TY - GEN EP - 208 UR - https://orgprints.org/id/eprint/20659/ ID - orgprints20659 AV - restricted TI - Robotic weed monitoring Y1 - 2011/// N2 - In this paper, an integrated management system for the planning and activation of a field monitoring task is presented. The architecture of the system is built around a mobile robotic unit. The internet-based architecture of the system includes a station unit that works as a mobile on-farm operating console, the mobile robotic unit and a field server for generating and storing maps. The hypothesis is that it is possible to automate the planning and execution of the operation of monitoring the in-field weed density and species distribution. The developed planning system includes the automatic field geometrical representation and the route planning for the mobile unit. For the field representation two algorithmic approaches for automated track generation were used. For the route planning, a graph-based field coverage algorithm and a discrete gridbased path planning method were used.The low computational requirements of the implemented algorithms make it feasible to adopt a real-time re-planning strategy in which a set of new planning problems are solved based on the latest information. The central part of such a planning, concerns the dynamic re-evaluation of the initial plan for sampling and routing based on the on-line analysis of the samples. This provides the basis for a fully sequential adaptive adjustment of the sampling procedure after each individual sampling. It is expected that such a dynamic targeted sampling and routing system will reduce the overall cost and time consumption of the weed monitoring operation. A1 - Bochtis, D.D. A1 - Sørensen, C.G. A1 - Jørgensen, R.N. A1 - Nørremark, M. A1 - Hameed, I.A. A1 - Swain, K.C. SP - 202 ER - TY - CONF UR - https://orgprints.org/id/eprint/4835/ ID - orgprints4835 AV - public KW - seed mapping; vehicle guidance; mechanical weeding TI - Seed mapping of sugar beet to guide weeding robots Y1 - 2004/// A1 - Griepentrog, Hans W. A1 - Nørremark, Michael N2 - Individual plant care in agriculture will lead to new opportunities in crop management. Not only the weeding operation is in focus here but it will be more in general for individual chemical or physical treatments of individual weed or crop plants. For the application of fertilizers and chemicals in small dose rates and accurately targeted advanced sensor information e.g. based on spectral responses can be used to consider the individual plant needs ('the speaking plant'). This will have a significant effect on the reduction of inputs and increase the general efficiency rates of agricultural means. The objective of this project was to provide high accuracy seed position mapping of a field of sugar beet to allow subsequent physical weeding as inter- and within-row treatments. By knowing where the seeds were placed the assumption was that the plants will show up close by. This information about where the individual plants are can be used to show where the crop rows are. Therefore, this can be used as an appropriate information for guiding tractors and/or implements. At least for steering operations for inter-row weeding this procedure can be sufficient. A high accurate, cm-level, RTK GPS, optical seed detectors and a data logging system were retrofitted on to a conventional sugar beet precision seeder to map the seeds as they were planted (Nørremark et al., 2003). The average error between the seed map and the actual plant map was between 16 mm and 43 mm depending on vehicle speed and seed spacing (Griepentrog et al., 2003). Both parameters influenced the plant position estimates significantly. The seed spacing was particularly important because of its influence on the potential of seed displacements in the furrow after passing the seed detecting sensors. The results showed that the overall accuracy of the estimated plant positions were acceptable for the guidance of vehicles and implements for weeding purposes as well as for individual plant treatments. This research is contributing to the ongoing Danish research project Robotic Weeding as a cooperative research project of The Royal Veterinary and Agricultural University (KVL), Frederiksberg and the Danish Institute of Agricultural Sciences (DIAS), Horsens. ER - TY - CONF A1 - Griepentrog, Hans W. A1 - Nørremark, Michael SP - 51 N2 - Mulighederne indenfor præcisionsjordbrug er i de seneste år blevet mangfoldige. Præcisionsjordbrug har hidtil været anvendt på markniveau til graduering af forskellige produktionsmidler. Dette kan have en miljøforbedrende effekt både mht. udvaskning af nærringssalte og pesticider. Det overordnede mål har derved været at forøge effektiviteten af det enkelte produktionsmiddel. I den sammenhæng er det interessant at undersøge mulighederne for at forøge effektiviteten af det enkelte produktionsmiddel ved direkte at tilføre midlet til hver enkel kulturplante. Problemstillingen er derfor at udvikle teknologi, som gør det muligt at positionsbestemme hver enkel kulturplante på en mark. TI - Positionering af frø og afgrøderækker med RTK-GPS Y1 - 2002/// PB - Landbruget Rådgivningscenter, Skejby AV - public KW - seed mapping; GPS; weed control UR - https://orgprints.org/id/eprint/4833/ EP - 52 ID - orgprints4833 ER - TY - GEN TI - Seed Mapping of Sugar Beet Y1 - 2005/04// N2 - Individual plant care may well become embodied in precision farming in the future and will lead to new opportunities in agricultural crop management. The objective of this project was to develop and evaluate a data logging system attached to a precision seeder to enable high accuracy seed position mapping of a field of sugar beet. A Real Time Kinematic Global Positioning System (RTK GPS), optical seed detectors and a data logging system were retrofitted on to a precision seeder to map the seeds as they were planted. The average error between the seed map and the actual plant map was about 16?43 mm depending on vehicle speed and seed spacing. The results showed that the overall accuracy of the estimated plant positions was acceptable for the guidance of vehicles and implements as well as potential individual plant treatments. A1 - Griepentrog, Hans W. A1 - Nørremark, Michael A1 - Nielsen, Henning A1 - Blackmore, Simon SP - 157 ID - orgprints4831 UR - https://orgprints.org/id/eprint/4831/ EP - 165 PB - Kluwer Academic Publishers KW - seed mapping; crop management; individual plant care; weeding; seeding; RTK GPS AV - public ER - TY - CONF TI - Individual plant care in cropping systems Y1 - 2003/// A1 - Griepentrog, Hans W. A1 - Nørremark, Michael A1 - Nielsen, Henning A1 - Blackmore, Simon SP - 247 N2 - Individual plant care cropping systems, embodied in precision farming, may lead to new opportunities in agricultural crop management. The objective of the project was to provide high accuracy seed position mapping of a field of sugar beet. An RTK GPS was retrofitted on to a precision seeder to map the seeds as they were planted. The average error between the seed map and the actual plant map was about 32 mm to 59 mm. The results showed that the overall accuracy of the estimated plant positions is acceptable for the guidance of vehicles and implements. For subsequent individual plant care, the deviations were not, in all cases, small enough to ensure accurate individual plant targeting. UR - https://orgprints.org/id/eprint/4836/ ID - orgprints4836 EP - 251 PB - Wageningen Academic Publishers KW - seed mapping; individual plant care; weed control AV - public ED - Stafford, John ED - Werner, Armin ER - TY - CONF ID - orgprints8082 UR - https://orgprints.org/id/eprint/8082/ PB - Association française de protection des plantes (AFPP) KW - weed harrowing KW - mechanical weed control AV - public TI - TOLERANCE OF CEREALS TO POST- EMERGENCE WEED HARROWING Y1 - 2006/// N2 - This study defines crop tolerance to post-emergence weed harrowing as the combined effect of crop resistance and crop recovery. Crop resistance is the ability of the crop to resist soil covering and recovery is the ability to recover in terms of yield. In two experiments, resistance, recovery and tolerance were quantified in barley, oat, wheat and triticale by a new method based on digital image analysis. Important differences in resistance, recovery and tolerance among species were seen and resistance was not linked to recovery. Oat showed higher resistance than wheat, and barley. Triticale showed the lowest resistance. Oat and barley showed both lower ability to recover from soil covering than wheat, and triticale showed complete recovery. Triticale was the most tolerant species followed by wheat, oat and barley. Differences in tolerance caused species dependent crop yield losses in weed-free environments in the range of 0 to 10% for a practical relevant aggressiveness of weed harrowing. A1 - Gundersen, Hanne A1 - Rasmussen, Jesper A1 - Nørremark, Michael ER - TY - GEN Y1 - 2010/// TI - Automated generation of guidance lines for operational field planning N2 - A number of advanced satellite positioning based systems for agricultural machines have been developed and are commercial available for aiding and supporting navigation efforts up to full auto-steering. Furthermore, in terms of the route planning for agricultural field operations, advanced methods based on combinatorial optimisation of fieldwork patterns have recently been introduced. In order to apply and implement these methods in the high-level control system of agricultural machines, an appropriate representation of the field as a geometrical entity made up of discrete geometric primitives, such as points, lines, and polygons is needed. Preferably, such a representation must be generated in real-time providing the input to the whole accuracy range of navigation systems as well as the range of operation types, equipment characteristics, and machinery kinematics. Here, a method for real-time generation of field geometrical representation for operational planning is presented. The representation regards simple or complex fields for both convex and non-convex field boundaries, where generated tracks can be straight or curved. As demonstration cases for the method, 15 different field types were evaluated. According to the experimental results, the computational time of the method was in the range of 0.11e239.73 s for the case of single-block fields and in the range of 2.24e402.59 s for multiple-blocks fields. The tested fields were of different shapes and the area ranged from 0.21 ha to 44.93 ha. SP - 294 A1 - Hameed, I.A. A1 - Bochtis, D.D. A1 - Sørensen, C.G A1 - Nørremark, M. UR - https://orgprints.org/id/eprint/20655/ EP - 306 ID - orgprints20655 AV - restricted ER - TY - CONF UR - https://orgprints.org/id/eprint/35459/ ID - orgprints35459 EP - 462 AV - public TI - Controlled traffic farming increases root growth, crop and soil nitrogen in vegetable cropping systems Y1 - 2018/// N2 - Results from field trials on sandy and sandy loam of controlled traffic farming A1 - Hefner, M. A1 - Labouriau, R. A1 - Nørremark, M. A1 - Kristensen, H. L. SP - 461 ER - TY - GEN TI - Controlled traffic farming increased crop yield, root growth, and nitrogen supply at two organic vegetable farms SN - 0167-1987 Y1 - 2019/04/09/ N2 - Increased farm machinery weight in agricultural production results in soil compaction. Controlled traffic farming (CTF) restricts traffic to permanent lanes, thereby creating traffic free beds for crop production. Field experiments were conducted at two organic vegetable farms in Denmark, on a sandy loam (2013?2016) and on coarse sand (2013?2015) to investigate CTF effects compared with random traffic farming (RTF) on vegetable yield, root growth, and soil mineral nitrogen (N). Root growth was measured using minirhizotrons. White cabbage, potato, and beetroot yield increased by 27%, 70% and 42%, respectively, in CTF compared with RTF in 2015 and winter squash indicated a yield increase of 43% on sandy loam in 2016. White cabbage (2015) and potato, beetroot and winter squash (2016) grew 2?25 times more roots and beetroot grew deeper roots under CTF compared with RTF on sandy loam in 2016. On coarse sandy soil, beetroot root frequency was 1.4 times greater under CTF than under RTF and beetroot roots grew deeper than 1.5?m under both treatments in 2015. Soil mineral N and potential net N mineralization were equal between treatments or higher in CTF by 2?41?kg ha?1 and 11?mg?kg?1 35 days?1, respectively, indicating N supply was maintained or increased in this system. Despite the variability in crop and root growth responses to traffic between years and crops, the effects were always equal or positive for CTF following treatment implementation. Therefore, our results encourage the use of CTF for organic vegetable production under temperate conditions. A1 - Hefner, M. A1 - Labouriau, R. A1 - Nørremark, Michael A1 - Kristensen, Hanne Lakkenborg SP - 117 EP - 130 UR - https://orgprints.org/id/eprint/35456/ ID - orgprints35456 AV - public ER - TY - CONF A1 - Hefner, M. A1 - Nørremark, Michael A1 - Kristensen, Hanne L. N2 - Problems of machinery induced soil compaction are evident in organic vegetable production, resulting in stunted root growth and reduced yield. Controlled traffic farming (CTF) provides a possibility to restrict soil compaction to wheel tracks and create traffic-free vegetable beds with improved soil structure. A field experiment was established at a commercial organic vegetable farm in Denmark to investigate the effect of CTF on the growth of cabbage (Brassica oleracea), potato (Solanum tuberosum) and beetroot (Beta vulgaris). Random traffic farming (RTF) served as the control. Preliminary results show that root intensity was higher in the CTF treatment compared to the RTF treatment for cabbage at the end of the growing season, indicating a better soil structure in this system. Crop yields were 23 to 70% higher in all three investigated crops in the CTF treatments. These results point towards the potential to increase the use of the CTF system in organic vegetable production. Y1 - 2017/// SN - 978-3-89574-925-4 TI - Das Konzept des "controlled traffic farming" im ökologischen Gemüseanbau KW - controlled traffic farming KW - reduced tillage KW - minirhizotrons KW - vegetables KW - Gemüseanbau KW - ökologisch AV - public PB - Verlag Dr. Köster, Berlin ED - Heuwinkel, Hauke ED - Reents, Hans Jürgen ED - Wiesinger, Klaus ED - Wolfrum, Sebastian ED - Hülsbergen, Kurt-Jürgen UR - https://orgprints.org/id/eprint/31850/ ID - orgprints31850 ER - TY - GEN ID - orgprints14800 UR - https://orgprints.org/id/eprint/14800/ EP - 203 AV - restricted TI - Utilising scripting language for unmanned and automated guided vehicles operating within row crops Y1 - 2008/// N2 - A flexible high-level control language is an important element in the ongoing task of introducing automated guided vehicles (AGV) to new application domains. A new application domain is row crops, where small AGV?s will perform weed control around individual crop plants. This paper defines the requirements and scope of a process- and behaviour-based scripting language needed to control the weeding AGV in an agricultural row crop. The goal is to traverse and cover the whole field with no human auxiliary input during the field operation. The basis is the transparent and tactical real-time control language (CL) for small mobile robots (SMR). This SMR-CL has been modified to include some necessary motion commands and a supplemental supervisory function to monitor and record the progressive coverage of the field. The control language was then tested by applying it to a scenario representing typical field conditions for row crops. The construction of a suitable SMR-CL script for use in a field clearly demonstrates the feasibility of adapting behaviour-based control systems to field structures. The conducted case study indicated the importance of including goal-directing modules. Such a module is described here as the ?supervisory field coverage monitor? (SFCM), which acts to coordinate the behaviours. The applicability of this modified SMR-CL has been successfully demonstrated using a vehicle test in a specially designed artificial row crop field. The analysis of the operational performance verified that it is possible to cover all rows in a field without conducting time-consuming planning procedures. A1 - Jørgensen, Rasmus N. A1 - Nørremark, Michael A1 - Sørensen, Claus G. A1 - Andersen, Nils Axel SP - 190 ER - TY - CONF Y1 - 2010/09/06/ TI - New optimized technique for mechanical control of Elymus repens CY - CD, Conference Proeedings N2 - Elymus repens (coach grass) is traditionally controlled by repeated and prolonged stubble cultivation. However, the efficacy is strongly depending on weather and secondly on the exposure of rhizomes. The shorter the required period of cultivation stays the more compliance with the objective in organic farming where farmers aim at minimizing leaching of nutrients by keeping the soil plant-covered during autumn and winter. Effective technique and strategies for uprooting, exposing and destroying Elymus repens are needed. In a Danish organic research project the focus is on technological solutions for uprooting, exposing and destroying of the rhizomes within a short time span. Machines of standard type, modified machines and machines constructed for other purposes have been studied. The results show that it is difficult to achieve a high percentage of uprooting when using machines giving a high area capacity, e.g. spring loaded tine cultivator and rigid tine cultivator with modified spike discs at the rear. A1 - Kristensen, Erik Fløjgaard A1 - Melander, Bo A1 - Nørremark, Michael ID - orgprints18343 UR - https://orgprints.org/id/eprint/18343/ KW - Weed control KW - organic farming KW - machine technique KW - Elymus repens AV - public ER - TY - GEN N2 - This article deals with aspects of destructing Elytrigia repens rhizomes after they have been uprooted and exposed on the soil surface. Removal from the field is the best practical option at present. Mechanical crushing may become possible in a few years time to erase their sprouting ability and with the prospects of reurning nutrients to the soil. SP - 16 A1 - Melander, B. A1 - Nørremark, M. Y1 - 2010/10/01/ TI - Fjern kvikudløbere og overvej kompostering AV - public EP - 16 UR - https://orgprints.org/id/eprint/17902/ ID - orgprints17902 ER - TY - GEN UR - https://orgprints.org/id/eprint/43746/ EP - 469 ID - orgprints43746 KW - perennial weeds KW - rhizome KW - uprooting KW - removal KW - belowground propagule KW - catch crop AV - public Y1 - 2012/11/14/ SN - 0043-1737 TI - Combining mechanical rhizome removal and cover crops for E lytrigia repens control in organic barley systems SP - 461 A1 - Melander, Bo A1 - Nørremark, Michael A1 - Fløjgaard, Erik N2 - The control of perennial weeds in organic crop production needs reconsideration to minimise losses of nutrients through leaching. Long post-harvest periods with mechanical weed control hinder a plant cover with the purpose of taking up nutrients not being utilised by the main crop to maintain soil fertility. To meet the interests of nutrient and weed management, we suggest a new concept for the control of perennial weeds with propagules placed within the plough layer. The concept comprises uprooting and immediate removal of Elytrigia repens rhizomes with modified machinery to allow for a quick re-establishment of a plant cover to avoid longer periods of bare soil. Four passes with a modified cultivator where each pass was followed by rhizome removal and finally catch crop growing reduced E. repens shoot growth in a subsequent spring barley crop by 84 and 97%, respectively, in two field experiments on a sandy soil. Small remains of rhizomes in the soil following uprooting did not result in a higher shoot production rate than larger residuals as otherwise hypothesised. For the further development of the concept, we suggest focusing on lifting principles known from potato harvesters as effective uprooting and removal might be achieved with fewer passes. ER - TY - CONF CY - Wageningen Y1 - 2008/11// TI - Exposure and destruction of Elymus repens rhizomes and Rumex crispus rootstocks A1 - Melander, Bo A1 - Nørremark, Michael A1 - Fløjgaard, Erik N2 - The paper summaries the latest achievements with the development of new technologies for uprooting and destroying vegetative propagules of Elytrigia repens and Rumex crispus ID - orgprints16209 UR - https://orgprints.org/id/eprint/16209/ AV - public PB - EWRS ER - TY - GEN TI - Kvik skal op og væk Y1 - 2008/11/14/ N2 - The article deals with previous results with the ability of different implements to uproot Elytrigia repens rhizomes. A1 - Melander, Bo A1 - Nørremark, Michael A1 - Kristensen, Erik Fløjgaard SP - 10 UR - https://orgprints.org/id/eprint/16213/ EP - 10 ID - orgprints16213 AV - public ER - TY - GEN AV - restricted KW - Couch grass KW - perennial weed KW - perennials KW - removal KW - destruction KW - Elymaus repens ID - orgprints20606 UR - https://orgprints.org/id/eprint/20606/ EP - 477 SP - 469 A1 - Melander, B. A1 - Kristensen, J.K. A1 - Kristensen, K. A1 - Mathiassen, S.K. A1 - Nørremark, M. A1 - Kristensen , E.F. N2 - Traditional strategies for controlling Elytrigia repens infestations in organic cropping in Scandinavia are based on repeated post-harvest cultivation. However, post-harvest tillage is undesirable due to the need for retaining nutrients in the cropping systems. There is a need to look for solutions where E. repens can be controlled over a short duration to allow replanting of the soil. A Danish project is investigating new technologies that can meet such requirements. One aspect is to look for methods that physically can destruct the sprouting ability of E. repens rhizome buds. We investigated the effect of heating using hot water and mechanical crushing by pressure on the sprouting ability of exposed rhizome buds. The effect of temperatures < 70oC on the sprouting ability was inversely related to exposure time while 70oC or more gave a complete bud kill irrespective of heat duration. A sigmoid function described the relationship between sprouting ability and increasing pressure with a complete bud kill attained at 10 Newton per mm rhizome length. Neither rhizome ecotype or rhizome length influenced the relationship when pressures produced a bud kill of agronomic interest (>70% control). According to energy calculations made, crushing rhizome buds appears far more promising than thermal destruction. Y1 - 2011/10/15/ TI - Physical destruction of the sprouting ability of Elytrigia repens rhizome buds ER - TY - GEN UR - https://orgprints.org/id/eprint/25676/ EP - 469 ID - orgprints25676 AV - restricted Y1 - 2013/12// TI - Combining mechanical rhizome removal and cover crops for Elytrigia repens control in organic barley systems N2 - Mechanical weed control of perennial weeds in organic crop production over long post-harvest periods is incompatible with the establishment of cover crops for improving soil quality and preventing nutrient leaching. We suggest a new concept that comprises uprooting and immediate removal of vegetative propagules located within the plough layer to allow for quick re-establishment of a plant cover. A field experiment comparing the effects of conventional practices (stubble cultivation) with different combinations of rotary cultivation (1, 2 or 4 passes) and cover crops (none vs rye-vetch-mustard mixture) on Elytrigia repens rhizome removal, shoot growth and suppression of a subsequent barley crop were examined in two growing seasons. Four passes with a modified rotary cultivator where each pass was followed by rhizome removal reduced E. repens shoot growth in barley by 84 and 97%. In general, the cover crop developed poorly and did not affect barley or E. repens. Barley yield was only affected by treatments in the first season, where yield was negatively correlated with E. repens shoot biomass. The concept has potential for the control of severe E. repens infestations but future research aimed at identifying more effective smother crops and less intensive methods of rhizome removal is needed. SP - 461 A1 - Melander, Bo A1 - Nørremark, Michael A1 - Kristensen, E.F. ER - TY - CONF A1 - Nørremark, Michael A1 - Griepentrog, Hans W. N2 - The objective of this paper is to analyse and define the field conditions close to the crop plants of sugar beet (Beta vulgaris L.). The aim is to use this study for the choice and development of new physical weeding methods to target weeds at individual plant scale level. It was found that the close to crop area is like a ring structure, comprising an area between an inner- and outer-circle around the sugar beet seedling. Physical weeding should not be applied to the area within the inner circle. The radius of the inner circle increases with the appearance of young beet leaves during the growth season. It was also found, that no weeds were germinating within 1 cm around individual sugar beet seedlings. Therefore this distance should be added to the radius of the inner circle. The space between the inner and outer circle is termed the close to crop area where physical weeding should be applied. The size of this area is defined by the developmental stage of the sugar beet fibrous root system and foliage. Thus, the determination of the growth stage of individual crop plants is necessary before any physical weeding can take place in the close to crop area. Uprooting, cutting between stem and root or damage of main shoot can do the physical control of most weed species located in the close to crop area. However, the targeting of weeds from above and from different angels above ground is limited in the close to crop area. This is caused by the fact that sugar beet leaves do not leave much space between leaves and ground and that our own study indicate that 26.4% of sugar beet plants at the 4-6 leaf stage are covering the main shoot of weeds. The most problematic weeds are the species, which have their main shoot and leaves located close to ground level. These species can either be controlled by damage of the main shoot or with a combination of shallow surface cutting and burial. Discrimination between weed species is beneficial under certain circumstances. First, the efficiency of the physical control of individual weed species is depending on the timing. Secondly some weeds species do not have significant negative impact on the yield, but instead leaving these species uncontrolled could benefit to an increased bio-diversity and reduced time and energy input for a physical weeding process. This paper is contributing to the ongoing Danish research project Robotic Weeding. TI - Analysis and Definition of the close-to-crop Area in Relation to Robotic Weeding Y1 - 2004/// AV - public UR - https://orgprints.org/id/eprint/4834/ ID - orgprints4834 ER - TY - GEN TI - Den digitale mark Y1 - 2003/07// A1 - Nørremark, Michael A1 - Griepentrog, Hans W. SP - 10 N2 - Moderne og yderst præcis teknologi i jordbruget kan på sigt spare landmænd for at bruge unødvendigt store mængder pesticider. Ved hjælp af centimeterpræcis GPS-teknologi kombineret med digitale og optiske sensorer er det nu muligt at kortlægge de såede frø på en hel mark. EP - 11 UR - https://orgprints.org/id/eprint/4832/ ID - orgprints4832 PB - KVL AV - public KW - weed control; seed mapping; mechanical weeding; seeding; robots ER - TY - CONF SP - 463 A1 - Nørremark, Michael A1 - Griepentrog, Hans W. N2 - In this project a Real Time Kinematic Global Position System (RTKGPS) was used to provide high accuracy field operation data. The deviations and errors of the RTKGPS when used in static and dynamic modes were studied as well as the accuracy of RTK GPS in eastern Denmark (55 40 N, 12 18 E) during a 24-hour test. The project introduced a novel real time data acquisition system and post-processing algorithms for improving positioning by merging RTKGPS data with vehicle altitude. Y1 - 2003/// TI - A method for high accuracy geo-referencing of data from field operations AV - public KW - seed mapping; weed control; GPS PB - Wageningen Academic Publishers ED - Stafford, John ED - Werner, Armin UR - https://orgprints.org/id/eprint/4837/ EP - 467 ID - orgprints4837 ER - TY - GEN AV - public UR - https://orgprints.org/id/eprint/16221/ ID - orgprints16221 EP - 16 SP - 16 A1 - Nørremark, Michael A1 - Melander, Bo N2 - New technologies for automatic weed control in row crops are presented Y1 - 2009/08/07/ TI - Automatiske redskaber til ukrudtsbekæmpelse ER - TY - GEN AV - public PB - ICROFS ID - orgprints16208 UR - https://orgprints.org/id/eprint/16208/ EP - 9 SP - 8 A1 - Nørremark, Michael A1 - Melander, Bo N2 - Automatiske redskaber til fysisk ukrudtsbekæmpelse, som fjerner ukrudt meget tæt på afgrødeplanten, er under udvikling. De mest lovende redskabsløsninger foretager præcis jordbehandling samt termisk ukrudtsbekæmpelse ved hjælp af pulsede laserapparater CY - Foulum Y1 - 2009/03// TI - Udvikling af automatiske redskaber til fysisk ukrudtsbekæmpelse ER - TY - GEN AV - public PB - ICROFS EP - 3 UR - https://orgprints.org/id/eprint/16206/ ID - orgprints16206 N2 - Tools are being developed for automated physical weed control in the close to crop area. The most promising weed control concepts are the so-called high precision tillage solutions and thermal weed control by pulsed lasers. SP - 2 A1 - Nørremark, Michael A1 - Melander, Bo Y1 - 2009/02// TI - Development of tools for automated physical weed control CY - Foulum ER - TY - UNPB EP - xx UR - https://orgprints.org/id/eprint/20684/ ID - orgprints20684 T3 - International Journal of Control, Automation and Systems AV - restricted Y1 - 2012/// SN - 1598-6446 TI - Simulation and control parameter estimation of a permanent magnet tubular linear synchronous motor for tool guidance around crop plants N2 - Accurate, fast and high precision tool guidance is an important capability for certain field operations such as mechanical weed control close to crop plants. This paper presents mathematical modelling and instrumentation suggestions for actuator driven tine control for close to crop mechanical weed control. An electro side shifting actuator for tool attachment was designed in AutoCAD and validated by modelling in MatLab/Simulink. Variations to load force, forward speed, plant spacing and voltage level similar to real conditions were used to verify the modelling of the side shifting system. The simulation verified that the selected permanent magnet tubular linear synchronous motor (PMTLSM) could side shift attached tools without interaction with the desired untreated zone around individual crop plants under field comparable conditions. This paper also presents a direct thrust force control (DTFC) approach for controlling the PMTLSM. The tool guidance design, selected PMTLSM and control strategy showed the potential for further construction into a novel implement for high accurate and fast intra-row mechanical and/or physical weed control. SP - x A1 - Nørremark, M. A1 - Ponomarev, P. A1 - Niemelä, M. ER - TY - CONF TI - Advanced Non-Chemical and Close to Plant Weed Control system for Organic Agriculture Y1 - 2009/// N2 - Use of chemical has been reduced in agriculture for controlling weeds emergence. The use of alternative systems, such as cultural practices (mulching, flame, intercropping etc.) and mechanical system (hoe, tine etc.) has been introduced by various researchers. Automation technique based on sensors controlled system has enhanced the efficiency of the mechanical system for weed control. Mostly, low cost image acquisition sensors and optical sensor to detect the plant ensuring swift operation of vehicles close the crop plants to remove competitive weeds. The available system need to be evaluated to get best possible system for close to plant (CTP) weed removal. In the study various non-chemical weed control measures has been explored and 30 mechanical tools for CTP were evaluated. High precision tillage solutions and thermal weed control by pulsed lasers for eradication of stem or main shoot were found to be the most promising weed control concepts for CTP operation. A1 - Nørremark, Michael A1 - Swain, Kishore A1 - Melander, Bo UR - https://orgprints.org/id/eprint/20656/ ID - orgprints20656 ED - Salokhe, V.M. ED - Soni, P. AV - public ER - TY - GEN UR - https://orgprints.org/id/eprint/15707/ EP - 28 ID - orgprints15707 PB - Sveriges lantbruksuniversitet (SLU) AV - public TI - På vej mod den intelligente ukrudtsharve Y1 - 2009/// N2 - En ukrudtsharve, der automatisk indstiller sig efter bekæmpelsesbehovet, er ikke længere en urealistisk fremtidsdrøm. Teknikken eksisterer, og om ganske få år vil vi se den brugt i forbindelse med marksprøjter. I de senere år har vi arbejdet på at udvikle de beslutningsstøttemodeller, som den automatiske harve skal bruge, og vi har udviklet et billedbehandlingsprogram, som bruges til at bestemme harvningens umiddelbare effekt på afgrøden. Programmet har flere anvendelsesmuligheder og kan bruges af alle. A1 - Rasmussen, Jesper A1 - Nørremark, Michael SP - 26 ER - TY - GEN AV - public UR - https://orgprints.org/id/eprint/10694/ ID - orgprints10694 A1 - Rasmussen, Jesper A1 - Nørremark, Michael N2 - Digital billedbehandling udfylder et metodemæssigt tomrum i forhold til ukrudtsharvning. Med udvikling af en ny billedbehandlingsprocedure er det ikke længere nødvendigt at anvende visuelle bedømmelser af afgrødetildækningen ved ukrudtsharvning. Artiklen giver eksempler på hvordan digital billedbehandling kan anvnedes. TI - Forskning i ukrudtsharvning får nyt liv med digital billedbehandling Y1 - 2007/03// ER - TY - CONF TI - Digital images for assessing soil cover of crop plants Y1 - 2007/// N2 - The main drawback by using crop soil cover in weed harrowing research is that it is assessed by visual scores, which are biased and context dependent. This problem may be solved by using digital image analysis. In this paper a new image capture standard and digital image analysis procedure was used to illustrate three key issues in relation to weed harrowing; selectivity, resistance and recovery. All issues require reliable assessments of crop soil cover. Crop soil cover was deduced from assessments of leaf cover, which is defined as the proportion of pixels in digital images determined to be green. Objective assessments of leaf cover and crop soil cover showed that the selectivity of weed harrowing in winter wheat and spring barley was unaffected by timing within a two weeks interval. Crop recovery, defined as the ability of the crop to recover from soil cover was determined in winter wheat and highly influenced by timing of weed harrowing. Increasing intensities of harrowing in growth stage (BBCH) 22 in winter wheat increased crop yields whereas crop yields declined by increasing intensities in growth stage 23 due to differences in the crop recovery capacity. Resistance defined as the capacity of the crop to resist soil cover was tested in barley, field pea and mixtures of barley and field pea. No differences were found between the crops. Future aims in mechanical weed control research are discussed in the context of the availability of unbiased crop soil cover data. A1 - Rasmussen, Jesper A1 - Nørremark, Michael SP - 123 EP - 129 UR - https://orgprints.org/id/eprint/10758/ ID - orgprints10758 KW - weed harrowing KW - ukrudtsharvning KW - strigling KW - AV - public ER - TY - CONF TI - Digital images for assessing soil cover of crop plants Y1 - 2007/// A1 - Rasmussen, Jesper A1 - Nørremark, Michael N2 - The main drawback by using crop soil cover in weed harrowing research is that it is assessed by visual scores, which are biased and context dependent. This problem may be solved by using digital image analysis. In this paper a new image capture standard and digital image analysis procedure was used to illustrate three key issues in relation to weed harrowing; selectivity, resistance and recovery. All issues require reliable assessments of crop soil cover. Crop soil cover was deduced from assessments of leaf cover, which is defined as the proportion of pixels in digital images determined to be green. Objective assessments of leaf cover and crop soil cover showed that the selectivity of weed harrowing in winter wheat and spring barley was unaffected by timing within a two weeks interval. Crop recovery, defined as the ability of the crop to recover from soil cover was determined in winter wheat and highly influenced by timing of weed harrowing. Increasing intensities of harrowing in growth stage (BBCH) 22 in winter wheat increased crop yields whereas crop yields declined by increasing intensities in growth stage 23 due to differences in the crop recovery capacity. Resistance defined as the capacity of the crop to resist soil cover was tested in barley, field pea and mixtures of barley and field pea. No differences were found between the crops. Future aims in mechanical weed control research are discussed in the context of the availability of unbiased crop soil cover data. UR - https://orgprints.org/id/eprint/10759/ ID - orgprints10759 AV - public ER - TY - GEN EP - 165 UR - https://orgprints.org/id/eprint/10474/ ID - orgprints10474 KW - Mechanical weed control AV - restricted Y1 - 2006/// TI - Digital image analysis offers new possibilities in weed harrowing research N2 - Two field experiments were carried out in winter wheat to determine the optimal intensity and timing of weed harrowing. Each experiment was designed to create a series of intensities by increasing the number of passes at varying growth stages. Visual assessments and digital image processing were used to assess crop soil cover associated with weed harrowing. The study showed that winter wheat responded differently to weed harrowing at different growth stages. In autumn, the crop was severely damaged due to high degrees of crop soil cover and poor recovery resulting in crop yield losses in the range of 7 % to 22 %. In early spring, the crop showed some variability in the ability to recover from soil cover. The best results in spring were obtained at growth stage 22 (BBCH). Increasing number of passes resulted in increasing crop yields in the range of 2 % to 5 % and increasing degrees of weed control in the range of 22 % to 62 %. The role of digital image analysis in future weed harrowing research is discussed. SP - 155 A1 - Rasmussen, Jesper A1 - Nørremark, Michael ER - TY - CONF UR - https://orgprints.org/id/eprint/13688/ ID - orgprints13688 AV - public TI - New Technologies Call for New Research Priorities in Physical Weed Control with Low Selectivity Y1 - 2008/// A1 - Rasmussen, Jesper A1 - Nørremark, Michael A1 - Bibby, Bo Martin N2 - A web-based digital image analysis tool (IMAGING Crop Response Analyser) has been developed, tested and made public (www.imaging-crops.dk). This new technology makes possible objective estimations of crop-soil cover (i.e. how much crop is buried with soil) associated with post-emergence weed control with spring tine harrows, rotary hoes and other weeders. Objective estimation of crop-soil cover offers new possibilities to improve decision support of physical weed control practises with low selectivity because trade-offs between weed control and resulting injury to the associated crop now may be quantified, communicated and incorporated into models. The objective of this resentation is to suggest key parameters and research priorities for future research and to suggest standards for estimation and statistical test of the analytical parameters. The overall aim is to help researchers deliver reliable parameter estimates that may help to predict the optimal intensity and timing of physical weed control with low selectivity and, thereby, contribute to the theoretical and methodological framework of physical weed control. Selectivity and crop recovery are suggested as key parameters because they are crucial in predictive models and are less influenced by site-specific soil conditions and implement settings than other parameters. Selectivity is defined as the ratio between weed control and crop-soil cover and crop recovery is defined as the ability of the crop to recover from soil coverage. Both parameters depend on the intensity of tillage. To facilitate comparisons between different studies, it is suggested that the crop soil cover associated with 80% weed control and the relative crop yield loss associated with 25% crop-soil cover are calculated with 95%-confidence intervals. Experimental protocols needed to make such calculations are outlined and factors that influence - or may influence - selectivity and recovery are listed and research priorities are given. Crop tolerance has previously been used to express the susceptibility of the crop to physical weed control, but crop recovery is shown to be more useful in decision support models than crop tolerance. Recent studies using the new digital image analysis tool and the above suggested parameter estimation procedure show that timing of weed harrowing is of lesser importance if the intensity of tillage is correctly adjusted to the growth stage compared with prediction of the optimal intensity in sitespecific conditions. This latter issue remains the major challenge for future development. ER - TY - GEN Y1 - 2007/// TI - Assessment of leaf cover and crop soil cover in weed harrowing research using digital images N2 - Objective assessment of crop soil cover, defined as the percentage of leaf cover that has been buried in soil due to weed harrowing, is crucial to further progress in post-emergence weed harrowing research. Up to now, crop soil cover has been assessed by visual scores, which are biased and context dependent. The aim of this study was to investigate whether digital image analysis is a feasible method to estimate crop soil cover in the early growth stages of cereals. Two main questions were examined: (1) how to capture suitable digital images under field conditions with a standard high-resolution digital camera and (2) how to analyse the images with an automated digital image analysis procedure. The importance of light conditions, camera angle, size of recorded area, growth stage and direction of harrowing were investigated in order to establish a standard for image capture and an automated image analysis procedure based on the excess green colour index was developed. The study shows that the automated digital image analysis procedure provided reliable estimations of leaf cover, defined as the as the proportion of pixels in digital images determined to be green, which were used to estimate crop soil cover. A standard for image capture is suggested and it is recommended to use digital image analysis to estimated crop soil cover in future research. The prospects of using digital image analysis in future weed harrowing research are discussed. SP - 299 A1 - Rasmussen, Jesper A1 - Nørremark, Michael A1 - Bibby, Bo Martin UR - https://orgprints.org/id/eprint/11007/ EP - 310 ID - orgprints11007 AV - public ER - TY - GEN TI - Weed identification using an automated active shape matching (AASM) technique Y1 - 2011/// A1 - Swain, Kishore A1 - Nørremark, Michael A1 - Jørgensen, Rasmus N. A1 - Midtiby, Henrik S. A1 - Green, Ole SP - 450 N2 - Weed identification and control is a challenge for intercultural operations in agriculture. As an alternative to chemical pest control, a smart weed identification technique followed by mechanical weed control system could be developed. The proposed smart identification technique works on the concept of ?active shape modelling? to identify weed and crop plants based on their morphology. The automated active shape matching system (AASM) technique consisted of, i) a Pixelink camera ii) an LTI Lehrstuhlfuer technische informatik) image processing library, iii) a laptop pc with the Linux OS. A 2-leaf growth stage model for Solanum nigrum L. (nightshade) is generated from 32 segmented training images in Matlab software environment. Using the AASM algorithm, the leaf model was aligned and placed at the centre of the target plant and a model deformation process carried out. The parameters used for model deformation were estimated, updated and an improved model was compared to the target plant shape to obtain the best fit. Around 90% of the nightshade plants were identified correctly with AASM. The time required for identifying target plant as a nightshade was approximately 0.053 s and a non-identification process required 0.062 s for eight iterations with the Linux platform used. UR - https://orgprints.org/id/eprint/20658/ EP - 457 ID - orgprints20658 AV - restricted ER - TY - CONF ID - orgprints20653 UR - https://orgprints.org/id/eprint/20653/ PB - CIGR XVIIth World Congress AV - public TI - Vision-based weed identification with farm robots Y1 - 2010/06// N2 - Robots in agriculture offer new opportunities for real time weed identification and quick removal operations. Weed identification and control remains one of the most challenging task in agriculture, particularly in organic agriculture practices. Considering environmental impacts and food quality, the excess use of chemicals in agriculture for controlling weeds and diseases is decreasing. The cost of herbercides and their field applications must be optimized. As an alternative, a smart weed identification technique followed by the mechanical and thermal weed control can fulfill the organic farmers? expectations. The smart identification technique works on the concept of ?shape matching? and ?active shape modeling? of plant and weed leafs. The automated weed detection and control system consists of three major tools. Such as: i) eXcite multispectral camera, ii) LTI image processing library and iii) Hortibot robotic vehicle. The components are combined in Linux interface environment in the eXcite camera associate PC. The laboratory experiments for active shape matching have shown interesting results which will be further enhanced to develop the automated weed detection system. The Hortibot robot will be mounted with the camera unit in the front-end and the mechanical weed remover in the rear-end. The system will be upgraded for intense commercial applications in maize and other row crops. A1 - Swain, Kishore C. A1 - Nørremark, Michael A1 - Bochtis, Dionysis A1 - Sørensen, Claus Grøn A1 - Green, Ole ER - TY - CONF AV - public KW - Feasibility study KW - Plant Nursing Robotics KW - weeding KW - agriculture KW - horticulture KW - capability KW - economic viability ID - orgprints11263 UR - https://orgprints.org/id/eprint/11263/ EP - 12 N2 - Based on the development of a robotic tool carrier (Hortibot) equipped with weeding tools, a feasibility study was carried out to evaluate the viability of this innovative technology. The feasibility was demonstrated through a targeted evaluation adapted to the obtainable knowledge on the system performance in horticulture. A usage scenario was designed to set the implementation of the robotic system in a row crop of seeded bulb onions considering operational and functional constraints in organic crop, production. This usage scenario together with the technical specifications of the implemented system provided the basis for the feasibility analysis, including a comparison with a conventional weeding system. Preliminary results show that the automation of the weeding tasks within a row crop has the potential of significantly reducing the costs and still fulfill the operational requirements set forth. The potential benefits in terms of operational capabilities and economic viability have been quantified. Profitability gains ranging from 20 to 50% are achievable through targeted applications. In general, the analyses demonstrate the operational and economic feasibility of using small automated vehicles and targeted tools in specialized production settings. SP - 1 A1 - Sørensen, Claus G. A1 - Nørremark, Michael A1 - Jørgensen, Rasmus N. A1 - Jensen, Kjeld A1 - Maagaard, Jørgen A1 - Jensen, Lars Aa. Y1 - 2007/// TI - Hortibot: Feasibility study of a plant nursing robot performing weeding operations ? part IV ER - TY - GEN AV - restricted UR - https://orgprints.org/id/eprint/20657/ EP - 129 ID - orgprints20657 SP - 119 A1 - Sørensen, C.G. A1 - Jørgensen, R.N. A1 - Maagaard, J. A1 - Bertelsen, K.K. A1 - Dalgaard, L. A1 - Nørremark, M. N2 - Current service robots have relatively primitive behaviours and limited interaction with the environment. Technological foresights have indicated that the next generation of service robots will demonstrate a high degree of autonomy and reliability, have minimal impact on the environment, and will interact in a flexible way with the user. It is necessary therefore, to determine the functional requirements for a future energy-efficient robotic bioproduction system from the perspective of various stakeholders, together with the development of a high-level framework for designing and prototyping the common functionalities of mobile robots. This study presents technical guidelines for the design of a plant nursing robot. The methodology uses Quality Function Deployment (QFD) functionalities involving the identification of relationships between identified user requirements and the derived design parameters. Extracted important user requirements included: 1) adjustable to row distance and parcel size, 2) profitable, 3) minimize damage to crops, and 4) reliable. Lower ratings were attributed to requirements such as: 1) affection value, prestige, 2) look attractive, 3) out of season operations, and 4) use of renewable energy. Subsequent important derived design parameters included: 1) PreparedForModularTools, 2) ControlableByExternalModules, 3) SemiAutonomous, and 4) Local- and GlobalPositioningSystem. The least important design parameters included: 1) OpenStandardSoftware, 2) Well-builtAppearance, 3) Wheels- With Infinite Steering Rotation, and 4) Internal Safety System. The study demonstrates the feasibility of applying a systematic design technique and procedures for translating the ?consumer?s voice? into the design and technical specifications of a robotic tool carrier to be used in bioproduction. Y1 - 2010/01// TI - Conceptual and user-centric design guidelines for a plant nursing robot ER - TY - GEN Y1 - 2011/// TI - Automatic identification of crop and weed species with chlorophyll fluorescence induction curves N2 - Automatic identification of crop and weed species is required for many precision farming practices. The use of chlorophyll fluorescence fingerprinting for identification of maize and barley among six weed species was tested. The plants were grown in outdoor pots and the fluorescence measurements were done in variable natural conditions. The measurement protocol consisted of 1 s of shading followed by two short pulses of strong light photosynthetic photon flux density 1700 lmol m-2 s-1) with 0.2 s of darkness in between. Both illumination pulses caused the fluorescence yield to increase by 30?60% and to display a rapid fluorescence transient resembling transients obtained after long dark incubation. A neural network classifier, working on 17 features extracted from each fluorescence induction curve, correctly classified 86.7?96.1% of the curves as crop (maize or barley) or weed. Classification of individual species yielded a 50.2?80.8% rate of correct classifications. The best results were obtained if the training and test sets were measured on the same day, but good results were also obtained when the training and test sets were measured on different dates, and even if fluorescence induction curves measured from both leaf sides were mixed. The results indicate that fluorescence fingerprinting has potential for rapid field separation of crop and weed species. SP - 546 A1 - Tyystjärvi, Esa A1 - Nørremark, Michael A1 - Mattila, Heta A1 - Keränen, Mika A1 - Hakala-Yatkin, Marja A1 - Ottosen, Carl-Otto A1 - Rosenqvist, Eva ID - orgprints20654 UR - https://orgprints.org/id/eprint/20654/ EP - 563 AV - restricted ER -