Unmanned Aircraft for Agricultural Applications UAAA www sites

Unmanned Aircraft for Agricultural Applications (UAAA) www. sites. psu. edu/uaaa Joe Sommer Professor of Mechanical Engineering hjs 1@psu. edu Unmanned Aircraft for Agricultural Applications 1

Unmanned Aircraft (UA) Platforms Multirotor Fixed-wing Unmanned Aircraft for Agricultural Applications 2

UA versus Smart Phone NO YES YES Cellular Network Accelerometer (IMU) Gyro (IMU) Compass (IMU) GPS Wi. Fi Camera Li. Po Battery Motors and Propellors Unmanned Aircraft for Agricultural Applications YES YES NO 3

Inertial Measurement Unit (IMU) • Microelectro-mechanical systems (MEMS) – Based on air-bag technology in cars • 3 axis accelerometer – Attitude, translational motion • 3 axis gyro – Rotational speed • 3 axis magnetometer – Compass Unmanned Aircraft for Agricultural Applications 4

Global Positioning System (GPS) • Requires lock on multiple satellites • Typically 1 reading per second, up to 10 • Horizontal accuracy – Civilian single receiver = 3. 5 m (11. 5 feet) – Civilian differential DGPS < 1 m – Military DGPS = 1 cm • Altitude (not AGL) • Approximate speed and heading Unmanned Aircraft for Agricultural Applications 5

Wireless Communication • 2. 4 GHz for UA control – Up-link to vehicle • 5. 6 GHz for camera/data – Down-link from vehicle – First Person View (FPV) for camera – On-Screen Display (OSD) for data • DJI Lightbridge includes both Unmanned Aircraft for Agricultural Applications 6

Camera • 4 K resolution = 4096 x 2160 pixels • Wide angle lens distortion • 2 axis gimbal – – Stabilizes image ± 45 degrees pan (yaw) 90 degrees tilt (pitch) Straight down • On-board SD card Unmanned Aircraft for Agricultural Applications 7

Special Cameras • Normalized Difference Vegetative Index – Healthy plants absorb near infrared (NIR) – Stressed plants do not – NDVI = (NIR-red) / (NIR+red) • Thermal infrared (FLIR) – Livestock • Sonar and LIDAR Unmanned Aircraft for Agricultural Applications 8

Li. Po Battery • High power to weight ratio • High discharge rate • Fire hazard – DO NOT DISCHARGE BELOW RECOMMENDED MINIMUM VOLTAGE !!! – Must use a charger that balances cells Unmanned Aircraft for Agricultural Applications 9

UA Performance • Limited flight time – Up to 25 minutes • Limited payload – Up to 2 pounds • Ability to hold station in wind – Up to 20 mph • Return to home Unmanned Aircraft for Agricultural Applications 10

Pre-flight Mission Planning • Satellite map – Update old maps • • • Waypoints and camera heading Speed and dwell Photo overlap Home Ground station – PC – Mobile apps Unmanned Aircraft for Agricultural Applications 11

Post-flight Processing • • Show actual mission flight Orthomosaic (stitching) Digital Surface Map (3 D) NDVI conversion Unmanned Aircraft for Agricultural Applications 12

Actionable Decision • Understand images from UA • Make a decision • Take action Unmanned Aircraft for Agricultural Applications 13

Row Crops • RGB versus NDVI • Seedling emergence • Herbicide – Post • Fertilizer • Irrigation • Pesticide – Pre and post • Harvest maturity Unmanned Aircraft for Agricultural Applications 14

Other Applications • Forage/cover crops – Forage height – Inter-seeded cover • Tree crops – Orchards • Blossoms, stress, tree load – Christmas trees Unmanned Aircraft for Agricultural Applications 15

Other Applications • Turfgrass – Pastures, golf courses • Invasive plant species • Livestock – Fever, injury, oestrus Unmanned Aircraft for Agricultural Applications 16

• Hobbyist Current FAA Policy – Mandatory UA registration (>250 g) – Academy of Model Aeronautics • Public operations – Public agencies and organizations – Certificate of Waiver or Authorization (COA) • Commercial operations – Section 333 exemption – “Blanket” COA under 200 ft AGL – Full pilot license Unmanned Aircraft for Agricultural Applications 17

Current FAA Policy • Take a photo of your garden with UA – Turn on sprinkler – OK because it is a hobby activity • Take a photo of your crop with UA – Turn on irrigation – Requires commercial exemption because it is a commercial activity Unmanned Aircraft for Agricultural Applications 18

Future FAA Policy ? • Small UAS – – – – Proposed 2/15/2015 Under 55 pounds Visual line of sight (VLOS) Daylight Maximum 500 ft above ground level (AGL) At least 5 miles from airport Pilot - knowledge test, approved by TSA, obtain small UAS certificate Unmanned Aircraft for Agricultural Applications 19

www. sites. psu. edu/uaaa Unmanned Aircraft for Agricultural Applications 20