1. Unmanned Aircraft for Agricultural Applications Unmanned Aircraft for Agricultural Applications (UAAA) www.sites.psu.edu/uaaa Joe Sommer Professor of Mechanical Engineering hjs1@psu.edu 1

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

3. Unmanned Aircraft for Agricultural Applications UA versus Smart Phone Cellular Network Accelerometer (IMU) Gyro (IMU) Compass (IMU) GPS WiFi Camera LiPo Battery Motors and Propellor s YES NO YES 3

4. Unmanned Aircraft for Agricultural Applications 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 4

5. Unmanned Aircraft for Agricultural Applications 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 5

6. Unmanned Aircraft for Agricultural Applications 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 6

7. Unmanned Aircraft for Agricultural Applications Camera 4K 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 7

8. Unmanned Aircraft for Agricultural Applications 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 8

9. Unmanned Aircraft for Agricultural Applications LiPo 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 9

10. Unmanned Aircraft for Agricultural Applications 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 10

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

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

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

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

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

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

17. Unmanned Aircraft for Agricultural Applications Current FAA Policy Hobbyist – 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 17

18. Unmanned Aircraft for Agricultural Applications 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 18

19. Unmanned Aircraft for Agricultural Applications 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 19

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