Unmanned aerial vehicles (UAVs) have been used increasingly over the past few years. Special Forces of various countries utilise these systems successfully in war zones such as Afghanistan. The biggest advantage is rapid information gathering without endangering human lives. The South African National Defence Force (SANDF) also identified the need for local short range aerial reconnaissance and information gathering. A detailed literature survey identified various international players involved in the development of small hand-launch UAV systems. Unfortunately, these overseas systems are too expensive for the SANDF. A new system had to be developed locally to comply with the unique requirements, and budget, of the SANDF. The survey of existing systems provided valuable input to the detailed user requirement statement (URS) for the new South African development. The next step was to build a prototype using off-the-shelf components. Although this aircraft flew and produced good video images, it turned out to be unreliable. The prototype UAV was then replaced with a standard type model aircraft, purchased from Micropilot. Some modifications were needed to ensure better compliance with the URS. Laboratory and field tests proved that the aircraft can be applied for aerial images, within range of 10 km from the ground control station (GCS). The major limitation is that it can only fly for 40 minutes. Furthermore, the airframe is not robust, needing repairs after only 15 flights. Although the system has shortcomings, it has already been used successfully. It is expected that improved battery technologies and sturdier light-weight materials will further help to improve the system beyond user specifications. / Thesis (MIng (Electrical Engineering))--North-West University, Potchefstroom Campus, 2010.

Unmanned aerial vehicles (UAVs) have been used increasingly over the past few years. Special Forces of various countries utilise these systems successfully in war zones such as Afghanistan. The biggest advantage is rapid information gathering without endangering human lives. The South African National Defence Force (SANDF) also identified the need for local short range aerial reconnaissance and information gathering. A detailed literature survey identified various international players involved in the development of small hand-launch UAV systems. Unfortunately, these overseas systems are too expensive for the SANDF. A new system had to be developed locally to comply with the unique requirements, and budget, of the SANDF. The survey of existing systems provided valuable input to the detailed user requirement statement (URS) for the new South African development. The next step was to build a prototype using off-the-shelf components. Although this aircraft flew and produced good video images, it turned out to be unreliable. The prototype UAV was then replaced with a standard type model aircraft, purchased from Micropilot. Some modifications were needed to ensure better compliance with the URS. Laboratory and field tests proved that the aircraft can be applied for aerial images, within range of 10 km from the ground control station (GCS). The major limitation is that it can only fly for 40 minutes. Furthermore, the airframe is not robust, needing repairs after only 15 flights. Although the system has shortcomings, it has already been used successfully. It is expected that improved battery technologies and sturdier light-weight materials will further help to improve the system beyond user specifications. / Thesis (MIng (Electrical Engineering))--North-West University, Potchefstroom Campus, 2010.

En bergslänts stabilitet styrs av berggrundens egenskaper, så som sprickegenskaper och bergkvalité. För att uppnå önskad stabilitet i en bergslänt behöver de bergmekaniska parametrarna kartläggas och analyseras för att fastställa risker och stabilitetsåtgärder. Syftet med studien är att utvärdera kvalitén på bergteknisk data från digitalfotogrammetriska 3D-modeller genom att jämföra resultatet med manuella mätningar från konventionell kartläggning. Målet är även att utforska potentialen för användning av fotogrammetrisk 3D-modellering vid stabilitetsanalyser i bergslänter genom att utvärdera den bergtekniska analys som kan göras utifrån fotogrammetrisk data. Sprickmätningar framtagna från 3D-modellen visade sig ha samma kvalité som manuella mätningar tagna enligt konventionell metod. Den UAS-baserade fotogrammetrin kan dock inte ersätta den konventionella analysen helt vid stabilitetsanalyser men kan användas som ett kompletterande verktyg i bergtekniska undersökningar. Fotogrammetrin möjliggör datainsamling från ett säkrare avstånd vilket minskar riskmomenten som den konventionella metoden medför vid arbete i fält. Den digitala metoden visade sig även ha fler fördelar såsom möjligheten av kartläggning och analysering framför datorn för mindre tids- och kostnadskrävande moment, digital datalagring samt att slänter med begränsad åtkomst kan karteras. / The stability of a rock slope is controlled by the rock’s mechanical properties, such as rock quality and facets. To achieve the desired stability in a rock slope, the mechanical parameters need to be mapped and analysed to determine possible failures and decide necessary stability measures. The purpose of this study is to evaluate the quality of rock technical data from digital photogrammetry 3D models by comparing the result with manual measurements from conventional mapping. The goal is also to explore the potential uses of photogrammetric 3D models for rock slope stability analyses by evaluate the photogrammetric data. Facets extracted from 3D models were found to have the same quality as manual measurements. However, the UAS-based method cannot completely replace the conventional method but can be useful as a complementary tool. Photogrammetry enables the collection of data from a safer distance, which reduces workplace hazards that the conventional method entails. The digital method also proved to have more advantages, such as the possibility of digital mapping and analysing which is less costly and time-consuming, digital data storage and the possibility to access outcrops that can’t be mapped with manually measurements due to inaccessibility.

Modelos de arquitetura têm sido utilizados para permitir o desenvolvimento mais adequado e estruturado de sistemas, desde os mais simples até os mais complexos. A utilização desses modelos em sistemas embarcados, principalmente quando se trata de sistemas embarcados críticos, como é o caso de veículos aéreos não tripulados (VANT), visam a permitir conformidades de padrões, redução no tempo de produção, redução e facilidade no processo de manutenção e desenvolvimento. Sistemas embarcados críticos possuem requisitos específicos, tais como alta confiabilidade e resposta em tempo real, segurança e desempenho. A definição de um modelo arquitetural que permita que esses quesitos sejam levados em consideração, propicie o atendimento aos padrões, além de permitir o desenvolvimento correto e acelerado é inovador, permitindo que não só a comunidade científica venha a ter benefícios com a sua concepção, mas também a indústria brasileira possa ganhar. Nesse sentido, este trabalho desenvolveu um modelo de arquitetura para a interconexão de sistemas aéreos não tripulados (SANTs) em Unified Modeling Language (UML)/System Modelling Language (SysML) denominado LARISSA (Layered ARchitecture model for Interconnection of SystemS in uAs). Como resultado deste trabalho foi possível a modelagem e especificação completa de um SANT fazendo uso desse modelo e a realização de diversos experimentos que permitiram validar o LARISSA. Os experimentos, focados na parte de comunicação, permitiram a concepção de um simulador de redes de VANTs. Os resultados obtidos demonstraram a eficiência e a eficácia do modelo de arquitetura LARISSA, além da sua flexibilidade em permitir que diferentes experimentos possam ser realizados, o que auxilia na obtenção de dados que facilitam o processo de certificação desses VANTs. / Architecture models have been used to allow more adequate and structured development of systems, from the simplest to the most complex. The use of models in embedded systems are used to enable compliance standards, reduction in production time and ease of maintenance and development, especially when it comes to critical embedded systems such as unmanned aerial vehicles. Critical embedded systems have specific requirements, such as high reliability and real-time response, security and performance. The definition of an architectural model that deals with these requirements and standards and provides the service to standards allowing the correct and fast development is innovative and will provide benefits to the scientific and industrial communities. In this sense, this work developed an architectural model for the interconnection of Unmanned Aerial Systems (UAS) in Unified Modeling Language (UML)/System Modelling Language (SysML) called LARISSA (Layered ARchitecture model for Interconnection of SystemS in uAs). As a result of this development it was possible the modelling and specification of a complete UAS and the conduction of several experiments that allowed LARISSA validation. The experiments focused on the communication enabled the design of a UAV networks simulator. The results showed the efficiency and effectiveness of LARISSA architecture model, as well as its flexibility in carrying out different experiments, which helps in getting data to facilitate the certification process of these UAVs.

Small unmanned aircraft systems (UAS) are rapidly gaining popularity. As the excitement surrounding small UAS has grown, the Federal Aviation Administration (FAA) has repeatedly stated that UAS must be capable of detecting and avoiding manned and unmanned aircraft. In developing detect-and-avoid (DAA) technology, one of the key challenges is identifying a suitable sensor. Automatic Dependent Surveillance-Broadcast (ADS-B) has gained much attention in both the research and consumer sectors as a promising solution. While ADS-B has many positive characteristics, further analysis is necessary to determine if it is suitable as a DAA sensor in environments with high-density small UAS operations. To further the understanding of ADS-B, we present a characterization of ADS-B measurement error that is derived from FAA regulations. Additionally, we analyze ADS-B by examining its strengths and weaknesses from the perspective of DAA on small UAS. To demonstrate the need and method for estimation of ADS-B measurements, we compare four dynamic filters for accuracy and computational speed. The result of the comparison is a recommendation for the best filter for ADS-B estimation. We then demonstrate this filter by estimating ADS-B measurements that have been recorded from the National Airspace System (NAS). We also present a novel long-range, convex optimization-based path planner for ADS-B-equipped small UAS in the presence of intruder aircraft. This optimizer is tested using a twelve-state simulation of the ownship and intruders.We also consider the effectiveness of ADS-B in high-density airspace. To do this we present a novel derivation of the probability of interference for ADS-B based on the number of transmitting aircraft. We then use this probability to document the need for limited transmit range for ADS-B on small UAS. We further leverage the probability of interference for ADS-B, by creating a tool that can be used to analyze self-separation threshold (SST) and well clear (WC) definitions based on ADS-B bandwidth limitations. This tool is then demonstrated by evaluating current SST and WC definitions and making regulations recommendations based on the analysis. Coupling this tool with minimum detection range equations, we make a recommendation for well clear for small UAS in ADS-B congested airspace. Overall these contributions expand the understanding of ADS-B as a DAA sensor, provide viable solutions for known and previously unknown ADS-B challenges, and advance the state of the art for small UAS.

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