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Crop Production Engineering
Ostermeier, 03/2006 (1) – UFRRJ-2006ostermeier.ppt© 2006
• Electrical Engineering and Information Technology studies at theTechnische Universitaet Muenchen,
Sector Information Technology [1989 to 1995]
• Diploma thesis at the chair of Hochfrequenztechnik (High-Frequency Engineering) (Prof. Dr. techn. P.
Russer) in cooperation with the institute for Agricultural Engineering of the TUM-Weihenstephan
(Prof. Dr. agr. H. Auernhammer) [1995]
• Systems engineer, GEO TEC eletronics GmbH, 85399 Hallbergmoos [1996 to 2002 ]:
Product development (LBS terminal, computer systems for navigation and process control,
RTK-(P)DGPS-receiver-module, mobile GPS-reference station);
Agricultural off-road vehicle retrofitting and systems integration; representation of interests within LAV
(Member of the technical committee electronics and of German and international standard commitees)
• Research Associate and doctorand at the Technische Universitaet Muenchen, sector Crop Production
Engineering [since 2002 ]:
Dipl.-Ing. Ralph Ostermeier
DFG DFG researchresearch groupgroup "" IKBIKB --DuernastDuernast " " subprojectsubproject 8; 8; mainmain interestsinterests : : Process control, Multisensor Data Fusion, ISOBUS, "Intelligent Sensors"
Crop Production Engineering
Ostermeier, 03/2006 (2) – UFRRJ-2006ostermeier.ppt© 2006
RealReal--time process control for a sensor based fertilizer time process control for a sensor based fertilizer application system using application system using multisensormultisensor data fusiondata fusion
Ostermeier, R., Prof. Dr. Auernhammer, H.
Center of Life Sciences WeihenstephanDepartment of Bio Resources and Land Use Technology
Crop Production Engineering
UFRRJ, March 2006
Crop Production Engineering
Ostermeier, 03/2006 (3) – UFRRJ-2006ostermeier.ppt© 2006
Outline
1. Where do I come from ?Europe -> Germany -> Bavaria -> TUM
2. IKB subproject 8: Introduction and objectives
3. Multisensor Data FusionFunctional model
Process model
System architecture
Simulation
4. Conclusions, open questions and outlook
Crop Production Engineering
Ostermeier, 03/2006 (4) – UFRRJ-2006ostermeier.ppt© 2006
Winter in Freising-Weihenstephan, 5 March 2006
Crop Production Engineering
Ostermeier, 03/2006 (5) – UFRRJ-2006ostermeier.ppt© 2006
Europe, Germany, Bavaria
Crop Production Engineering
Ostermeier, 03/2006 (6) – UFRRJ-2006ostermeier.ppt© 2006
Germany, Bavaria
Crop Production Engineering
Ostermeier, 03/2006 (7) – UFRRJ-2006ostermeier.ppt© 2006
Munich, Neuschwanstein castle, MUC airport
Crop Production Engineering
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Oktoberfest
Crop Production Engineering
Ostermeier, 03/2006 (9) – UFRRJ-2006ostermeier.ppt© 2006
The Olympic park
Crop Production Engineering
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Allianz Arena - FIFA World Cup Germany 2006
Crop Production Engineering
Ostermeier, 03/2006 (11) – UFRRJ-2006ostermeier.ppt© 2006
8 Universities with „Facultiesof Agriculture“ and Chairs of
„Agricultural Mechanization“
4 +2 Universities with Chairsof „Agricultural Engineering“
2 Lately closed Chairs of Agricultural Engineering / Agricultural Mechanization
Universities in Germany
Crop Production Engineering
Ostermeier, 03/2006 (11) – UFRRJ-2006ostermeier.ppt© 2006
8 Universities with „Facultiesof Agriculture“ and Chairs of
„Agricultural Mechanization“
4 +2 Universities with Chairsof „Agricultural Engineering“
2 Lately closed Chairs of Agricultural Engineering / Agricultural Mechanization
Universities in Germany
The only„Agricultural University“
Crop Production Engineering
Ostermeier, 03/2006 (12) – UFRRJ-2006ostermeier.ppt© 2006
12 Faculties
Technische Universitaet Muenchen
Crop Production Engineering
Ostermeier, 03/2006 (13) – UFRRJ-2006ostermeier.ppt© 2006
Technische Universitaet Muenchen
•• 12 faculties12 faculties
•• three main campusesthree main campuses
•• about 20.000 students (20 % from abroad)about 20.000 students (20 % from abroad)
•• 396 professors, 4000 total scientific staff396 professors, 4000 total scientific staff
•• 26 courses leading to a German 26 courses leading to a German ““DiplomDiplom”” degreedegree
•• 24 Bachelor24 Bachelor’’s and 50 Masters and 50 Master’’s coursess courses
Munich
Garching
Weihenstephan
Crop Production Engineering
Ostermeier, 03/2006 (14) – UFRRJ-2006ostermeier.ppt© 2006
Weihenstephan
The 3 locations of TUM
Crop Production Engineering
Ostermeier, 03/2006 (16) – UFRRJ-2006ostermeier.ppt© 2006
30 km north of Munich
10 minutes from the international airport of Munich
About 50.000 citizens
Fantastic connections to Munich by fast train services
“City of education”“City of education”
Centre of Freising with market every Wednesday and Saturday
Freising – A small, lovely old city
Crop Production Engineering
Ostermeier, 03/2006 (17) – UFRRJ-2006ostermeier.ppt© 2006
2.500 students (+ 2.500 students in the University of applied Sciences)
500 students in Agriculture & Horticulture
Campus “Weihenstephan”
Crop Production Engineering
Ostermeier, 03/2006 (18) – UFRRJ-2006ostermeier.ppt© 2006
Close to the City
≈ 3 km to theexperimental station
Our Lab and experimental station “Duernast”
Crop Production Engineering
Ostermeier, 03/2006 (19) – UFRRJ-2006ostermeier.ppt© 2006
Prof. Dr. Auernhammer and team
Good-bye Dr. Pedro Machado
Crop Production Engineering
Ostermeier, 03/2006 (20) – UFRRJ-2006ostermeier.ppt© 2006
Real-time process control for a
sensor based fertilizer application system
using multisensor data fusion
Crop Production Engineering
Ostermeier, 03/2006 (21) – UFRRJ-2006ostermeier.ppt© 2006
(Auernhammer, 2002)
System Approaches – Process control for mobile application systems
Crop Production Engineering
Ostermeier, 03/2006 (21) – UFRRJ-2006ostermeier.ppt© 2006
(Auernhammer, 2002)
System Approaches – Process control for mobile application systems
Crop Production Engineering
Ostermeier, 03/2006 (21) – UFRRJ-2006ostermeier.ppt© 2006
(Auernhammer, 2002)
System Approaches – Process control for mobile application systems
Crop Production Engineering
Ostermeier, 03/2006 (22) – UFRRJ-2006ostermeier.ppt© 2006
In-fieldController
Real-time process control for a sensorbased fertilizer application system
R. Ostermeier, H. AuernhammerCrop Production Engineering
IKB Duernast Integrated Research Project
„Information System Site Specific
Crop Management Duernast“
Sub-project 8:
Crop Production Engineering
Ostermeier, 03/2006 (23) – UFRRJ-2006ostermeier.ppt© 2006
a, Theoretical Framework
Basis for integrated specification and design process
Facilitate communication and understanding
Selection of appropriate problem solving paradigm
b, ISO 11783 (ISOBUS) and DIN 9684 (LBS) compliant
c, Site-specific intensive N-fertilization
Objectives
Implementation “Real-time approach with map overlay”
Crop Production Engineering
Ostermeier, 03/2006 (24) – UFRRJ-2006ostermeier.ppt© 2006
Expert-KnowledgeEcological-economical
optimum
Plant, Surrounding
Fertilization
Input OutputProcess (System)
Information
decide
act
observe
statestate Sta
te Inte
r-ve
ntio
n
"Precision FarmingMaps"
DocumentationOn-line
sensor technology
Methods - Control engineering view
Activation, Control, Feedback
(according to Auernhammer)
Crop Production Engineering
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DeductionAction
Methods - Multisensor Data Fusion
"Data Fusion is the process of combining data or
information to estimate or predict entity states"
Steinberg and Bowman (2001)
human brain and
perception system
Crop Production Engineering
Ostermeier, 03/2006 (26) – UFRRJ-2006ostermeier.ppt© 2006
How to analyze, specify and design Multisensor Data Fusion systems ?
Methods - Theoretical Framework
System architecture HW-SW ?
AbstractionFunctional model WHAT ?
Process model HOW ?
Crop Production Engineering
Ostermeier, 03/2006 (27) – UFRRJ-2006ostermeier.ppt© 2006
Revised JDL data fusion model(1998) (JDL = Joint Directors of Laboratories)
Level 0Processing
Sub-ObjectAssessment
DATA FUSION DOMAIN
Level 1Processing
ObjectAssessment
Level 3Processing
ImpactAssessment
Level 4Processing
ProcessRefinement
Database Management System
SupportDatabase
FusionDatabase
Human / ComputerInterface
EXTERNAL
DISTRIBUTED
SOURCES
LOCAL
SensorsDocuments
People***
Data stores
Level 2Processing
SituationAssessment
Multisensor Data Fusion - Functional Model
different types of estimation process
Crop Production Engineering
Ostermeier, 03/2006 (28) – UFRRJ-2006ostermeier.ppt© 2006
Human / ComputerInterface
EXTERNAL
DISTRIBUTED
SOURCES
LOCAL
SensorsDocuments
People***
Data stores
Level 0Processing
Sub-ObjectAssessment
DATA FUSION DOMAIN
Level 1Processing
ObjectAssessment
Level 3Processing
ImpactAssessment
Level 4Processing
ProcessRefinement
Database Management System
SupportDatabase
FusionDatabase
Level 2Processing
SituationAssessment
Revised JDL data fusion model (1998)
Focus: Situation Assessment (Level 2)
Realtime approach with map overlay
= assessment of current on-line sensortechnology measurements withcontext-sensitive interpretation.
Crop Production Engineering
Ostermeier, 03/2006 (31) – UFRRJ-2006ostermeier.ppt© 2006
Level 0Processing
Sub-ObjectAssessment
Level 1Processing
ObjectAssessment
Level 3Processing
ImpactAssessment
Level 4Processing
ProcessRefinement
Database Management System
SupportDatabase
FusionDatabase
Human / ComputerInterface
EXTERNAL
DISTRIBUTED
SOURCES
Level 2Processing
SituationAssessment
Situation Assessment (Level 2 Processing)
Diagnose of current crop and soil condition based on plant and soil attributes, weather
Enlargement of solution space , more detailed “image of the reality”. (yield potential)
Take constraints into account. Enviromental protection, operator inputs,
State of tractor-implement combination Technical constraints
"Comparision" to a model-based
perception of a
economic and
ecological optimum
with regard to
technical feasibility
Estimation and prediction of entity states on the basis of inferred organisa-tional, causal, biological and spatio-temporal relations among the objects:
application set point
Crop Production Engineering
Ostermeier, 03/2006 (34) – UFRRJ-2006ostermeier.ppt© 2006
Process model adopts biologically motivated perception
Taxonomy of 16 canonical problem-solving forms
Multisensor Data Fusion - Process Model
Richard T. Antony (1995)
"Principles of Data Fusion Automation"
Member of JDL Data Fusion Group since 1987
Crop Production Engineering
Ostermeier, 03/2006 (35) – UFRRJ-2006ostermeier.ppt© 2006
Data flow
human memory
Multisensor Data Fusion - Process Model
(according to Antony)
medium-term memoryKnowledge
Sensor Input
Short-termdeclarative
Fusion Process, F
Long-termprocedural
Database
Long-termdeclarative
Situation Description
Medium-termdeclarativeShort-term memory
long-termmemory
Durability of information
Crop Production Engineering
Ostermeier, 03/2006 (37) – UFRRJ-2006ostermeier.ppt© 2006
New plant and soil attributes
Process Model - Real-time approach with map overlay
Sensor Input
Short-termdeclarative
Fusion Process, F
Long-termprocedural
Database
Long-termdeclarative
Situation Description
Medium-termdeclarative
Knowledge
Crop Production Engineering
Ostermeier, 03/2006 (38) – UFRRJ-2006ostermeier.ppt© 2006
Process Model - Real-time approach with map overlay
Sensor Input
Short-termdeclarative
Fusion Process, F
Long-termprocedural
Database
Long-termdeclarative
Situation Description
Medium-termdeclarative
Results of recent fusion processes:
• Location and amount of (just) applied fertilizer
• State and tracks of tractor-implement combination
Knowledge
Crop Production Engineering
Ostermeier, 03/2006 (39) – UFRRJ-2006ostermeier.ppt© 2006
Sensor Input
Short-termdeclarative
Fusion Process, F
Long-termprocedural
Database
Long-termdeclarative
Situation Description
Medium-termdeclarative
Knowledge of:
• yield and soil maps
• static domain constraintsdue to enviromental protectionor topography
Process Model - Real-time approach with map overlay
Knowledge
Crop Production Engineering
Ostermeier, 03/2006 (41) – UFRRJ-2006ostermeier.ppt© 2006
Sensor Input
Short-termdeclarative
Database
Long-termdeclarative
Situation Description
Medium-termdeclarative
Relationship/procedure for crop production and agricultural engineering assessment
in order to
• derive application set point
• achieve sufficientreaction time forapplication action
Knowledge
=fusion algorithm(Level 2 Processing)
Process Model - Real-time approach with map overlay
Fusion Process, F
Long-termprocedural
Crop Production Engineering
Ostermeier, 03/2006 (41) – UFRRJ-2006ostermeier.ppt© 2006
Sensor Input
Short-termdeclarative
Database
Long-termdeclarative
Situation Description
Medium-termdeclarative
Relationship/procedure for crop production and agricultural engineering assessment
in order to
• derive application set point
• achieve sufficientreaction time forapplication action
Knowledge
=fusion algorithm(Level 2 Processing)
Process Model - Real-time approach with map overlay
Fusion Process, F
Long-termprocedural
Sensor Input
Short-termdeclarative
ExpertSystem
canonicalproblem solving form
IX
Crop Production Engineering
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System architecture - Agricultural BUS-System ISOBUS
ISOBUS (ISO 11783)
Crop Production Engineering
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System architecture - Agricultural BUS-System ISOBUS
ISOBUS (ISO 11783) distributed
sensor network
Crop Production Engineering
Ostermeier, 03/2006 (43) – UFRRJ-2006ostermeier.ppt© 2006
System architecture - Agricultural BUS-System ISOBUS
ISOBUS (ISO 11783) distributed
sensor network
long term knowledge
In-field Controller
central fusion nodemedium term &
Crop Production Engineering
Ostermeier, 03/2006 (43) – UFRRJ-2006ostermeier.ppt© 2006
System architecture - Agricultural BUS-System ISOBUS
ISOBUS (ISO 11783) distributed
sensor network
long term knowledge
In-field Controller
central fusion nodemedium term &
declarative
Crop Production Engineering
Ostermeier, 03/2006 (43) – UFRRJ-2006ostermeier.ppt© 2006
System architecture - Agricultural BUS-System ISOBUS
ISOBUS (ISO 11783) distributed
sensor network
long term knowledge
In-field Controller
central fusion nodemedium term &
declarative
ExpertSystem+
procedural
Crop Production Engineering
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Implementierung Prototyp
Crop Production Engineering
Ostermeier, 03/2006 (46) – UFRRJ-2006ostermeier.ppt© 2006
Conclusions
• An integrated specification and design approach for a real-time
process control for mobile application systems using multisensor
data fusion has been pointed out.
• The development of a real-time process control for a sensor based
fertilizer application system within the IKB Duernast research
project gives an example for multisensor data fusion architecture
which is in compliance with ISOBUS and demonstrates the potential
and usability of multisensor data fusion for agricultural engineering.
Crop Production Engineering
Ostermeier, 03/2006 (47) – UFRRJ-2006ostermeier.ppt© 2006
Open Questions and Outlook
There is no substitute for a good sensor. No amount of data fusion
can substitute for a single, accurate sensor that measures the
phenomena that you want to observe (Hall and Steinberg, 2001)
Performance AssessmentMeasures of Performance (MOP) and Measures of Effectiveness (MOE)
(Level 4 Processing "Process Refinement")
Process control of multivariable systems
Crop Production Engineering
Ostermeier, 03/2006 (48) – UFRRJ-2006ostermeier.ppt© 2006
Funding of
Research Group "IKB-Dürnast"
„Information System Site Specific Crop Management Dürnast“
by
German Research Council
(Deutsche Forschungsgemeinschaft (DFG))
E-mail: ralph.ostermeier@wzw.tum.de http://ikb.weihenstephan.de
Acknowledgments
Recommended