Search Results (129)

Direct seeding has gained prominence as a labor-efficient and environmentally sustainable alternative to conventional transplanting in rice cultivation. In direct seeding systems, early-stage management is crucial for stable seedling establishment, with sowing uniformity measured by seed counts being a critical indicator of success. However, conventional manual seed counting methods are time-consuming, prone to human error, and impractical for large-scale or repetitive tasks, necessitating advanced automated solutions. Recent advances in computer vision technologies and precision agriculture tools, offer the potential to automate seed counting tasks. Nevertheless, challenges such as domain discrepancies and limited labeled data restrict robust real-world deployment. To address these issues, we propose a density estimation-based seed counting framework integrating semi-supervised learning and background augmentation. This framework includes a cost-effective data acquisition system enabling diverse domain data collection through indoor background augmentation, combined with semi-supervised learning to utilize augmented data effectively while minimizing labeling costs. The experimental results on field data from unknown domains show that our approach reduces seed counting errors by up to 58.5% compared to conventional methods, highlighting its potential as a scalable and effective solution for agricultural applications in real-world environments. Full article

Indoor horticulture requires a substantial quantity of electricity to meet crops extended photoperiodic requirements for optimal photosynthetic rate. Simultaneously, global electricity costs have grown dramatically in recent years, endangering the sustainability and profitability of indoor vertical farms and/or modern greenhouses that use artificial lighting systems to accelerate crop development and growth. This study investigates the growth rate and physiological development of cherry tomato plants cultivated in a pilot indoor vertical farm at the Agricultural University of Athens’ Laboratory of Farm Structures (AUA) under continuous and disruptive lighting. The leaf physiological traits from multiple photoperiodic stress treatments were analyzed and utilized to estimate the plant’s tolerance rate under varied illumination conditions. Four different photoperiodic treatments were examined and compared, firstly plants grew under 14 h of continuous light (C-14L10D/control), secondly plants grew under a normalized photoperiod of 14 h with intermittent light intervals of 10 min of light followed by 50 min of dark (NI-14L10D/stress), the third treatment where plants grew under 14 h of a load-shifted energy demand response intermittent lighting schedule (LSI-14L10D/stress) and finally plants grew under 13 h photoperiod following of a load-shifted energy demand response intermittent lighting schedule (LSI-13L11D/stress). Plants were subjected also under two different light spectra for all the treatments, specifically WHITE and Blue/Red/Far-red light composition. The aim was to develop flexible, energy-efficient lighting protocols that maintain crop productivity while reducing electricity consumption in indoor settings. Results indicated that short periods of disruptive light did not negatively impact physiological responses, and plants exhibited tolerance to abiotic stress induced by intermittent lighting. Post-harvest data indicated that intermittent lighting regimes maintained or enhanced growth compared to continuous lighting, with spectral composition further influencing productivity. Plants under LSI-14L10D and B/R/FR spectra produced up to 93 g fresh fruit per plant and 30.4 g dry mass, while consuming up to 16 kWh less energy than continuous lighting—highlighting the potential of flexible lighting strategies for improved energy-use efficiency. Full article

Urban agriculture (UA) is emerging as a promising strategy for sustainable food production in response to growing environmental pressures. Indoor vertical farming (IVF), combining Controlled Environment Agriculture (CEA) with Building-Integrated Agriculture (BIA), enables efficient resource use and year-round crop cultivation in urban settings. This study assesses the environmental performance of a prospective IVF system located on a university campus in Portugal, focusing on the integration of photovoltaic (PV) energy as an alternative to the conventional electricity grid (GM). A Life Cycle Assessment (LCA) was conducted using the Environmental Footprint (EF) method and the LANCA model to account for land use and soil-related impacts. The PV-powered system demonstrated lower overall environmental impacts, with notable reductions across most impact categories, but important trade-offs with decreased soil quality. The LANCA results highlighted cultivation and packaging as key contributors to land occupation and transformation, while also revealing trade-offs associated with upstream material demands. By combining EF and LANCA, the study shows that IVF systems that are not soil-based can still impact soil quality indirectly. These findings contribute to a broader understanding of sustainability in urban farming and underscore the importance of multi-dimensional assessment approaches when evaluating emerging agricultural technologies. Full article

This study presents a cost-effective, carbon-negative construction material for affordable housing, developed entirely from locally available agricultural wastes: rice husk ash, wood ash, and rice straw—materials often problematic to dispose of in many African regions. Rice husk ash provides high amorphous silica, acting as a strong pozzolanic agent. Wood ash contributes calcium oxide and alkalis to serve as a reactive binder, while rice straw functions as a lightweight organic filler, enhancing thermal insulation and indoor climate comfort. These materials undergo natural pozzolanic reactions with water, eliminating the need for Portland cement—a major global source of anthropogenic CO₂ emissions (~900 kg CO₂/ton cement). This process is inherently carbon-negative, not only avoiding emissions from cement production but also capturing atmospheric CO₂ during lime carbonation in the hardening phase. Field trials in Kenya confirmed the composite’s sufficient structural strength for low-cost housing, with added benefits including termite resistance and suitability for unskilled laborers. In a collaboration between the University of Tartu and Kenyatta University, a semi-automatic mixing and casting system was developed, enabling fast, low-labor construction of full-scale houses. This innovation aligns with Kenya’s Big Four development agenda and supports sustainable rural development, post-disaster reconstruction, and climate mitigation through scalable, eco-friendly building solutions. Full article

This study introduces a deep learning (DL)-based optimal condition monitoring and control system tailored to indoor smart greenhouses, with a novel focus on maintaining symmetry—defined as a dynamic equilibrium among temperature, humidity, and CO₂ levels—critical in plant growth. A hydroponic greenhouse prototype was developed to capture real-time climate data at high temporal resolution. A custom 1D convolutional neural network (1D-CNN) optimized via a genetic algorithm (GA) was employed to predict environmental fluctuations, achieving R² scores up to 0.99 and a standard error of prediction (SEP) as low as 0.35%. The system then actuated climate control mechanisms to restore and maintain symmetry. Experimental validation revealed that plants grown under the symmetry-aware control system exhibited significantly improved growth metrics. The results underscore the potential of integrating symmetry-aware DL strategies into precision agriculture in achieving sustainable and resilient plant production systems. Full article

Current tomato harvesters rely primarily on external color as the sole indicator of ripeness. However, this approach often results in premature harvesting, leading to insufficient lycopene accumulation and a suboptimal nutritional content for human consumption. Such limitations are especially critical in controlled-environment agriculture (CEA) systems, where maximizing fruit quality and nutrient density is essential for both the yield and consumer health. To address that challenge, this study introduces a novel, multimodal harvest readiness framework tailored to nutrient film technology (NFT)-based smart farms. The proposed approach integrates plant-level stress diagnostics and fruit-level phenotyping using wearable biosensors, AI-assisted computer vision, and non-invasive physiological sensing. Key physiological markers—including the volatile organic compound (VOC) methanol, phytohormones salicylic acid (SA) and indole-3-acetic acid (IAA), and nutrients nitrate and ammonium concentrations—are combined with phenomic traits such as fruit color (a*), size, chlorophyll index (rGb), and water status. The innovation lies in a four-stage decision-making pipeline that filters physiologically stressed plants before selecting ripened fruits based on internal and external quality indicators. Experimental validation across four plant conditions (control, water-stressed, light-stressed, and wounded) demonstrated the efficacy of VOC and hormone sensors in identifying optimal harvest candidates. Additionally, the integration of low-cost electrochemical ion sensors provides scalable nutrient monitoring within NFT systems. This research delivers a robust, sensor-driven framework for autonomous, data-informed harvesting decisions in smart indoor agriculture. By fusing real-time physiological feedback with AI-enhanced phenotyping, the system advances precision harvest timing, improves fruit nutritional quality, and sets the foundation for resilient, feedback-controlled farming platforms suited to meeting global food security and sustainability demands. Full article

Precision spraying technology has attracted increasing attention in orchard production management. Traditional chemical pesticide application relies on subjective judgment, leading to fluctuations in pesticide usage, low application efficiency, and environmental pollution. This study proposes a machine vision-based precision spraying control system for orchards. First, a canopy leaf wall area calculation method was developed based on a multi-iteration GrabCut image segmentation algorithm, and a spray volume calculation model was established. Next, a fuzzy adaptive control algorithm based on an extended state observer (ESO) was proposed, along with the design of flow and pressure controllers. Finally, the precision spraying system’s performance tests were conducted in laboratory and field environments. The indoor experiments consisted of three test sets, each involving six citrus trees, totaling eighteen trees arranged in two staggered rows, with an interrow spacing of 3.4 m and an intra-row spacing of 2.5 m; the nozzle was positioned approximately 1.3 m from the canopy surface. Similarly, the field experiments included three test sets, each selecting eight citrus trees, totaling twenty-four trees, with an average height of approximately 1.5 m and a row spacing of 3 m, representing a typical orchard environment for performance validation. Experimental results demonstrated that the system reduced spray volume by 59.73% compared to continuous spraying, by 30.24% compared to PID control, and by 19.19% compared to traditional fuzzy control; meanwhile, the pesticide utilization efficiency increased by 61.42%, 26.8%, and 19.54%, respectively. The findings of this study provide a novel technical approach to improving agricultural production efficiency, enhancing fruit quality, reducing pesticide use, and promoting environmental protection, demonstrating significant application value. Full article

The production of duckweed (Lemnaceae) as a novel protein source could make a valuable contribution to human nutrition. The greatly reduced habitus of duckweed enables simple cultivation with extremely low space requirements, making this free-floating freshwater plant ideal for substrate-free and vertical cultivation in controlled environment agriculture. Of particular importance in the design of a plant-producing Indoor Vertical Farming process is the determination of light intensity, as artificial lighting is generally the most energy-intensive feature of daylight-independent cultivation systems. In order to make the production process both cost-effective and low emission in the future, it is, therefore, crucial to understand and mathematically describe the primary metabolism, in particular the light utilization efficiency. To achieve this, a growth model was developed that mathematically describes the combined effects of plant density and light intensity on the growth rate of Lemna minor L. and physiologically explains the intraspecific competition of plants for light through mutual shading. Furthermore, the growth model can be utilized to derive environmental and process parameters, including optimum harvest quantities and efficiency-optimized light intensities to improve the production process. Full article

Autonomy in Unmanned Aerial Vehicle (UAV) navigation has enabled applications in diverse fields such as mining, precision agriculture, and planetary exploration. However, challenging applications in complex environments complicate the interaction between the agent and its surroundings. Conditions such as the absence of a Global Navigation Satellite System (GNSS), low visibility, and cluttered environments significantly increase uncertainty levels and cause partial observability. These challenges grow when compact, low-cost, entry-level sensors are employed. This study proposes a model-based reinforcement learning (RL) approach to enable UAVs to navigate and make decisions autonomously in environments where the GNSS is unavailable and visibility is limited. Designed for search and rescue operations, the system enables UAVs to navigate cluttered indoor environments, detect targets, and avoid obstacles under low-visibility conditions. The architecture integrates onboard sensors, including a thermal camera to detect a collapsed person (target), a 2D LiDAR and an IMU for localization. The decision-making module employs the ABT solver for real-time policy computation. The framework presented in this work relies on low-cost, entry-level sensors, making it suitable for lightweight UAV platforms. Experimental results demonstrate high success rates in target detection and robust performance in obstacle avoidance and navigation despite uncertainties in pose estimation and detection. The framework was first assessed in simulation, compared with a baseline algorithm, and then through real-life testing across several scenarios. The proposed system represents a step forward in UAV autonomy for critical applications, with potential extensions to unknown and fully stochastic environments. Full article

Indoor farming presents a sustainable response to urbanization and climate change, yet optimizing light use efficiency (LUE) remains vital for maximizing crop yield and minimizing energy use. This study introduces an IoT-based framework for adaptive light management in controlled environments, using lettuce (Lactuca sativa L.) as a model crop due to its rapid growth and sensitivity to light spectra. The system integrates advanced LED lighting, real-time sensors, and cloud-based analytics to enhance light distribution and automate adjustments based on growth stages. The key findings indicate a 20% increase in energy efficiency and a 15% improvement in lettuce growth compared to traditional static models. Novel metrics—Light Use Efficiency at Growth stage Canopy Level (LUEP) and Lamp Level (LUEL)—were developed to assess system performance comprehensively. Simulations identified optimal growth conditions, including a light intensity of 350–400 µmol/m²/s and photoperiods of 16–17 h/day. Spectral optimization showed that a balanced blue-red light mix benefits vegetative growth, while higher red content supports flowering. The framework’s feedback control ensures rapid (<2 s) and accurate (>97%) adjustments to environmental deviations, maintaining ideal conditions throughout growth stages. Comparative analysis confirms the adaptive system’s superiority over static models in responding to dynamic environmental conditions and improving performance metrics like LUEP and LUEL. Practical recommendations include stage-specific guidelines for light spectrum, intensity, and duration to enhance both energy efficiency and crop productivity. While tailored to lettuce, the modular system design allows for adaptation to a variety of leafy greens and other crops with species-specific calibration. This research demonstrates the potential of IoT-driven adaptive lighting systems to advance precision agriculture in indoor environments, offering scalable, energy-efficient solutions for sustainable food production. Full article

This study proposes an innovative indoor localization algorithm based on the base station identification and improved black kite algorithm–backpropagation (IBKA-BP) integration to address the problem of low positioning accuracy in agricultural robots operating in agricultural greenhouses and breeding farms, where the Global Navigation Satellite System is unreliable due to weak or absent signals. First, the density peaks clustering (DPC) algorithm is applied to select a subset of line-of-sight (LOS) base stations with higher positioning accuracy for backpropagation neural network modeling. Next, the collected received signal strength indication (RSSI) data are processed using Kalman filtering and Min-Max normalization, suppressing signal fluctuations and accelerating the gradient descent convergence of the distance measurement model. Finally, the improved black kite algorithm (IBKA) is enhanced with tent chaotic mapping, a lens imaging reverse learning strategy, and the golden sine strategy to optimize the weights and biases of the BP neural network, developing an RSSI-based ranging algorithm using the IBKA-BP neural network. The experimental results demonstrate that the proposed algorithm can achieve a mean error of 16.34 cm, a standard deviation of 16.32 cm, and a root mean square error of 22.87 cm, indicating its significant potential for precise indoor localization of agricultural robots. Full article

This paper presents an innovative design of a photovoltaic panel system for agricultural applications, particularly in regions prone to drought and extreme temperatures, known as Agri-PV. The proposed solution utilizes optical elements of divergent lens types to illuminate the ground beneath photovoltaic panels in greenhouse or indoor controlled cultivation areas. The Agri-PV solution improves the ratio between the area occupied by the photovoltaic panels and the total cultivated area therefore the land under the photovoltaic panels is fully cultivable, produces clean electricity that can be used in the agricultural process, reduces solar energy at the ground level up to 16 times, reducing water evaporation from the ground diminishing the summer-extreme temperatures effect on crops. With an optimal vertical layout of the optical lens PV system, areas of minimum illumination can be overlapped to provide a more uniform and consistent light intensity at ground level. The overall illumination uniformity is important for maximizing energy efficiency and maintaining optimal growing conditions in agrivoltaics applications. Full article

In the current era of agricultural management practices, known as agricultural 5.0, optimal indoor environments are associated with comfortable temperatures, regulated humidity, and good air quality—essential variables to improve yields. Given this scenario, there is a need for innovative ecosystems that automate indoor environmental monitoring in an affordable and scalable way. This paper presents the scope of the development and validation of an IoT-based ecosystem designed to monitor and control environmental conditions in agricultural barns. The objective is to present a cost-effective and easily accessible environmental monitoring system for barn buildings and agricultural storage areas, promoting the welfare of animals, humans, and crops, and contributing to the sustainable development of the agricultural industry. The system integrates wireless sensors, predictive algorithms, a web interface and cloud infrastructure to optimize temperature and humidity. A proof-of-concept assessment was performed to determine whether the modular architecture offers scalability, while the responsive web interface ensures cross-device accessibility. The results show data accuracy above 95%, prediction efficiency of 96%, and increases in production yields. This solution demonstrates economic and operational advantages over existing technologies, promoting sustainability and automation in agricultural management practices in hangars and barns, in alignment with the United Nations’ Sustainable Development Goals (SDGs). Full article

Agricultural robots can mitigate labor shortages and advance precision farming. However, the dense vegetation canopies and uneven terrain in orchard environments reduce the reliability of traditional GPS-based localization, thereby reducing navigation accuracy and making autonomous navigation challenging. Moreover, inefficient path planning and an increased risk of collisions affect the robot’s ability to perform tasks such as fruit harvesting, spraying, and monitoring. To address these limitations, this study integrated stereo visual odometry with real-time appearance-based mapping (RTAB-Map)-based simultaneous localization and mapping (SLAM) to improve mapping and localization in both indoor and outdoor orchard settings. The proposed system leverages stereo image pairs for precise depth estimation while utilizing RTAB-Map’s graph-based SLAM framework with loop-closure detection to ensure global map consistency. In addition, an incorporated inertial measurement unit (IMU) enhances pose estimation, thereby improving localization accuracy. Substantial improvements in both mapping and localization performance over the traditional approach were demonstrated, with an average error of 0.018 m against the ground truth for outdoor mapping and a consistent average error of 0.03 m for indoor trails with a 20.7% reduction in visual odometry trajectory deviation compared to traditional methods. Localization performance remained robust across diverse conditions, with a low RMSE of 0.207 m. Our approach provides critical insights into developing more reliable autonomous navigation systems for agricultural robots. Full article

In a plant factory, maintaining proper and uniform air/moisture movement above the crop canopy is crucial for aiding plant growth. This research has utilized a three-dimensional computation model to investigate airflow and heat transfer in a plant factory, where airflow, heat, and humidity distributions above plant crops were calculated concerning five categories of crop planting density (P_d) and air change rate (ACH) in the crop area. Spatial uniformities of airflow velocity, temperature, and relative humidity immediately above the crops are evaluated using the objective uniformity parameter (OU), relative standard deviation of temperature (RSD_T) and relative standard deviation of relative humidity (RSD_RH), respectively. Furthermore, a factor of effectiveness (θ) is defined, depending on the uniformity of velocity, temperature, and relative humidity distribution, to comprehensively evaluate the impact of various ACH with P_d on overall effectiveness. Full numerical results show that air velocity, temperature, and relative humidity above the crops are notably influenced by P_d and ACH. As ACH increases, the OU of the air above the indoor crop also expands. Moreover, higher OU values are observed for smaller crop P_d. However, excessively small crop area planting densities and excessively large ACH do not result in a higher OU for the air above the crop. As ACH increases, both RSD_T and RSD_RH decay for the whole range of crop P_d. Moreover, smaller P_d values could achieve the uniformity of thermal fields, while having minimal effects on the relative humidity distributions. Generally, increasing ACH and decreasing P_d could enhance overall value of θ. However, excessively increasing ACH and decreasing P_d does not have a significant effect on θ, which is jointly influenced by OU, RSD_T, and RSD_RH. Therefore, a more suitable combination of ACH and P_d is urgently required to improve the design of agricultural system to enhance crop microclimate uniformity for optimal plant growth and productivity. Full article