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En el presente proyecto el objetivo de este estudio es implementar una red de inalámbrica conformada por UAVs que puedan comunicarse entre ellos, enviando y receptando datos o información de los campos agrícolas y todo esto hacerlo en tiempo real para que puedan actuar con anticipación a los requerimientos que presenten el campo agrícola. ¿En qué me ayudaría una red de drones para mejorar mi producción agrícola? En este contexto, nuestro estudio ayudaría mucho para evaluar los sembríos, nos enfocamos en parámetros como es el índice de vegetación (NDVI) y a su vez en comunicar estos datos sobre el sembrío en tiempo real, utilizando una arquitectura de red FANET. Así los organismos competentes o encargados pueden hacer lectura de estos datos y realizar las labores que competan al caso, por ejemplo: si una parte del sembrío presenta deshidratación, entonces se activaría el sistema de riego o qué tal si presenta algún tipo de plaga, entonces se comenzaría a realizar la respectiva fumigación ya sea por un operador con una fumigadora o podría darse el caso que vaya un UAV con un sistema de fumigación incorporado a realizar dicha labor.

Natural burials are interments where a body is buried without embalming fluids or coffins. These burial grounds are ideal locations for retrospective multispectral analysis of non-conventional single burials as the age and location of each grave is documented. The detection of disturbed soil under the influence of human decomposition has been well-studied, but lacks the temporal component needed for characterising simulated clandestine burials. A critical gap in the literature is how these burials re-vegetate and to what extent soil profiles re-establish over years or decades. Multispectral drone data from three natural burial sites in southern U.K. are documented here, with trends in re-vegetation from bare soil to full recovery in graves as old as 2005. As with many burial detection techniques, environmental influence is a limiting variable to universal use of this method. However, we suggest a timeline over which single burial sites in this location reach detection limits and possible reasons for variations in these limits.

The aeronautical sector is going through a stage where the construction of unmanned aerial vehicles, called UAV’s of the acronym in English “Unmanned Aerial Vehicles”, is an area of great development. is project is focused on the development of a monitoring system to be shipped on the aerial platform which is constituted by two essential parts: the data acquisition module that is incorporated into the fuselage of the test vehicle and also of a ground station in which all the acquired data, is presented and which additionally has a simulator of a hexacopter implemented in the Unity development environment. El sector aeronáutico está atravesando por una etapa donde la construcción de vehículos aéreos no tripulados, llamados UAV’s de las siglas en inglés “Unmanned Aerial Vehicles”, es un área de gran desarrollo. Este proyecto se encuentra enfocado al desarrollo de un sistema de monitoreo para ser embarcado en la plataforma aérea el cual está constituido por dos partes esenciales: el módulo de adquisición de datos que es incorporado al fuselaje del vehículo de prueba y de una estación en tierra en la cual se presentan todos los datos adquiridos, y que cuenta adicionalmente con un simulador de un hexacóptero implementado en el entorno de desarrollo Unity.

Visió general de la situació d'avui en dia en relació amb els drones i U-space. Consta de: part teòrica on es responen preguntes com què és el U-space i com es gestionarà, entre d'altres, i part pràctica, on es realitza un estudi per veure com afecta la separació que hi ha d'haver entre drons i avions comercials, a la seguretat, capacitat i flexibilitat del sistema, per tal d'evitar conflictes en un escenari d'alta densitat. Les aeronaus estudiades són avions comercials i drons, que tenen la missió de transportar paquets des d'Amazon fins la terminal de cargo de l'aeroport del Prat. Visión general de la situación de hoy en día en relación con los drones y U-space. Consta de: parte teórica donde se responden preguntas como qué es el U-space y cómo se gestionará, entre otras, y parte práctica, donde se realiza un estudio para ver cómo afecta la separación que debe haber entre drones y aviones comerciales, a la seguridad, capacidad y flexibilidad del sistema, para evitar conflictos en un escenario de alta densidad. Las aeronaves estudiadas son aviones comerciales y drones, que tienen la misión de transportar paquetes desde Amazon hasta la terminal de cargo del aeropuerto del Prat. Overview of today's situation regarding drones and U-space. It consists of: a theorical part where questions such as what is U-space and how will it be managed are answered, among others, and a practical part, where a study is made to see how the separation that should exist between drones and commercial aircrafts affects the security, capacity and flexibility of the system, to avoid conflicts in a high density scenario. The aircraft studied are commercial planes and drones, which have the mission of transporting packages from Amazon to the cargo terminal at El Prat airport.

The Northwest of Portugal is a mountainous region with hundreds of funerary megalithic mounds dating back from the Middle / Later Neolithic (between the end of the 5th to the end of the 4th millennia BCE) (Jorge, 1982; Sousa, 2012). It is an heritage that is not fully inventoried and therefore susceptible of destruction due to the forest advances, constructions or enlargements of road networks in rural and urban context and. The systematic excavation of this type of monuments is time consuming and its conservation or later valorisation for didactic and tourist purposes becomes an impossible task. Thus, the objective of this work is to demonstrate that, through the use of new non-invasive technologies, it is possible to obtain relevant information about this type of monuments, which can be used scientifically and integrated into tourist-didactic projects. The methodology used combines the inventory and the cleaning of the vegetation covering funerary megalithic monuments, with geophysical prospection (Ground-penetrating Radar) (Fig. 1) and remote sensing for the production of high-resolution colour orthophotography and digital surface models (DSMs) obtained from an unmanned aerial vehicle (UAV) (Fig. 2). The case studies correspond to 5 megalithic mounts in the Serra do Corno do Bico, Ponte de Lima municipality, Viana do Castelo district, and 1 monument in Tojal, in the municipality of Póvoa de Lanhoso, Braga district. The results obtained with GPR enabled us to know some constructive aspects, such as determining intermediate or peripheral lithic rings in the artificial mounds that cover the funeral chambers, as well as determining the degree of destruction of the chambers and stone corridors. This is very clear in the case study of the Tojal Mound (Fig. 3). Photogrammetry by UAV enables 3D modeling of monuments and areas of envelopment, giving them volume and greater visibility. In summary, the information obtained, besides being an important auxiliary of the archaeological investigation, enables the selection of better conserved monuments for future archaeological excavations and can and should be used for recreational and tourist purposes, through its reproduction in informative plates and on-line information with high resolution 3D models, accompanied by explanatory texts intended for both local populations and visitors. The combination of the methodologies expressed corresponds to a praxis that is inexpensive and quick to perform in the field and can be systematically applied in the knowledge, safeguard and valorisation of the most sensitive prehistoric archaeological heritage, such as funerary megalithic mounds.

Submitted by Vanessa Christiane (referencia@ufersa.edu.br) on 2018-04-25T19:00:54Z No. of bitstreams: 1 ThomasTOP_DISSERT.pdf: 5209914 bytes, checksum: dc0480e3c31cf33dad2055a2722ab763 (MD5) Approved for entry into archive by Vanessa Christiane (referencia@ufersa.edu.br) on 2018-06-15T23:36:57Z (GMT) No. of bitstreams: 1 ThomasTOP_DISSERT.pdf: 5209914 bytes, checksum: dc0480e3c31cf33dad2055a2722ab763 (MD5) Approved for entry into archive by Vanessa Christiane (referencia@ufersa.edu.br) on 2018-06-16T00:04:13Z (GMT) No. of bitstreams: 1 ThomasTOP_DISSERT.pdf: 5209914 bytes, checksum: dc0480e3c31cf33dad2055a2722ab763 (MD5) Made available in DSpace on 2018-06-16T00:04:20Z (GMT). No. of bitstreams: 1 ThomasTOP_DISSERT.pdf: 5209914 bytes, checksum: dc0480e3c31cf33dad2055a2722ab763 (MD5) Previous issue date: 2018-02-07 Coordenação de Aperfeiçoamento de Pessoal de Nível Superior In wireless communications, there is a growing need for more compact and portable systems. In this context, research related to the development of antennas has intensified in recent years, especially those related to microstrip antennas, since these have unique properties as well as several applications. In this work, two different antenna configurations were designed, an array of microstrip antennas for the transmitting device and a single element with an omnidirectional pattern for the receiver, according to the needs of the application. The antennas are designed by the Transmission Line Theory according to the frequency of radio operation and the electrical and physical properties of the substrates used. The results were obtained through simulations in the ANSYS HFSS® software, and the best results were used to fabricate the devices in order to validate the simulations performed. The results of the simulations reached the characteristics of the application, as the return losses of both antennas were in accordance with the frequency band of the application in the band ISM in 2.4 GHz, with respect to the behavior of the radiation, the antenna proposed to the transmitter had a gain of 6.1 dB, approximately three times greater than the commonly used dipole / monopole antenna. The experimental result of the loss of return was shown to be in agreement with the simulated standard, in spite of the frequency displacement, both antennas constructed were suitable for application in the radio control of the UAV, having the microstrip array 7.5 MHz of bandwidth in the band of application and the simple element proposed to the 58.5 MHz receiver. The antennas were then implemented in the radiofrequency system and a range test was performed in order to verify the communication of the devices, presenting satisfactory results. Thus, a flight is performed via software for visual inspection of transmission lines, aiming the collection of images for analysis Em comunicações sem fio, existe uma crescente necessidade por sistemas mais compactos e portáteis. Nesse contexto, as pesquisas relacionadas ao desenvolvimento de antenas têm se intensificado nos últimos anos, em especial, as relacionadas às antenas de microfita, visto que estas possuem propriedades singulares, bem como diversas aplicações. Neste trabalho foram projetadas duas configurações distintas de antenas, um arranjo de antenas de microfita para o dispositivo transmissor e um elemento simples com padrão omnidirecional para o receptor, de acordo com as necessidades da aplicação. As antenas são projetadas pela Teoria da Linha de Transmissão de acordo com a frequência de operação do rádio e as propriedades elétricas e físicas dos substratos utilizados. Os resultados foram obtidos através de simulações no software ANSYS HFSS®, e os melhores resultados foram utilizados para fabricação dos dispositivos a fim de validar as simulações realizadas. Os resultados das simulações atingiram as características da aplicação, pois as perdas de retorno de ambas antenas apresentaram conformidade com a faixa de frequências da aplicação na banda ISM em 2,4 GHz, no que diz respeito ao comportamento da radiação, a antena proposta ao transmissor teve ganho de 6,1 dB, aproximadamente três vezes maior do que a antena dipolo/monopolo comumente utilizada. O resultado experimental do coeficiente de reflexão se mostrou concordante com o padrão simulado, apesar do deslocamento de frequência, ambas antenas construídas se adequaram para aplicação no rádio controle do VANT, tendo o arranjo de microfita 7,5 MHz de largura de banda na faixa de aplicação e o elemento simples proposto ao receptor 58,5 MHz. Em seguida, as antenas foram implementadas no sistema de radiofrequência e foi realizado um teste de alcance a fim de averiguar a comunicação dos dispositivos, apresentando resultados satisfatórios. Desse modo, um voo foi realizado para inspeção visual de linhas de transmissão, visando a coleta de imagens para análise 2018-04-25

A flying vehicle equipped with a robotic manipulator poses a challenging control problem because of the dynamical coupling between both subsystems. In order to achieve highly dynamic behaviors while enabling precise end-effector tracking of the manipulator, this coupling has to be taken into account in the control design. In this paper, an inertial decomposition of the full rigid body dynamics is utilized to design a control law, which guarantees end-effector reference tracking and position trajectory control of the overall system. The stability analysis of the closed loop system is accompanied with a validation in simulation of the proposed controller.

The radar micro-Doppler signature of a target is determined by parts of the target moving or rotating in addition to the main body motion. The relative motion of these parts is characteristic for different classes of targets, e.g. the flapping motion of a bird's wings versus the spinning of propeller blades. In the present study, the micro-Doppler signature is exploited to discriminate birds and small unmanned aerial vehicles (UAVs). Emphasis is on micro-Doppler features that can be extracted from spectrograms and cepstrograms, enabling the human eye or indeed automatic classification algorithms to make a quick distinction between man-made objects and bio-life. In addition, in case of man-made objects, it is desired to further characterize the type of mini-UAV to aid the threat assessment. Also this characterization is done on the basis of micro-Doppler features.

Artículo de reflexión Los DRONES o UAV’s, son equipos de vuelo que permiten un gran desarrollo de actividades con fines comerciales y militares, sin embargo, con la constante evolución de los mercados internacionales, han generado que dichos equipos sean comercializados sin ningún tipo de control en el mundo, es por esta razón, que todas las entidades que se encargan de legislar sobre el vuelo y operación de los mismos, han desarrollado una serie de parámetros que se encargan de controlar todas las actividades relacionadas con la manipulación y vuelo de Drones o RPA´s; Pero en este caso en concreto, no es posible determinar si dichas regulaciones sean implementadas en el territorio colombiano, ya que se busca establecer, si dicha normatividad se encuentra ajustada a las demás normatividades internas del estado colombiano y sí dichas legislaciones no presentan conflictos con los demás lineamientos normativos del mundo. Pregrado Abogado INTRODUCCIÓN I. ANTECEDENTES 2. PILOTOS COMERCIALES. REGULACIÓN COLOMBIANA 3. REGULACIÓN DE PILOTOS COMERCIALES EN USA 4. CONCEPCIÓN JURÍDICA 4.1 CUERPO JURISPRUDENCIAL 5. SOLUCIÓN AL CUESTIONAMIENTO INICIALMENTE PLANTEADO CONCLUSIONES Referencias

This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method based on a Legendre pseudospectral collocation in order to compute the solution trajectories and guarantee that the safety distance between them is always maintained. The method uses a rolling horizon policy in which trajectories are planned up to a given time horizon, thus considering a much smaller problem space. Then, the system is applied iteratively. Studies have been performed to set the values of the look-ahead time and the number of collocations points. The computational load and scalability of the method are also studied in randomly generated scenarios to test its application in real time. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (Seville, Spain) Comisión europea FP7 ICT Ministerio de Ciencia e Innovación DPI2011-28937-C02-01

IEEE International Conference on Robotics and Automation (ICRA), 16-21 May 2016 Stockholm, Sweden This paper presents the design and experimental validation of a Fault Detection, Identification and Recovery (FDIR) system intended for multi-UAV applications. The system exploits the information provided by internal position, attitude and visual sensors onboard the UAVs of the fleet for detecting faults in the measurements of the position and attitude sensors of any of the member vehicles. Considering the observations provided by two or more UAVs in a cooperative way, it is possible to identify the source of the fault, but also implement a Cooperative Virtual Sensor (CVS) which provides a redundant position and velocity estimation of the faulty UAV that can be used for replacing its internal sensor. The vision-based FDIR system has been validated experimentally with quadrotors in an indoor testbed. In particular, fault detection and identification has been evaluated injecting a fault pattern offline on the position measurements, while the CVS has been applied in real time for the recovery phase. Ministerio de Educación Cultura y Deporte ICT-2011-288082

The radar micro-Doppler signature of a target is determined by parts of the target moving or rotating in addition to the main body motion. The relative motion of these parts is characteristic for different classes of targets, e.g. the flapping motion of a bird’s wings versus the spinning of propeller blades. In the present study, the micro-Doppler signature is exploited to discriminate birds and small unmanned aerial vehicles (UAVs). Emphasis is on micro-Doppler features that can be extracted from spectrograms and cepstrograms, enabling the human eye or indeed automatic classification algorithms to make a quick distinction between man-made objects and bio-life. In addition, in case of man-made objects, it is desired to further characterize the type of mini-UAV to aid the threat assessment. Also this characterization is done on the basis of micro-Doppler features.

Unmanned aerial vehicles (UAVs) have recently received great interest due to their great potential in both military and civil applications [1]-[4]. Anyway, testing and construction of UAVs is expensive and time consuming. In this context, the simulation approach can help to reduce the cost both design and tests. In this paper, the authors used COMSOL Multiphysics 5.1 to design a UAV's pod equipped with a Solid Oxide Fuel Cell (SOFCs). The study was developed in the framework of the European project SUAV (Microtubular Solid Oxide Fuel Cell Power System development and integration into a Mini-UAV). The stack's maximum power is 200 W and is fed by propane. Thanks to his energy density, using propane as fuel permits to store more energy than fuel cell fed by hydrogen. The aim of study was to calculate the temperature distributions inside the pod having information about the air intakes' size. An simple experimental test was carried out to validate the simulation. The test's set up consists of a PVC tube where the SOFC stack is located inside as showed in figure 1. In front of PVC tube was located a mask with variable surface area (from 5% to 75% open). Experimental test had permitted to evaluate the influence of outlet size on temperature distribution. The inlet air was controlled through a mass flow rate according to the internal temperature and pressure transmitters were used to measure the pressure drop along the tube. In early study, COMSOL Multiphysics simulation will be validate through experimental data and will used to evaluate new air intake configuration (different position and size) as showed in fig.2 . In the following figure, the geometry implemented in COMSOL and preliminary fluid dynamic results are reported. A turbulent approach was used to solve the problem. Early results showed that pressure drop and velocity field are in accordance with experimental tests. The next steps will be the implementation of model with "heat transfer in fluid" physic to know the distribution of temperature in the domain for a complete model validation model. [1] Frost&Sullivan, 2007, "Study Analysing the Current Activities in the Field of UAV," European Commission - Enterprise and Industry Directorate-General. [2] Peng K, Dong M, Chen Ben M, Cai G, Lum KY, Lee TH. Design and implementation of an autonomous flight control law for a UAV helicopter. In: Proceedings of the 26th Chinese control conference, Zhangjiajie, Hunan, China, vol. 6, 2007. p. 662-7. [3] S. Saripalli, J.F. Montgomery, G.S. Sukhatme Visually-guided landing of an unmanned aerial vehicle IEEE Trans Robot Automat, 19 (2003), pp. 371-381. [4] Cox, T. H., Nagy, C. J., Skoog, M. A., Somers, I. A., and Warner, R., 2004, "A Report Overview of the Civil UAV Capability Assessment," NASA.

This paper shows how Unmanned Aerial Vehicles (UAVs) can improve security in major sporting events. Given the increase in violence among sports fans it is important to timely monitor possible conflict locations. A UAV can patrol and remotely monitor the activity at these locations. Such a patrol tour should be repeatedly executed in order to constantly update the available information about the different locations. Besides aiming to find a short tour to efficiently monitor all locations, it is important to take into consideration that the UAV might be redirected from its tour to another location where some abnormal activity is taking place. In this paper we introduce a general binary fractional program which provides a method to find a balance between the tour duration and the ability of the UAV to fly to locations of new conflicts as soon as possible. Using a case study we illustrate the purpose of our model.

This paper shows how Unmanned Aerial Vehicles (UAVs) can improve security in major sporting events. Given the increase in violence among sports fans it is important to timely monitor possible conflict locations. A UAV can patrol and remotely monitor the activity at these locations. Such a patrol tour should be repeatedly executed in order to constantly update the available information about the different locations. Besides aiming to find a short tour to efficiently monitor all locations, it is important to take into consideration that the UAV might be redirected from its tour to another location where some abnormal activity is taking place. In this paper we introduce a general binary fractional program which provides a method to find a balance between the tour duration and the ability of the UAV to fly to locations of new conflicts as soon as possible. Using a case study we illustrate the purpose of our model.

Reliability is a critical issue in navigation of unmanned aerial vehicles UAVs since there is no human pilot that can react to any abnormal situation. Due to size and cost limitations, redundant sensor schemes and aeronautical-grade navigation sensors used in large aircrafts cannot be installed in small UAVs. Therefore, other approaches like analytical redundancy should be used to detect faults in navigation sensors and increase reliability. This paper presents a sensor fault detection and diagnosis system for small autonomous helicopters based on analytical redundancy. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The observer is obtained from input-output experimental data with the Observer/Kalman Filter Identification OKID method. The OKID method is able to identify the system and an observer with properties similar to a Kalman filter, directly from input-output experimental data. Results are similar to the Kalman filter, but, with the proposedmethod, there is no need to estimate neither system matrices nor sensor and process noise covariance matrices. The system has been tested with real helicopter flight data, and the results compared with other methods.