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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,549 records · Page 86
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

High precision control and deep learning-based corn stand counting algorithms for agricultural robot

This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultural operations. Currently, plant traits, such as emergence rate, biomass, vigor, and stand counting, are measured manually. This is highly labor-intensive and prone to errors. The robot, termed TerraSentia, is designed to automate the measurement of plant traits for efficient phenotyping as an alternative to manual measurements. In this paper, we formulate a Nonlinear Moving Horizon Estimator that identifies key terrain parameters using onboard robot sensors and a learning-based Nonlinear Model Predictive Control that ensures high precision path tracking in the presence of unknown wheel-terrain interaction. Moreover, we develop a machine vision algorithm designed to enable an ultra-compact ground robot to count corn stands by driving through the fields autonomously. The algorithm leverages a deep network to detect corn plants in images, and a visual tracking model to re-identify detected objects at different time steps. We collected data from 53 corn plots in various fields for corn plants around 14 days after emergence (stage V3 - V4). The robot predictions have agreed well with the ground truth with C robot =1.02×C human -0.86 and a correlation coefficient R=0.96. The mean relative error given by the algorithm is -3.78%, and the standard deviation is 6.76%. These results indicate a first and significant step towards autonomous robot-based real-time phenotyping using low-cost, ultra-compact ground robots for corn and potentially other crops.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

On the Departure from Monin–Obukhov Surface Similarity and Transition to the Convective Mixed Layer

Large-eddy simulations are used to evaluate mean profile similarity in the convective boundary layer (CBL). Particular care is taken regarding the grid sensitivity of the profiles and the mitigation of inertial oscillations in the simulation spin-up. The nondimensional gradients Φ for wind speed and air temperature generally align with Monin–Obukhov similarity across cases but have a steeper slope than predicted within each profile. The same trend has been noted in several other recent studies. The Businger-Dyer relations are modified here with an exponential cutoff term to account for the decay in Φ to first-order approximation, yielding improved similarity from approximately 0.05z i to above 0.3z i , where z i is the CBL depth. The necessity for the exponential correction is attributed to an extended transition from surface scaling to zero gradient in the mixed layer, where the departure from Monin–Obukhov similarity may be negligible at the surface but becomes substantial well below the conventional surface layer height of 0.1 z i .

54 ENVIRONMENTAL SCIENCES↗