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To better control the growing process of horticulture plants greenhouse growers need an automated way to efficiently and effectively find where diseases are spreading.The HiPerGreen project has done research in using an autonomous quadcopter for this scouting. In order for the quadcopter to be able to scout autonomously accurate location data is needed. Several different methods of obtaining location data have been investigated in prior research. In this research a relative sensor based on optical flow is looked into as a method of stabilizing an absolute measurement based on trilateration. For the optical flow sensor a novel block matching algorithm was developed. Simulated testing showed that Kalman Filter based sensor fusion of both measurements worked to reduce the standard deviation of the absolute measurement from 30 cm to less than 1 cm, while drift due to dead-reckoning was reduced to a maximum of 11 cm from over 36 cm.
The rapid implementation of large scale floating solar panels has consequences to water quality and local ecosystems. Environmental impacts depend on the dimensions, design and proportions of the system in relation to the size of the surface water, as well as the characteristics of the water system (currents, tidal effects) and climatic conditions. There is often no time (and budget) for thorough research into these effects on ecology and water quality. A few studies have addressed the potential impacts of floating solar panels, but often rely on models without validation with in situ data. In this work, water quality sensors continuously monitored key water quality parameters at two different locations: (i) underneath a floating solar park; (ii) at a reference location positioned in open water. An underwater drone was used to obtain vertical profiles of water quality and to collect underwater images. The results showed little differences in the measured key water quality parameters below the solar panels. The temperature at the upper layers of water was lower under the solar panels, and there were less detected temperature fluctuations. A biofouling layer on the floating structure was visible in the underwater images a few months after the construction of the park