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 -

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 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

Resumen El fenómeno subsidencia ocasionado por la sobreexplotación excesiva de algunos acuíferos para el abastecimiento de agua potable, ha provocado la aparición de agrietamientos y asentamientos diferenciales en los pavimentos, repercutiendo en un sin número de daños en las vías terrestres en diferentes estados de la República Mexicana y del mundo. En efecto, la tecnología ha progresado y de esta manera se han incorporado nuevas técnicas para acelerar la solución a este tipo de problemas como el Vehículo Aéreo No Tripulado (VANT) y el Sistema de Posicionamiento Global (GPS); estas tecnologías han influido en distintas tareas como: a) levantar grandes áreas en periodos pequeños, b) disminuir el alto requerimiento de personal y c) la poca demanda de los recursos necesarios para cubrir las necesidades de uso. Esta investigación presenta una metodología para la medición de los agrietamientos en pavimentos con la finalidad de acelerar el proceso de identificación y predicción de asentamientos en un área, misma que presenta continuos movimientos por subsidencia desde hace años, provocando cuantiosos daños en la infraestructura existente. Se consideró monitorear el área por doce meses, obteniendo un ortomosaico y cinco Modelos Digitales de Elevación (MDE) cada dos meses y procesando mediante softwares especializados en fotogrametría VANT usando Puntos de Control Terrestres (GCP o BN) para poder corregir los MDE mediante la ortorectificación de las fotografías. Los resultados obtenidos muestran cómo se reduce el tiempo de identificación de daños en los pavimentos, asimismo, se han obtenido asentamientos de magnitud con 5.7 cm en el área, además de un procesamiento de datos de dos horas cubriendo un área de 27,224 m2. De la misma manera, con este procesamiento es posible conocer un valor más aproximado, se han podido medir la longitud y ancho de las grietas por la relación GSD (cm/pix) que es programada en el vuelo del VANT.

Abstract The subsidence phenomenon caused by the excessive overexploitation of some aquifers for the supply of drinking water, has caused the appearance of cracks and differential settlements in the pavements, affecting countless damages to land roads in different states of the Mexican Republic and of the world. Indeed, technology has progressed and thus new techniques have been incorporated to speed up the solution to these types of problems, being: the Unmanned Aerial Vehicle (UAV) and the Global Positioning System (GPS); These technologies have influenced different tasks such as: a) raising large areas in small periods, b) reducing the high requirement of personnel and, c) the low demand for the resources necessary to cover the needs of use. This research presents a methodology for the measurement of cracks in pavements in order to speed up the process of identification and prediction of settlements in an area, which has had continuous movements due to subsidence for years, causing extensive damage to existing infrastructure. It was considered to monitor the area for twelve months, obtaining an orthomosaic and five Digital Elevation Models (DEMs) every two months and processing through specialized UAV photogrammetry software using Ground Control Points (GCP or BN) in order to correct the DEMs through orthorectification. of the photographs. The results obtained show how the time to identify pavement damage is reduced, likewise, settlements of a magnitude of 5.7 cm have been obtained in the area, in addition to a two-hour data processing covering an area of 27,224 m2. In the same way, with this processing it is possible to know a more approximate value, it has been possible to measure the length and width of the cracks by the GSD ratio (cm/pix) that is programmed in the UAV flight.

ABSTRACT Pollination using Unmanned Aerial Vehicles (UAVs) has emerged as a promising solution to the current pollination crisis. The dwindling number of natural pollinators forces the production of cutting-edge pollination technologies. This work proposes a module to optimize path planning for UAVs to travel in a minimum time. This study suggests a novel approach to maximize cross-pollination and minimize travel time with a highly efficient meta-heuristic optimization algorithm. This paper briefly describes a process we previously developed for flower insights that includes flower gender and gene identification and classification. With an insight into flowers, the proposed algorithm aims to achieve efficient and accurate pollination while minimizing energy consumption and convergence time. The Versatile Flower Pollination Algorithm’s (VFPA) approach is superior because it significantly reduces the amount of computing required while maintaining almost optimal performance. The proposed algorithm was successfully implemented to compute the distance between the male and female flowers and transfer nectar with a difference in the nectar value. The proposed approach shows promise for addressing the pollination crisis and reducing the reliance on traditional methods. (UAVs cuttingedge cutting edge technologies crosspollination cross metaheuristic meta heuristic classification Algorithms Algorithm s VFPA (VFPA performance value methods

RESUMO A polinização por meio de Veículos Aéreos Não Tripulados (VANTs) tem emergido como uma solução promissora para a atual crise de polinização. A diminuição do número de polinizadores naturais força a produção de tecnologias de polinização de ponta. Este trabalho propõe um módulo para otimizar o planejamento de trajetos para que os VANTs viajem em um tempo mínimo. Este estudo sugere uma nova abordagem para maximizar a polinização cruzada e minimizar o tempo de viagem com um algoritmo de otimização meta-heurística altamente eficiente. Este artigo descreve brevemente um processo que desenvolvemos anteriormente para insights de flores que inclui o gênero da flor e a identificação e classificação de genes. Com uma visão das flores, o algoritmo proposto visa alcançar uma polinização eficiente e precisa, minimizando o consumo de energia e o tempo de convergência. A abordagem do Versátil Algoritmo de Polinização de Flores (VFPA) é superior porque reduz significativamente a quantidade de computação necessária, mantendo um desempenho quase ideal. O algoritmo proposto foi implementado com sucesso para calcular a distância entre as flores masculinas e femininas e transferir néctar com uma diferença no valor do néctar. A abordagem proposta mostra-se promissora para enfrentar a crise de polinização e reduzir a dependência dos métodos tradicionais. (VANTs ponta mínimo metaheurística meta heurística genes precisa convergência VFPA (VFPA necessária ideal mostrase mostra se tradicionais

Abstract Climate variability points out important challenges that forest ecosystems are currently facing. In order to better understanding their vital processes, it is necessary to have cutting-edge technologies and unmanned aerial vehicles (UAV) play a fundamental role. Its applications have been extended to civilian use, natural disaster response, humanitarian action, and earth science research. Although UAV have been used for different tasks and services, there is a lack of information on the state of the art of methods, uses and trends in forest management. This paper contributes to knowledge in terms of research volume over time, differentiated by journals and countries; most influential papers and authors; scientific collaboration networks; types of vegetation and fields of study; hardware and software that are relevant for forest monitoring. The results showed 117 scientific papers published from 2012 to 2019, mainly in China and USA including five clusters of scientific collaborations. The studies focused on individual attributes of forest structure, inventories, and vigor forest monitoring. Also, temperate forests were mostly studied around the world. The rotorcrafts drones were the most used with RGB sensor from DJI as the dominant market leader. Photoscan was the photogrammetry software more applied on forestry research. Lastly, we confirm that UAV are exponentially expanding over the last five years. In Mexico, this potential is expected to increase, taking advantage of its mega diversity, great forestry tradition and the researchers that are becoming specialized.

Resumen La variabilidad climática plantea importantes retos que actualmente enfrentan los ecosistemas forestales. Para mejorar el entendimiento de sus procesos vitales es necesario contar con tecnologías de vanguardia, una de los cuales son los vehículos aéreos no tripulados (VANT) que desempeñan un papel fundamental. Si bien, los VANT se han usado para diferentes tareas y servicios; existe un vacío de información sobre el estado del arte de los enfoques, usos y tendencias en la gestión forestal. Este estudio es una aportación al conocimiento, en términos de volumen de investigación a través del tiempo; diferenciada por revistas y por países; artículos y autores más influyentes; redes de colaboración científica; tipos de vegetación y campos de estudio; hardware y software relevante utilizado. Los resultados mostraron 117 artículos científicos publicados del 2012 al 2019, principalmente de China y Estados Unidos de América, y cinco clústeres de colaboración científica. Los estudios se enfocaron, principalmente, en los atributos individuales de la estructura forestal, inventarios y monitoreo del vigor forestal. Los bosques templados fueron los ecosistemas más estudiados alrededor del mundo, mientras que los drones de multirrotor los más usados con el sensor RGB de DJI como la marca líder dominante. El Photoscan fue el programa fotogramétrico más aplicado en investigación forestal. Por último, se confirma que el uso de los VANT se ha expandido exponencialmente en el último lustro. En México, se prevé que dicho potencial se incremente, a partir de su megadiversidad, gran tradición forestal y los investigadores que están especializándose en el tema.

Dentre as diversas tecnologias utilizadas para cálculo do volume de materiais na mineração, o Veículo Aéreo Não Tripulado (VANT) e o Light Detecting And Ranging (LiDAR), surgem como alternativas rápidas e precisas, em comparação com as técnicas de topografia tradicionais como estação total e Global Navigation Satellite System (GNSS). Diante destas novas tecnologias, este estudo avaliou a acurácia do cálculo de volume, realizado por meio de Modelos Digitais de Terreno (MDTs), gerados a partir das tecnologias VANT, LiDAR e GNSS, em uma pilha de rejeito da extração de calcário laminado, explorado para fabricação de lajotas in natura, comercializado com o nome de "Pedra Cariri", no município de Santana do Cariri, no Estado do Ceará. A avaliação da acurácia foi realizada com base no método de testes de hipóteses, a partir da análise de tendência e precisão, sendo os resultados classificados de acordo com o Padrão de Exatidão Cartográfica dos Produtos Cartográficos Digitais (PEC-PCD). Como resultado, o modelo gerado a partir do VANT apresentou a melhor acurácia no cálculo de volume da pilha de rejeito, objeto deste estudo, seguido pela modelagem obtida pelos levantamentos GNSS e LiDAR.

Among the various technologies used for calculate the volume of materials in mining, the Unmanned Aerial Vehicle (UAV) and the Light Detecting And Ranging (LiDAR), appear as fast and accurate alternatives compared to traditional surveying techniques such as total station and Global Navigation Satellite System (GNSS). Using these new technologies, the aim of this study was to evaluate the accuracy in volume calculation, performed by Digital Terrain Models (DTM), generated from the UAV technologies, LiDAR and GNSS in a pile of waste extraction laminated limestone (reject material), exploited for the manufacture of tiles in nature, marketed under the name of "Cariri Stone" in the city of Santana do Cariri, state of Ceará. The assessment of accuracy was based on hypothesis testing method, from the trend and precision of analysis, and the results classified according to the Cartographic Accuracy of Digital Cartographic Standard Products (PEC-PCD). As a result, the model generated from the UAV presented the best accuracy in the waste cell volume calculation, object of this study, followed by modeling obtained by GNSS surveys and LiDAR.

ABSTRACT: The developments of innovative adaptive structures on Unmanned Aerial Vehicles (UAVs), such as morphing wings, can potentially reduce system complexities by eliminating control surfaces and their auxiliary equipment. This technology has the potential of allowing a UAV to adapt to different mission requirements or to execute a particular mission more effectively by maintaining an optimum airfoil section over a range of speeds for different segments of a mission profile. Studies on a number of smart materials candidates are currently available in the open literature to achieve wing morphing. The material selection depends on several factors including fast dynamic response, low weight, capability to operate over a wide range of flight conditions and low power consumption. This paper presents a review on smart materials technologies for UAV morphing wings. A numerical study in terms of power requirements is also presented for two morphing wing concepts: flapped and twisted wing planforms. The energy calculations for both morphing configurations were based on a two-step procedure. The first step consists of computing the aerodynamic energy using an in-house Vortex-Lattice (VL) based program. Subsequently the pressure field obtained from the first step is then mapped into a finite element mesh and the structural strain energy is calculated. The numerical results indicated that flapped morphing wings have a better aerodynamic performance when compared to twisted wings and different morphing levels can be achieved using lighter smart materials with lower specific energy for this configuration.