The RHEA project - CDTIeshorizonte2020.cdti.es/recursos/doc/eventosCDTI/5... · • The RHEA project is devoted to change the traditional way of proceeding in agriculture and forestry

RHEA: Robot Fleets for Highly Efficient Agriculture and Forestry Management and Forestry Management

NMP2-LA-2010-245986

The RHEA project The RHEA project The RHEA project The RHEA project

Pablo Gonzalez-de-SantosC t f A t ti d R b tiCentre for Automation and Robotics

5ª Conferencia del VII Programa Marco de I+D de la Unión Europea en España

San SebastianJune 21 2011June 21, 2011

EURO P E A NCOMMISSION

Community Research Outline

1. Development of the proposal 2 RHEA bj ti2. RHEA objectives3. Preliminary system breakdown4 C h 4. Comment on the project execution

Centre for Automation and Robotics


Community Research

1 Development of the proposal1. Development of the proposal



Community Research 1. Development of the proposal • Call identifier: FP7-NMP-2009-LARGE-3.• Theme 4: “Nanosciences, Nanotechnologies, Materials and

N d h l NM

p p p

New Production Technologies – NMP”• Activity/Area: NMP-2009-3.4-1 Automation and robotics

for sustainable crop and forestry managementfor sustainable crop and forestry management• Funding scheme: Collaborative Projects, Large-scale

integrating• Two stage proposal



Community Research 1. Development of the proposal Angela Ribeiro (CAR)p p p



Community Research 1. Development of the proposal Angela Ribeiro (CAR)p p p

Elena Garcia (CAR)Pablo Gonzalez de Santos (CAR)



Community Research 1. Development of the proposal p p p

ROBOT FLEETS FOR HIGHLY EFFECTIVE AGRICULTURE AND FORESTRY MANAGEMENT (RHEA)




Perception

obot

s

s

f m

obile

ro

chno

logi

es

Flee

t of

ICT

Tec

Actuation



Community Research 1. Development of the proposal • First stage title: ROBOT FLEETS FOR HIGHLY EFFECTIVE CROP

MANAGEMENT IN MEDITERRANEAN AGRICULTURE

• Acronym: RHEA (Demeter’s mother the Greek Goddess of

p p p

• Acronym: RHEA (Demeter s mother, the Greek Goddess of agriculture)

• First stage goal: To diminish the use of herbicide, improve crop quality and reduce production costs by means of crop quality and reduce production costs by means of sustainable weed management using a fleet of resourceful, collaborative, autonomous, heterogeneous and complementary robots equipped with new sensors endcomplementary robots equipped with new sensors, end-effectors and control algorithms

• Consortium: 14 partners, 17 groups



Community Research 1. Development of the proposal • First stage title: ROBOT FLEETS FOR HIGHLY EFFECTIVE CROP

MANAGEMENT IN MEDITERRANEAN AGRICULTURE

• Acronym: RHEA (Demeter’s mother the Greek Goddess of

p p p

• Acronym: RHEA (Demeter s mother, the Greek Goddess of agriculture)

• First stage goal: To diminish the use of herbicide, improve crop quality and reduce production costs by means of crop quality and reduce production costs by means of sustainable weed management using a fleet of resourceful, collaborative, autonomous, heterogeneous and complementary robots equipped with new sensors endcomplementary robots equipped with new sensors, end-effectors and control algorithms




Community Research 1. Development of the proposal

• Agronomists R b ti i t

p p p

• Roboticists• Designer/Manufacturers of equipment

D /M f f h l• Designer/Manufacturers of vehicles• Experts in communications, electronics, computer

iscience• Experts in new energy system

d• End users




• Agronomists R b ti i t• Roboticists

• Designer/Manufacturers of equipmentD /M f f h l• Designer/Manufacturers of vehicles

• Experts in communications, electronics, computer iscience

• Experts in new energy systemd• End users



Community Research 1. Development of the proposal: Consortiump p p

CSIC-CAR

Web

CSIC-ICA CSIC-IASFTW

Tropical

WebUCM

U. Pisa

U Fl

SAPUPM-EII

UPM EIA

CogVisCyberbotics

p

U. Florence UPM-EIA

AirRobot

Cemagref

CNH-B BlueBotics

CNH FCemagref CNH-F




• First stage statistics:

– 149 proposals in 6 areas (18 proposals in the area of

p p p

9 p p ( p pAutomation and robotics for sustainable crop and forestry management)33 proposals over the threshold (5 in our area)– 33 proposals over the threshold (5 in our area)• No official information on the score

• Comments from reviewers:– To extend the project to products and processes all over

Europe– To extend the proposal to forestry applicationso e e d e p oposa o o es y app ca o s



Community Research 1. Development of the proposal • Second stage Title: ROBOT FLEETS FOR HIGHLY EFFECTIVE AGRICULTURE AND

FORESTRY MANAGEMENT (RHEA)

p p p

• Second stage goal: The RHEA project is devoted to change the traditional way of proceeding in agriculture and forestry for weed removal and pest management by putting together a fleet of small, safe, reconfigurable, heterogeneous and complementary robots heterogeneous and complementary robots

– to minimize » chemical products» energy gy» operation time

– to maximize » the quality of products » safety

– to guarantee » the application of the procedures to the entire operation field





CSIC-CAR

Web CN

CSIC-ICA CSIC-IASFTW

Tropical

WebUCM

CN

U. Pisa

U Fl

SAPUPM-EII

UPM EIA

CogVisCyberbotics

p

U. Florence UPM-EIA

AirRobot

Cemagref

CNH-B BlueBotics

CNH FCemagref CNH-F




Air RobotCyberbotics

Bluebotics CogVis

CNHBeneficiary Number

Beneficiary name

Beneficiary

short name

Country

at Agencia Estatal Consejo Superior de

CSIC‐IAI, ICA

UPM‐EIA, EII

CNH‐F

Bluebotics

FTW1

(coo

rdin

aor

)

Agencia Estatal Consejo Superior de Investigaciones Científicas - CSIC

a) Centro de Automática y Robóticab) Instituto de Ciencias Agrarias c) Instituto de Agricultura Sostenible

(CSIC-IAI) (CSIC-ICA) (CSIC-IAS)

Spain

2 CogVis GmbH CV AustriaF h T l k ik i W A

UCM

CSIC‐IAS

SPA

Tropical

Cemagref

U. Pisa

U. FlorenceCM

3Forschungszentrum TelekommunikationWien Ltd.

FTW Austria

4 Cyberbotics Ltd CY Switzerland5 Università di Pisa UP Italy6 Universidad Complutense de Madrid UCM Spain7 Tropical TRO Greece8 Soluciones Agrícolas de Precisión S.L. SAP Spain

9Universidad Politécnica de Madrid (UPM)

a) ETS Ingenieros Agrónomos b) ETS Ingenieros Industriales

UPM-EIA UPM-EII

Spain

10 AirRobot GmbH & Co. KG AR Germany

8 countries

3 Research Centers4 U i i i

y11 Università degli Studi di Firenze UF Italy

12Centre National du Machinisme Agricole, du Génie Rural, des Eaux et des Forêts -CEMAGREF

CE France

13Case New Holland Belgium N.V.

- Case New Holland France S.A.CNH

CNH-FBelgiumFrance

4 Universities7 SME1 Industry


Case New Holland France S.A. CNH F France14 Bluebotics BL Switzerland15 CM Srl CM Italy



• B.1. Concepts and objectivesB 2 I l t ti

p p p

• B.2. Implementation• B.3. Impact

B 4 E h l • B.4. Ethical issues• B.5. Gender aspects




• B.1. Concepts and objectives• Scientific and technical part

p p p

Scientific and technical part

• Addressing the topics of the call

• Progress beyond the state of the artart

• …………….

• B.2. Implementationp• B.3. Impact• B.4. Ethical issuesB.4. Ethical issues• B.5. Gender aspects




• B.1. Concepts and objectives• Scientific and technical part

p p p

Scientific and technical part

• Addressing the topics of the call

• Progress beyond the state of the artart

• …………….

• B.2. Implementationp• B.3. Impact• B.4. Ethical issuesB.4. Ethical issues• B.5. Gender aspects





p p p

• B.2. Implementation• Management structures and procedures

• Responsible persons

• Management committees

• ………………………………

• B.3. Impact• B.4. Ethical issuesB.4. Ethical issues• B.5. Gender aspects





p p p

• B.2. Implementation• Management structures and procedures

• Responsible persons

• Management committees

• ………………………………

• B.3. Impact• B.4. Ethical issuesB.4. Ethical issues• B.5. Gender aspects





p p p


• Contributions to the expected• Contributions to the expected impact of the specific topic

• Steps needed

N i f E h• Necessity of an European approach

• Impact on participants

• Dissemination and exploitation

• Risk assessment and risk plan

• B.4. Ethical issues


• B.5. Gender aspects




p p p


• Contributions to the expected• Contributions to the expected impact of the specific topic

• Steps needed

N i f E h• Necessity of an European approach

• Impact on participants

• Dissemination and exploitation

• Risk assessment and risk plan

• B.4. Ethical issues


• B.5. Gender aspects




p p p


B 4 E hi l i• B.4. Ethical issues• Not applicable

• B 5 Gender aspects• B.5. Gender aspects





p p p


B 4 E h l • B.4. Ethical issues• B.5. Gender aspects

W / b l• Women/men balance

• WPs leaded by women

• Reconciling professional, family and private lives

• etc………………………



Community Research 1. Development of the proposal overview

• Second stage statistics:

– 33 proposals in 6 areas (5 in Automation and robotics for

p p p

p p (sustainable crop and forestry management)

– 16 proposals over the threshold (2 in our area)RHEA d (13 5/15)RHEA scored (13.5/15)

• Comments from reviewers/officer:

– To modify the budget regarding management and y g g g gdemonstration (6 negotiation periods)

– To describe the perception group capabilities in the Description of Work Description of Work



Community Research Project overview

• Duration: 4 yearsB d t

j

• Budget: – Total cost: 8.96 M€– Requested EC contribution: 6 59 M€– Requested EC contribution: 6.59 M€

• Person-month: 1081• WPs: 10• WPs: 10• Milestones: 6• D li bl 68• Deliverables: 68



Community Research Proposal process and datesp p

Call 3 November 19, 20081st stage proposal submission February 17, 20091st stage passed April 8, 2009Meeting in Brussels May 11, 2009

d2nd stage proposal submission July 22, 20092nd stage passed October 6, 20091st negotiation meeting in Brussels November 24, 2009

mon

ths

NEF opened November 25, 2009….(6 consecutive negotiation periods)…NEF closed April 30, 2010

20.5

p ,Consortium Agreement and Grant AgreementProject starting date August1st, 2010



Community Research

2. RHEA objectives



Community Research Overall objective• The RHEA project is devoted to change the traditional way of proceeding in

agriculture and forestry for weed removal and pest management by putting together a fleet of small, safe, reconfigurable, heterogeneous and complementary

j

robots to minimize: chemical products, energy and operation time, while maximizing: the quality of products and safety, and guaranteeing the application of the procedures to the entire operation field

Centre for Automation and RoboticsPreliminary idea (proposal)Preliminary idea (proposal)


Community Research Overall objective

• Improving the initial idea (Kickoff meeting)

j

VIDEO RHEA-fleet.wmv



Community Research Specific objectives1. To develop advanced systems and algorithms for crop assessment and weed

mapping based on computer vision 2. To design innovative algorithms for decision-making modules, including

p j

g g g , gbehaviours such as coordination, cooperation and collaboration

3. To build enhanced actuators for precise, real-time herbicide spraying 4. To improved end-effectors to destroy weeds based on both thermal and

mechanical systems5. To develop a fleet of ground and aerial mobile units equipped for acquiring

images of the task field. The ground mobile units must be capable of l i h i l h i l f d d tapplying mechanical or chemical processes for crop and weed management

6. To design robot guidance devices and algorithms based on computer vision (forward-looking view of the crop rows and obstacle avoidance)

7 To build human machine interfaces for monitoring/controlling autonomous 7. To build human-machine interfaces for monitoring/controlling autonomous outdoor vehicles

8. To develop new strategies for planning the mission with teams of heterogeneous robots, and re-planning the mission after the failure of a


number of robots


Community Research Specific objectives1. To develop advanced systems and algorithms for crop assessment and

weed mapping based on computer vision

2. To design innovative algorithms for decision-making modules, including

p j

The target is to detect 90% of the weed patchesg g g , gbehaviours such as coordination, cooperation and collaboration


g % p







number of robots




p j









number of robots




p j


3. To build enhanced actuators for precise, real-time herbicide spraying

4. To improved end-effectors to destroy weeds based on both thermal and The target is a reduction of chemicals in about 75% mechanical systems

5. To develop a fleet of ground and aerial mobile units equipped for acquiring images of the task field. The ground mobile units must be capable of

l i h i l h i l f d d t

g

applying mechanical or chemical processes for crop and weed management6. To design robot guidance devices and algorithms based on computer vision

(forward-looking view of the crop rows and obstacle avoidance)7 To build human machine interfaces for monitoring/controlling autonomous 7. To build human-machine interfaces for monitoring/controlling autonomous

outdoor vehicles8. To develop new strategies for planning the mission with teams of

heterogeneous robots, and re-planning the mission after the failure of a


number of robots




p j



mechanical systems

5. To develop a fleet of ground and aerial mobile units equipped for acquiring images of the task field. The ground mobile units must be capable of

l i h i l h i l f d d t

The goal is to destroy up to 90% of the detected weeds

applying mechanical or chemical processes for crop and weed management6. To design robot guidance devices and algorithms based on computer vision

(forward-looking view of the crop rows and obstacle avoidance)7 To build human machine interfaces for monitoring/controlling autonomous 7. To build human-machine interfaces for monitoring/controlling autonomous


heterogeneous robots, and re-planning the mission after the failure of a


number of robots




p j



mechanical systems5. To develop a fleet of ground and aerial mobile units equipped for

acquiring images of the task field. The ground mobile units must be bl f l i h i l h i l f d d capable of applying mechanical or chemical processes for crop and weed

management


The ground mobile units must be small, lightweight, and reliable, with real-time communication facilities and featuring motion on slopes up to 15 degrees with

d t ti t t i ith i l iti i f ±20 d (forward looking view of the crop rows and obstacle avoidance)7. To build human-machine interfaces for monitoring/controlling autonomous


adaptation to uneven terrain with irregularities in a range of ±20 cm and a maximum speed of 6 Km/h


heterogeneous robots, and re-planning the mission after the failure of a number of robots




p j






7 To build human machine interfaces for monitoring/controlling autonomous The mobile nits will follow the rows at a speed of abo t 6 7. To build human-machine interfaces for monitoring/controlling autonomous outdoor vehicles


The mobile units will follow the rows at a speed of about 6 Km/hour with a positioning accuracy of about ±2cm


number of robots




p j






7 To build human-machine interfaces for monitoring/controlling autonomous 7. To build human-machine interfaces for monitoring/controlling autonomous outdoor vehicles



number of robots




p j









number of robots


Community Research Project overview• Project scenarios:

– Wide row crops:

j

• Maize• Sunflower• Sugar beetSugar beet• Tomatoes

– Narrow row crops:• Wheat• Barley

– Woody perennials:Woody perennials:• Olive groves• Walnut trees

Al d


• Almond trees


Community Research Project overview• Project scenarios:

– Wide row crops:

j

• Maize• Sunflower• Sugar beetSugar beet• Tomatoes

– Narrow row crops:• Wheat• Barley

– Woody perennials:Woody perennials:• Olive groves• Walnut trees

Al d


• Almond trees


Community Research

3. Preliminary system breakdown



Community Research System breakdown

1. Base Station and GUI: Friendly interfaces for system operation, for information record-keeping and for optimizing operations

y

p g p g p2. Mission Manager: This module allows the operator to define the main mission

parameters and then it reports a plan for motion coordination in multiple mobile robot teams

3 C i ti t I t f d i ti th t it ff ti 3. Communication system: Interfaces and communications that permit effective real time operation, control and decision making

4. Perception system: The PS aims at weed identification and its precise location based on advanced vision sensors, and image processing techniques and algorithms. This system will be installed onboard the mobile units

5. Actuation system: Provides direct actuation in the crop field through end effectors and actuators for precise herbicide application (conventional crops) and/or mechanical weed control (organic crop)p ) / ( g p)

6. Mobile Units: Medium-sized autonomous vehicles with onboard equipment for navigation and application of treatments (terrestrial, aerial, etc)



Community Research

Base Station & GUI

System breakdown

Mission Manager (MM)

Communication/Location -A (CS)

Communication/Location -B (CS)On the field

In the Base Station

High level decision making em

(A

S)Perception System (PS)

Hi h l l

DGPS

(HLDM)

Low level decision making ct

uatio

n Sy

steHigh level

processing

Pre-processing gDose valve controllers

Device systemA

cImage acquisition


Mobile Units (MU)Laser cameras

Crop


Community Research 1. Base station and GUI

• Friendly interface for system operation, information record-keeping and optimizing operations

Direct viewCommandsSimulation

Mission Manager (MM) • Data streams fromo Mobile Units


• Data and commands to the Mission Planner

o Mobile Unitso Actuation system


Community Research 1. Base station and GUI



Community Research

Base Station & GUI

2 Mission Manager:


2. Mission Manager: This module allows the operator to define the main mission parameters and



In the Base Station

pthen it reports a plan for motion coordination in multiple mobile robot


(A

S)

teams Perception System (PS)

Hi h l l

DGPS

(HLDM)


uatio

n Sy

steHigh level

processing


Device systemA

cImage acquisition



Crop


Community Research • Task definition• Number of robots

Base Station & GUI 2. Mission Manager:

• Number of robots • Robot features• Field features• P i k i f ti


• Previous known information on the field (remote sensing, sampling, …)



In the Base Station


(A


Hi h l l

• Sequence of robot actions to accomplish the task/path for

DGPS

(HLDM)


uatio

n Sy

steHigh level

processing

Pre-processing

the task/path for navigation

gDose valve controllers

Device systemA

cImage acquisition



Crop


Community Research

Base Station & GUI3. Communication and location system


location system



In the Base Station

• Communication and


(A

S)

• Communication and Location

Perception System (PS)

Hi h l l

DGPS

(HLDM)


uatio

n Sy

steHigh level

processing


Device systemA

cImage acquisition



Crop


Community Research 3. Communication and location system• This system will be installed on the following elements:

– Ground and aerial mobile units

y

– The base stations– The personal mobile terminals

• The communication subsystem will provide: – Flexible interfaces for wireless communication– Data collection and dissemination, among the referred elements – Internet connectivity at the base station for the remote management

of the system• The localization subsystem will provide:

– The position of the ground and aerial mobile units – Identification and localization of operators



Community Research 3. Communication and location system• This system will be installed on the following elements:

– Ground and aerial mobile units

y

– The base stations– The personal mobile terminals

• The communication subsystem will provide: – Flexible interfaces for wireless communication– Data collection and dissemination, among the referred elements – Internet connectivity at the base station for the remote management

of the system• The localization subsystem (GPS) will provide:

– The position of the ground and aerial mobile units – Identification and localization of operators



Community Research

Base Station & GUI 4. Perception system• The PS aims at weed identification and its


identification and its precise location based on advanced vision sensors, image


Communication/Location -B (CS) On the field

In the Base Station

, gprocessing techniques and algorithms


(A


Hi h l l

DGPS

(HLDM)


uatio

n Sy

steHigh level

processing


Device systemA

cImage acquisition



Crop


Community Research 4. Perception system

– Remote sensing: information

p y

– Ground sensing: information ll d f d b gathered by means of

aircrafts or UAVs (multispectral, hyperspectral)

collected from ground robotic platforms (vision cameras, multispectral)



Community Research 4. Perception system: Remote sensingp y g

Video Drone-crops.wmn



Community Research 4. Perception system: Remote sensing

Tetracam mini-MCA• 6 channels configuration (G, R, NIR).• 1080x1024 (1.3 Mpixel).• Weight 700 g.

Olympus EP-1• Visible channels (B, G, R).• 12.3 Mpixel.• Weight 335 g• Weight 335 g.

Flight altitude ≈ 50 mArea ≈ 26x32 m (≈ 0 08 Ha)

Centre for Automation and Robotics INSTITUTE FOR SUSTAINABLE AGRICULTURE

Area ≈ 26x32 m (≈ 0.08 Ha) # Images/Ha ≈ 12


Community Research 4. Perception system: Ground sensing• Real crop field in Arganda (Madrid)• Camera: Basler: (HxV = 1390x1038)• Focal length: 8mm• Height (camera) from the ground: 1.5 m

Di t f th t th fi t h i t l li 2• Distance of the camera to the first horizontal line: 2m• High weed densities

Land marks covering an area of 2.25 x 4m Expected row crops based on the camera geometry Vision system



Community Research

Base Station & GUI 5. Actuation system

Mission Manager (MM)• Provides direct actuation

in the crop through end effectors and actuators



In the Base Station for precise herbicide application (conventional crops) and/or


(A

S)

mechanical and thermal weed control (organic crops)


Hi h l l

DGPS

(HLDM)


uatio

n Sy

steHigh level

processing


Device systemA

cImage acquisition



Crop


Community Research 5. Actuation system

• Device system: is in charge of generating the required actions of the actuation equipment

y

q p– End-effectors to kill weeds

• Chemical tools:B ith l– Bars with spray nozzles

• Physical tools– Mechanical end-effectors– Thermal end-effectors

– Manipulators to handle the end-effectors





y




– Manipulators to handle physical tools

Herbicide Boom

Objectives 3 and 4



Community Research 5. Actuation systemy

Herbicide boomRobot engine and controller





y









y

q p– End effectors for weed control


» Commercial nozzles • Physical tools

4 m(c)

– Mechanical end-effectors– Thermal end-effectors


Tool

p



Community Research 5. Actuation systemy



Community Research 5. Actuation system: first prototypey p yp

21460.75 m

25 cm4.5 m



Community Research 5. Actuation system: first prototypey p yp



Community Research 5. Actuation system: Olive-tree application toolsy pp=0ºor =-15º

US sensor UM30-····X

Actuator

=15ºor

0º=0º



Community Research

Base Station & GUI

G d bil it

6. Mobile units


• Ground mobile units: Medium-sized ground vehicles with onboard equipment for

Communication/Location –A (CS)


In the Base Stationequipment for

– Navigation– Weed detection– Application of treatments


(A

S)

pp

• Aerial units: Small aerial units with onboard equipment for


Hi h l l

DGPS

(HLDM)


uatio

n Sy

ste q p

– Acquiring images of the task field

High level processing


Device systemA

cImage acquisition



Crop


Community Research 6.1 Ground mobile units

Sensor box

Herbicide bar

4 m(c)

Height 1 mHerbicide tankers 75 litter ≈0.1×1×0.75 m

Adaptable spread from 0.6 m to 0.95 m

• The same ground mobile unit structure for three different tasks– Spray bar

/– Positioning systems for mechanical/Thermal tools in agricultural tasks– Positioning systems for forestry tasks

• All ground mobile units equipped with a engine and a AC generator

• One ground mobile unit equipped with a fuel cell and active suspension




• Based on a commercial tractor (Boomer T3050)(+) Earlier availability( ) B l b l (+) Better reliability (+) Fulfilling lots of norms

(-) Heavier soil compaction(-) More safety problems( ) y p




Crop row detector and GPSCommunication

Electronic equipment on-board the ground units

Crop row detector and obstacle detector

GPS

Computers

Weed detection system Laser: obstacle detection system and crop stage



Community Research Electronic equipment on-board the ground units

(SAP)

Bluebotics

CNH

CSIC-CAR

Bluebotics

FTW

Bluebotics

FTW

Bluebotics


SICK (UPM-EIA)


Community Research Application in wheatpp



Community Research Application in maizepp



Community Research Application in olive treespp



Community Research 6.2 Aerial mobile units

• Two aerial mobile units (quadrotors) equipped with vision cameras cameras

I iti l d t ti f d t h– Initial detection of weed patches– Supervision during operation




Video Drone.mp4






Community Research Final operation of the fleetp



Community Research Final demos



Community Research

Exploitation of the overall RHEA system Exploitation of the overall RHEA system

Length: 13.60 mgWidth: 2.45 m – 2.48 mHeight: 2.50 m – 2.70 mRoom for 34 euro-pallets Payload: 25 tony

12 m

2 5 2.5 m



Community Research

Comment on the project execution

• Main problem:19 working groups with about 40 different versions of

Comment on the project execution

– 19 working groups with about 40 different versions of the project

• Solution:So u o :– Calm, patience and perseverance (In month 10th we

only have about 10 different versions of the RHEA project)


RHEA: Robot Fleets for Highly Efficient Agriculture and Forestry Management and Forestry Management

NMP2-LA-2010-245986

The The RHEA project RHEA project The The RHEA project RHEA project

Pablo Gonzalez-de-Santos

5ª Conferencia del VII Programa Marco de I+D5ª Conferencia del VII Programa Marco de I+D de la Unión Europea en España

San SebastianJune 21, 2011

Documents

The RHEA project - CDTIeshorizonte2020.cdti.es/recursos/doc/eventosCDTI/5... · • The RHEA project is devoted to change the traditional way of proceeding in agriculture and forestry