<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2071-0054</journal-id>
<journal-title><![CDATA[Revista Ciencias Técnicas Agropecuarias]]></journal-title>
<abbrev-journal-title><![CDATA[Rev Cie Téc Agr]]></abbrev-journal-title>
<issn>2071-0054</issn>
<publisher>
<publisher-name><![CDATA[Universidad Agraria de La Habana]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2071-00542021000100001</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Development of a Remotely Piloted Aircraft System (RPAS) for Agricultural Use (Part I)]]></article-title>
<article-title xml:lang="es"><![CDATA[Desarrollo de un Sistema de Aeronave Pilotada a Distancia (RPAS), para uso agrícola (Parte I)]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Pérez-Paredes]]></surname>
<given-names><![CDATA[Juan J.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[López-Canteñs]]></surname>
<given-names><![CDATA[Gilberto J.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Velázquez-López]]></surname>
<given-names><![CDATA[Noé]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[López-Cruz]]></surname>
<given-names><![CDATA[Irineo L.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma Chapingo  ]]></institution>
<addr-line><![CDATA[Chapingo Edo. México]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>03</month>
<year>2021</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>03</month>
<year>2021</year>
</pub-date>
<volume>30</volume>
<numero>1</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S2071-00542021000100001&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S2071-00542021000100001&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S2071-00542021000100001&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT In precision agriculture, the use of Remotely Piloted Aircraft Systems (RPAS) has increased significantly, due to the advantage of obtaining crop information from different sensors. This has generated the need for aircraft capable of performing autonomous and georeferenced flights to obtain the desired information with precision. With this purpose, a quadcopter type RPAS was designed and built with a system that allows autonomous and stable flights to obtain georeferenced images, through the instrumentation of a RGB sensor (Sony IMX117) and a GPS. For the design of the RPAS, weight, flight time, flight height, payload and control system were considered as requirements. With the design parameters, a RPAS was built, equipped with a Pixhawk controller with GPS, 1400kv race star engines, eight-inch propellers (8045) and 30A ESC. A RPAS was designed and built, weighing less than 2 kg and the RPAS was drawn in 3D, using a "CAD" system, which allowed the center of mass and stresses caused by the weight of the vehicle to be modeled, obtaining a safety factor of 7.95 with the Von Mises Stress.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN En la agricultura de precisión, el uso de Sistemas de Aeronave Pilotadas a Distancia (RPAS) ha aumentado significativamente, debido a la ventaja de obtener información de los cultivos mediante distintos sensores. Esto ha generado la necesidad contar con aeronaves capaces de realizar vuelos autónomos y georreferenciados para obtener la información deseada con precisión. Con este fin se realizó el diseño, construcción de un RPAS, tipo cuadricóptero con un sistema, que permita la realización de vuelos autónomos y estables para la obtención de imágenes georreferenciadas, mediante la instrumentación de un sensor RGB (Sony IMX117) y un GPS. Para el diseño del RPAS se consideraron como requisitos el peso, el tiempo de vuelo, la altura de vuelo, la carga útil y el sistema de control. Con los parámetros de diseño, se construyó un RPAS, equipado con una controladora Pixhawk con GPS, motores race star de 1400 kv, hélices de ocho pulgadas (8045) y ESC de 30 A. Se diseñó y construyó un RPAS, con un peso menor a los 2 kg y se dibujó el RPAS en 3D, utilizando un sistema &#8220;CAD&#8221;, lo que permitió modelar el centro de masa y esfuerzos ocasionados por el peso del vehículo, obteniendo un factor de seguridad de 7.95 con la tensión de Von Mises.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[RPAS]]></kwd>
<kwd lng="en"><![CDATA[Design]]></kwd>
<kwd lng="en"><![CDATA[Telemetry]]></kwd>
<kwd lng="en"><![CDATA[Flight Programming]]></kwd>
<kwd lng="en"><![CDATA[Georeferencing]]></kwd>
<kwd lng="es"><![CDATA[RPAS]]></kwd>
<kwd lng="es"><![CDATA[Diseño]]></kwd>
<kwd lng="es"><![CDATA[Telemetría]]></kwd>
<kwd lng="es"><![CDATA[Programación de vuelo]]></kwd>
<kwd lng="es"><![CDATA[Georreferenciación]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[BERRA]]></surname>
<given-names><![CDATA[V. E.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Cálculo de variables de control PID para Drones Cuadcopter]]></article-title>
<source><![CDATA[Reaxión, Revista de divulgación tecnológica]]></source>
<year>2016</year>
<volume>1</volume>
<numero>9</numero>
<issue>9</issue>
</nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[BONNEY]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[SIDDHARTH]]></surname>
<given-names><![CDATA[B. P.]]></given-names>
</name>
<name>
<surname><![CDATA[SHAMAEV]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[WALSER]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[GONÇALVES]]></surname>
<given-names><![CDATA[L. V.]]></given-names>
</name>
<name>
<surname><![CDATA[OLSON]]></surname>
<given-names><![CDATA[C.O.]]></given-names>
</name>
<name>
<surname><![CDATA[QUILTER]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
</person-group>
<source><![CDATA[]]></source>
<year></year>
</nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[CHRISTIANSEN]]></surname>
<given-names><![CDATA[M. P.]]></given-names>
</name>
<name>
<surname><![CDATA[STIGAARD]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[NYHOLM JORGENSEN]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[SKOVSEN]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[GISLUM]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Designing and Testing a UAV Mapping System for Agricultural Field Surveying]]></article-title>
<source><![CDATA[Sensors]]></source>
<year>2017</year>
<volume>17</volume>
<numero>12</numero>
<issue>12</issue>
</nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[DÁVILA]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[ORNA]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[ROSALES]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[ÁVALOS]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Diseño, Construcción de la Estructura Mecánica y Pruebas de Vuelo de un Hexacóptero de Monitoreo para Aplicaciones Militares]]></article-title>
<source><![CDATA[Revista Politécnica]]></source>
<year>2017</year>
<volume>39</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>37-9</page-range></nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[DÜNDAR]]></surname>
<given-names><![CDATA[Ö.]]></given-names>
</name>
<name>
<surname><![CDATA[BILICI]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[ÜNLER]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design and performance analyses of a fixed wing battery VTOL UAV]]></article-title>
<source><![CDATA[Engineering Science and Technology, an International Journal]]></source>
<year>2020</year>
<volume>23</volume>
<numero>5</numero>
<issue>5</issue>
<page-range>1182-93</page-range></nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[FERNÁNDEZ]]></surname>
<given-names><![CDATA[B. H. A.]]></given-names>
</name>
<name>
<surname><![CDATA[TORRES]]></surname>
<given-names><![CDATA[I. J.]]></given-names>
</name>
<name>
<surname><![CDATA[RAMÍREZ]]></surname>
<given-names><![CDATA[U.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño, Construcción y Control de una Aeronave Tipo Dron]]></source>
<year>2016</year>
<publisher-loc><![CDATA[Mexico ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Nacional Autónoma De México]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[GALIMOV]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[FEDORENKO]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[KLIMCHIK]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[UAV Positioning Mechanisms in Landing Stations: Classification and Engineering Design Review]]></article-title>
<source><![CDATA[Sensors]]></source>
<year>2020</year>
<volume>20</volume>
<numero>13</numero>
<issue>13</issue>
</nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[GYUJIN]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[JAEYOUNG]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[JU]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[HAK-JIN]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[YOONHA]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[DONG]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
<name>
<surname><![CDATA[YONG SUK]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Review: Cost]]></article-title>
<source><![CDATA[Remote Sensing of Environment]]></source>
<year>2020</year>
<volume>12</volume>
<numero>6</numero>
<issue>6</issue>
<page-range>2-20</page-range></nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[LARA]]></surname>
<given-names><![CDATA[S. B. M.]]></given-names>
</name>
<name>
<surname><![CDATA[FAGUA]]></surname>
<given-names><![CDATA[P. E. Y.]]></given-names>
</name>
<name>
<surname><![CDATA[SALAMANCA]]></surname>
<given-names><![CDATA[J.M.]]></given-names>
</name>
<name>
<surname><![CDATA[HIGUERA]]></surname>
<given-names><![CDATA[M. O. I.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Diseño e implementación de un sistema de control de vuelo para un vehículo aéreo no tripulado tipo cuadricóptero]]></article-title>
<source><![CDATA[Revista Tecnología y cultura, afirmando el conocimiento (TECNURA)]]></source>
<year>2017</year>
<volume>21</volume>
<numero>53</numero>
<issue>53</issue>
<page-range>32-46</page-range></nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[MOYANO]]></surname>
<given-names><![CDATA[D. S.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño y Construcción de un Quadcopter]]></source>
<year></year>
</nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[NAVARRO]]></surname>
<given-names><![CDATA[R. D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Análisis de un Sistema de Vuelo de Rpas con Controladora Px4 y Subsitema de Visión]]></source>
<year>2019</year>
<publisher-loc><![CDATA[España ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Carlos III de Madrid]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[NISTAL]]></surname>
<given-names><![CDATA[L. J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño de un Drone Programable de Bajo Coste]]></source>
<year>2017</year>
<publisher-loc><![CDATA[España ]]></publisher-loc>
<publisher-name><![CDATA[Escuela Técnica Superior de Ingenieros Industriales y de Telecomunicaciones]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[ORNA]]></surname>
<given-names><![CDATA[C. J. E.]]></given-names>
</name>
<name>
<surname><![CDATA[BALSECA]]></surname>
<given-names><![CDATA[O. F.]]></given-names>
</name>
<name>
<surname><![CDATA[CAICEDO-REYES]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[MAYORGA]]></surname>
<given-names><![CDATA[D. F.,]]></given-names>
</name>
<name>
<surname><![CDATA[VITERI]]></surname>
<given-names><![CDATA[E. F.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Análisis y Diseño de una Aeronave no Tripulada para uso Agrícola]]></article-title>
<source><![CDATA[European Journal of Scientific Research]]></source>
<year>2017</year>
<volume>13</volume>
<numero>6</numero>
<issue>6</issue>
<page-range>135-56</page-range></nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[PEI]]></surname>
<given-names><![CDATA[H. C.]]></given-names>
</name>
<name>
<surname><![CDATA[DER]]></surname>
<given-names><![CDATA[M. M.]]></given-names>
</name>
<name>
<surname><![CDATA[JAW]]></surname>
<given-names><![CDATA[K. S. E.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design, Manufacturing, and Flight Testing of an Experimental Flying Wing UAV]]></article-title>
<source><![CDATA[Applied Sciences]]></source>
<year>2019</year>
<volume>9</volume>
<numero>15</numero>
<issue>15</issue>
</nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[SANTANA]]></surname>
<given-names><![CDATA[C. E. E.]]></given-names>
</name>
</person-group>
<source><![CDATA[Propuesta de Sistema Multi-UAV para Aplicaciones de Cobertura de Area]]></source>
<year>2017</year>
<publisher-loc><![CDATA[España ]]></publisher-loc>
<publisher-name><![CDATA[Universitat Autónoma de Barcelona]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="book">
<collab>SECRETARÍA DE COMUNICACIONES Y TRANSPORTES</collab>
<source><![CDATA[Que establece los requerimientos para operar un sistema de aeronave pilotada a distancia (RPAS) en el espacio aéreo mexicano]]></source>
<year>2019</year>
<publisher-loc><![CDATA[Mexico ]]></publisher-loc>
<publisher-name><![CDATA[Diario Oficial de la Federación]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B17">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[SERRANO]]></surname>
<given-names><![CDATA[C. C.]]></given-names>
</name>
<name>
<surname><![CDATA[PÉREZ]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
</person-group>
<source><![CDATA[Análisis, Diseño Estructural y Construcción de un Dron para la Detección de Minas Antipersona]]></source>
<year>2016</year>
<publisher-loc><![CDATA[España ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Politécnica de Catalunya]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B18">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[THIBBOTUWAWA]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[BOCEWICZ]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
<name>
<surname><![CDATA[BOCEWICZ]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
<name>
<surname><![CDATA[NIELSEN]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[BANASZAK]]></surname>
<given-names><![CDATA[Z.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Unmanned Aerial Vehicle Routing Problems: A Literature Review]]></article-title>
<source><![CDATA[Applied Sciences]]></source>
<year>2020</year>
<volume>10</volume>
<numero>13</numero>
<issue>13</issue>
</nlm-citation>
</ref>
<ref id="B19">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[VARGAS]]></surname>
<given-names><![CDATA[F. L. M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Desarrollo de algoritmos para el seguimiento de trayectorias de un quadrotor utilizando técnicas modernas de control con álgebra lineal]]></source>
<year>2015</year>
<publisher-loc><![CDATA[Ecuador ]]></publisher-loc>
<publisher-name><![CDATA[Escuela Politécnica Nacional]]></publisher-name>
</nlm-citation>
</ref>
</ref-list>
</back>
</article>
