Orientador: Amilton Amorim / Resumo: O avanço tecnológico ocorrido nas últimas décadas, no que diz respeito à resolução e a qualidade de câmaras digitais, bem como o desenvolvimento das plataformas denominadas Remotely Piloted Aircraft Systems (RPAS), possibilitou o uso de tais equipamentos em atividades de Fotogrametria. Tradicionalmente, em trabalhos fotogramétricos, são empregadas câmaras com características fotogramétricas, tal equipamento é construído com maior rigor geométrico se comparado às câmara digitais convencionais. Em se tratando de mapeamento com melhores níveis de precisão, é importante que os parâmetros internos da câmara sejam determinados com precisão, uma vez que a qualidade dos produtos finais gerados está diretamente relacionada à precisão geométrica dos equipamentos utilizados. Tais parâmetros podem ser determinados a partir de métodos de calibração consagrados. No caso de câmaras digitais convencionais é importante verificar a estabilidade dos parâmetros em função do uso do equipamento. Neste sentido, este trabalho teve como objetivo avaliar os dados obtidos por meio de uma câmara digital convencional, transportada por um RPAS, com o intuito de possibilitar o uso em mapeamentos planialtimétricos e geração de MDT. Para tanto, foram realizadas calibrações da câmara e os parâmetros foram então analisados com base em distribuições estatísticas, com a finalidade de se verificar a significância dos mesmos. Em seguida, os conjuntos de parâmetros foram analisados utilizando métodos de análise de... (Resumo completo, clicar acesso eletrônico abaixo) / Mestre

Submitted by Guilherme Gomes Pessoa null (06074868999) on 2017-04-10T21:00:26Z No. of bitstreams: 1 Dissertacao_guilherme_Final.pdf: 3818967 bytes, checksum: feded36d5ac2c475cd105bae7875d08e (MD5) / Approved for entry into archive by Luiz Galeffi (luizgaleffi@gmail.com) on 2017-04-17T18:38:59Z (GMT) No. of bitstreams: 1 pessoa_gg_me_prud.pdf: 3818967 bytes, checksum: feded36d5ac2c475cd105bae7875d08e (MD5) / Made available in DSpace on 2017-04-17T18:38:59Z (GMT). No. of bitstreams: 1 pessoa_gg_me_prud.pdf: 3818967 bytes, checksum: feded36d5ac2c475cd105bae7875d08e (MD5) Previous issue date: 2017-02-24 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O avanço tecnológico ocorrido nas últimas décadas, no que diz respeito à resolução e a qualidade de câmaras digitais, bem como o desenvolvimento das plataformas denominadas Remotely Piloted Aircraft Systems (RPAS), possibilitou o uso de tais equipamentos em atividades de Fotogrametria. Tradicionalmente, em trabalhos fotogramétricos, são empregadas câmaras com características fotogramétricas, tal equipamento é construído com maior rigor geométrico se comparado às câmara digitais convencionais. Em se tratando de mapeamento com melhores níveis de precisão, é importante que os parâmetros internos da câmara sejam determinados com precisão, uma vez que a qualidade dos produtos finais gerados está diretamente relacionada à precisão geométrica dos equipamentos utilizados. Tais parâmetros podem ser determinados a partir de métodos de calibração consagrados. No caso de câmaras digitais convencionais é importante verificar a estabilidade dos parâmetros em função do uso do equipamento. Neste sentido, este trabalho teve como objetivo avaliar os dados obtidos por meio de uma câmara digital convencional, transportada por um RPAS, com o intuito de possibilitar o uso em mapeamentos planialtimétricos e geração de MDT. Para tanto, foram realizadas calibrações da câmara e os parâmetros foram então analisados com base em distribuições estatísticas, com a finalidade de se verificar a significância dos mesmos. Em seguida, os conjuntos de parâmetros foram analisados utilizando métodos de análise de similaridade de feixe de raios. Foram feitas ainda, análises de tendência e precisão dos pontos de verificação com relação aos Parâmetros de Orientação Interior (POI) utilizados na fototriangulação. Os resultados das análises de significância dos parâmetros apontaram para a eliminação do parâmetro K3, mas tal parâmetro não foi eliminado devido a sua importância verificada pela magnitude da correção proporcionada pelo mesmo. As análises de similaridades constataram diferenças consideráveis, para os dois limiares considerados, entre os feixes reconstruídos, fato que pôde ser verificado nos experimentos de fototriangulação, que apontaram para influência dos parâmetros, principalmente, na estimativa da componente Z dos pontos de verificação. Por fim, pode-se concluir que a câmara analisada não deve ser considerada como um equipamento estável. Sendo assim, o processo prévio ou periódico de calibração, separadamente da tomada de fotos para o levantamento fotogramétrico, não é justificável. No caso deste equipamento, o ideal é que seja realizado o processo de calibração em serviço. / Technological advances in recent decades with regard to the resolution and quality of off-theshelf cameras, as well as the development of platforms called Remotely Piloted Aircraft Systems (RPAS), allowed the use of such equipment in photogrammetry activities. Traditionally in photogrammetric activities cameras with high geometric accuracy characteristics are used, such equipment is built with the highest geometric accuracy when compared to off-the-shelf camera. In the case of precision mapping, it is important that the internal camera parameters are determined with precision, since the quality of the generated product is directly related to the geometric accuracy of the equipment used, such parameters can be determined from calibration methods. In the case of off-the-shelf cameras it is important that the stability of the parameters as a function of equipment use be verified. Thus, this study aimed to evaluate the data obtained from a off-the-shelf digital camera, carried by a RPAS, in order to enable the use in 3D mapping and generation of MDT. To this end, calibrations of the camera parameters were performed and were then analyzed based on statistical distributions in order to determine the significance of the parameters, then sets of parameters were studied using methods of bundle similarity analysis. Also, analyzes of bias and precision of the check points with respect to the Internal Orientation Parameters (IOP) used in phototriangulation. The results of the analysis of significance of the parameters pointed to the elimination of parameter K3, but this parameter was not eliminated due to its importance verified by the magnitude of the correction provided. The similarity bundle analysis considering two thresholds pointed to differences between the reconstructed bundles, which could be verified in the phototriangulantion experiments, which pointed to influence of the interior orientation parameters mainly on the Z component of the checkpoints. Finally, it can be concluded that the analyzed camera should not be considered as a stable equipment. Therefore, the previous or periodic calibration process separately from the photogrammetric survey is not justified. In the case of this equipment the ideal is to carry out the calibration process in service.

This thesis concerns the upgrade of APID One RPAS by The MainBase AB. Due to their wish to explore different options for tail drive of current RPAS and future heavier variant, several concepts have been generated and analyzed. Systemic elimination of proposed concepts has resulted with a belt drive transmission. Basic calculation has been performed to determine estimates of power requirements and positions of the new tail rotors relative to the fuselage. Furthermore, the design process encompassed components from the existing output power shaft within the fuselage to the final blades shaft, including the belt transmission, the truss-type structural support, and additional devices. The work includes material selection, FEA analyses of the structure, and bolts and welds calculations where loads were known. Final result is a tail boom that interchangeably fits both, new light and new heavy variant.

This paper examines tactical and ethical considerations for the implementation of drones in the Swedish naval forces. Research concerning ethics and the use of drones differ between being an accepted technology in warfare and an unfair advantage for the user. Research of tactical aspects in using drones show clear advantages for naval tactics. While several nations worldwide have adopted drones in their navy Sweden has not. By examining what considerations can be made concerning ethics and tactics, the implementation of drones can be made easier.  By applying an ethical perspective aspect for drones and one theory concerning the tactical aspect for naval warfare and applying these to different drones, this study examines whether drones can fulfill naval duties simultaneously as well as being ethical in their usage.  The analysis shows that unarmed drones can with ease solve the majority of tactical tasks ethically. Drones which are produced with weapon capability can theoretically complete all tactical assignments however, cannot be considered as being ethical. The findings show that armed drones are not considered ethical; un- armed drones can be exploited in the Swedish naval forces while being ethical and that ethical theory con- cerning drones in the armed forces needs developing in both war and peacetime

Drones or Remotely Piloted Aircraft Systems (RPAS) were first developed for military use in the start of the twentieth century and were part of a major push toward “airpower”. Nowadays they are available for the public, smaller and easier to fly. This comes with countless opportunities but also security risks. This essay aims to study military risk-taking in a context where this type of threat is prominent. To understand how future military commanders will act upon these threats, a quantitative study with hypothesis will form the basis for answering the question of which mechanism has effect on the level of risk-taking when the subject is faced with the threat of RPAS. The study shows that the support of the squad, self-experienced knowledge about the threat and previous experience of international service has an impact, but no statistical significance to support their effect on the degree of risk-taking in these survey-based scenarios. Surprisingly, age is one of the most significant results of increased risk-taking which forms new questions about risk, experience, and modern threats.

In this thesis a methodology for measuring vibrations has been produced andinvestigated for APID 60, a rotorcraft in a Vertical Take-off and landing remotelypiloted aircraft system (VTOL RPAS). A comparative study was carried out forthe purpose of identifying the methodology with respect to design modificationscommon to the APID 60. The pilot-study identified experimental modal analysis(EMA) as a feasible part of the methodology for experimentally extracting themodal parameters of a structure. The EMA was performed on the main frameof the APID 60 where an impact hammer test was chosen as the technique forextracting the response data. As a comparison a point mass was added to thestructure to alter the dynamic properties and the test was repeated.The results from the EMA was compared with a modal analysis performednumerically with a calculation software. Comparison of the results from EMAwith the modal analysis performed numerically indicates consistency. This confirmsa good reliability of the methodology produced. However, the structure onwhich the test were preformed is simple in terms of constant structural properties.Further work should therefore investigate whether this methodology of measuringvibrations could be successfully applied to a structure with higher complexity.

The spatial accuracy of points obtained from aerial laser scanning is most affected by the parameters of the GNSS receiver used, the IMU unit and the parameters of the flight itself. An important role is played by the accuracy of the so-called calibration, ie the determination of the transformation elements between the coordinate systems of the scanning unit itself, the IMU and the position of the phase center of the GNSS antenna. The diploma thesis deals with the calibration accuracy of the IMU / GNSS unit. It compares the displacements and rotations of a point cloud acquired by LiDAR (laser scanner RIEGL miniVUX-1UAV) in relation to the calibration elements given by the manufacturer. Evaluate the results using calculated standard deviations and positional differences in the raw point cloud, or by comparing point clouds obtained by another method. It also focuses on verifying geometric accuracy using checkpoints. The accuracy of the IMU / GNSS calibration is minimal after verifying the results and comparing the influence of the calibration elements given by the manufacturer. There was no significant improvement in the quality of the point cloud. At the same time, it was found that for better quality of the scanned data, it is necessary to perform cross-flights when UAV scanning. Key words UAV,...

The diploma thesis describes the data integration of data from different 3D technologies, specifically data of close range photogrammetry, aerial photogrammetry using RPAS and terrestrial laser scanning. The thesis deals mainly with fotogrammetric processing in ContextCapture software and data integration in this software. The thesis also describes a construction of a calibration field. The points of the field were used as ground control points and check points during processing. The accuracy of the outputs was evaluated by statistical testing of the coordinate deviations of the control points. The result of the thesis is 3D model of one of the buildings located in the AdMaS research center.

During the war in Ukraine, technical and tactical innovation in the deployment of commercial drones for IRS and strike missions, and artillery spotting have been witnessed. This study aims to create a better understanding of evolving UAS capability and create a use-case forecasting UAS capability in five years. The research uses a combination of empirical data through two case studies in combination with interviews, collecting the perspective of four researchers and experts in the fields. The forecasted UAS capability use-case describes a multilayer use of aerial platforms of different sizes, performances, and specifications, which makes aerial IRS and strike capability available at lower tactical levels. Other aspects in the use-case are artificial intelligence that supports data processing in networking surveillance, command and control system, and autonomous navigation. Implications for UAS capability in an electronic warfare environment and implications for countermeasure deployments are discussed. The results presented in the study are generic and should be complemented with further studies, which through scenario-based research can create clear recommendations to specific actors linked to UAS capability. / Under kriget i Ukraina har tekniska och taktiska innovationer bevittnats när det gäller användande av kommersiella drönare för IRS och bekämpningsuppdraguppdrag, och eldledning av artilleri. Syftet med studien är att bidra till bättre förståelse för utvecklingen av UAS-förmåga och att skapa ett användningsfall där UAS-förmåga om fem år beskrivs. Studien tillämpar empirisk data genom två fallstudier, i kombination med intervjuer som inkluderar perspektivet från fyra forskare och experter inom området. Det prognostiserade användningsfallet för UAS-förmåga beskriver en flerskiktsanvändning av flygplattformar av olika storlek, prestanda och specifikationer, vilket gör flyg- IRS och slagförmåga tillgänglig på lägre taktisk nivå. Andra aspekter i användningsfallet är artificiell intelligens som stödjer databehandling i ett nätverksövervaknings- och kommando- och kontrollsystem, samt autonom navigering. Implikationer för UAS-kapacitet i en elektronisk krigföringsmiljö och implikationer för utplacering av motåtgärder diskuteras. Resultaten presenterade i studien är generiska och bör kompletteras med ytterligare studier, som genom scenariobaseradforskning kan skapa tydligare rekommendationer till specifika aktörer kopplade till UAS-förmåga.

This is a master thesis by Maria Ader and David Axelsson, students at the Master of Science in Engineering degree program in Design and Product Realization at KTH, within the master program Integrated Product Design. The thesis work will benefit ÅF and the EU project ɪɴᴛᴇʀᴀᴄᴛ. The ɪɴᴛᴇʀᴀᴄᴛ project is part of the EU’s effort to forward climate research, and aims to “coordinate and harmonize research and monitoring efforts that will greatly contribute to our knowledge and understanding of changes occurring in the arctic environment.” One out of 12 subprojects within ɪɴᴛᴇʀᴀᴄᴛ aims to “increase awareness of drone technology and sensors among researchers and research station managers while making industry aware of innovative potential uses requiring drone and sensor development.” A drone is an unmanned aerial system/vehicle (UAS/UAV), i.e. an airborne vehicle without a human pilot aboard. This master thesis examines the need of drones at the ɪɴᴛᴇʀᴀᴄᴛ research stations and how arctic climates affect drone technology and the ergonomics of piloting a drone. The thesis also provides an overview of the current state of the drone market and the laws and regulations that affect the use of drones. A survey was distributed within ɪɴᴛᴇʀᴀᴄᴛ to map the researchers’ need of, and attitudes towards, drones, followed by exhaustive interviews with researchers and other key figures. Field testing at Tarfala Research Station provided complementing data. The primary insight from the study was that the researchers’ need, as well as the tasks and methods that they employ, vary greatly. Another insight was that many researchers want to use drones primarily as a sensor platform to collect data from large areas in a short time span. A situation-based drone recommendation and a concept proposal for a simple water sampling solution were made based on the results of the study / Detta är ett examensarbete utfört av Maria Ader och David Axelsson, studenter på civilingenjörsprogrammet Design och Produktframtagning på KTH, med masterinriktning Teknisk Design. Arbetet är utfört åt ÅF i syfte att bidra till EU-projektet ɪɴᴛᴇʀᴀᴄᴛ. Iɴᴛᴇʀᴀᴄᴛ är EU:s satsning på klimatforskning i Arktis och syftar till att “koordinera och harmonisera forskning och miljöbevakning som bidrar till vår kunskap och förståelse av förändringar som sker i de arktiska miljöerna.” Ett av tolv delprojekt inom ɪɴᴛᴇʀᴀᴄᴛ-projektet syftar till att öka medvetenheten om drönarteknologi och sensorer bland forskare och föreståndare på forskningsstationerna inom ɪɴᴛᴇʀᴀᴄᴛ, samt att göra drönarindustrin medveten om nya potentiella användningsområden. En drönare är ett obemannat luftfartyg, d.v.s. en flygfarkost utan pilot ombord. Drönare benämns ibland som “UAS” och “UAV”. I den här rapporten används främst den engelska termen “drones”. Detta examensarbete undersöker behovet av drönare på de forskningsstationer som är delaktiga i ɪɴᴛᴇʀᴀᴄᴛ och hur det arktiska klimatet påverkar drönartekniken och ergonomin. Arbetet kartlägger även drönarmarknaden och de lagar och regler som påverkar användandet av drönare. En utförlig studie genomfördes, där forskarnas behov av drönare undersöktes. En enkät skickades ut inom ɪɴᴛᴇʀᴀᴄᴛ och utförliga intervjuer genomfördes med forskare och andra nyckelpersoner. Ett studiebesök på Tarfala forskningsstation kompletterade med fältdata. Den främsta insikten från studien var att behov, arbetsuppgifter och metoder varierar mycket mellan de olika forskarna. En annan insikt var att många ville använda drönare som sensorbärare, och på så sätt insamla data från stora områden på kort tid. Resultatet från studien låg till grund för en situationsbaserad drönarrekommendation samt ett konceptförslag för en enkel vattenprovtagningslösning.