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335 12.1 Introduction "Industry 4.0" is the name given to the ongoing fourth industrial revolution, which is actually transforming worldwide factories. This concept was initially introduced by a German government strategic initiative in 2011 (Kagermann et al. 2013) and represents the current 12

A safe integration of drones into the airspace is fundamental to unblock the potential of drone applications. U-space is the drone traffic management solution for Europe, intended to handle a large number of drones in the airspace, especially at very low level (VLL). This paper presents the procedures we have designed and tested in real flights in the SAFEDRONE European project to pave the way for a safe integration of drones into the airspace using U-space services. We include three important aspects: Design of procedures related to no-fly zones, ensure separation with manned aircraft, and autonomous non-cooperative detect-and-avoid (DAA) technologies. A specific U-space architecture has been designed and implemented for flight campaigns with up to eight drones with different configurations and a manned aircraft. From this experience, specific recommendations about procedures to exit and avoiding no-fly zones are presented. Additionally, it has been concluded that the use of surveillance information of manned aircraft will allow a more efficient use of the airspace while maintaining a proper safety level, avoiding the creation of large geofence areas.

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This article presents a precise landing system that allows rotary-wing UAVs to approach and land safely on moving platforms, without using GNSS at any stage of the landing maneuver, and with a centimeter level accuracy and high level of robustness. This system implements a novel concept where the relative position and velocity between the aerial vehicle and the landing platform are calculated from the angles of a cable that physically connects the UAV and the landing platform. The use of a cable also incorporates a number of extra benefits, such as increasing the precision in the control of the UAV altitude. It also facilitates centering the UAV right on top of the expected landing position, and increases the stability of the UAV just after contacting the landing platform. The system was implemented in an unmanned helicopter and many tests were carried out under different conditions for measuring the accuracy and the robustness of the proposed solution. Results show that the developed system allowed landing with centimeter accuracy by using only local sensors and that the helicopter could follow the landing platform in multiple trajectories at different velocities.