Unmanned Aerial Vehicle (UAV) är en benämning på en obemannad flygande farkost. UAV är en benämning för själva farkosten och därför har Unmanned Aircraft System (UAS) tagit över eftersom det är ett begrepp som rör hela systemet som förutom flygfarkost innefattar start, landning, markstation och kommunikationslänk. Inom mätningsteknik är UAS ett relativt nytt begrepp och tekniken har sin historia mestadels inom det militära området. Syftet med denna studie är att analysera samt utvärdera två programvaror och en molntjänst för bearbetning och framtagning av ortofoto från UAS-data. De frågor som ställts inför arbetet är: kan en molntjänst ersätta ett avancerat datorprogram vid generering av ortofoton? Kan dessa datorprogram ge ett bra resultat utan hjälp av andra GIS-program? Vilket program är enklast att förstå och använda samt vilka är skillnaderna mellan programmen? Dessa frågor har besvarats genom användning av insamlat data och för att få utvärderingen rättvis har därför tre olika dataset skapats. Programtjänsterna som har utvärderats är Agisoft PhotoScan 0.9.0 och Pix4UAV Desktop/Cloud 2.1.2. Insamling av data har skett genom en flygning med en oktokopter över Fågelmyratippen i Dalarna. Resultaten visar att priset snabbt blir högt om endast Pix4UAV Cloud används och att överlag är PhotoScan billigare än Pix4UAV Desktop. Kvalitetsrapporten som följer med varje projekt är överskådlig i PhotoScan och mer ingående i Pix4UAV Desktop/Cloud. Trots samma indata blir utdatat olika vid bearbetning av de olika programmen, till exempel skiljer sig markupplösningen åt mellan programmen. Generellt är PhotoScan tydligare på att visa hur arbetsprocessen går till. Supporten hos båda företagen är bra, tips och tricks finns på respektive hemsida. Till PhotoScan finns även en manual för nedladdning samt en YouTube-kanal med instruktionsvideor. De enda slutsatserna vi drar är att Pix4UAV Cloud inte klarar av att ersätta ett avancerat bildbehandlingsprogram och att för tillfället bör ytterligare ett GIS-program användas som komplement för att få bästa resultat. I övrigt har vi endast skrapat på ytan av programmen och rekommenderar att läsaren tar till sig det vi skrivit under resultat och diskussion för att sedan bilda sig en egen uppfattning med hjälp av respektive programs prövotid. Till sist presenteras förslag på vidare studier inom ämnet. / Unmanned Aerial Vehicle (UAV) is a term for a remote controlled airbornevehicle. Since UAV is an acronym for the vehicle itself, Unmanned Aircraft Systems(UAS) has therefore replaced UAV, as it is a concept related to the wholesystem, beside the vehicle it also includes landing, ground station andcommunications link. Within land surveying UAS is a relatively new concept asthe technology has its history mainly associated to the military. The purposeof this study is to analyze and evaluate two software and a cloud service for processingand preparation of orthophotos from data collected with a UAS. The questions tobe answered in this thesis are: Can a cloud service replace an advancedcomputer software for generating orthophotos? Can these produce good resultswithout the help of other GIS software? Which software is the easiest tounderstand and to use and what are the main differences. These questions wereanswered by using collected data, and to get the evaluation fair three datasetshave been created. The software being evaluated are Agisoft PhotoScan andPix4UAV desktop/cloud. The data collection was done by a flight with an octokopterover Fågelmyratippen in Dalarna. The results show that the price quicklybecomes high if only Pix4UAV Cloud is used and that generally PhotoScan ischeaper than Pix4UAV Desktop. The quality report that comes with each projectis easy to understand in PhotoScan but more detailed in Pix4UAV Desktop/Cloud. Despitethe use of same data the results vary when processed, for example the groundresolution. Generally PhotoScan is better at showing the work process. Eachcompany’s support is good and they both have tips and tricks at their websites.On the Agisoft webpage there is a manual available for download and they alsohave a YouTube-channel with instruction videos. The conclusion is that thecloud service is not capable of replacing an advance image processing software.Another conclusion is that for the moment another GIS-program should be used toget the best results. We like to point out that we only scratched the surfaceof the software and we recommend that the reader embrace what we write inresults and discussion to then form their own opinion by using the softwareevaluation period. I the last part we present subjects of further study.

The thesis aims to design and implement an Android application with ability to control the autopilot of the Skydog aircraft model using the wireless telemetry. The application shall receive data from an aircraft model gathered from various installed sensors. These data shall be then processed and corresponding instructions for autopilot shall be sent back. When collision with terrain or obstacle is detected, the application shall send instructions to autopilot to avoid such collision. RRT algorithm is used to find collision-free flight trajectory. Database of known obstacles and digital terrain model are provided to application in formats XML and GeoTIFF respectively.

Drones with different applications are today used for a variety of tasks at our construction sites. The applications are primarily photography, measurements, volume calculations, documentation and inspection. The big benefit of using drones for these work tasks is that it goes much faster, simpler and more efficient than with traditional methods. We cannot state any difference in the use of large and small construction companies since the drone technology today is cheap and easy to use. Differences in use are more linked to the tasks that must be performed than to the size of the construction company. In addition to a much more efficient working method, a very great advantage is the improved working environment which is due to a reduced risk of fall injuries, falling objects. However, it is important to use the drone technology for work operations where the technology is effective. All interviewed companies believe that drone technology will be used much more in the near future as new drones and new applications are constantly coming out on the market. To be able to use larger drones and their applications more easily and to be able to transport drones, there is a desire from the construction companies that the regulatory system be simplified for the use of drones in construction sites.

<p>The presented work quantifies the impacts of inundated land area (ILA) on streamflow and crop development in the Upper Midwest, which is experiencing a changing climate with observed increases in temperature and precipitation. Quantitative information is needed to understand how upland and downstream stakeholders are impacted by ILA; yet the temporal and spatial extent of ILA and the impact of water storage on flood propagation is poorly understood. Excess water in low gradient agricultural landscapes resulting in ILA can have opposing impacts. The ILA can negatively impact crop development causing financial loss from a reduction or total loss in yield while conversely, ILA can also benefit downstream stakeholders by preventing flood damage from the temporary surface storage that slows water movement into channels. This research evaluates the effects of ILA on streamflow and crop development by leveraging the utility of remotely sensed observations and models.</p><p> </p><p>The influence of ILA on streamflow is investigated in the Red River basin, a predominantly agricultural basin with a history of damaging flood events. An inundation depth-area (IDA) parameterization was developed to parameterize the ILA in a hydrologic model, the Variable Infiltration Capacity (VIC) model, using remotely sensed observations from the MODIS Near Real-Time Global Flood Mapping product and discharge data. The IDA parameterization was developed in a subcatchment of the Red River basin and compared with simulation scenarios that did and did not represent ILA. The model performance of simulated discharge and ILA were evaluated, where the IDA parameterization outperformed the control scenarios. In addition, the simulation results using the IDA parameterization were able to explain the dominant runoff generation mechanism during the winter-spring and summer-fall seasons. The IDA parameterization was extended to the Red River basin to analyze the effects of ILA on the timing and magnitude of peak flow events where observed discharge revealed an increasing trend and magnitude of summer peak flow events. The results also showed that the occurrence of peak flow events is shifting from unimodal to bimodal structure, where peak flow events are dominant in the spring and summer seasons. By simulating ILA in the VIC model, the shift in occurrence of peak flow events and magnitude are better represented compared to simulations not representing ILA.</p><p> </p><p>The impacts of ILA on crop development are investigated on soybean fields in west-central Indiana using proximal remote sensing from unmanned aerial systems (UASs). Models sensitive to ILA were developed from the in-situ and UAS data at the plot scale to estimate biomass and percent of expected yield between the R4-R6 stages at the field scale. Low estimates of biomass and percent of expected yield were associated with mapped observations of ILA. The estimated biomass and percent of expected yield were useful early indicators to identify soybean impacted by excess water at the field scale. The models were applied to satellite imagery to quantify the impacts of ILA on soybean development over larger areas and multiple years. The estimated biomass and percent of expected yield correlated well with the observed data, where low model estimates were also associated with mapped observations of ILA and periods of excessive rainfall. The results of the work link the impacts of ILA on streamflow and crop development, and why it is important to quantify both in a changing climate. By representing ILA in hydrologic models, we can improve simulated streamflow and ILA and represent dominant physical process that influence hydrologic responses and represent shift and seasonal occurrence of peak flow events. In the summer season, where there is an increased occurrence of peak flow events, it is important to understand the impacts of ILA on crop development. By quantifying the impacts of ILA on soybean development we can analyze the spatiotemporal impacts of excess water on soybean development and provide stakeholders with early assessments of expected yield which can help improvement management decisions.</p>

The Boeing Joined-Wing SenorCraft is a novel aircraft design that has many potential benefits, especially for surveillance missions. However, computational studies have shown the potential for nonlinear structural responses in the joined-wing configuration due to aerodynamic loading that could result in aft wing buckling. The design, construction, and flight testing of a 1/9th scale, aeroelastically tuned model of the Joined-Wing SensorCraft has been the subject of an ongoing international collaboration aimed at experimentally demonstrating the nonlinear aeroelastic response in flight. To accurately measure and capture the configuration\'s potential for structural nonlinearity, the test article must exhibit equivalent structural flexibility and be designed to meet airworthiness standards. Previous work has demonstrated airworthiness through the successful flight of a Geometrically Scaled Remotely Piloted Vehicle. The work presented in this thesis involves evaluation of an aeroelastically tuned design through ground-based experimentation. The result of these experimental investigations has led to the conclusion that a full redesign of the forward and aft wings must be completed to demonstrate sufficient geometric nonlinearity for the follow-on Aeorelastically Tuned Remotely Piloted Vehicle. This thesis also presents flight test plans for the aeroelastically tuned RPV. / Master of Science

Kaum eine technologische Neuentwickung der letzten Jahrzehnte hatte auf Anhieb einen derart starken Einfluss auf die markscheiderische und geodätische Praxis wie das Aufkommen unbemannter Flugsysteme (unmanned aerial system, UAS). Bedingt durch Größe und Tragfähigkeit dieser Systeme, beschränkt durch die vorherrschenden rechtlichen Rahmenbedingungen, sowie aufgrund der stetigen Miniaturisierung und Weiterentwicklung moderner Digitalkameras sind ein Großteil der am Markt befindlichen Systeme heutzutage mit Kameras als „eigentliches Vermessungsinstrument“ ausgestattet. Aufgrund der bei Drohnenbefliegungen üblicherweise unregelmäßigen und ungeordneten Bildverbände erfolgt die Auswertung in der Regel mittels automatisierter Mehrbildauswertung aus dem Bereich Computer Vision (Structure from Motion, SfM), wobei trotz zahlreicher erfolgreicher Anwendungen grundlegende Untersuchungen und belastbare Aussagen zur erreichbaren Genauigkeit nach wie vor fehlen. Vor diesem Hintergrund beschäftigt sich die markscheiderische Forschung an der Montanuniversität nun schon seit mehreren Jahren mit der Anwendung von UAS im Bergbau, wobei insbesondere hinsichtlich der Ergebnisverantwortlichkeit die Identifikation und Wechselwirkung genauigkeitsrelevanter Einflussparameter den Kern der Arbeiten bildet. Neben Befliegungen im Realmaßstab, nehmen vor allem auch modellhafte Untersuchungen einen hohen Stellenwert in der Erforschung der gesuchten Zusammenhänge ein, welche im vorliegenden Beitrag präsentiert werden. / Hardly any new technological development in recent decades has had such a strong influence on geodetic practice as the emergence of unmanned aerial systems (UAS). Due to the size and carrying capacity of these systems, limited by the current legal framework, as well as due to the constant miniaturization and further development of modern digital cameras, the majority of systems on the market today are equipped with cameras as 'actual surveying instrument'. Due to the usually irregular and disordered image blocks in drone surveys, the evaluation is usually carried out by means of automated multi image evaluation from Computer Vision (Structure from Motion, SfM), whereby despite numerous successful applications fundamental investigations and reliable statements on the achievable accuracy are still missing. Against this background, research at Montanuniversitaet Leoben has been dealing with the application of UAS in mining for several years, whereby the identification and interaction of influencing parameters relevant to accuracy forms the core of the work. In addition to real-scale aerial surveys, model-based investigations also play an important role in the research of the desired interrelationships, which are presented in this article.

Unmanned aerial systems (UASs) have a great potential to enhanced situational awareness in public safety operations. Many UASs operating in the same airspace can cause mid-air collisions. NASA and the FAA are developing a UAS traffic management (UTM) system, which could be used in public safety operations to manage the UAS airspace. UTM relies on an existing communication backhaul, however natural disasters may disrupt existing communications infrastructure or occur in areas where no backhaul exists. This thesis outlines a robust communications alternative that interfaces a fleet of UASs with a UTM service supplier (USS) over a mesh network. Additionally, this thesis outlines an algorithm for vehicle-to-vehicle discovery and communication over the mesh network.

<p>Thermal and multispectral imagery can provide users with insights into the water stress status and evapotranspiration demand of crops. However, traditional platforms, such as satellites, for these thermal and multispectral sensors are limited in their usefulness due to low spatial and temporal resolution. Small unmanned aircraft system (UAS) have the potential to have similar sensors installed and provide canopy temperature and reflectance information at spatial and temporal resolutions more useful for crop management; however, most of the existing research on the calibration or the estimation of water status were established based on the satellite platforms either for the sensors calibration or water status quantification. There is, therefore, a need to develop methods specifically for UAS-mounted sensors. In this research, a pixel-based calibration and an atmospheric correction method based on in-field approximate blackbody sources were developed for an uncooled thermal camera, and the higher accurate vegetative temperature acquired after calibration was used as inputs to an algorithm developed for high-resolution thermal imagery for calculating crop latent heat flux. At last, a thermal index based on the Bowen ratio is proposed to quantify the water deficit stress in a crop field, along with this, a method for plot-level analysis of various vegetation and thermal indices have been demonstrated to illustrate its broad application to genetic selection. The objective was to develop a workflow to use high-resolution thermal and multispectral imagery to derive indices that can quantify crops water status on a plot level which will facilitate the research related to breeding selection.</p> <p>The camera calibration method can effectively reduce the root mean square error (RMSE) and variability of measurements. The pixel-based thermal calibration method presented here was able to reduce the measurement uncertainty across all the pixels in the images, thus improving the accuracy and reducing the between-pixel variability of the measurements. During field calibration, the RMSE values relative to ground reference targets for two flights in 2017 were reduced from 6.36°C to 1.24°C and from 4.56°C to 1.32°C, respectively. The latent heat flux estimation algorithm yields an RMSE of 65.23 W/m² compared with the ground reference data acquired from porometer. The Bowen ratio has a high correlation with drought conditions quantified using the soil moisture index, stomatal conductance, and crop water stress index (CWSI), which indicates the potential of this index to be used as a water deficit stress indicator. The thermal and multispectral indices on a plot level displayed will facilitate the breeding selection.</p>

This thesis addresses the subject of drone deliveries within healthcare to examine whether unmanned aerial vehicles can contribute with increased accessibility to medical supply. An overview of the advancements made in the field since its introduction in health care, is first presented in the report. Through a literary review on the subject, dimensions have been identified as significant for determining the possibly increased accessibility to medical equipment that the unmanned aerial system provides, and thus the utility of the system. This thesis further evaluates the system out of an accessibility perspective, which aims to meet theoretical criteria established by previous researchers in the accessibility field, and thereby adopt a holistic approach to the subject. It is concluded that the dimensions are dependent on characteristics of the geographical location and should be considered when discussing drones in medicine. However, knowledge and evaluations are lacking from regions that have implemented such a system, which contributes to uncertainties for how drone deliveries work in practice.

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