationale ID: 568315
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Slide1
Rapid Forest Triage by Sub-canopy MAV
Suk Yung
Lee
Adam Wolf, Kelly
Caylor
, Roland
Brockers
October 3, 2014Slide2
Overview
Project objective: Fly a quadcopter through a forest and survey trees autonomously
Rationale: Microclimate and local competition Determine biomass and carbon sink potentialCost and time effective methodBranch applications (surveillance, etc) Combines fields such as computer vision, controls, and data processing*
Fig 1 – Concept of a forest survey conducted by an MAVSlide3
Manual Surveying
Formulate a ground truth with a manual survey
Rectangular survey grid
Diameter at breast heightTree locationsTree heights Canopy radius and area MetadataNumber of treesGrid size
Survey date & locationGPS coordinates of four grid corners (w/ error margins
Fig 2 – Measuring of tree location, diameter, and height
x
2
a
1
a
2
y
1
y
2
x
1
DBH
Origin
β
h
y
b
1
oSlide4
GPS Error
Polaris Navigation, GPS Status Android apps
Averaged an error margin of ±3.048 meters, but varied Navcom Technology – satpredictorNumber of satellites availableDilution of precision Target specific times of day for best accuracy and precision
Fig 3 – Satellite Availability and DOP (
Navcom
)
Fig 4 – Geometric ErrorSlide5
Ecology Maps
Neighborhood Basal Area Density
Nearest Tree DBH of Nearest Tree Neighborhood Height Standard Deviation of Neighborhood Height Average Distance within Neighborhood
Fig 5 – Nearest Tree Map (m)Slide6
Biomass
Chave
et al 2005
F = 0.06, broadleaf
= 0.59,
Quercus
agrifolia
19,895.54 kg
Lower
limit
Cone geometry
11,053.08 kg
Upper limit
Cylinder geometry
33,159.23 kgSlide7
Environmental Sensor board
Sensor board, operating in ROS using the asctec_mav_framework
Time stamp Relative humidity IR thermometer Thermistor Short-wave radiation Normalized difference vegetation index1
Fig 5 – Environmental Sensor Board ReadingsSlide8
Website
DemonstrationSlide9
Future Considerations
Above canopy survey
Autonomous height and canopy measurements
More effective biomass estimate2 Leaf area indexDensity of plant canopiesPrimary photosynthetic productionEvapotranspirationImage processing upward-facing hemispherical photos
Fig 7 – Upward facing hemispherical shot of canopySlide10
Acknowledgments
Adam
Wolf
Kelly Caylor Roland Brockers Jet Propulsion Laboratory Princeton Environmental InstituteSlide11
Citations
References
1 - http
://en.wikipedia.org/wiki/Normalized_Difference_Vegetation_Index2 - Chave et al. 2005ImagesFig 1 - http://www-robotics.jpl.nasa.gov/Fig 2 - http://oregonstate.edu/Fig 4 – Richard Langley, http://www.iastate.edu/Fig 7 - Stuart B Weiss