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Parallel Programming to Analyze Crop-Health in Real-Time

Molina Muñoz, Angie Natalia; Brunn, Ansgar; Chaparro, Javier; Pérez, Alexander (zfv – Zeitschrift für Geodäsie, Geoinformation und LandmanagementHerne, Alemania., 2019)

Smart farming takes place by using recent UAV-technology for agricultural profitability. Multiple companies and research centers are working on realizing real scenarious. But there are only restricted experiences about how ...
Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Pérez, Alexander; Cadavid, Héctor; Rocha, Camilo (Springer NatureColombia, 2017)

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous ...

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Parallel Programming to Analyze Crop-Health in Real-Time
...
Molina Muñoz, Angie Natalia | 2019

Smart farming takes place by using recent UAV-technology for agricultural profitability. Multiple companies and research centers are working on realizing real scenarious. But there are only restricted experiences about how to process the data faster and better in real-time. Autonomous systems that can decide instanteously after receiving sensor information could increase the farming efficiency. The agroindustry research group from the Escuela Colombiana de Ingeniería and Universidad de Ciencias Aplicadas y Ambientales en Bogota-Colombia in alliance with the University of Applied Sciences Wuerzburg-Schweinfurt are committed to that idea. This project uses an NVIDIA Jetson embedded board to process agricultural information in order to find abnormalities. In this article we prove that this board is able to make the calculations for a vegetation index in real-time from multi-spectral images.

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Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots
...
Pérez, Alexander | 2017

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language ( PLEXIL ), for autonomy of wheeled robots running the Robot Operating System ( ROS ). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS -enabled wheeled robots.

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