TERRA-MEPP is a low-cost autonomous robot that analyzes biofuel crops throughout the growing season by collecting phenotypic and genotypic data to improve crop yields. It uses sensors to gather an unprecedented amount of field data on traits like height, stem diameter and leaf area. This data is analyzed to identify high-yielding plants and link desirable traits to genes to aid plant breeding for increased productivity and sustainability of biofuel crops like energy sorghum.

1. Designing robots. Engineering biomass.
Realizing fuel independence.

2. The production of bioenergy
crops cannot compete with food
production that must support
growing global populations. To
speed up crop improvement and
increase bioenergy yields, top-
producing plants must be identified
through field trials. Today’s
technologies enable us to quickly
gather genotypic data; however,
to date, there is not a technology
that can quickly gather growth
and physiological (phenotypic)
data. TERRA-MEPP will fill this
gap. It will collect and interpret
phenotypic and genotypic data
to improve the yields of energy
sorghum and minimize the land
needed for biofuel production while
increasing profitability per acre.
OUR AGRICULTURAL
DEMANDS
ARE INCREASING
OUR FUEL
SOURCES ARE
UNSUSTAINABLE
OUR WORK IS PART OF THE SOLUTION
3
21
THE U.S.
NEEDS
ALTERNATIVE
FUELS
Eventually,
robots could
be developed
for other types
of bioenergy
and food
crops.
Bioproducts
include
lubricants
and other
value-added
biochemicals.
By 2050, the
world must
increase food
production
by 70%.
A highly
productive source
of biomass that
grows well on
marginal lands
unsuited to most
food crops.
TERRA-MEPP (Mobile Energy-Crop Phenotyping Platform) is a low-cost,
autonomous robot that treks between rows in the field, analyzing biofuel crops
throughout the growing season to pinpoint plants with desirable yield and
sustainability traits. The robot’s sensors collect an unprecedented amount of
field data, and high-throughput analytical strategies quickly analyze it.
Each year, by burning more
fossil fuels, we are increasing
carbon dioxide (CO2) levels
in the atmosphere, which has
real consequences for the global
climate. While we seem to have an
abundance of gasoline, at its lowest
price for some time, we as a nation
cannot rely on a finite resource,
especially one we only partially
control. With bioenergy, we have an
opportunity to create a perpetual
renewable and sustainable source
of fuel and bioproducts. Despite
low fuel prices, we must begin
developing technologies today
to realize this sustainable future.
TERRA-MEPP can help.
In 2014,
the U.S.
burned over
135 billion
gallons of
gasoline.
Today’s CO2
levels have
skyrocketed
to 400 ppm,
and may
reach 1,500
ppm in a
few hundred
years.

3. TERRA-MEPP enables plant breeders to identify the
top-yielding plants in the field as they grow.
BIOMASS
BREEDERS
NEED
TERRA-MEPPMOBILE
ENERGY-CROP
PHENOTYPING
PLATFORM
TRANSPORTATION
ENERGY RESOURCE
FROM RENEWABLE
AGRICULTURE
-
Higher-end
models will
support more
specialized
cameras and
sensors.
Packed inside
its carrying
case, this robot
can easily be
transported from
field to field.
Over a growing
season,
TERRA-MEPP
will collect
upward of
100 million
measurements.
Designed based on rovers that sur-
vey collapsed buildings and map
storm drains, TERRA-MEPP can
traverse fields, tread through sog-
gy soils, and withstand all weather
conditions. This battery-operated
rover is more compact, mobile and
precise than competing systems,
especially large agricultural gan-
tries. It’s also much more afford-
able; an entry-level unit could cost
as little as $5,000.
TERRA-MEPP is able to evaluate
each plant’s performance in sec-
onds. Twice each day, in more than
2,500 plots, this robot will autono-
mously drive between rows of crops
measuring the plants on each side
simultaneously. These data will be
used to link desirable crop traits
(phenotype) with genes (genotype)
that plant breeders can use to in-
crease productivity in the next gen-
eration of biofuel crops.

4. TERRA-
MEPP:
A HIGH-
TECH
ROBOT
Modular microclimate sensor payloads
provide interchangeable instrumentation
Visual and microclimate data storage
Forward facing LiDAR and stereo cameras
measure distance and aid navigation
External
weather monitors
Side facing
hyperspectral,
HD and thermal
cameras

5. 360° visible light camera
Transmission
antenna
Front and
rear facing
hyperspectral,
HD and thermal
cameras
Self-stabilizing platform supports
the rigid telescoping rod (which
can extend 20 feet) under a wide
range of rough field conditions.
Visual sensors,
i.e. cameras, will capture
each plant from above
and below, using a fine-
tuned spectrum, parts
of which are not visible
to the human eye, to
characterize each plant.
Microclimate,
i.e. environmental,
sensors will
evaluate several
environmental
factors that affect
plant growth and
biomass yield.
MICROCLIMATE
SENSORS
DIGITAL PHENOTYPE
Imaging and microclimate sensor data
will be used to construct a 3D image of
each plant, which can be used to calculate
production throughout the growing season.
VISUAL
SENSORS
HEIGHT TEMPERATURE
SOIL MOISTURE
TRANSPIRATION
WATER USE EFFICIENCY
LIGHT PENETRATION
HUMIDITY CO2
LEVELS
GREENNESS
STEM DIAMETER
LEAF AREA INDEX
BIOMASS GROWTH RATE
BIOMASS QUALITY
PHOTOSYNTHESIS
GPS auto-piloted, ground-based rover with
wide tracks can maneuver between rows and
minimize soil compaction.
Modular assembly facilitates storage,
transportation, setup, and customization.

6. WHAT
WE NEED
TO MAKE
TERRA-MEPP
A REALITY
Economic
workbook shows
costs and value
to commercial
breeders
First year of field trials
2016
2017
2 53
3 5
Robot is assembled and
operational and can navigate
through sorghum field
Selected sensors are added
to robot
Based on controlled
environmental experiments,
key phenotypes identified
for field trials
Second year of field trials
Further optimizing and testing of robot
Advanced sensors are added to robot
ROBOT
Create a high-throughput, mobile
robotic platform to measure growth
and physiological traits of plants
over a wide range of environmental
field conditions. Improve robot’s
autonomous navigation to operate at
high speeds. Refine sensor payload
and visual sensing capabilities as field
tests progress. Determine appropriate
human-robot interface so little to no
user training is required.
SOFTWARE
Develop software to make the big data
from the robot’s sensors manageable and
meaningful. Optimize software to rapidly
interpret and summarize high-volume,
remotely sensed data, including cloud
point analyses to construct 3D images of
individual plants. Using a mechanistic model
of sorghum growth and production, utilize
robotic measurements of physiological
parameters to improve predictions of final
yields at earlier growth stages.

7. Robot
prototype in
progress
Validated model available to predict final yield of
energy sorghum
Validated algorithms available to estimate height and
stem diameter of a single sorghum plant
112015
9
12
12
129
Sorghum lines
identified that
will be planted
in the field
Process one week of
data in 48 hours
Top 40% of
seedlings identified
Entry-level
commercial
TERRA-MEPP
robot and
software ready
Algorithms available to closely estimate height, stem diameter,
leaf angles for over 100 plants
More than 100 alleles and genetic markers identified that are
linked to increased biomass yields and other key phenotypes
GENOMICS
Sequence the genomes of 500 varieties of
sorghum analyzed by TERRA-MEPP. Link
phenotypic data with genetic information
through a genome-wide association study.
Develop quantitative trait loci (QTL) models
to predict plant growth throughout the growing
season. Use genomic selection (GS) models
to identify genes underlying performance
and predict optimal parents/progeny for
genetic improvement. Understand how the
environment impacts plant phenotypes, known
as gene-by-environment (GxE) interactions.
MARKET
Generate a cost-benefit analysis for TERRA-
MEPP to predict the cost of each model and
identify opportunities to cut production
costs or offer different features at different
price points. Through interactions with
potential users, ensure the robot’s sensor
package meets the needs of users and is
economically viable, and adjust accordingly.
Continue discussions with potential
investors and manufacturers. Protect
intellectual property by maintaining trade
secrets and continued filing for patents.

8. A PROJECT FUNDED BY ARPA-E,
LED BY THE UNIVERSITY OF ILLINOIS AT URBANA-CHAMPAIGN
The Advanced Research Projects Agency-Energy (ARPA-E) funds concepts, including
TERRA-MEPP, that industry alone cannot support, but whose success would dramatically
benefit the nation. Its high-risk, high-reward programs aim to substantially reduce foreign
energy imports, cut energy-related greenhouse gas emissions, and improve efficiency across
the energy spectrum.
Interested in collaborating in the development of TERRA-MEPP?
Interested in investing in this technology?
Interested in applying it to your own work?
Ank Michielsen, Project Manager michiels@illinois.edu 217-244-7473CONTACT
TERRA-MEPP.ILLINOIS.EDU