T
E
L
KO
M
NIK
A
, V
ol
.
17
,
No.
1,
F
eb
r
u
ar
y
20
1
9,
p
p.
5
21
~
5
28
IS
S
N: 1
69
3
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93
0
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accr
ed
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F
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r
istekdikti,
Decr
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No: 2
1/E/
K
P
T
/20
18
DOI:
10.12928/TE
LK
OM
N
IK
A
.v
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7
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9255
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p
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fi
c
a
t
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s
a
re
a
s
fo
l
l
o
ws
:
Fra
m
e
:
F4
5
0
;
Fl
i
g
h
t
Con
tro
l
l
e
r:
DJ
I
Naz
a
M
-
L
i
te
;
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p
e
l
l
e
r:
1
0
4
5
Pro
p
;
m
o
to
rb
i
k
e
:
b
ru
s
h
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s
s
s
u
n
n
s
k
y
9
8
0
k
V
a
;
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y
wal
k
e
r
4
0
Am
p
e
re
3
s
;
Ba
tt
e
r
y
:
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e
3
s
G
e
n
s
5
0
0
0
m
AH;
Rem
o
te
:
T
u
rn
i
g
y
9
XR
wit
h
Fr
s
k
y
Ta
n
s
e
i
v
e
r;
a
n
d
c
a
m
e
ra
:
Xi
a
o
m
i
Yi
4
k
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n
te
rn
a
ti
o
n
a
l
e
d
i
ti
o
n
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h
i
s
d
r
o
n
e
t
y
p
e
m
u
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ti
c
o
p
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f
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.
Key
w
ords
:
DJ
I
Ph
a
n
to
m
,
d
ro
n
e
,
m
a
p
p
i
n
g
,
p
h
o
to
g
ra
p
h
y
,
UA
V
Copy
righ
t
©
2
0
1
9
Uni
v
e
rsi
t
a
s
Ahm
a
d
D
a
hl
a
n.
All
rig
ht
s
r
e
s
e
rve
d
.
1.
Int
r
o
d
u
ctio
n
Dr
on
e
i
s
a
p
l
a
ne
wi
tho
ut
a
pi
l
ot.
Th
i
s
s
tud
y
us
ed
a
dr
on
e
wi
th
a
DJ
I
P
ha
nto
m
c
am
era
an
d
the
ad
v
a
nta
ge
of
thi
s
drone
w
as
t
ha
t
i
t
was
a
bl
e
to
op
era
te
f
or
a
pp
r
ox
i
m
ate
l
y
1
5
m
i
nu
tes
an
d
th
e
c
am
era
produc
ed
i
m
ag
es
w
i
th
t
he
b
es
t
r
es
ol
u
t
i
on
.
T
hi
s
m
a
pp
i
ng
of
the
pr
os
pe
c
ti
v
e
n
e
w
ai
r
po
r
t
areas
i
n
N
e
w
Y
og
y
ak
arta
Int
ernat
i
o
na
l
A
i
r
po
r
t
i
s
a
f
orm
of
c
on
c
ern
f
or
r
es
ea
r
c
he
r
s
as
i
nd
i
ge
no
us
pe
o
pl
e
of
K
u
l
on
progo
an
d
as
s
i
s
ti
n
g
th
e
l
oc
al
g
ov
ernm
en
t
of
K
ul
on
pro
go
i
n
m
ap
pi
ng
the
ne
w
pros
p
ec
ti
v
e
en
tr
y
areas
i
n
K
u
l
o
np
r
og
o.T
he
pu
r
po
s
e
of
thi
s
r
es
ea
r
c
h
i
s
t
o
m
a
k
e
drone
de
s
i
g
ns
w
i
th
ac
c
urate
d
i
m
en
s
i
o
ns
s
o
tha
t
i
t
c
an
f
un
c
ti
on
to
m
ap
the
pros
pe
c
ti
v
e
ne
w
a
i
r
po
r
t
areas
of
New
Y
og
y
ak
arta
Int
erna
ti
o
na
l
A
i
r
po
r
ts
(
N
Y
I
A
)
.
W
ha
t
di
s
ti
ng
ui
s
h
es
m
y
r
es
ea
r
c
h
f
r
o
m
r
el
e
v
an
t
r
es
e
arc
h
i
s
t
ha
t
t
hi
s
m
ul
ti
c
op
ter
de
s
i
gn
i
s
d
es
i
gn
ed
to
wi
ths
ta
nd
s
tr
on
g
wi
nd
s
p
ee
ds
an
d
t
hi
s
m
ul
ti
c
op
t
er
k
ee
ps
f
l
y
i
n
g
s
tab
l
e
s
o
t
ha
t
i
t
pro
d
uc
es
go
o
d
m
ap
pi
ng
i
m
ag
es
.
A
s
f
or
w
ha
t
di
s
ti
ng
u
i
s
he
s
o
ur
r
es
ea
r
c
h
wi
th
r
el
e
v
an
t
r
es
e
arc
h
i
s
th
i
s
s
tud
y
us
es
DJ
I
P
ha
nto
m
,
w
hi
c
h
ha
s
a
hi
g
h
l
e
v
e
l
of
s
tab
i
l
i
t
y
s
o
t
ha
t
the
m
ul
ti
c
op
ter
dron
e
i
s
s
ti
l
l
a
bl
e
to
s
urv
i
v
e
i
n
t
he
ai
r
de
s
p
i
te
the
wi
n
d a
nd
th
e
a
bi
l
i
t
y
of
t
he
b
att
er
y
l
as
ts
up
t
o
15
m
i
nu
tes
i
n
th
e
a
i
r
s
o
tha
t
th
e
drone
i
s
ab
l
e t
o
f
i
nd
th
e
be
s
t
po
s
i
t
i
on
to
t
ak
e a
eri
al
ph
oto
gra
ph
y
.
T
he
r
el
e
v
a
nt
r
es
ea
r
c
h
as
f
ol
l
o
w
s
.
Dr
on
e
h
av
e
t
w
o
t
y
p
es
,
n
am
el
y
f
i
x
ed
wi
n
g
an
d
m
ul
t
i
c
op
ter.
F
i
x
ed
wi
ng
as
s
ho
wn
F
i
gu
r
e
1
[1]
.
Dr
on
e
h
av
e
i
m
po
r
tan
t
f
un
c
ti
o
ns
f
or
r
em
ote
s
en
s
i
ng
a
nd
m
ap
p
i
ng
as
s
ho
w
n
F
i
gu
r
e
2
[2
]
.
A
s
s
em
bl
i
ng
l
o
w
pric
ed
us
i
ng
ph
oto
gram
m
etri
c
m
eth
od
e
as
s
ho
w
n
i
n
F
i
gu
r
e
3
[3
]
Mu
l
t
i
c
op
t
er
ha
s
s
of
t
w
are
th
at
i
s
i
nte
gr
ate
d
wi
t
h
th
e
de
v
e
l
op
m
en
t
of
al
g
orit
h
m
s
to
tes
t
na
v
i
ga
t
i
o
n
progr
am
s
[4]
.
LS
A
(
L
i
gh
t
S
urv
ei
l
l
an
c
e
A
i
r
c
r
af
t)
s
up
po
r
ts
the
de
v
e
l
o
pm
en
t
of
p
ho
to
graph
y
a
s
s
ho
w
n
F
i
gu
r
e
4
[5]
.
F
l
i
gh
t
d
y
n
a
m
i
c
s
of
UA
V
wi
th
ICS
m
od
el
s
an
d
c
on
tr
ol
c
o
ns
tr
ai
nts
t
hroug
h
es
t
i
m
ati
on
of
ge
om
etr
y
c
on
s
tr
ai
n
ts
[6].
Res
e
arc
h
c
arr
i
ed
o
ut
w
i
th
dro
ne
s
ha
s
hi
gh
-
q
ua
l
i
t
y
c
a
m
eras
to
pro
du
c
e
hi
gh
-
q
ua
l
i
t
y
i
m
ag
es
as
wel
l
[
7]
.
Mu
l
t
i
c
op
t
er
f
l
y
wi
th
au
to
pi
l
ot
c
on
tr
ol
us
i
n
g
G
P
S
. G
P
S
s
e
ns
or f
or f
l
i
gh
t
s
tab
i
l
i
t
y
[
8]
.
R
es
ea
r
c
h
on
p
ortab
l
e
dro
n
e
de
s
i
g
n
to
b
e
ea
s
y
t
o
c
arr
y
,
l
i
gh
t
w
e
i
gh
t
an
d
c
an
be
u
s
ed
f
or
m
ap
pi
ng
.
T
hi
s
drone
ha
s
hi
gh
po
wer
s
o
tha
t
the
prope
l
l
er
d
es
i
g
n
pro
v
i
de
s
m
ax
i
m
um
thrus
t.
[9]
.
Dr
on
es
c
an
be
us
e
d
to
m
ap
pros
pe
c
ti
v
e
ne
w
a
i
r
po
r
ts
i
n
K
ul
on
pro
go
,
pr
ec
i
s
el
y
Con
go
t
B
ea
c
h
[
10
]
T
hi
s
dro
ne
c
an
be
f
l
y
wi
th
he
i
gh
t
10
0
m
ete
r
s
to
20
0
m
ete
r
s
wi
th
t
i
m
e
30
m
i
nu
tes
.
Dr
on
e
l
oa
d
i
s
2.8
k
g.
T
h
e
r
es
ul
t
of
ae
r
i
al
ph
oto
gr
ap
h
i
n
K
o
tab
aru,
L
am
pu
ng
as
s
ho
wn
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N: 1
69
3
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No.
1,
Febr
ua
r
y
20
1
9:
521
-
5
28
522
F
i
gu
r
e
7.
Dr
on
e
t
y
p
e
f
i
x
ed
wi
ng
c
a
n
o
pe
r
at
e
20
he
c
tar
e
af
ter
50
he
c
tare
[11
].
UA
V
s
ac
c
ordi
ng
to
the
i
r
t
y
p
e
are
qu
a
dc
op
t
er
an
d
oc
t
oc
op
t
er,
th
i
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tud
y
i
s
a
drone
to
t
es
t
the
Uni
te
d
S
t
ate
s
A
r
m
y
wi
nd
tu
n
ne
l
[1
2]
.
F
i
gu
r
e
1.
U
nm
an
ne
d A
eria
l
V
eh
i
c
l
e
f
i
x
e
d
wi
ng
t
y
p
e [
1]
F
i
gu
r
e
2.
F
arm
l
an
d
ph
ot
og
r
ap
he
d
wi
th
UA
V
[2
]
F
i
gu
r
e
3.
F
l
y
i
ng
wi
ng
as
s
e
m
bl
y
[
4]
F
i
gu
r
e
4.
A
eri
al
ph
ot
os
w
i
t
h
LS
A
[5]
T
hi
s
r
es
ea
r
c
h
f
or
the
l
au
n
c
of
m
ul
ti
c
op
ter
f
r
om
a
f
i
x
ed
w
i
ng
U
A
V
f
or
a
po
t
en
s
ti
al
c
ol
l
a
bo
r
at
i
v
e
m
i
s
s
i
on
[13
].
Dr
on
e
f
un
c
ti
o
n
to
m
i
ni
m
i
z
e
c
os
t
an
d
m
on
i
tor
targe
t
[
14
].
U
A
V
wi
th
m
an
uv
erabi
l
i
t
y
i
n
ai
r
s
am
pl
i
ng
s
o
tha
t
i
s
ob
ta
i
n
ed
wi
th
s
pa
y
i
al
r
es
o
l
ut
i
o
n
ha
v
i
ng
h
i
g
h
prec
i
s
i
o
n
[15
]
.
T
he
l
oc
at
i
o
n
of
the
dron
e
at
a
m
i
ni
m
u
m
c
os
t
w
i
th
th
e
w
a
y
o
f
c
o
m
pu
tat
i
on
a
l
s
tud
i
es
[1
6]
.
B
as
e
d
on
th
e
r
es
ul
t
s
of
the
s
tud
y
t
he
v
a
l
i
d
i
t
y
of
the
produc
t
s
o
tha
t
the
qu
ad
c
or
e
r
em
ote
c
on
tr
ol
us
i
ng
n
RF
2
41
0
+
w
as
d
ec
l
are
d
v
al
i
d
wi
th
a
p
erc
en
ta
ge
of
80
%,
wi
th
a
m
ax
i
m
u
m
di
s
tan
c
e
of
95
m
ete
r
s
i
n
an
un
o
bs
tr
uc
ted
s
tat
e
an
d
10
m
ete
r
s
i
n
the
f
or
m
of
a
w
a
ll
[17
].
La
r
ge
s
c
al
e
m
ap
pi
ng
us
i
n
g
di
gi
t
al
S
L
R
c
am
eras
pl
ac
e
d
on
a
r
em
ote
c
on
tr
ol
l
e
d
u
n
m
an
ne
d
ae
r
i
al
v
eh
i
c
l
e
(
U
A
V
)
c
an
be
p
os
s
i
bl
e
i
f
the
r
ec
ord
i
ng
of
di
gi
t
al
ph
oto
graphs
c
an
be
f
urther
proc
es
s
ed
us
i
ng
t
he
s
el
f
-
c
al
i
brat
i
ng
b
un
d
l
e
a
dj
us
tm
en
t
tec
hn
i
q
u
e
an
d
Im
ag
e
M
atc
hi
ng
[1
8]
.
Qu
ad
c
op
t
er
i
s
ab
l
e
to
m
ov
e
au
tom
ati
c
al
l
y
ac
c
ordi
n
g
to
the
w
a
y
p
oi
nt
tr
ac
k
i
ng
s
y
s
tem
.
W
a
y
p
o
i
nt
tr
ac
k
i
ng
s
y
s
t
em
i
s
a
na
v
i
ga
t
i
on
s
y
s
t
em
ba
s
ed
o
n
th
e
p
os
i
ti
on
of
the
G
P
S
a
nd
c
o
m
pa
s
s
,
s
o
tha
t
the
q
ua
dc
o
pte
r
c
a
n run
au
t
om
ati
c
al
l
y
[1
9].
T
he
m
ap
pi
ng
of
the
P
r
am
ba
na
n
tem
pl
e
i
n
thi
s
s
tud
y
us
es
a
s
m
al
l
f
or
m
at
ae
r
i
al
ph
ot
o
m
ap
pi
ng
m
eth
od
wi
th
a
RC
m
ul
ti
r
oto
r
(
qu
a
dc
op
t
er)
,
m
ak
i
ng
i
t
ea
s
i
er
to
d
ete
r
m
i
ne
where
t
o
tak
e
of
f
an
d
l
an
d
[
20
].
T
he
s
m
al
l
f
or
m
at
ai
r
ph
oto
s
pro
du
c
e
d
are
th
en
proc
es
s
ed
t
o
ob
tai
n
ortho
ph
ot
o
i
m
ag
es
an
d
i
m
ag
es
of
DS
M
[21
].
H
ex
ac
op
t
er
i
s
on
e
t
y
p
e
of
UA
V
th
at
ha
s
s
i
x
r
oto
r
s
he
l
pi
ng
to
c
on
tr
ol
i
nt
en
t
i
on
al
ai
r
di
s
tur
ba
nc
es
c
arr
i
e
d o
u
t b
y
i
r
r
es
po
ns
i
bl
e
i
n
di
v
i
du
al
s
[2
2]
Mu
l
t
i
c
op
t
er
ha
v
e
s
wi
ng
an
g
l
e
s
i
m
ul
ati
on
s
l
un
g
l
o
ad
a
p
pl
i
c
a
ti
o
ns
de
pe
n
d
on
t
he
tr
ac
k
an
d
the
s
w
i
ng
[23
]
.
T
he
IMU
s
y
s
t
em
ha
s
be
e
n
ab
l
e
to
p
r
ov
i
de
s
l
op
e
i
nf
or
m
ati
on
[2
4].
A
d
y
na
m
i
c
s
i
m
ul
ati
on
m
od
el
i
s
i
m
pl
em
en
ted
an
d
us
ed
t
o
c
om
pa
r
e
the
v
ar
i
ou
s
c
on
f
i
gu
r
ati
on
s
[2
5].
T
he
A
r
du
S
i
m
s
y
s
tem
ha
s
t
he
ad
v
an
tag
e
of
protec
ti
n
g
the
m
i
ni
m
u
m
di
s
tan
c
e
be
t
ween
U
A
V
s
an
d
oth
er
a
i
r
c
r
af
t
to
av
oi
d
ac
c
i
de
nts
[26
].
T
he
drone
h
a
s
f
ou
r
propel
l
ers
us
ed
f
or
m
ap
pi
ng
t
he
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
A
na
l
y
s
i
s
of
U
A
V
mu
l
t
i
c
op
te
r
for
ai
r
p
ho
to
grap
hy
i
n
N
ew
Y
og
y
ak
art
a
…
(
In
dres
war
i
S
uros
o
)
523
s
ou
the
r
n
r
ou
te
to
th
e
ne
w
a
i
r
po
r
t
of
Y
og
y
ak
arta
Int
ernat
i
o
na
l
A
i
r
p
ort
.
Dr
on
e
ha
v
e
al
t
i
tu
de
r
ea
c
hi
n
g 1
,
50
0
m
ab
ov
e
ground
l
e
v
e
l
[
27
].
T
he
IR
Mu
l
ti
c
o
pte
r
f
un
c
ti
o
ns
to
m
ap
s
urv
e
y
s
i
n
em
i
s
s
i
on
s
m
on
i
tori
ng
to
m
ea
s
ure
the
l
o
ng
es
t
r
ec
ord
of
en
erg
y
y
i
el
ds
i
n
S
wi
t
z
erla
nd
as
s
ho
w
n
F
i
gu
r
e
8
[28
].
Conc
e
pt
m
ul
ti
c
op
ter
wi
th
M
A
T
LA
B
as
s
ho
w
n
F
i
gu
r
e
9
[29
]
.
Dev
el
op
m
en
t
of
the
V
T
O
L
c
on
c
ep
t
to
ap
p
l
y
ae
r
od
y
n
am
i
c
de
s
i
g
ns
to
t
es
t
w
i
nd
t
un
n
el
s
as
s
ho
w
n Fi
gu
r
e
10
[
30
].
F
i
gu
r
e
5
.
Dr
o
ne
DJ
1
P
h
an
t
om
3
m
er
k
S
on
y
E
x
m
or [6
]
F
i
gu
r
e
6
.
G
P
S
drone
an
d
G
P
S
S
at
el
i
t
S
y
s
tem
[1
0]
F
i
gu
r
e
7
. R
es
ul
ts
of
f
i
x
ed
wi
ng
ai
r
ph
oto
s
i
n
La
m
pu
ng
are
a
[11]
F
i
gu
r
e
8.
I
ns
pe
c
ti
on
r
es
u
l
ts
of
IR
-
m
ap
pi
n
g [
2
8]
F
i
gu
r
e
9.
C
on
c
ep
s
of
M
ul
t
i
c
op
ter a
t M
A
T
LA
B
[29
]
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N: 1
69
3
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No.
1,
Febr
ua
r
y
20
1
9:
521
-
5
28
524
F
i
gu
r
e
10
.
P
r
of
i
l
e o
f
th
e
V
T
O
L f
l
i
gh
t
ex
pe
r
i
m
en
t [30]
2.
Re
se
a
r
ch M
eth
o
d
Res
ea
r
c
h
A
r
e
a
:
T
he
en
tr
a
nc
e
to
Ne
w
Y
og
y
ak
arta
Int
ernati
on
al
A
i
r
po
r
ts
i
n
G
l
ag
ah
,
T
e
m
on
,
K
ul
on
progo
.
Im
pl
e
m
en
tat
i
o
ns
:
Dr
on
e c
a
n f
l
y
u
p t
o
30
m
ete
r
an
d rea
c
h a
r
ea
of
1
k
m
.
Me
th
od
:
Dr
a
wi
ng
m
ul
ti
c
op
t
er
de
s
i
gn
w
i
t
h
s
i
z
e
as
s
h
o
wn
i
n
F
i
gu
r
e
1
1
af
ter
t
he
n
ex
t
r
es
ea
r
c
h
de
s
i
g
n
i
s
to
m
ak
e
a
m
ul
ti
c
op
ter
as
s
em
bl
y
.
A
f
ter
be
i
n
g
as
s
e
m
bl
ed
,
m
ul
ti
c
op
ter
i
s
tr
ea
te
d
w
i
t
h
tr
i
al
s
.
T
r
i
al
s
are
c
arr
i
e
d
ou
t
i
n
t
he
n
e
w
pros
pe
c
ti
v
e
ai
r
p
ort
area
i
n
Ne
w
Y
og
y
ak
arta
Int
erna
ti
o
na
l
A
i
po
r
ts
at
G
l
a
ga
h
B
ea
c
h,
T
e
m
on
,
K
ul
on
progo.
Dr
on
e
al
t
i
tu
de
un
ti
l
10
0
m
ete
r
s
,
we
tes
te
d
t
he
c
a
pa
b
i
l
i
t
y
of
the
50
0
0
m
A
H
ba
t
ter
y
to
f
l
y
f
or
15
m
i
nu
tes
t
he
n
dro
ne
tes
t
o
n
l
an
d,
we
m
ea
s
ure
c
a
m
era
c
al
i
brat
i
on
w
i
th
al
t
i
tut
e
1
00
m
ete
r
s
,
an
d
ae
r
i
a
l
ph
ot
og
r
ap
hs
ob
t
ai
ne
d.
3.
Re
sult
s
a
n
d
A
n
al
y
s
is
Dr
awi
n
g
m
ul
ti
c
op
ter
de
s
i
gn
w
i
th
s
i
z
e
as
s
ho
w
n
i
n
F
i
g
ure
1
1
.
T
he
ne
x
t
r
es
ea
r
c
h
de
s
i
g
n
i
s
to
m
a
k
e
a
m
ul
ti
c
op
ter
as
s
e
m
bl
y
.
A
f
ter
be
i
ng
as
s
em
bl
ed
,
m
ul
ti
c
op
ter
i
s
tr
ea
ted
wi
th
tr
i
a
l
s
.
Dr
on
e
i
n
t
hi
s
r
es
e
arc
h
ha
s
m
ul
ti
c
op
ter
t
y
p
e
us
e
d
m
ap
pi
ng
ai
r
ph
ot
o
N
e
w
Y
o
g
y
ak
arta
Int
erna
ti
o
na
l
A
i
r
po
r
ts
(
N
Y
I
A
)
i
n
G
l
a
ga
h
,
T
e
m
on
,
K
ul
o
np
r
og
o.T
he
r
eg
i
on
a
l
G
ov
ernm
en
t
of
K
ul
on
pro
go
i
s
v
er
y
proud
of
thi
s
r
es
e
arc
h
b
ec
au
s
e
t
he
ob
j
ec
t
of
th
e
r
es
e
arc
h
i
s
the
en
tr
a
nc
e
area
t
o
th
e
pros
p
ec
ti
v
e
ai
r
po
r
t
are
a
of
the
Ne
w
Y
og
y
ak
arta
Int
ernat
i
o
na
l
A
i
r
po
r
t
s
.
T
hi
s
i
s
al
s
o
be
c
au
s
e
t
he
Reg
i
o
na
l
G
o
v
ernm
en
t
of
K
u
l
o
np
r
og
o
ha
s
c
oo
p
erate
d
wi
th
ou
r
i
ns
ti
t
uti
on
s
i
n
the
f
i
e
l
ds
of
ed
uc
at
i
o
n,
r
e
s
ea
r
c
h
an
d
c
om
m
un
i
t
y
s
er
v
i
c
e.
DJ
I
P
ha
nto
m
c
am
era
c
l
as
s
i
f
i
ed
as
s
tab
l
e
f
or
the
l
i
g
ht
wei
gh
t
d
r
on
e
c
l
as
s
.
W
ha
t
di
s
ti
ng
ui
s
h
es
m
y
r
es
ea
r
c
h
f
r
o
m
r
el
e
v
a
nt
r
es
ea
r
c
h
i
s
tha
t
t
hi
s
m
ul
ti
c
op
t
er
de
s
i
g
n
i
s
de
s
i
gn
ed
to
w
i
t
hs
tan
d
s
t
r
on
g
w
i
nd
s
p
ee
ds
a
nd
t
hi
s
m
ul
ti
c
op
ter
k
ee
ps
f
l
y
i
ng
s
t
ab
l
e
s
o
t
ha
t
i
t
pr
od
uc
es
go
o
d
m
ap
pi
n
g
i
m
ag
es
.
T
he
f
ol
l
o
wi
ng
i
s
t
he
s
i
z
e
of
ou
r
r
es
ea
r
c
h
m
ul
ti
c
op
t
er
l
o
ok
i
ng
s
i
de
wa
y
s
as
i
n
F
i
gu
r
e
1
2
.
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he
f
ol
l
o
wi
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i
s
ou
r
r
es
ea
r
c
h
m
ul
ti
c
op
t
er
de
s
i
g
n
as
s
h
o
w
n
i
n
F
i
g
ure
1
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,
t
he
s
of
t
w
are
us
ed
t
o
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es
i
gn
th
e
dro
ne
m
ul
ti
c
op
ter
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s
Cor
el
Dr
a
w
3D
.
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l
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er
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v
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l
ti
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ud
e
un
t
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l
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m
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r
s
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ta
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up
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m
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gh
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th
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tte
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ol
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s
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de
s
c
r
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pti
on
of
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ts
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l
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v
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ou
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p
el
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n
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s
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c
h
as
s
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o
w
n
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i
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r
e
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4
.
F
i
gu
r
e
1
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he
r
e
i
s
a
dro
ne
t
y
p
e
m
ul
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c
op
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i
s
f
l
y
i
ng
i
n
the
s
k
y
i
n
G
l
ag
ah
,
T
em
on
,
K
u
l
on
prog
o.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
A
na
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s
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mu
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eri
al
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o
tos
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i
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.
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t
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l
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l
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a
h
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ul
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i
n
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gu
r
e
1
7
.
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l
d
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l
a
ga
h,
K
ul
o
np
r
og
o a
s
s
ho
w
n
i
n F
i
gu
r
e 1
8
.
W
e
s
t
to
the
g
ate
35
m
ete
r
s
ab
ov
e
groun
d
l
e
v
e
l
as
s
ho
wn
i
n
F
i
gu
r
e
1
9
a
nd
ae
r
i
al
p
ho
t
os
are
s
ee
n
f
r
om
the
wes
t s
i
de
of
th
e ro
ad
t
o
th
e
ne
w
ai
r
p
ort as
s
ho
wn i
n Fi
g
ure
20
.
F
i
gu
r
e
1
1
.
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he
s
i
z
e
of
ou
r
r
es
ea
r
c
h m
ul
ti
c
op
ter
l
oo
k
i
ng
f
or
w
ard
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i
gu
r
e
1
2
. T
he
s
i
z
e
of
ou
r
r
es
ea
r
c
h
m
ul
ti
c
op
ter l
oo
k
s
s
i
de
w
a
y
s
F
i
gu
r
e
1
3
.
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ai
n o
f
m
ul
t
i
c
op
ter
F
i
gu
r
e
1
4
.
Mu
l
ti
c
o
pte
r
F
i
gu
r
e
1
5
.
Mu
l
ti
c
o
pte
r
i
s
f
l
y
i
n
g i
n t
h
e s
k
y
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i
gu
r
e
1
6
.
A
er
i
al
ph
oto
s
v
i
e
wed
f
r
o
m
s
ou
th
s
i
d
e t
o
the
ne
w
ai
r
po
r
ts
a.
A
d
v
an
t
ag
es
of
us
i
ng
dron
e
s
:
T
he
s
ha
pe
i
s
s
m
al
l
a
nd
ea
s
y
to
c
arr
y
.
Dr
on
e f
or m
ap
pi
ng
f
l
o
od
areas
.
Dr
on
e c
a
n b
e
us
ed
m
ap
pi
n
g m
i
nn
i
ng
area,
an
d a
gric
ul
tural
.
T
he
drone
s
ha
s
a s
ho
p
i
s
c
a
ted
c
am
era.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N: 1
69
3
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
17
,
No.
1,
Febr
ua
r
y
20
1
9:
521
-
5
28
526
P
orta
bl
e
.
Dr
on
es
are
pi
l
ot
l
es
s
a
i
r
c
r
af
t
.
Dr
on
e h
as
be
en
s
tu
di
ed
.
b.
Di
s
ad
v
an
tag
es
us
i
n
g d
r
o
ne
s
:
T
he
pri
c
e i
s
a
n e
x
pe
ns
i
v
e.
Can
n
ot
r
ea
c
h rem
ote
area.
Dam
ag
e e
as
i
l
y
.
F
i
gu
r
e
1
7
.
Res
ul
ts
of
m
ul
ti
c
op
ter a
i
r
p
ho
tos
i
n
G
l
ag
a
h,
K
ul
on
progo
F
i
gu
r
e
1
8
. T
he
f
i
e
l
d
i
n G
l
ag
ah
,
K
ul
on
progo
F
i
gu
r
e
1
9
.
W
es
t to
th
e g
ate
35
m
ete
r
s
ab
ov
e
groun
d l
ev
el
F
i
gu
r
e
20
.
A
er
i
al
ph
oto
s
ar
e s
ee
nf
r
om
th
e we
s
t
s
i
de
of
th
e roa
d
4.
Co
n
clus
ion
Dr
awi
n
g
m
ul
ti
c
op
ter
de
s
i
g
n
w
i
th
s
i
z
e
af
ter
t
he
ne
x
t
r
es
ea
r
c
h
d
es
i
g
n
to
m
ak
e
a
m
ul
ti
c
op
ter
as
s
em
bl
y
.
A
f
ter
be
i
ng
as
s
em
bl
ed
,
m
ul
ti
c
op
ter
i
s
tr
ea
t
ed
wi
t
h
tr
i
al
s
.
Dr
on
e
ha
s
m
ul
ti
c
op
ter
t
y
pe
us
ed
m
a
pp
i
ng
ai
r
p
ho
t
o
Y
og
y
ak
arta
Int
ernat
i
on
al
A
i
r
po
r
ts
(
Y
IA
)
i
n
G
l
ag
a
h,
T
e
m
on
,
K
ul
on
progo.
T
hi
s
d
r
on
e
ha
v
e
al
t
i
tu
de
un
ti
l
1
00
m
ete
r
s
to
20
0
m
ete
r
s
an
d
c
an
f
l
y
f
or
30
m
i
nu
tes
,
drone
we
i
gh
t
o
f
2.8
k
g.
Dr
on
e
ha
v
e
f
l
i
gh
t
ti
m
e
of
15
m
i
nu
tes
wi
th
ba
t
ter
y
5000
m
A
H.
T
he
qu
al
i
t
y
of
the
c
am
era
drone
w
i
t
h
DJ
I
P
ha
nto
m
c
an
prov
i
d
e
the
r
es
ul
ts
of
ae
r
i
al
m
ap
pi
ng
wi
th
go
o
d i
m
ag
es
an
d
ab
l
e t
o
m
ap
th
e a
r
e
a t
o
an
are
a o
f
1.5
k
m
.
A
c
kno
w
ledg
men
t
T
he
au
tho
r
w
o
ul
d
l
i
k
e
to
th
an
k
y
o
u
w
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t
h
c
om
m
un
i
t
y
r
e
s
ou
r
c
e
an
d
r
es
ea
r
c
h
i
ns
ti
t
u
ti
on
i
n
c
i
v
i
tas
ac
ad
em
i
c
a o
f
ae
r
os
pa
c
e t
ec
h
no
l
og
y
i
n
Y
og
y
ak
arta.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
A
na
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s
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s
of
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A
V
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In
dres
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i
S
uros
o
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527
Ref
er
en
ce
s
[1
]
Su
ro
s
o
I
.
Dron
e
d
a
l
a
m
As
p
e
k
Ke
h
i
d
u
p
a
n
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De
e
p
u
b
l
i
s
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Pu
b
l
i
c
a
ti
o
n
.
2
0
1
8
.
[2
]
Ros
s
i
G
.,
No
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e
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t
i
n
i
M
,
L
o
m
b
a
rd
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L
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Va
n
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o
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i
P,
T
a
n
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o
re
tt
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S
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t
e
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ra
ti
o
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o
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m
u
l
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c
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re
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ts
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n
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ro
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d
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bas
e
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d
a
ta
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r
l
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s
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o
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to
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a
n
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a
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e
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g
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e
re
d
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l
o
p
e
s
.
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p
e
r
i
e
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c
e
,
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e
o
r
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n
d
Pra
c
ti
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e
,
As
s
o
c
i
a
z
i
o
n
e
G
e
o
te
c
n
i
c
a
It
a
l
i
a
n
a
,
R
o
m
e
.
2
0
1
8
;
1745
-
1
7
5
0
.
[3
]
O
c
to
ry
O
.
Ae
ri
a
l
P
h
o
to
s
U
s
i
n
g
Fi
x
e
d
W
i
n
g
T
y
p
e
UAVs
(i
n
I
n
d
o
n
e
s
i
a
:
F
o
to
Uda
r
a
d
e
n
g
a
n
M
e
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g
u
n
a
k
a
n
W
a
h
a
n
UAV
J
e
n
i
s
Fi
x
e
d
W
i
n
g
)
.
J
o
u
r
n
a
l
o
f
G
e
o
d
e
s
y
An
d
G
e
o
m
e
tri
s
.
2
0
1
5
;
1
(1
):
2
9
-
33
.
ISSN:
1
8
5
8
-
2
2
8
1
.
[4
]
G
o
n
g
o
ra
A,
G
o
n
z
a
l
e
z
-
J
i
m
e
n
e
z
J
.
En
h
a
n
c
e
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e
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t
o
f
a
c
o
m
m
e
rc
i
a
l
m
u
l
ti
c
o
p
te
r
fo
r
r
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s
e
a
r
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h
i
n
a
u
to
n
o
m
o
u
s
n
a
v
i
g
a
ti
o
n
.
In
2
0
1
5
2
3
rd
M
e
d
i
te
rra
n
e
a
n
Con
fe
r
e
n
c
e
o
n
Con
tro
l
a
n
d
Au
to
m
a
t
i
o
n
(M
ED
)
.
2015;
1
2
0
4
-
1
2
0
9
.
[5
]
O
l
i
e
v
e
ra
AA.
Pro
j
e
t
o
e
De
s
e
n
v
o
l
v
i
m
e
n
to
d
e
u
m
Ve
íc
u
l
o
Au
t
ó
n
o
m
o
Aé
re
o
p
a
ra
M
i
ti
g
a
ç
ã
o
d
e
De
rra
m
e
s
d
e
Pe
tró
l
e
o
(Doc
t
o
ra
l
d
i
s
s
e
rt
a
t
i
o
n
)
.
2018
.
[6
]
Y
a
k
o
v
l
e
v
KS,
M
a
k
a
ro
v
DA,
Ba
s
k
i
n
ES.
Au
t
o
m
a
ti
c
p
a
th
p
l
a
n
n
i
n
g
fo
r
a
n
u
n
m
a
n
n
e
d
d
ro
n
e
w
i
t
h
c
o
n
s
tra
i
n
e
d
fl
i
g
h
t
d
y
n
a
m
i
c
s
.
S
c
i
e
n
ti
fi
c
a
n
d
T
e
c
h
n
i
c
a
l
I
n
fo
rm
a
ti
o
n
Pr
o
c
e
s
s
i
n
g
.
2
0
1
5
;
42
(5
)
;
3
4
7
-
358
[7
]
Po
y
s
a
H,
Ko
t
i
l
a
i
n
e
n
J
,
Vä
ä
n
ä
n
e
n
VM
,
Ku
n
n
a
s
ra
n
t
a
M
.
Es
ti
m
a
ti
n
g
p
r
o
d
u
c
ti
o
n
i
n
d
u
c
k
s
:
a
c
o
m
p
a
ri
s
o
n
b
e
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n
g
ro
u
n
d
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u
rv
e
y
s
a
n
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m
a
n
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e
d
a
i
r
c
ra
f
t
s
u
rv
e
y
s
.
Eu
ro
p
e
a
n
J
o
u
r
n
a
l
o
f
Wi
l
d
l
i
fe
Res
e
a
rc
h
.
2
0
1
8
;
64
(6
)
:
74
.
[8
]
Ki
m
SH,
L
e
e
DK,
Che
o
n
J
H,
Ki
m
S
J
,
Y
u
KH.
Des
i
g
n
a
n
d
fl
i
g
h
t
t
e
s
t
s
o
f
a
d
ro
n
e
fo
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d
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l
i
v
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