Progress 05/01/08 to 04/30/13
Outputs
Progress Report Objectives (from AD-416): The overall objective of this cooperative research project is to: develop a real-time, field portable, measurement system that is capable of measuring geo-referenced surface elevations and standing residue with sub-centimeter accuracy for both elevation measurement and geo- referencing. Specific objectives are: 1) develop the hardware and software for a system that integrates a precision laser distance meter, a gyroscope and an RTK GPS with a portable computer; 2) develop a mounting frame and linear rail on a vehicle that supports the laser system and controls the translation movement of the laser; 3) conduct field tests to evaluate the system for measuring roughness of soil surface with and without crop residue and live vegetative cover; 4) conduct field tests to evaluate the system�s ability to measure micro-relief of riparian buffer zones; and 5) conduct field tests to evaluate the device�s ability to describe standing residue coverage, both height and areal distributions. Approach (from AD-416): The approach is to develop this system with five major components: 1) a distance-measuring unit, 2) a frame and rail unit, 3) a frame angular- position measuring unit, 4) a geo-referencing unit, and 5) a data- acquisition and control unit. Functions of these components are: 1. Distance-measuring unit - This unit measures the vertical distance between soil surface and the frame, on which the laser sensor is mounted. An �Acquity� sensor, which uses a fixed infrared laser and a rotating mirror to scan the soil surface along a straight line, will be used for distance measurement. In addition to distance measurement, this sensor also provides information on reflected light intensity. Thus, it is possible to distinguish between the top of canopies and actual soil surface using signal processing if soil surface is not completely covered by the canopy. 2. Frame and rail unit - Since the laser sensor only measures elevations along a straight line, a rail is needed to move the sensor in the direction perpendicular to the scan line so that elevations within a rectangular area can be measured. The rail will be supported by a frame. The sensor will travel along the rail, driven by a linear actuator; and the position of the sensor, monitored using an optical encoder, will be used as a feedback control signal to accurately control the sensor position. Several other devices, including a gyroscope to measure the angular position of the frame and an RTK GPS unit, will also be mounted on the frame. 3. Frame angular-position measuring unit - Because the laser-distance sensor will be mounted on the frame, angular displacements of the frame become critical to the accuracy of elevation measurement. Angular displacements of the frame - pitch, roll, and yaw - will be measured using a rate-integrating gyroscope. X, Y, Z coordinates of the laser scan lines on the soil surface will then be corrected using these measured angles. 4. Geo-reference unit -A Real-time Kinematic (RTK) GPS will be used to help register the measured surface points into a geographic coordinate system (UTM, Lat-lon, or a local coordinate system). An RTK GPS unit is needed because this is the only GPS device that provides a sub-centimeter accuracy in longitude and latitude. 5. Data-acquisition and control unit �All control and data signals from the laser, gyroscope, optical encoders and RTK GPS unit will be processed using a laptop computer. A laser system was constructed to: a) improve upon surface roughness measurements currently made with a line-transect pin meter; b) investigate the system�s ability to distinguish between flat residue on the surface and the soil; and c) to investigate the system�s ability to detect standing residue. The laser has been constructed as outlined above with the listed components. The system had undergone a rewiring of the components to make it more robust for field use and the software revised based upon experiences using the laser system collecting data in the field. Last year�s tasks were to be performed to assess the feasibility of using the laser to distinguish between flat residue and the soil surface, with the ultimate goal of using it as a simple residue cover meter. Laboratory experiments were to be conducted last year with the laser distance meter to determine the accuracy and feasibility of measuring flat residue (wheat straw, corn stover, milo stalks, soybean residue, etc. ) on a variety of soil surfaces under different moisture conditions. Initial preliminary data were collected for comparison purposes using the laser system, a high resolution digital camera and a Sony camcorder with the infrared �nightshot� feature enabled. All three systems had issues distinguishing some of the residue on the surface from the soil. The residue being evaluated was decayed corn stalks. The Sony camcorder performed the best in those preliminary studies. If this system eventually proves successful, it would dramatically speed up the time required to obtain residue cover data in the field. Work progressed on evaluating various filtering methods and how to best incorporate the �distance� information available from the laser to improve its accuracy in determining residue from the soil surface. However, the graduate student working on the project left the BAE program before this could be fully evaluated. The task scheduled this year was to evaluate the suitability of the laser system to recognize and evaluate standing residue both in the lab and in the field. Due to the issues uncovered identifying flat residue, it is anticipated that these same issues will impact standing residue identification. Additional issues are also expected to arise with respect to the detection accuracy (size of smallest element identifiable) which would impact the viability of the current system for use in recognizing small diameter standing stems such as wheat residue. Due to these unforeseen issues at the time the project was conceived and lack of additional funds available to address these additional issues, no work has commenced since the loss of the graduate student.
Impacts
(N/A)
Publications
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Progress 10/01/11 to 09/30/12
Outputs
Progress Report Objectives (from AD-416): The overall objective of this cooperative research project is to: develop a real-time, field portable, measurement system that is capable of measuring geo-referenced surface elevations and standing residue with sub-centimeter accuracy for both elevation measurement and geo- referencing. Specific objectives are: 1) develop the hardware and software for a system that integrates a precision laser distance meter, a gyroscope and an RTK GPS with a portable computer; 2) develop a mounting frame and linear rail on a vehicle that supports the laser system and controls the translation movement of the laser; 3) conduct field tests to evaluate the system for measuring roughness of soil surface with and without crop residue and live vegetative cover; 4) conduct field tests to evaluate the system�s ability to measure micro-relief of riparian buffer zones; and 5) conduct field tests to evaluate the device�s ability to describe standing residue coverage, both height and areal distributions. Approach (from AD-416): The approach is to develop this system with five major components: 1) a distance-measuring unit, 2) a frame and rail unit, 3) a frame angular- position measuring unit, 4) a geo-referencing unit, and 5) a data- acquisition and control unit. Functions of these components are: 1. Distance-measuring unit - This unit measures the vertical distance between soil surface and the frame, on which the laser sensor is mounted. An �Acquity� sensor, which uses a fixed infrared laser and a rotating mirror to scan the soil surface along a straight line, will be used for distance measurement. In addition to distance measurement, this sensor also provides information on reflected light intensity. Thus, it is possible to distinguish between the top of canopies and actual soil surface using signal processing if soil surface is not completely covered by the canopy. 2. Frame and rail unit - Since the laser sensor only measures elevations along a straight line, a rail is needed to move the sensor in the direction perpendicular to the scan line so that elevations within a rectangular area can be measured. The rail will be supported by a frame. The sensor will travel along the rail, driven by a linear actuator; and the position of the sensor, monitored using an optical encoder, will be used as a feedback control signal to accurately control the sensor position. Several other devices, including a gyroscope to measure the angular position of the frame and an RTK GPS unit, will also be mounted on the frame. 3. Frame angular-position measuring unit - Because the laser-distance sensor will be mounted on the frame, angular displacements of the frame become critical to the accuracy of elevation measurement. Angular displacements of the frame - pitch, roll, and yaw - will be measured using a rate-integrating gyroscope. X, Y, Z coordinates of the laser scan lines on the soil surface will then be corrected using these measured angles. 4. Geo-reference unit -A Real-time Kinematic (RTK) GPS will be used to help register the measured surface points into a geographic coordinate system (UTM, Lat-lon, or a local coordinate system). An RTK GPS unit is needed because this is the only GPS device that provides a sub-centimeter accuracy in longitude and latitude. 5. Data-acquisition and control unit �All control and data signals from the laser, gyroscope, optical encoders and RTK GPS unit will be processed using a laptop computer. A laser system was constructed to: a) improve upon surface roughness measurements currently made with a line-transect pin meter; b) investigate the system�s ability to distinguish between flat residue on the surface and the soil; and c) to investigate the system�s ability to detect standing residue. The laser has been constructed as outlined above with the listed components. The system has undergone a recent rewiring of the components to make it more robust for field use and the software revised based upon experiences using the laser system collecting data in the field. This year�s tasks were to be performed to assess the feasibility of using the laser to distinguish between flat residue and the soil surface, with the ultimate goal of using it as a simple residue cover meter. Laboratory experiments were to be conducted with the laser distance meter to determine the accuracy and feasibility of measuring flat residue (wheat straw, corn stover, milo stalks, soybean residue, etc.) on a variety of soil surfaces under different moisture conditions. Initial preliminary data were collected for comparison purposes using the laser system, a high resolution digital camera and a Sony camcorder with the infrared �nightshot� feature enabled. All three systems had issues distinguishing some of the residue on the surface from the soil. The residue being evaluated was decayed corn stalks. The Sony camcorder performed the best in those preliminary studies. If this system eventually proves successful, it would dramatically speed up the time required to obtain residue cover data in the field. Work was progressing on evaluating various filtering methods and how to best incorporate the �distance� information available from the laser to improve its accuracy in determining residue from the soil surface. However, the graduate student working on the project left the BAE program before this could be fully evaluated.
Impacts
(N/A)
Publications
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Progress 10/01/10 to 09/30/11
Outputs
Progress Report Objectives (from AD-416) The overall objective of this cooperative research project is to: develop a real-time, field portable, measurement system that is capable of measuring geo-referenced surface elevations and standing residue with sub-centimeter accuracy for both elevation measurement and geo- referencing. Specific objectives are: 1) develop the hardware and software for a system that integrates a precision laser distance meter, a gyroscope and an RTK GPS with a portable computer; 2) develop a mounting frame and linear rail on a vehicle that supports the laser system and controls the translation movement of the laser; 3) conduct field tests to evaluate the system for measuring roughness of soil surface with and without crop residue and live vegetative cover; 4) conduct field tests to evaluate the system�s ability to measure micro-relief of riparian buffer zones; and 5) conduct field tests to evaluate the device�s ability to describe standing residue coverage, both height and areal distributions. Approach (from AD-416) The approach is to develop this system with five major components: 1) a distance-measuring unit, 2) a frame and rail unit, 3) a frame angular- position measuring unit, 4) a geo-referencing unit, and 5) a data- acquisition and control unit. Functions of these components are: 1. Distance-measuring unit - This unit measures the vertical distance between soil surface and the frame, on which the laser sensor is mounted. An �Acquity� sensor, which uses a fixed infrared laser and a rotating mirror to scan the soil surface along a straight line, will be used for distance measurement. In addition to distance measurement, this sensor also provides information on reflected light intensity. Thus, it is possible to distinguish between the top of canopies and actual soil surface using signal processing if soil surface is not completely covered by the canopy. 2. Frame and rail unit - Since the laser sensor only measures elevations along a straight line, a rail is needed to move the sensor in the direction perpendicular to the scan line so that elevations within a rectangular area can be measured. The rail will be supported by a frame. The sensor will travel along the rail, driven by a linear actuator; and the position of the sensor, monitored using an optical encoder, will be used as a feedback control signal to accurately control the sensor position. Several other devices, including a gyroscope to measure the angular position of the frame and an RTK GPS unit, will also be mounted on the frame. 3. Frame angular-position measuring unit - Because the laser-distance sensor will be mounted on the frame, angular displacements of the frame become critical to the accuracy of elevation measurement. Angular displacements of the frame - pitch, roll, and yaw - will be measured using a rate-integrating gyroscope. X, Y, Z coordinates of the laser scan lines on the soil surface will then be corrected using these measured angles. 4. Geo-reference unit -A Real-time Kinematic (RTK) GPS will be used to help register the measured surface points into a geographic coordinate system (UTM, Lat-lon, or a local coordinate system). An RTK GPS unit is needed because this is the only GPS device that provides a sub-centimeter accuracy in longitude and latitude. 5. Data-acquisition and control unit �All control and data signals from the laser, gyroscope, optical encoders and RTK GPS unit will be processed using a laptop computer. Specific laboratory experiments were conducted with the laser distance meter to determine the accuracy and feasibility of measuring flat residue (wheat straw, corn stover, milo stalks, soybean residue, etc.) on various soil surfaces under different moisture conditions. Data were collected for comparison purposes using the laser system, a high resolution digital camera and a Sony camcorder with the infrared �nightshot� feature enabled. The laser system software was rewritten and modified to make it more robust and easier for a user to learn and correctly operate. In addition, the system wiring was replaced and more carefully routed along the rail to make it a more robust system in the field. The original rail motor was also replaced with a stepper motor and corresponding controller for more precision and control when moving the laser along the rail. ADODR monitoring activities include phone calls, meetings, conference calls, and on-site visits.
Impacts
(N/A)
Publications
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Progress 10/01/09 to 09/30/10
Outputs
Progress Report Objectives (from AD-416) The overall objective of this cooperative research project is to: develop a real-time, field portable, measurement system that is capable of measuring geo-referenced surface elevations and standing residue with sub-centimeter accuracy for both elevation measurement and geo- referencing. Specific objectives are: 1) develop the hardware and software for a system that integrates a precision laser distance meter, a gyroscope and an RTK GPS with a portable computer; 2) develop a mounting frame and linear rail on a vehicle that supports the laser system and controls the translation movement of the laser; 3) conduct field tests to evaluate the system for measuring roughness of soil surface with and without crop residue and live vegetative cover; 4) conduct field tests to evaluate the system�s ability to measure micro-relief of riparian buffer zones; and 5) conduct field tests to evaluate the device�s ability to describe standing residue coverage, both height and areal distributions. Approach (from AD-416) The approach is to develop this system with five major components: 1) a distance-measuring unit, 2) a frame and rail unit, 3) a frame angular- position measuring unit, 4) a geo-referencing unit, and 5) a data- acquisition and control unit. Functions of these components are: 1. Distance-measuring unit - This unit measures the vertical distance between soil surface and the frame, on which the laser sensor is mounted. An �Acquity� sensor, which uses a fixed infrared laser and a rotating mirror to scan the soil surface along a straight line, will be used for distance measurement. In addition to distance measurement, this sensor also provides information on reflected light intensity. Thus, it is possible to distinguish between the top of canopies and actual soil surface using signal processing if soil surface is not completely covered by the canopy. 2. Frame and rail unit - Since the laser sensor only measures elevations along a straight line, a rail is needed to move the sensor in the direction perpendicular to the scan line so that elevations within a rectangular area can be measured. The rail will be supported by a frame. The sensor will travel along the rail, driven by a linear actuator; and the position of the sensor, monitored using an optical encoder, will be used as a feedback control signal to accurately control the sensor position. Several other devices, including a gyroscope to measure the angular position of the frame and an RTK GPS unit, will also be mounted on the frame. 3. Frame angular-position measuring unit - Because the laser-distance sensor will be mounted on the frame, angular displacements of the frame become critical to the accuracy of elevation measurement. Angular displacements of the frame - pitch, roll, and yaw - will be measured using a rate-integrating gyroscope. X, Y, Z coordinates of the laser scan lines on the soil surface will then be corrected using these measured angles. 4. Geo-reference unit -A Real-time Kinematic (RTK) GPS will be used to help register the measured surface points into a geographic coordinate system (UTM, Lat-lon, or a local coordinate system). An RTK GPS unit is needed because this is the only GPS device that provides a sub-centimeter accuracy in longitude and latitude. 5. Data-acquisition and control unit �All control and data signals from the laser, gyroscope, optical encoders and RTK GPS unit will be processed using a laptop computer. A series of tests were conducted on the laser system that included: 1) Tests for errors in measuring pitch, roll and combined pitch/roll; 2) Test the performance of the laser scanner on various target shapes and calibration of distance measurement; 3) Tests on known geometric shapes; 4) Testing the accuracy of elevation measurements; 5) Testing the effect of ambient light on elevation measurement in both indoor and outdoor environments; and 6) Evaluating angular displacements of the linear rail during scanning. Additional progress included: 1) Developing spatial filters to improve the accuracy of measured digital elevation model data; 2) Implementing a method to calculate the correlation between two digital elevation model data sets; and 3) Studied the effects of different materials and colors on the grayscale images generated by the reflected light intensity. ADODR monitoring activities include phone calls, meetings, conference calls, and on-site visits.
Impacts
(N/A)
Publications
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Progress 10/01/08 to 09/30/09
Outputs
Progress Report Objectives (from AD-416) The overall objective of this cooperative research project is to: develop a real-time, field portable, measurement system that is capable of measuring geo-referenced surface elevations and standing residue with sub-centimeter accuracy for both elevation measurement and geo- referencing. Specific objectives are: 1) develop the hardware and software for a system that integrates a precision laser distance meter, a gyroscope and an RTK GPS with a portable computer; 2) develop a mounting frame and linear rail on a vehicle that supports the laser system and controls the translation movement of the laser; 3) conduct field tests to evaluate the system for measuring roughness of soil surface with and without crop residue and live vegetative cover; 4) conduct field tests to evaluate the system�s ability to measure micro-relief of riparian buffer zones; and 5) conduct field tests to evaluate the device�s ability to describe standing residue coverage, both height and areal distributions. Approach (from AD-416) The approach is to develop this system with five major components: 1) a distance-measuring unit, 2) a frame and rail unit, 3) a frame angular- position measuring unit, 4) a geo-referencing unit, and 5) a data- acquisition and control unit. Functions of these components are: 1. Distance-measuring unit - This unit measures the vertical distance between soil surface and the frame, on which the laser sensor is mounted. An �Acquity� sensor, which uses a fixed infrared laser and a rotating mirror to scan the soil surface along a straight line, will be used for distance measurement. In addition to distance measurement, this sensor also provides information on reflected light intensity. Thus, it is possible to distinguish between the top of canopies and actual soil surface using signal processing if soil surface is not completely covered by the canopy. 2. Frame and rail unit - Since the laser sensor only measures elevations along a straight line, a rail is needed to move the sensor in the direction perpendicular to the scan line so that elevations within a rectangular area can be measured. The rail will be supported by a frame. The sensor will travel along the rail, driven by a linear actuator; and the position of the sensor, monitored using an optical encoder, will be used as a feedback control signal to accurately control the sensor position. Several other devices, including a gyroscope to measure the angular position of the frame and an RTK GPS unit, will also be mounted on the frame. 3. Frame angular-position measuring unit - Because the laser-distance sensor will be mounted on the frame, angular displacements of the frame become critical to the accuracy of elevation measurement. Angular displacements of the frame - pitch, roll, and yaw - will be measured using a rate-integrating gyroscope. X, Y, Z coordinates of the laser scan lines on the soil surface will then be corrected using these measured angles. 4. Geo-reference unit -A Real-time Kinematic (RTK) GPS will be used to help register the measured surface points into a geographic coordinate system (UTM, Lat-lon, or a local coordinate system). An RTK GPS unit is needed because this is the only GPS device that provides a sub-centimeter accuracy in longitude and latitude. 5. Data-acquisition and control unit �All control and data signals from the laser, gyroscope, optical encoders and RTK GPS unit will be processed using a laptop computer. Significant Activities that Support Special Target Populations Specific accomplishments to date are: 1. Constructed and assembled a flexible aluminum mounting frame 2. Mounted the frame with a linear rail in an ATV truck bed. 3. Assembled the individual components: laser scanner, gyroscope, and GPS into the system, including wiring harness. 4. Developed and assembled hardware with an electrical circuit to accurately control the translation movement of the laser with an encoder feedback. 5. Developed data-acquisition software to control the system and obtain data from all individual components. 6. Conducted lab experiments of the Hard/Soft Iron calibration for the gyroscope. 7. Modeled the effect of the gyroscope error measurement on the laser system elevation, which ensure that the angle measurement error of the gyroscope does not affect the elevation resolution of the laser system. 8. Conducted the preliminary lab and field tests for the laser system, which allow us know the actual usable capabilities of the system. 9. Developed a data processing program to display three-dimensional surface elevation. 10. Developed a cross-validation-based algorithm to remove outliers of the laser measurement. 11. Made a coordinate conversion between local and geographic coordinates by using the GPS signal. 12. Rebuilt another laser distance sensor with a two-dimensional traversing frame, which will be used as a reference system to evaluate the performance of the laser system. 13. Developed a three-dimensional Cartesian coordinate transformation, which translates the data in the laser coordinate system to the reference coordinate system. 14. Developed an interpolation algorithm called two-dimensional, three- nearest-neighbor, distance-weighted interpolation, which produces fine scale Digital Elevation Model. 15. Conducted a series of lab tests to reveal any potential effect on the laser system, which include the linear rail vibration test and ambient light test. 16. Preliminary studied on the reflected light intensity which generates the grayscale image. ADODR monitoring activities include phone calls, meetings, conference calls, and on-site visits.
Impacts
(N/A)
Publications
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Progress 10/01/07 to 09/30/08
Outputs
Progress Report Objectives (from AD-416) The overall objective of this cooperative research project is to: develop a real-time, field portable, measurement system that is capable of measuring geo-referenced surface elevations and standing residue with sub-centimeter accuracy for both elevation measurement and geo- referencing. Specific objectives are: 1) develop the hardware and software for a system that integrates a precision laser distance meter, a gyroscope and an RTK GPS with a portable computer; 2) develop a mounting frame and linear rail on a vehicle that supports the laser system and controls the translation movement of the laser; 3) conduct field tests to evaluate the system for measuring roughness of soil surface with and without crop residue and live vegetative cover; 4) conduct field tests to evaluate the system�s ability to measure micro-relief of riparian buffer zones; and 5) conduct field tests to evaluate the device�s ability to describe standing residue coverage, both height and areal distributions. Approach (from AD-416) The approach is to develop this system with five major components: 1) a distance-measuring unit, 2) a frame and rail unit, 3) a frame angular- position measuring unit, 4) a geo-referencing unit, and 5) a data- acquisition and control unit. Functions of these components are: 1. Distance-measuring unit - This unit measures the vertical distance between soil surface and the frame, on which the laser sensor is mounted. An �Acquity� sensor, which uses a fixed infrared laser and a rotating mirror to scan the soil surface along a straight line, will be used for distance measurement. In addition to distance measurement, this sensor also provides information on reflected light intensity. Thus, it is possible to distinguish between the top of canopies and actual soil surface using signal processing if soil surface is not completely covered by the canopy. 2. Frame and rail unit - Since the laser sensor only measures elevations along a straight line, a rail is needed to move the sensor in the direction perpendicular to the scan line so that elevations within a rectangular area can be measured. The rail will be supported by a frame. The sensor will travel along the rail, driven by a linear actuator; and the position of the sensor, monitored using an optical encoder, will be used as a feedback control signal to accurately control the sensor position. Several other devices, including a gyroscope to measure the angular position of the frame and an RTK GPS unit, will also be mounted on the frame. 3. Frame angular-position measuring unit - Because the laser-distance sensor will be mounted on the frame, angular displacements of the frame become critical to the accuracy of elevation measurement. Angular displacements of the frame - pitch, roll, and yaw - will be measured using a rate-integrating gyroscope. X, Y, Z coordinates of the laser scan lines on the soil surface will then be corrected using these measured angles. 4. Geo-reference unit -A Real-time Kinematic (RTK) GPS will be used to help register the measured surface points into a geographic coordinate system (UTM, Lat-lon, or a local coordinate system). An RTK GPS unit is needed because this is the only GPS device that provides a sub-centimeter accuracy in longitude and latitude. 5. Data-acquisition and control unit �All control and data signals from the laser, gyroscope, optical encoders and RTK GPS unit will be processed using a laptop computer. Significant Activities that Support Special Target Populations The laser system integration and testing have proceeded to the point of being able to scan surfaces and place the scanned surface into the global coordinate system. Algorithms to filter the scan data have been developed and preliminary testing of scan quality performed. Test to compare of scanned micro-relief values with traditional methods are being prepared. ADODR monitoring activities include phone calls, meetings, conference calls, and on-site visits.
Impacts
(N/A)
Publications
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