REDA: A New Methodology to Validate Sensor Systems for Person Detection under Variable Environmental Conditions.

Perception of the environment by sensor systems in variable environmental conditions is very complex due to the interference influences. In the field of autonomous machines or autonomous vehicles, environmental conditions play a decisive role in safe person detection. A uniform test and validation method can support the manufacturers of sensor systems during development and simultaneously provide proof of functionality. The authors have developed a concept of a novel test method, "REDA", for this purpose. In this article, the concept is applied and measurement data are presented. The results show the versatile potential of this test method, through the manifold interpretation options of the measurement data. Using this method, the strengths and weaknesses of sensor systems have been identified with an unprecedented level of detail, flexibility, and variance to test and compare the detection capability of sensor systems. The comparison was possible regardless of the measuring principle of the sensor system used. Sensor systems have been tested and compared with each other with regard to the influence of environmental conditions themselves. The first results presented highlight the potential of the new test method. For future applications, the test method offers possibilities to test and compare manifold sensing principles, sensor system parameters, or evaluation algorithms, including, e.g., artificial intelligence.

The performance of phenomic selection depends on the genetic architecture of the target trait.

KEY MESSAGE: The phenomic predictive ability depends on the genetic architecture of the target trait, being high for complex traits and low for traits with major QTL. Genomic selection is a powerful tool to assist breeding of complex traits, but a limitation is the costs required for genotyping. Recently, phenomic selection has been suggested, which uses spectral data instead of molecular markers as predictors. It was shown to be competitive with genomic prediction, as it achieved predictive abilities as high or even higher than its genomic counterpart. The objective of this study was to evaluate the performance of phenomic prediction for triticale and the dependency of the predictive ability on the genetic architecture of the target trait. We found that for traits with a complex genetic architecture, like grain yield, phenomic prediction with NIRS data as predictors achieved high predictive abilities and performed better than genomic prediction. By contrast, for mono- or oligogenic traits, for example, yellow rust, marker-based approaches achieved high predictive abilities, while those of phenomic prediction were very low. Compared with molecular markers, the predictive ability obtained using NIRS data was more robust to varying degrees of genetic relatedness between the training and prediction set. Moreover, for grain yield, smaller training sets were required to achieve a similar predictive ability for phenomic prediction than for genomic prediction. In addition, our results illustrate the potential of using field-based spectral data for phenomic prediction. Overall, our result confirmed phenomic prediction as an efficient approach to improve the selection gain for complex traits in plant breeding.

Concept and Realization of a Novel Test Method Using a Dynamic Test Stand for Detecting Persons by Sensor Systems on Autonomous Agricultural Robotics.

As an essential part for the development of autonomous agricultural robotics, the functional safety of autonomous agricultural machines is largely based on the functionality and robustness of non-contact sensor systems for human protection. This article presents a new step in the development of autonomous agricultural machine with a concept and the realization of a novel test method using a dynamic test stand on an agricultural farm in outdoor areas. With this test method, commercially available sensor systems are tested in a long-term test around the clock for 365 days a year and 24 h a day on a dynamic test stand in continuous outdoor use. A test over a longer period of time is needed to test as much as possible all occurring environmental conditions. This test is determined by the naturally occurring environmental conditions. This fact corresponds to the reality of unpredictable/determinable environmental conditions in the field and makes the test method and test stand so unique. The focus of the developed test methods is on creating own real environment detection areas (REDAs) for each sensor system, which can be used to compare and evaluate the autonomous human detection of the sensor systems for the functional safety of autonomous agricultural robots with a humanoid test target. Sensor manufacturers from industry and the automotive sector provide their sensor systems to have their sensors tested in cooperation with the TÜV.

Mapping dynamic QTL for plant height in triticale.

BACKGROUND: Plant height is a prime example of a dynamic trait that changes constantly throughout adult development. In this study we utilised a large triticale mapping population, comprising 647 doubled haploid lines derived from 4 families, to phenotype for plant height by a precision phenotyping platform at multiple time points. RESULTS: Using multiple-line cross QTL mapping we identified main effect and epistatic QTL for plant height for each of the time points. Interestingly, some QTL were detected at all time points whereas others were specific to particular developmental stages. Furthermore, the contribution of the QTL to the genotypic variance of plant height also varied with time as exemplified by a major QTL identified on chromosome 6A. CONCLUSIONS: Taken together, our results in the small grain cereal triticale reveal the importance of considering temporal genetic patterns in the regulation of complex traits such as plant height.

Genetic dynamics underlying phenotypic development of biomass yield in triticale.

BACKGROUND: The nature of dynamic traits with their phenotypic plasticity suggests that they are under the control of a dynamic genetic regulation. We employed a precision phenotyping platform to non-invasively assess biomass yield in a large mapping population of triticale at three developmental stages. RESULTS: Using multiple-line cross QTL mapping we identified QTL for each of these developmental stages which explained a considerable proportion of the genotypic variance. Some QTL were identified at each developmental stage and thus contribute to biomass yield throughout the studied developmental phases. Interestingly, we also observed QTL that were only identified for one or two of the developmental stages illustrating a temporal contribution of these QTL to the trait. In addition, epistatic QTL were detected and the epistatic interaction landscape was shown to dynamically change with developmental progression. CONCLUSIONS: In summary, our results reveal the temporal dynamics of the genetic architecture underlying biomass accumulation in triticale and emphasize the need for a temporal assessment of dynamic traits.

Multiple-line cross QTL mapping for biomass yield and plant height in triticale (× Triticosecale Wittmack).

KEY MESSAGE: QTL mapping in multiple families identifies trait-specific and pleiotropic QTL for biomass yield and plant height in triticale. Triticale shows a broad genetic variation for biomass yield which is of interest for a range of purposes, including bioenergy. Plant height is a major contributor to biomass yield and in this study, we investigated the genetic architecture underlying biomass yield and plant height by multiple-line cross QTL mapping. We employed 647 doubled haploid lines from four mapping populations that have been evaluated in four environments and genotyped with 1710 DArT markers. Twelve QTL were identified for plant height and nine for biomass yield which cross-validated explained 59.6 and 38.2 % of the genotypic variance, respectively. A major QTL for both traits was identified on chromosome 5R which likely corresponds to the dominant dwarfing gene Ddw1. In addition, we detected epistatic QTL for plant height and biomass yield which, however, contributed only little to the genetic architecture of the traits. In conclusion, our results demonstrate the potential of genomic approaches for a knowledge-based improvement of biomass yield in triticale.

Precision phenotyping of biomass accumulation in triticale reveals temporal genetic patterns of regulation.

To extend agricultural productivity by knowledge-based breeding and tailor varieties adapted to specific environmental conditions, it is imperative to improve our ability to assess the dynamic changes of the phenome of crops under field conditions. To this end, we have developed a precision phenotyping platform that combines various sensors for a non-invasive, high-throughput and high-dimensional phenotyping of small grain cereals. This platform yielded high prediction accuracies and heritabilities for biomass of triticale. Genetic variation for biomass accumulation was dissected with 647 doubled haploid lines derived from four families. Employing a genome-wide association mapping approach, two major quantitative trait loci (QTL) for biomass were identified and the genetic architecture of biomass accumulation was found to be characterized by dynamic temporal patterns. Our findings highlight the potential of precision phenotyping to assess the dynamic genetics of complex traits, especially those not amenable to traditional phenotyping.

BreedVision--a multi-sensor platform for non-destructive field-based phenotyping in plant breeding.

To achieve the food and energy security of an increasing World population likely to exceed nine billion by 2050 represents a major challenge for plant breeding. Our ability to measure traits under field conditions has improved little over the last decades and currently constitutes a major bottleneck in crop improvement. This work describes the development of a tractor-pulled multi-sensor phenotyping platform for small grain cereals with a focus on the technological development of the system. Various optical sensors like light curtain imaging, 3D Time-of-Flight cameras, laser distance sensors, hyperspectral imaging as well as color imaging are integrated into the system to collect spectral and morphological information of the plants. The study specifies: the mechanical design, the system architecture for data collection and data processing, the phenotyping procedure of the integrated system, results from field trials for data quality evaluation, as well as calibration results for plant height determination as a quantified example for a platform application. Repeated measurements were taken at three developmental stages of the plants in the years 2011 and 2012 employing triticale (×Triticosecale Wittmack L.) as a model species. The technical repeatability of measurement results was high for nearly all different types of sensors which confirmed the high suitability of the platform under field conditions. The developed platform constitutes a robust basis for the development and calibration of further sensor and multi-sensor fusion models to measure various agronomic traits like plant moisture content, lodging, tiller density or biomass yield, and thus, represents a major step towards widening the bottleneck of non-destructive phenotyping for crop improvement and plant genetic studies.