Abstract Construction projects are highly complex systems that recurrently present discrepancies between work-as-imagined and work-as-done. Digital technologies, such as photogrammetry using UAVs (drones), are promising support tools to cope with this problem. Therefore, this study aims to evaluate the procedures for developing and assessing the quality of a 3D model generated through photogrammetry from images captured by a drone, comparing it to the as-designed BIM model. Thus, a case study was carried out in a residential low-income housing construction project in Camaçari, Brazil. Compared to the as-designed BIM 3D model, the photogrammetric model presented an average dimensional deviation of -1.68%. The model also presented issues such as occlusions and deformations. The study highlights that both this deviation and the quality of the photogrammetric model can be significantly influenced by the data collection method (e.g., quantity and resolution of photos). The study's primary contribution lies in presenting the potential of UAV usage for image capture in photogrammetry model generation. workasimagined work imagined workasdone. workasdone done. done work-as-done technologies drones, drones , (drones) problem Therefore D drone asdesigned designed Thus lowincome low income Camaçari Brazil 1.68%. 168 1 68 -1.68% deformations e.g., eg e g (e.g. photos. photos . photos) studys s generation (drones 1.68% 16 6 -1.68 e.g. (e.g 1.68 -1.6 e.g 1.6 -1. 1. -1 -

Resumo Projetos de construção são sistemas altamente complexos que apresentam recorrentemente discrepâncias entre o trabalho planejado e o trabalho realizado. Tecnologias digitais, como a fotogrametria com VANTs (drones), são ferramentas de suporte promissoras nesse contexto. Assim, este estudo tem como objetivo avaliar os procedimentos de desenvolvimento e qualidade de um modelo 3D gerado por fotogrametria através de imagens capturadas por drone, comparando-o ao modelo as-designed BIM. Para isso, realizou-se um estudo de caso em uma habitação de interesse social localizada em Camaçari-BA. Comparado ao modelo BIM projetado, o modelo fotogramétrico apresentou um desvio dimensional médio de -1,68%. O modelo também apresentou inconsistências como oclusões e deformações. O estudo mostra que tanto esse desvio como a qualidade do modelo fotogramétrico obtido podem ser consideravelmente influenciados pela forma de coleta dos dados (ex. baixa quantidade e resolução das fotos). A principal contribuição do estudo é apresentar o potencial do uso do VANT para captura de imagens para geração de um modelo de fotogrametria. realizado digitais drones, drones , (drones) contexto Assim D drone comparandoo comparando asdesigned as designed isso realizouse realizou se CamaçariBA. CamaçariBA Camaçari BA. BA Camaçari-BA projetado 1,68%. 168 1 68 -1,68% deformações ex. ex (ex fotos. fotos . fotos) (drones 1,68% 16 6 -1,68 1,68 -1,6 1,6 -1, 1, -1 -

Resumen El Pico de Orizaba es un área natural protegida en la que destacan bosques de Pinus hartwegii sometidos a presiones naturales y antrópicas. El objetivo del presente estudio fue comparar los parámetros dasométricos de ocho rodales con cuatro exposiciones (N, S, E y O) y dos altitudes (3 700 y 3 900 m). Se ubicaron áreas con cobertura representativa y se establecieron tres sitios de dimensiones fijas de 1 000 m2 por cada combinación de exposición-altitud. La obtención de información se complementó con imágenes de un vehículo aéreo no tripulado (VANT). Se obtuvo mayor densidad de arbolado (593 árboles ha-1) en la combinación E-3 700 y la mínima en la zona O-3 900 (113 árboles ha-1). Los extremos de área basal mínima (11.9 m2 ha-1) y máxima (35.2 m2 ha-1) correspondieron a las combinaciones S-3 900 y E-3 700, respectivamente. El área basal y volumen disminuyeron con la altitud. La estructura horizontal mostró mayor número de individuos en categorías diamétricas bajas (10-40 cm) y la estructura vertical en las de 25 a 30 m de altura. La prueba de Kruskal-Wallis evidenció diferencias significativas entre las ocho combinaciones para las variables diámetro (DN), altura total (AT) y volumen (VOL), cuya reducción más notable fue sobre la exposición sur al incrementar la altitud de 3 700 a 3 900 m, lo que indica que la combinación S-3 900 es menos favorable para el crecimiento del arbolado. Las combinaciones exposición-altitud con parámetros dasométricos superiores y más potencial de crecimiento fueron N-3 700, E-3 700, S-3 700 y O-3 900.

Abstract Pico de Orizaba is a natural protected area with Pinus hartwegii forests subjected to natural and anthropogenic pressures. The objective of this study was to compare the mensuation parameters of eight stands with four exposures (N, S, E, and W) at two different altitudes (3 700 and 3 900 m). Areas with representative coverage were located and three sites of fixed dimensions of 1 000 m2 were established for each exposure-altitude combination. The collected information was complemented with images from an unmanned aerial vehicle (UAV). The highest tree density (593 trees ha-1) was obtained in the E-3 700 combination, and the lowest, in the W-3 900 area (113 trees ha-1). The extremes of minimum (11.9 m2 ha-1) and maximum (35.2 m2 ha-1) basimetric area corresponded to combinations S-3 900 and E-3 700, respectively. The basimetric area and volume decreased with the altitude. The horizontal structure showed a greater number of individuals in low diameter categories (10-40 cm), and the vertical structure in the 25 to 30 m height categories. The Kruskal-Wallis test showed significant differences between the eight combinations for the diameter (DN), total height (TA) and volume (VOL) variables. The most notable reduction was on the southern exposure, as the altitude increased from 3 700 to 3 900 m, indicating that the S-3 900 combination is less favorable for tree growth. The exposure-elevation combinations with superior mensuration parameters and more growth potential were N-3 700, E-3 700, S-3 700, and W-3 900.

Abstract In this paper, an assessment of the state of coastal territories of Ecuador monitoring issue is conducted. The use of an autonomous robotic aerial platform is proposed as a technical solution to enhance the efficiency of remote surveillance missions performed by national security services along coastline. Considering the UAV nonlinear flight dynamics, as well as the missing information of the environment, is designed a UAV hierarchical control structure composed of an adaptive PID based MPC control strategy. The implementation of an adaptive PID based MPC controller leads to significantly improve the UAV optimal trajectory tracking task, as well as satisfy properties such as adaptiveness, self-learning, and capability of handling uncertainties caused by the unpredictable behavior of sea currents and wind loads retaining robust performance features. In this work, the investigation of external disturbances on UAV stabilization and positioning accuracy considers swirling wind flows and short-term wind gusts. These correspond to deterministic and random processes, are mathematically represented as trigonometric functions with random amplitudes determined by the gust coefficients and the wind loading periods of the pulses. The established range is given by a set of several observations of wind loads in the coastal territories of Ecuador. The analyzed data is collected from the database of national meteorological stations. Finally, the simulation process of the perturbed controlled motion of the UAV along a segmented linear trajectory, as well as the data analysis and graphics are carried out in the MATLAB environment.

Resumen En este trabajo se realiza una evaluación del estado de los territorios costeros del Ecuador en términos de monitoreo. El uso de una plataforma aérea robótica autónoma se propone como una solución técnica para mejorar la eficiencia de las misiones de vigilancia remota realizadas por los servicios de seguridad nacional a lo largo de la zona costanera. Considerando la no linealidad de la dinámica de un UAV, así como la inexistencia de información sobre el entorno, se ha diseñado una estructura jerárquica de control compuesta por una estrategia adaptativa de PID basada en un controlador MPC. La implementación del controlador adaptativo PID basado en MPC conduce a mejorar significativamente la tarea de seguimiento de trayectoria óptima del UAV, así como a satisfacer propiedades tales como la adaptabilidad, el autoaprendizaje y la capacidad de manejar incertidumbres causadas por el comportamiento impredecible de las corrientes marinas y las cargas de viento, manteniendo características robustas de rendimiento. En este trabajo, la investigación de los efectos de las perturbaciones externas sobre la estabilización y precisión de posicionamiento del UAV considera flujos arremolinados y ráfagas de corta duración. Estos corresponden a procesos deterministas y aleatorios, son representados matemáticamente como funciones trigonométricas con amplitudes aleatorias determinadas por los coeficientes de perturbaciones y los períodos de carga de viento de las pulsaciones. El rango establecido se da mediante un conjunto de varias observaciones de cargas de viento en los territorios costeros de Ecuador. Los datos analizados son recogidos de la base de datos de las estaciones meteorológicas nacionales. Finalmente, el proceso de simulación del movimiento controlado perturbado del UAV a lo largo de una trayectoria lineal segmentada, así como el análisis de datos y gráficos, se llevan a cabo en el entorno de MATLAB.

Abstract NDVI elucidates the ecophysiological mechanisms faced by vegetation. With the flexibility and versatility of unmanned aerial vehicles (UAVs), temporal, spatial and spectral resolutions have been useful in supporting decision-making. Here, we modeled diurnal change in the NDVI derived from UAV imagery for individual trees in a natural forest stand. Eight flights were conducted during daylight hours over one day to assess the dynamics of the NDVI of the genera Pinus, Juniperus, and Quercus. The results showed unstable NDVI values over time, with a parabolic quadratic trend in the model. The NDVI reached its maximum around 13:00 h and the values differed significantly according to genus: the highest value was found in Pinus with significant differences presented with Juniperus and Quercus, which showed similar values between them (p=0.533). As a validation strategy, we test the model generated using 124 trees independent of those that were sampled, which strengthened our results in terms of reliability. The similarities of statistical parameters confer a high variability of application of the results in models of simulation of similar forests ecosystems. We recommend to study more spectral indices of vegetation, including calibration of the sensor, particularly in longer-term seasonal studies. We conclude that the NDVI measured using UAV should consider image acquisition time to calibrate the records and thus improve the interpretation of results.

Resumen El NDVI dilucida los mecanismos ecofisiológicos a los que se enfrenta la vegetación. Gracias a la flexibilidad y versatilidad de los vehículos aéreos no tripulados (VANT), las resoluciones temporales, espaciales y espectrales han sido útiles para apoyar la toma de decisiones. En este trabajo se modelizó el cambio diurno en el NDVI derivado de imágenes de VANT para árboles individuales en un rodal forestal natural incoetáneo. Se realizaron ocho vuelos durante las horas diurnas a lo largo de un día para evaluar la dinámica del NDVI de los géneros Pinus, Juniperus y Quercus. Los resultados mostraron valores de NDVI inestables en el tiempo, con una tendencia cuadrática parabólica en el modelo. El NDVI alcanzó su máximo alrededor de las 13:00 h y los valores difirieron significativamente según el género: el valor más alto se encontró en Pinus con diferencias significativas presentadas con Juniperus y Quercus, que mostraron valores similares entre ellos (p=0.533). Como estrategia de validación, probamos el modelo generado utilizando 124 árboles independientes de los muestreados, lo que reforzó nuestros resultados en términos de confiabilidad. Las similitudes de los parámetros estadísticos confieren una alta variabilidad de aplicación de los resultados en modelos de simulación de ecosistemas forestales similares. Recomendamos estudiar más índices espectrales de vegetación, incluyendo la calibración del sensor, particularmente en estudios estacionales de más largo plazo. Concluimos que el NDVI medido mediante VANT debe considerar el tiempo de adquisición de la imagen para calibrar los registros y así mejorar la interpretación de los resultados.

ABSTRACT The introduction of different technologies such as Geographic Information Systems, images obtained from satellites, airplanes, drones, various types of sensors as well as computer systems and tools have caused a revolution in Agriculture. The use of these technologies has always had the interest of using available resources effectively and efficiently, as well as humanizing agricultural work. This article reviews the benefits obtained with the use of drones internationally and also in Cuba. However, works that propose the use of Precision Agriculture in Cuba have also been cited. It is observed that there are still few published works that describe in detail the results obtained that allow their reproducibility and there are many that describe them qualitatively. It is considered that in the particular case of drones, the extension of their use is still very expensive since in a practical way only the GEOCUBA Enterprise has all the infrastructure and trained staff for their most complete use, so different enterprise, institutions and farmers that wish to use them must make large disbursements.

RESUMEN La introducción de diferentes tecnologías como los Sistemas de Información Geográfica, las imágenes obtenidas a partir de satélites, aviones, drones, los diversos tipos de sensores, así como los Sistemas y herramientas informáticas han provocado una revolución en la Agricultura. La utilización de estas tecnologías siempre ha tenido el interés de emplear de una forma eficaz y eficiente los recursos disponibles, así como humanizar el trabajo agrícola. En este artículo se hace una revisión de los beneficios obtenidos con el empleo de los drones a nivel internacional y también en Cuba. No obstante, se han citado también los trabajos que plantean la utilización de la Agricultura de Precisión en Cuba. Se observa que todavía son pocos los trabajos publicados que describan de forma detallada los resultados obtenidos que permitan su reproducibilidad y abundan los que describen los mismos de forma cualitativa. Se considera que en el caso particular de los drones, resulta muy costosa todavía la extensión de su utilización ya que de forma práctica sólo la Empresa GEOCUBA dispone de toda la infraestructura y el personal capacitado para su utilización más completa por lo que las diferentes empresas, instituciones y campesinos que deseen emplearlos deben realizar grandes desembolsos.

Abstract In view of the growing scarcity of water for agriculture, the increase in food demand and future drought scenarios posed by climate change, it is essential to design new technologies that contribute to lower water consumption. In this research, high-resolution images have been used to estimate evapotranspiration in rice fields by applying the METRICTM (Mapping Evapotranspiration at High Resolution using Internalized Calibration) energy balance model. For this purpose, 5900 m2 of crop were monitored under continuous flood irrigation (CF) and 2600 m2 under alternate wetting and drying irrigation (AWD), in addition to some plots with lateral filtration. Ten flights were conducted between tillering and flowering phases, five flights with a Matrice 210 UAV equipped with a Parrot Sequoia multispectral camera, and five flights with a Matrice 300 RTK equipped with a H20T thermal camera. Field data were collected from vegetation indices (NDVI and LAI), and readings from a radiometer, to adjust information from multispectral and thermal images, respectively, and to obtain the components of the surface energy balance. Mean values for crop evapotranspiration (ETc) of 6.34 ± 1.49 and 5.84 ± 0.41 mm d-1 were obtained for IC irrigation and AWD irrigation, respectively, obtaining a water saving of 42% with a yield reduction of 14%, providing a guide for proper irrigation management, however, it is suggested to use the model to optimize yield by obtaining critical thresholds for optimal application of AWD in the face of water resource scarcity.

Resumen Ante la creciente escasez del agua para la agricultura, el incremento de la demanda de alimentos y los futuros escenarios de sequía que nos plantea el cambio climático es indispensable diseñar nuevas tecnologías que contribuyan a un menor consumo de agua. En esta investigación se han empleado imágenes de alta resolución para estimar la evapotranspiración en arrozales aplicando el modelo de balance de energía METRICTM (Mapping Evapotranspiration at High Resolution using Internalized Calibration). Para ello, se monitorizaron 5900 m2 de cultivo bajo riego por inundación continua (IC) y 2600 m2 bajo la técnica de riego de alternancia humedecimiento y secado (AWD, por sus siglas en inglés), además de algunas parcelas con filtración lateral. Se realizaron 10 vuelos entre las etapas de macollamiento y floración, cinco vuelos con un VANT Matrice 210 con una cámara multiespectral Parrot Sequoia, y cinco vuelos con un Matrice 300 RTK equipado con una cámara térmica H20T. Se colectó información de campo de los índices de vegetación (NDVI e IAF), y lecturas de un radiómetro, para ajustar información de las imágenes multiespectrales y térmicas, respectivamente; y obtener los componentes del balance de energía en superficie. Se obtuvo valores medios para evapotranspiración del cultivo (ETc) de 6,34 ±1,49 y 5,84 ± 0,41 mm d-1 para riego IC y riego AWD, respectivamente, obteniéndose un ahorro de agua del 42% con una reducción del rendimiento en 14%, proporcionando una guía para la gestión adecuada del riego, sin embargo, se sugiere utilizar el modelo para optimizar el rendimiento obteniendo umbrales críticos para la aplicación óptima de AWD frente a la escasez del recurso hídrico.

ABSTRACT The objective of this work was to evaluate the potential of vegetation indices (VIs), obtained using aerial images from an unmanned aerial vehicle (UAV), for assessing water status of maize hybrids subjected to different water regimes under the soil and climate conditions of Teresina, Piauí, Brazil. Evaluations were carried out considering the application of five water regimes (WR) based on the crop evapotranspiration (ETc) (40%, 60%, 80%, 100%, and 120% of ETc) for three maize hybrids: BRS 3046 (conventional triple hybrid), BRS 2022 (conventional double hybrid), Status VIP3 (transgenic simple hybrid). A randomized block experimental design with four replications was used, in a 5×3 split-plot arrangement, consisting of WRs in the plots and maize hybrids in the subplots. A UAV was used for acquiring multispectral images. Eighteen VIs were evaluated and correlated with stomatal conductance (gs), leaf relative water content (RWC), and grain yield (GY). The VIs TCARI -RE and NDVI presented correlation with gs, whereas MNGRD and GCI presented correlation with RWC; therefore, they were considered promising for assessing the water status of maize plants. NDVI and WDRVI presented correlations with GY. Maps of NDVI, MNGRV, and WDRVI showed spatial correlation with gs, RWC, and GY measurements, respectively, in response to the applied WRs, denoting potential for assessing the water status of maize plants using aerial images from UAV. VIs, , (VIs) UAV, (UAV) Teresina Piauí Brazil WR (WR ETc (ETc 40%, 40 (40% 60 60% 80 80% 100 100% 120 304 conventional hybrid, hybrid hybrid) 202 VIP transgenic hybrid. . 53 5 3 5× splitplot split plot arrangement subplots gs (gs) RWC (RWC) (GY) RE therefore MNGRV measurements respectively (VIs (UAV 40% 4 (40 6 8 10 12 30 20 (gs (RWC (GY (4 1 2 (

RESUMO Objetivou-se avaliar a capacidade de índices de vegetação (IV), obtidos de imagens aéreas por aeronave remotamente pilotada (ARP), em detectar o estado hídrico de híbridos de milho submetidos a diferentes regimes hídricos, nas condições de solo e clima de Teresina, Piauí, Brasil. Avaliou-se a aplicação de cinco regimes hídricos (RHs) com base na evapotranspiração da cultura (ETc) (40%, 60%, 80%, 100% e 120% da ETc) em três híbridos de milho: BRS 3046 (híbrido triplo convencional); BRS 2022 (híbrido duplo convencional); e Status VIP3(híbrido simples transgênico). O delineamento experimental foi o de blocos ao acaso, parcelas subdivididas, sendo as parcelas os RHs e as subparcelas os híbridos, com quatro repetições. Utilizou-se uma ARP para a aquisição das imagens multiespectrais. Avaliaram-se 18 índices de vegetação, os quais foram correlacionados com medidas de condutância estomática (gs), conteúdo relativo de água na folha (CRA) e produtividade de grãos (PG). Os IVs TCARI-RE e NDVI apresentaram correlação com gs e os IVs MNGRD e GCI foram correlacionados com o CRA e, portanto, são considerados promissores na detecção do estado hídrico do milho. Os IVs NDVI e WDRVI apresentaram correlações com a PG. Os mapas de NDVI, MNGRV e WDRVI mostraram correlação espacial com as medidas de gs, CRA e PG, respectivamente em resposta aos RHs, indicando aplicação potencial na detecção do estado hídrico do milho por meio de imagens aéreas obtidas por ARPs. Objetivouse Objetivou se IV, IV , (IV) ARP, (ARP) Teresina Piauí Brasil Avaliouse Avaliou (RHs ETc (ETc 40%, 40 (40% 60 60% 80 80% 100 120 304 híbrido convencional convencional) 202 VIP3híbrido VIPhíbrido VIP3 VIP transgênico. transgênico . transgênico) acaso subdivididas repetições Utilizouse Utilizou multiespectrais Avaliaramse Avaliaram 1 (gs) (CRA PG (PG) TCARIRE TCARI RE portanto ARPs (IV (ARP 40% 4 (40 6 8 10 12 30 20 (gs (PG (4 3 2 (

ABSTRACT: This article presents an experimental study to verify the feasibility of using the emerging UAV technology in the mapping of fishing grounds exploited by artisanal fishing in Sepetiba Bay, in the south of the state of Rio de Janeiro-Brazil, aiming to better understand the functionality and information generated by the equipment, and whether the data can help improve local fisheries management and also provide information for the implementation of simplified traceability for regional fish. The study area included four locations, Ilha da Madeira, Vila Geny, Coroa Grande and Ponte Preta, all located in Sepetiba Bay, located in the municipality of Itaguaí, in the southern region of the state of Rio de Janeiro. The aerial mapping was carried out in September, October and November 2017, between 10 am and 12 pm (GMT-3), employing a Phantom 3 Professional UAV (DJI, Shenzhen, China), Anac Brasil registration number PP-011092014. The onboard camera a DJI 4K Edition Sony Exmor R Model IMX117: 7.81mm equipped with a CMOS sensor dimension of 6.2 mm, 4000 x 3000 12 megapixel resolution, with an f/2.8 lens and field of view (FOV) of 94, having a focal length of 14mm. Images were collected perpendicularly to the main plan. Flight height was set at 80 m, flight speed was determined based on the overlap of 80%, dimension of area to be mapped, and battery life. Hence, the operator utilized a average flight speed of 25 km/h. ground sample distance (GSD) was 1.20 cm/px. and an overlap of 80% between images was established to avoid possible failures and orthomosaic information gaps. For each fishery mapped, standard software processing was carried out, which consists of: aligning the photos, creating a point cloud, creating a digital elevation model, and finally the orthomosaic itself. Once processed, the orthomosaics were exported from Agis Soft Photo Scan Professional to Google Earth (Google Inc.), where it is possible to make a more comprehensive assessment of fisheries in a much more practical and faster way. A total of four flights were carried out, one for each study area, averaging 10 minutes each. As a result, the technology proved to be viable to apply, since it made it possible to identify and map the areas defined for this research, generating data such as distance and, characteristics of the place, which could be used to track the fish caught and landed, in addition to enabling the monitoring of vessels and fishing, and thus improve the management of local fisheries. ABSTRACT Bay JaneiroBrazil, JaneiroBrazil Janeiro Brazil, Brazil Janeiro-Brazil equipment locations Madeira Geny Preta Itaguaí September 2017 1 GMT3, GMT3 GMT , (GMT-3) DJI, (DJI Shenzhen China, China China) PP011092014. PP011092014 PP 011092014. 011092014 PP-011092014 K IMX117 IMX 781mm mm 7 81mm 62 6 2 6. 400 300 resolution f28 f 8 f/2. FOV (FOV 94 14mm plan m mapped life Hence kmh km h km/h GSD (GSD 120 20 1.2 cmpx cm px cm/px gaps photos cloud model itself processed Inc., Inc Inc. Inc.) way result apply research place landed 201 (GMT-3 PP01109201 01109201 PP-01109201 IMX11 40 30 f2 f/2 9 1. (GMT- PP0110920 0110920 PP-0110920 IMX1 4 f/ (GMT PP011092 011092 PP-011092 PP01109 01109 PP-01109 PP0110 0110 PP-0110 PP011 011 PP-011 PP01 01 PP-01 PP0 0 PP-0 PP-

RESUMO: Este artigo apresenta um estudo experimental para verificar a viabilidade de uso da tecnologia emergente UAV no mapeamento dos pesqueiros explotados pela pesca artesanal na Baía de Sepetiba, no sul do estado do Rio de Janeiro-Brasil, visando conhecer melhor a funcionalidade e informações geradas pelo equipamento, e se os dados poderão auxiliar na melhoria do gerenciamento da pesca local e também subsidiar informações para a implantação de uma rastreabilidade simplificada para o pescado regional. A área de estudo contemplou quatro localidades sendo Ilha da Madeira, Vila Geny, Coroa Grande e Ponte Preta, todas inseridas na Baía de Sepetiba, localizada no município de Itaguaí, região sul do estado do Rio de Janeiro. O mapeamento aéreo foi realizado nos meses de setembro, outubro e novembro de 2017, entre 10h e 12h (GMT-3), utilizando um VANT Phantom 3 Professional (DJI, Shenzhen, China), registro Anac Brasil PP-011092014. A câmera integrada é uma DJI 4K Edition Sony Exmor R Modelo IMX117: 7,81 mm equipada com sensor CMOS de 6,2 mm, resolução 4000 x 3000 de 12 megapixels, com lente f/2.8 e campo de visão (FOV) de 94, possuindo uma distância focal de 14 mm. As imagens foram coletadas perpendicularmente ao plano principal. A altura de voo foi fixada em 80 m, a velocidade de voo foi determinada com base na sobreposição de 80%, dimensão da área a ser mapeada e duração da bateria. Assim, o operador utilizou uma velocidade média de voo de 25 km/h. a distância da amostra terrestre (GSD) foi de 1,20 cm/px. e foi estabelecida uma sobreposição de 80% entre as imagens para evitar possíveis falhas e lacunas de informações do ortomosaico. Para cada pesqueiro mapeado foi realizado o processamento padrão do software, que consiste em: alinhamento das fotos, criação da nuvem de pontos, criação de modelo de elevação digital, e finalmente o ortomosaico propriamente dito. Uma vez processado, os ortomosaicos foram exportados do Agis Soft Photo Scan Professional para o Google Earth (Google Inc.), onde é possível fazer uma avaliação mais abrangente dos pesqueiros de uma maneira muito mais prática e rápida. Foram realizados um total de quatro voos, um para cada área de estudo, com duração média de 10 minutos cada. Como resultado, a tecnologia mostrou-se viável de aplicação, uma vez que possibilitou identificar e mapear as áreas definidas para nesta pesquisa, gerando dados como distância e características do local, que poderão ser utilizados para rastrear o pescado capturado e desembarcado, além de possibilitar o monitoramento das embarcações e da pesca e assim, aprimorar o gerenciamento da pesca local. RESUMO Sepetiba JaneiroBrasil, JaneiroBrasil Janeiro Brasil, Janeiro-Brasil equipamento regional Madeira Geny Preta Itaguaí setembro 2017 h GMT3, GMT3 GMT , (GMT-3) DJI, (DJI Shenzhen China, China China) PP011092014. PP011092014 PP 011092014. 011092014 PP-011092014 K IMX117 IMX 781 7 81 7,8 62 6 2 6, 400 300 1 megapixels f28 f 8 f/2. FOV (FOV 94 principal m bateria Assim kmh km km/h GSD (GSD 120 20 1,2 cmpx cm px cm/px software fotos pontos digital dito processado Inc., Inc Inc. Inc.) rápida voos resultado mostrouse mostrou aplicação pesquisa desembarcado assim 201 (GMT-3 PP01109201 01109201 PP-01109201 IMX11 78 7, 40 30 f2 f/2 9 1, (GMT- PP0110920 0110920 PP-0110920 IMX1 4 f/ (GMT PP011092 011092 PP-011092 PP01109 01109 PP-01109 PP0110 0110 PP-0110 PP011 011 PP-011 PP01 01 PP-01 PP0 0 PP-0 PP-

Abstract Unmanned Aerial Vehicles (UAVs), often called drones, have gained progressive prevalence for their swift operational ability as well as their extensive applicability in diverse real-world situations. Of late, UAV usage in precision agriculture has attracted much interest from scientific community. This study will look at drone aid in precise farming. Big data has the ability to analyze enormous amounts of data. Due to this, it is one of the diverse crucial technologies of Information and Communication Technology (ICT) which had applied in precision agriculture for the abstraction of critical information as well as for assisting agricultural practitioners in the comprehension of the most feasible farming practices, and also for better decision-making. This work analyses communication protocols, as well as their application toward the challenge of commanding a drone fleet for protecting crops from infestations of parasites. For computer-vision tasks as well as data-intensive applications, the method of deep learning has shown much potential. Due to its vast potential, it can also be used in the field of agriculture. This research will employ several schemes to assess the efficacy of models includes Visual Geometry Group (VGG-16), the Convolutional Neural Network (CNN) as well as the Fully-Convolutional Network (FCN) in plant disease detection. The methods of Artificial Immune Systems (AIS) can be used in order to adapt deep neural networks to the immediate situation. Simulated outcomes demonstrate that the proposed method is providing superior performance over various other technologically-advanced methods. UAVs, UAVs , (UAVs) drones realworld real world situations late community this ICT (ICT practices decisionmaking. decisionmaking decision making. making decision-making protocols parasites computervision computer vision dataintensive intensive applications potential VGG16, VGG16 VGG 16 (VGG-16) CNN (CNN FullyConvolutional Fully FCN (FCN detection AIS (AIS situation technologicallyadvanced technologically advanced (UAVs VGG1 1 (VGG-16 (VGG-1 (VGG- (VGG

Resumo Os veículos aéreos não tripulados (UAVs), muitas vezes chamados de drones, ganharam prevalência progressiva por sua rápida capacidade operacional, bem como por sua ampla aplicabilidade em diversas situações do mundo real. Ultimamente, o uso de UAV na agricultura de precisão tem atraído muito interesse da comunidade científica. Este estudo analisará a ajuda de drones na agricultura de precisão. O big data tem a capacidade de analisar enormes quantidades de dados. Por isso é uma das diversas tecnologias cruciais de tecnologia da informação e comunicação (TIC) que foram aplicadas na agricultura de precisão para a abstração de informações críticas, bem como para auxiliar os praticantes agrícolas na compreensão das práticas agrícolas mais viáveis, e também para uma melhor tomada de decisão. Este trabalho analisa protocolos de comunicação, bem como sua aplicação no desafio de comandar uma frota de drones para proteção de lavouras contra infestações de parasitas. Para tarefas de visão computacional, bem como para aplicações com uso intensivo de dados, o método de aprendizagem profunda mostrou muito potencial. Devido ao seu vasto potencial, também pode ser utilizado na área agrícola. Esta pesquisa empregará vários esquemas para avaliar a eficácia de modelos, incluindo o Grupo de Geometria Visual (VGG-16), a Rede Neural Convolucional (CNN), bem como a Rede Totalmente Convolucional (FCN) na detecção de doenças de plantas. Os métodos de sistemas imunológicos artificiais (AIS) podem ser utilizados para adaptar redes neurais profundas à situação imediata. Os resultados simulados demonstram que o método proposto oferece desempenho superior em relação a vários outros métodos tecnologicamente avançados. UAVs, UAVs , (UAVs) operacional real Ultimamente científica dados TIC (TIC críticas viáveis decisão parasitas computacional potencial agrícola modelos VGG16, VGG16 VGG 16 (VGG-16) CNN, CNN (CNN) FCN (FCN plantas AIS (AIS imediata avançados (UAVs VGG1 1 (VGG-16 (CNN (VGG-1 (VGG- (VGG

Abstract Multirotors Aerial Vehicles are special class of Unmanned Aerial Vehicles with many practical applications. The growing demand for this class of aircraft requires tools that speed up their development. Simulated environments have gained increasing importance, as they facilitate testing and prototyping solutions, where virtual environments allow real-time interaction with simulated models, with similar behavior to real systems. More recently, the use of Augmented Reality has allowed an increasing experience of immersion and integration between the virtual world and a real scenario. This work proposes the use of Augmented Reality technology and a simulated model of a multirotor to create an interactive flight environment, aiming to improve the user experience in the analysis of simulated models. For this purpose, a smartphone was adopted as a hardware platform, a game engine is used as a basis for the development of the Augmented Reality application, that represents a numerical simulation of the flight dynamics and the control system of a multirotor, and a game controller is adopted for user interaction. The resulting system demonstrates that Augmented Reality is a viable technology that can be used to increase the possibilities of evaluating simulated systems. applications importance solutions realtime time models systems recently scenario environment purpose platform application

BACKGROUND: The welfare of crocodiles on commercial farms in southern Africa requires precise assessment, focusing on stocking densities and pen conditions. However, disputes between animal welfare groups and farm owners persist due to inadequate methodologies for quantifying these factors OBJECTIVES: This study aimed to address these disputes and enhance crocodile welfare assessment by introducing a novel technique using a low-cost consumer uncrewed aerial vehicle (UAV) and open-source photogrammetry software. The objective was to quantify key welfare parameters accurately and efficiently METHOD: The study involved applying the UAV-based technique to two large Nile crocodile (Crocodylus niloticus) farms in South Africa. The approach enabled the mapping and surveying of crocodile pens, facilitating the determination of stocking densities, biomass indicators, and other pen-related attributes. Comparisons were made between UAV-derived crocodile counts and farmer estimates RESULTS: The UAV-based crocodile counts significantly differed from the estimates provided by farmers, underscoring the need for a more precise assessment method. The technique's cost-effectiveness was evident, with implementation expenses totalling less than R10 000, a fraction of the cost associated with commercial UAV surveys CONCLUSIONS: The introduced UAV-based technique offers a valuable solution to the ongoing debates regarding crocodile welfare on commercial farms. By quantifying key parameters accurately and economically, it empowers farmers and animal welfare groups to make informed decisions. The method's ease of adoption, demonstrated through its use by some Southern African crocodile farmers, signifies its potential for widespread application, ultimately contributing to improved crocodile welfare

ABSTRACT Background: The objective of this study was to detect native trees from different flight configurations and smoothing techniques in Canopy Height Models (CHMs) in a native remnant in the municipality of Curitiba, State of Paraná, Brazil. To do so, eight flights were carried out with a Phantom 4, with two flight planning applications (Litchi and Pix4Dcapture) and two flight arrangements (single and double), totaling four flights for each application. All flights were processed using the Pix4Dmapper program. The LiDAR database was obtained with a DJI Matrice 300 system and from this data, the Digital Terrain Model (DTM) of the area was extracted. From the UAV data, the Digital Surface Model (DSM) of each flight was obtained. Subtracting each DSM from the DTM resulted in the CHMs for each UAV flight flown. The CHMs were smoothed with the CHMsmoothing function and three search window sizes were tested (6.5 x 6.5, 8 x 8, and 10 x 10). Results: The results of the ITD approach revealed that in unsmoothed and smoothed CHMs, the search window of size 8 resulted in the best precision metrics, with the highest recall, precision, and F-score values. In the smallest window size, there was the highest number of false positives while in the largest window size, the omitted trees were more representative. Conclusion: The best combination between flight parameters and smoothing techniques was with the Litchi application, with a single flight and 80% lateral and longitudinal overlap, resulting in individuals detected with an F-score of 0.94. Background (CHMs Curitiba Paraná Brazil so 4 Pix4Dcapture PixDcapture Pix Dcapture double, double , double) application PixDmapper Dmapper program 30 data (DTM extracted (DSM flown 6.5 65 6 5 (6. 1 10. . 10) Results metrics recall Fscore F score values representative Conclusion 80 overlap 094 0 94 0.94 3 6. (6 09 9 0.9 ( 0.

ABSTRACT The management of natural and planted forests can be conducted sustainably by implementing techniques that consider the spatial and temporal variability of the plant and soil. In this context, precision silviculture through remote sensing can play a vital role, mainly when using Unmanned Aerial Vehicles (UAVs) equipped with specific sensors. In the present study, an automated computational routine (based on computer vision techniques) was developed and validated to perform forest inventory in commercial Eucalyptus grandis forests, using an orthophoto mosaic obtained with an RGB sensor built-in to a UAV. The developed routine employs computer vision techniques, including template matching to locate plants, Delaunay triangulation to create a mesh and indicate the predominant orientations of the planting rows, and an adaptation of the Hough transform to estimate the analytical parameters of each row. These parameters are refined using linear regression to generate the lines best fitting the input data. Finally, the failure segments on each row are identified by detecting the plants in each row. A simulation of regular point distribution on the segment is then used to identify the planting failure. This process allows the geolocation of each failure point for replanting to be quantified. The routine has significant potential in the forest inventory, allowing the geolocation of failures with an overall accuracy of 0.97 and 0.99, respectively, and a maximum positional error of 0.15 m and 0.20 m, respectively. soil context role UAVs (UAVs sensors study based builtin built UAV rows data Finally quantified 097 0 97 0.9 099 99 0.99 respectively 015 15 0.1 020 20 0.2 09 9 0. 01 1 02 2

Abstract Linked to important pillars of the Brazilian economy, studies related to mining and the use of UAVs (unmanned aerial vehicles) have been gaining ground in recent years, especially related to the geotechnics of dams and precision agriculture. However, the interdisciplinarity needed to carry out more robust analyses are still lacking in some areas, which brings up good opportunities to be explored. In this sense, the present study combined products obtained through different activities and methodologies, aiming at a solution that provides predictability to the mining dam management process, specifically linked to modeling and obtaining data on solid content in the tailings, arising from the processing of bauxite, based on geoprocessing. The activities necessary to achieve the sought objectives covered, briefly: 2021 tailings sampling campaign carried out in the Plateau Disposal System (RP1), laboratory analyses (humidity), aerial survey with Unmanned Aerial Vehicle (UAV), geoprocessing for the extraction of luminosity values of images and statistical analysis of dispersion. As a result, it was observed that the increase in the number of drying cracks (highlighted in the images by dark pixels) is directly related to the drying of the waste (increase in the percentage of solids), whose quadratic model presents an excellent relationship between the values of the pixels in the images and percentage of solids from laboratory data, implying a determination coefficient of 91.74%. Furthermore, gains in security, predictability and economy for the processes stand out, when compared to the traditional methods applied, in addition to an excellent potential to be developed in future studies. unmanned vehicles years agriculture However areas explored sense methodologies process bauxite covered briefly 202 RP1, RP1 RP , (RP1) humidity, humidity (humidity) UAV, UAV (UAV) dispersion result highlighted solids, solids) 9174 91 74 91.74% Furthermore security applied 20 (RP1 (humidity (UAV 917 9 7 91.74 2 (RP 91.7 91.

ABSTRACT To explore the downwash airflow characteristics of a multi-rotor UAV and its effect on droplet movement and deposition, a comparative experiment between static-state and hovering-state spraying was carried out with a DJI MG-1P eight-rotor plant protection UAV. The results showed that the overall strength of the downwash airflow decreased further below the UAV. The direction of the airflow directly under the UAV was almost vertically downward and first increased and then decreased in speed. Closer to the ground, the airflow was directed outward with angles in the vertical direction of 71.3° and 81.5°. In general, the downwash airflow velocity and direction on both sides of the UAV were nearly symmetrically distributed. Compared with the static-state spraying, the high-speed downwash airflow in the hovering-state spraying significantly increased droplet velocity and size. The downwash airflow increased the amount of spray deposition in the different measurement layers but reduced the uniformity of the deposition. For the section (L-B-F-J-M) perpendicular to the flight direction, the near ground deposition was the best for the hovering-state spraying, with an average deposition of 5.85 μL/cm2 and an RSD of 36.87%. This study can be a reference for the optimization of the downwash airflow and the improvement of the spray application uniformity of multi-rotor UAVs. multirotor multi rotor staticstate static state hoveringstate hovering MG1P MGP MG 1P P eightrotor eight speed 713 71 3 71.3 815 81 5 81.5° general distributed highspeed high size LBFJM L B F J M (L-B-F-J-M 585 85 5.8 μLcm2 μLcm μL cm2 cm μL/cm 3687 36 87 36.87% UAVs 7 71. 8 81.5 58 5. 368 36.87 81. 36.8 36.