2018 12th IEEE International Conference on Semantic Computing
Module for Virtual Calibration of Sensors of
Agricultural Spraying Systems (temperature, pressure
and flow) Using an Arduino-based Architecture and a
Controller Area Network Bus (CAN)
Pedro B. Andrade1,2, Paulo E. Cruvinel1, Elmer A. G. Peñaloza1,3
1
Embrapa Instrumentation, Brazilian Agricultural Research Corporation, São Carlos, SP, Brazil.
2
Federal University of São Carlos, Department of Electrical Engineering, São Carlos, SP, Brazil.
3
University of São Paulo, Department of Electrical Engineering and Computing, São Carlos, SP, Brazil.
Emails: pedro_borghi@hotmail.com, paulo.cruvinel@embrapa.br, egamboa@usp.br
Abstract- This paper presents a method for the development
of a sensor’ virtual calibration module for agricultural sprayers,
i.e., using an Arduino-based architecture, which uses an Atmel
Atmega 328 microcontroller, as well as the CAN protocol for
communication and data analysis. A set of sensors is present in
agricultural spraying systems. They are used to control both the
quality of pesticides application and to ensure the reliability of
the sprayers’ processes. In such context, measurements such as
temperature, flow, and pressure, among other variables, are
important for the decision making processes. Besides, for such
tasks all the sensors must be calibrated, as well as be operating
properly. Such module for virtual calibration makes possible to
validate the calibration of these sensors in real time, and also
allows emulating a direct operation on the sprayers, i.e., allowing
to checkup if the sensor´s operational procedures are or not
correct. In this context, the organization of knowledge and the
establishment of an adequate computational semantics for a
correct operation of this module present a strategic role, so that
users of the agricultural sector can appropriate the technology
and use it appropriately.
Keywords- semantic computers in agriculture; sensor
calibration; quality of agricultural application; Arduino; CAN bus,
precision agriculture.
I. INTRODUCTION
In the last decades precision agriculture (PA) has been
increasingly used for food production and has gained
relevance in the world. This has occurred with the use of
techniques for the control and supervision of machines that are
used in the field, as well as with the introduction of the
analyzes of the quality of what is produced. These aspects can
help and guarantee a better performance of plantations.
Lately the world's population has grown rapidly and there
are millions of people facing malnutrition. With roughly one
billion chronically hungry people in the world, 75% of whom
depend on agriculture for their livelihoods. Therefore,
improving agricultural productivity at minimal cost to the
environment is central to any efforts at poverty alleviation,
food security, and environmental improvement [1].
Agriculture is essential for the production of food and this
0-7695-6360-0/18/$31.00 ©2018 IEEE
DOI 10.1109/ICSC.2018.00072
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production has become increasingly necessary because of this
continuous growth of the world population. Seen the resource
constraints and the need to globally feed 9 billion people in
2050 foresights have argued that more food should be
produced but that at the same time production should become
more sustainable regarding people, planet and profit [2]. These
calls are correlated and there are requests for more
investments, system innovation, and a better understanding in
how should be the interaction between men and the machines.
Considering production and sustainability, nowadays it is
necessary to produce more, without much advance in the
agricultural frontiers. For this, it is necessary to ensure that the
agricultural field and crops are being adequately managed, i.e.,
performing the control and monitoring of processes and
parameters in real time. The use of PA consists in the
application of technologies for the management of variables
associated with agricultural production, considering as main
factor the increase of production and environmental quality.
Currently, agricultural spraying, for example, is used with
a focus on precision agriculture, where control, supervision
and the highest quality of the application process are sought,
in order to increase the safety and efficiency of the application
processes. These aspects are also related with the
minimization of the environmental impacts, i.e., resulting from
these agrochemical application processes. In such works,
which quantify the economicity of the localized application, it
is quite common to observe improvements in the relation
cost/benefit, and the minimization of negative externalities
[3]-[5].
Variables such as temperature, flow and pressure have a
direct influence on these results, impacting on the volume and
distribution of the drops in the plantation, which directly
influence on the efficiency of the application. If there is no
control of the pesticide drops, waste may occur. Very fine
drops can be carried by the wind, spreading and contaminating
the environment, characterizing the drift phenomenon. Very
thick droplets, although reduce the drift, provide less coverage
of the application target because the pesticide volume that
leaves can hold is limited due to their size [6]. Therefore, it is
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important to know precisely the values of the variables of
temperature, pressure and flow to have a greater control of the
application of these agricultural products.
For the automation of these sprayers` processes, embedded
computer systems are currently used. However, in this context,
it has been observed the growing needs for the organization of
semantic attributes that can help in the establishment of
mechanisms that involve better man-machine interaction,
especially in agricultural environments where automation and
embedded systems are used continuously.
Computational semantics is in charge of exploring the
relationships between linguistics and computation, making it
possible to construct systems capable of recognizing and
producing information that can be understood by men. It is
also responsible for finding attributes that will allow greater
understanding of what is being analyzed by the machine, as
well as the man who uses such devices. Semantic computing is
a technology to compose information content (including
software) based on meaning and vocabulary shared by people
and computers and thereby to design and operate information
systems [7].
This paper presents the development of a virtual calibration
module for temperature, pressure and flow sensors for spray
systems, using an Arduino with possibility of reading in CAN
protocol, and the results are presented in an interface by the
use of supervisory software. After this introduction, the paper
presents session 2, which demonstrates the materials and
methods used, followed by session 3 which presents a
discussion on the results obtained, and session 4 with the
respective conclusions.
II. MATERIAL AND METHODS
To design the development of the module for virtual
calibration of sensors in a spraying system, the use of an
Arduino and CAN bus architecture is considered.
For validation it is considered a development platform that
was developed at the Brazilian Agricultural Research
Corporation (Embrapa Instrumentation) in partnership with the
School of Engineering of São Carlos University of São Paulo
(EESC-USP), both from Brazil [8].
This platform for sprayers´development uses a National
Instruments® embedded controller, known as NI-cRIO. Also,
it is considered a precison source and methods that allow the
evaluation of the signal-to-noise improvement. In addition, for
the purpose of evaluation of results are considered the
fundaments and theories of errors in sensor measurements.
Therefore, better descriptions are explained below.
A. Control and processing Unit (NI-cRIO)
NI-cRIO is an embedded controller for advanced control
and monitoring application, have a real-time processor and an
FPGA. It offers multiple connectivity ports, is used in
applications that require high-speed signal control or
processing, hardware acceleration algorithms, reliable
hardware tasks, or timing and triggering functions. The NI-
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cRIO can be used to connect any sensor or device in any data
bus mode [9].
B. Display System
The results visualization system used with NI-cRIO is
based on the LabVIEW® Real-Time software, which is a
compiled graphical development environment that contains
tools to acquire, analyze and present data. It also makes it
possible to develop control and measurement systems,
including integration with hardware.
For building applications, it graphical programming
language uses icons and images instead of lines of text.
LabVIEW® uses dataflow-based programming where this flow
determines execution. The data is presented by an interface
called Graphical User Interface (GUI), where the user can
interact with the digital devices by graphical elements with
icons and visual indicators, being able to select symbols and
manipulate them in order to obtain some pratical result. The
GUI operating systems are easy to learn and use because
commands do not need to be memorized [10].
C. Controller Area Network Bus (CAN Bus)
The CAN is a synchronous serial communication protocol.
Modules connected to a network send messages to the bus at
known time intervals, so synchronization is done.
The CAN network has the characteristic of being multi-
master, where the modules can act as masters and slaves
depending on the use [11].
This protocol works with multicast messages, where all
modules connected to a network receive all messages sent.
The connected modules check the status of the bus and
analyze if another module with a higher priority is not sending
messages, if this is noticed, the module whose message has the
lowest priority interrupts the transmission and allows the
highest priority message to be sent.
CAN networks work with two wires with CAN (High) and
CAN L (Low) signals. From these wires the modules receive
the information according to the potential difference of the
wires. The data are represented by Dominant bits and
Recessive bits, created according to the conditions present in
the CAN H and CAN L wires.
D. Database and Reference Models
For the organization of a reference database with correct
values, calibrated and high precision sensors are used, which
are subjected to known temperature, pressure or flow
conditions to obtain voltage values related to these conditions.
It is also considered filtering and correction of outliers, leading
to a model for the voltage and parameter under analysis. For
the realization of the filtering it is used, for example, a
technique based on the use of Kalman filter [12-14].
This filter consists on the use of a mathematical method for
the purpose of using measurements of magnitudes performed
over time and generates results that are closer to the actual
values of these measured quantities. The methods to obtain
and approximate the model may be linear regression with least
squares method, polynomial regression, among others.
D.1. Least Squares Method
The Least Squares Method (LSM) is a technique that seeks
to find the mathematical representation that best adjusts a set
of data. It works trying to minimize the sum of the squares of
the differences between the estimated value and the observed
data. To use this method it is necessary that the model be
linear in the parameters, i.e., the variables must present a
linear relation. Therefore, must be analyzed the case where the
adjustment curve is a linear function:
(1)
where, (y) is the variable analyzed, (x) is the variable that
influences the response of (y), (b) is the constant parameter,
which does not depend on (x), (a) is the coefficient parameter
of the variable (x), the angular coefficient, ei is the error,
variation of (y) that is not explained by the model, and (i)
indicates each of the (n) database` observations. The method
of least squares helps to find the estimates of (a) and (b), this
method uses a technique that minimizes the sum of the square
of the error and with this (a) and (b) are discovered, besides it
will represent the graph with the smallest difference between
(y) predicted and (y) analyzed [15]. Therefore:
(2)
The minimization occurs when derivate the equation (2)
with respect to (a) and (b) by using the chain rule and equating
to 0. Thus, one can obtain the equation (3) relative to the
angular coefficient.
(3)
where, ẋ represents the sample mean of x and ẏ represents the
sample mean of y.
D.2. Polynomial Regression
The polynomial regression is a method to estimate the
expected value of a variable (y), given the values of another
variable (x). This type of regression is used for models that
obey polynomial and non-linear behavior as in the previous
case. For these types of model it is necessary to adjust for a
higher degree polynomial function [16]. This technique
follows the same steps of linear regression, but the polynomial
used for the adjustment is of degree greater than 1, i.e.,
equation (4) is used.
(4)
In this case, the mathematical procedure is the same as in
the least squares method, but the error will now be represented
by a function of degree greater than 1, thus obtaining equation
(5).
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(5)
Thus this equation (5) must be derivated in parts from the
terms that accompany xi and be equated to zero to find a
system of equations, which makes it possible to calculate its
values.
E. Comparison Method
After the construction of a corrected database and the
acquisition of a mathematical model obtained through some of
the forms mentioned earlier, the intelligent calibration and
correction system can use this data as a reference to compare
the results obtained from the sensors that will be calibrated
with the results of the models.
Thus, using a comparison method, the system can identify
whether or not a sensor is calibrated. Additionally, if
necessary a calibration can be performed. The most used
methods of comparison are, relative change, Euclidean
distance, root mean square error, percent error, among others
[17]-[19].
E.1. Relative Change
Relative difference is used to compare two quantities while
taking into account the sizes of the things being compared.
The comparison is expressed as a ratio and is a unitless
number. Its equation can be seen at (6):
(6)
where, (x) is the measure variable, and (xref) is the reference
variable.
Notice that the divisor is in absolute expression because for
values greater than the reference value, the relative change
should be a positive number and for values that are smaller,
the relative change should be negative.
E.2. Percent Error
In this case the idea is similar to the one used for the
calculation of relative change, but the result is given in
percentage, so to obtain it, simply multiply the equation (6) by
100, and the result will be given in percent error.
E.3. Euclidean Distance
In this case, it is the distance between two points and can
be proved by the application of the Pythagorean theorem. The
Euclidean distance is calculated as the square root of the sum
of the squares of the arithmetic difference of the
corresponding coordinates of two points, that is:
(7)
where, d(x,y) is the Euclidean distance, (x) is the measured
point, (xref) is the measured variable at the reference point, (y)
is the variable at the measured point, and (yref) is the variable
obtained at the reference point.
E.4. Root Mean Square Error (RMSE)
The RMSE is the standard deviation of the residuals
(prediction errors). Residuals are a measure of how far from
the regression line data points are, RMSE is a measure of how
spread out these residuals are. In other words, it tells you how
concentrated the data is around the line of best fit. The RMSE
is given by:
(8)
where, (xref) is the reference variable, and (x) is the measure
variable.
F. Accurate Power Supply
Since the module is going to be used to calibrate
instruments it is necessary to take into account one power
supply that generates a precise and high stability reference
voltage. Such voltage will serve as parameters for the
intelligent calibration and correction system, and is also
responsible for feeding each of the electronic devices used.
Most ADC/DAC converters internally have voltage
references that are used in the process of converting the signal,
either to quantize its analog signal or convert its digital signal
to analog [20]. At this point, the accuracy and stability of the
reference directly influence conversion performance.
III. RESULTS AND DISCUSSION
Currently the CAN networks have been used in embedded
applications in various air, water and land vehicles, including
farm machinery. The popularity of applications with CAN
networks is sustained by their own characteristics and
advantages over other standards. The main advantages of
CAN networks involve data communication, the use of only
two wires, which reduces the cost and facilitates the physical
implementation, also, are able to transmit high rates of
information in real time, have good flexibility facilitating the
removal, addition, and change of devices, as well as being able
to detect and treat failures that may occur.
In agricultural spraying systems the most commonly used
sensors are:
a) temperature sensors, used to measure the temperature
of the syrup (pesticides + water), as well as the temperature of
the environment where the spray will be made;
b) pressure sensors, used to measure the pressure in the
spray bar near the spray nozzles;
c) flow sensors, which measure the flow in the tubes and
in the spray bar, and are used to measure and feed back these
values in the control system.
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Besides, for signal processing from sensors is useful to use
filters to improve the signal-to-noise ratio. In this work it is
being considered the use of Kalman filtering to estimate of the
real values of the quantities as well as the uncertainties
associated with the measured values. These generated
estimates tend to be closer to the actual values because the
weighted mean can be calculated between the calculated value
and the measured value and with this a better estimation of the
uncertainties of the values is presented. The Kalman filter
contains three distinct steps for its operation, the first being the
Kalman gain calculation, the second the current state
calculation and the third the new estimation error calculation.
For the Kalman gain calculation, the error associated with the
estimated value and the error associated with the measurement
must be considered, equation (9) shows the Kalman gain.
(9)
where, (K) is the Kalman Gain, (errore) represents the estimate
error, and (errorm) represents the measurement error.
The closer the (K) value approaches 1, more accurate the
measurements are and the estimates are unstable. The closer
the (K) value approaches zero, the measurements will not
show good accuracy and estimates will be stable. The
calculation of the current state is an estimation of the current
value of the variable in the system, considering the previous
state, the Kalman gain and the most current measurement,
equation (10) presents this calculation.
(10)
where, (statec) represents the estimate of the current state of
the system, (statep)represents the previous system estimate and
measurement is the most current measurement of the system.
For the calculation of the new error in the estimate it is
necessary to know the error of the previous state, these errors
are related according to equation (3).
(11)
where, (errorc) represents the current error, and (errorp)
represents the error of the previous state.
The model is a mathematical representation obtained from
the data history; this model was used for purposes of
comparison and calibration of the sensors that are analyzed by
the intelligent system of calibration and correction.
Fig. 1 shows the integration of the calibration modules
with the sensors (temperature, pressure and flow) in the spray
system.
The modules receive an electrical signal from the sensors
and determine whether or not the sensors are calibrated. The
calibration module performs the necessary correction to
deliver the appropriate information to a CAN bus, where the
control and processing unit collects the sensor calibration
information of all modules.
 Microcontrollers, computers and circuits that process data
obtained from sensors operate exclusively with digital signals,
and sensors generate signals of analog nature. To convert a
signal from the analog form to the digital form, a
configuration called analog/digital converter, ADC or simply
A/D converter was used. These converters are widely used in
data acquisition and control boards that connect computers
with measurement devices.
or pressure, or flow, then this value is compared with the
reference model, which was constructed using the database
and some of the mathematical methods described in section II
of this paper. If the result of the comparison is satisfactory this
value is sent to the CAN bus, otherwise this value is corrected
by the software through emulation and only then the value is
sent to the bus.

Figure 2. Software and hardware integration architecture as the basis for the
construction of a calibration module for sensors in an
agricultural spray system.

Figure 1. Block diagram of the electro-hydraulic configuration and CAN

network of the sprayer system. In the orange blocks are highlighted the
calibration modules for each variable or sensor.
.
The module that has the Arduino platform is a device of
low cost, is functional and easy programming. The Arduino
Uno is a board consisting of an ATMEL ATMEG328
microcontroller, input and output circuits, and can be easily
connected to a computer via USB cable and is programmed
through a free software called Arduino IDE (Integrated
Development Environment) using a language based on C/C++.
In Fig. 2 is possible to observe how the Arduino module is
connected with the sensors and the agricultural spraying
system. The sensors, which generate analog signals, are
connected directly to the calibration module, which is in
charge of analyzing and correcting the data obtained through
the algorithms. Then, the data is sent to the CAN network
which use the control and processing unit for presenting the
information with the calibrated values by an industrial
supervision software.
Fig. 3 shows a flowchart of the algorithm, i.e.,
implemented for intelligent calibration and correction. As can
Figure 3. Flowchart of the operation of the calibration and
be observed, when the algorithm starts it receives the values of correction algorithm.
the sensor with the parameter to be analyzed, or temperature,

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 For the calibration module it is possible to observe that an
approach that addresses the problem considering the aspects of
computational semantics is of great value. This proved to be
relevant for a better match occurred in the inter-connection
design of the sensors with the Arduino, Arduino with the CAN
bus and mainly in the establishment of man-machine interface.
This interaction was conceived considering supervisory
software that is performed in a simple and direct way, since
often the user of the module is not familiar with the computer
language and the module is designed to be used in agricultural
applications. This environment is generally rustic. Appropriate
semantics were considered primarily for the end users to have
a better understand and have access to the module using it
correctly and thus popularizing the use of this technology.
IV. CONCLUSION
This work presented the design of an intelligent module for
calibration and correction of sensors that are used in
agricultural spraying systems. This module can infers
decisions from the use of a reliable database that is constructed
from a priori measurements obtained with temperature
sensors, bar pressure in the booms that containing the spray
nozzles, and flow measurements that are obtained using
flowmeters (internal measurements) and special containers
(external measurements at nozzle outlet) used for this purpose.
Also, the use of Kalman filtering was considered for the
improvement of the signal-to-noise ratio for the signal
processing steps. In addition, it was considered an adequate
interconnection arrangement of this intelligent module in
points near the sensors of a sprayer system, which is very
significant and should be considered adaptively to the different
types of sprayers that are used by farmers during the
processess of food production. Besides for working in a
security range it can allows support for decision making with a
greater degree of certainty. Additionally, the use of an
Arduino platform was adequate and in accordance with the
characteristics required for the elaboration of this project, i.e.,
for presenting a friendly interface for the adequacy of a
computational semantics that assists in the men-machine
relationship. This platform made it possible to configure a
calibration supervision algorithm for the sensors that can
provide measurements of these three considered variables, as
well as the communication based on the use of a CAN bus,
which presented advantages in comparison of other
commercial available architectures.
ACKNOWLEDGMENT
This work was supported by Embrapa Instrumentation
(under grant MP1 No. 01.14.09.0.01.05.05).
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