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Abstract-The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes data recorded by two 2D laser scanners, orthogonally mounted on the UAV, and an inertial measurement unit (IMU). To achieve the goal, algorithms are developed to process the data collected. They are separated into three major groups: (i) the data registration and filtering to generate a 3D model of the structure and control the density of point clouds for data completeness enhancement; (ii) the surface and obstacle detection to assist the UAV in monitoring tasks; and (iii) the waypoint generation to set the flight path. Experiments on different data sets show that the developed system is able to reconstruct a 3D point cloud of the structure, extract its surfaces and objects, and generate waypoints for the UAV to accomplish inspection tasks.

A Gram-stain-negative, aerobic, short-rod-shaped bacterium, motile by means of one flagellum (THG-T2.8T), was isolated from the rhizosphere of Mugunghwa flower. Growth occurred at 10-37 °C (optimum 28 °C), at pH 6-8 (optimum 7) and with 0-5 % NaCl (optimum 1 %). The major quinone was ubiquinone-10 (Q-10). The major fatty acids were C10 : 0 3-OH, C16 : 0, C18 : 0 and C18 : 1ω7c. The polar lipids were diphosphatidylglycerol, phosphatidylmethylethanolamine, phosphatidylethanolamine, phosphatidylglycerol, one unidentified aminolipid, two unknown phospholipids, one unknown glycolipid and one unidentified lipid. The DNA G+C content of strain THG-T2.8T was 65.5 mol%. Based on 16S rRNA gene sequence analysis, the nearest phylogenetic neighbours of strain THG-T2.8T were identified as Paracoccus tibetensis Tibet-S9a3T (98.6 %), Paracoccus aestuarii B7T (98.4 %), Paracoccus rhizosphaerae CC-CCM15-8T (98.3 %) and Paracoccus beibuensis JLT1284T (98.2 %). Levels of sequence similarity among strain THG-T2.8T and other species of the genus Paracoccus were lower than 98.0 %. DNA-DNA hybridization values between strain THG-T2.8T and P. tibetensis Tibet-S9A3TT, P. aestuarii B7T, P. rhizosphaerae CC-CCM15-8T and P. beibuensisJLT1284T were 36.5 % (38.8 %, reciprocal analysis), 32.8 % (34.8 %), 31.6 % (33.8 %) and 15.3 % (24.8 %), respectively. On the basis of the phylogenetic analysis, chemotaxonomic data, physiological characteristics and DNA-DNA hybridization data, strain THG-T2.8T represents a novel species of the genus Paracoccus, for which the name Paracoccus hibisci sp. nov. is proposed. The type strain is THG-T2.8T (=KACC 18932T=CCTCC AB 2016181T).

A Gram-stain-positive, pink-pigmented, coccus-shaped, strictly aerobic, non-motile bacterium, strain THG-AG1.5, was isolated from rhizosphere of Hibiscus syriacus L. (Mugunghwa flower) located in Kyung Hee University, Yongin, Gyeonggi, Republic of Korea. The isolated strain grew optimally at 25-30 °C, at pH 6.0-7.5 and in the presence of additional 0-1.5 % (w/v) NaCl. Strain THG-AG1.5 exhibited tolerance to UV radiation (>1500 J m) and to gamma radiation (>12 kGy). Based on 16S rRNA gene sequence comparisons, strain THG-AG1.5 was closely related to Deinococcus daejeonensis MJ27 (98.03 %), Deinococcus radiotolerans C1 (97.61 %) and Deinococcus grandis DSM 3963 (97.32 %). The genomic DNA G+C content of strain THG-AG1.5 was 74.8 mol%. The DNA-DNA hybridization values between strain THG-AG1.5 and its closest phylogenetically neighbours were below 63.0 %. The peptidoglycan amino acids were alanine, valine, glutamic acid, glycine, ornithine, lysine and aspartic acid. Strain THG-AG1.5 contained ribose, mannose and glucose as whole-cell-wall sugars and menaquinone-8 (MK-8) as the only isoprenoid quinone. The major component in the polyamine pattern was spermidine. The major polar lipids of strain THG-AG1.5 were a phosphoglycolipid, six unidentified glycolipids and an unidentified aminophospholipid. The major fatty acids were identified as iso-C15 : 0, C15 : 1ω6c, C16 : 0, iso-C17 : 0, C17 : 0, C18 : 0 and summed feature 3. On the basis of our polyphasic taxonomy study, strain THG-AG1.5 represents a novel species within the genus Deinococcus, for which the name Deinococcushibisci sp. nov. is proposed. The type strain is THG-AG1.5 (=KACC 18850=CCTCC AB 2016078).

A Gram-stain-negative, facultatively anaerobic, non-motile, rod-shaped and yellow-pigmented bacterium, designated strain THG-DN6.14 T , was isolated from a freshwater sample near Donghaksa temple in Daejeon, South Korea. On the basis of the results of 16S rRNA gene sequence comparisons, THG-DN6.14 T was found to be most closely related to Emticicia sediminis JBR12 T (99.1 % sequence similarity), Emticicia oligotrophica DSM 17448 T (97.6 %), Emticicia aquatica HMF2925 T (96.5 %), andEmticicia ginsengisoli Gsoil 085 T (94.4 %). The DNA-DNA relatedness between THG-DN6.14 T and its phylogenetically closest neighbours was below 65.0 %. The DNA G+C content was 43.3 mol%. The major polar lipids were found to be phosphatidylethanolamine, an unidentified glycolipid and an unidentified aminoglycolipid. The major fatty acids were identified as C 16 : 0 , iso-C 15 : 0 , iso-C 17 : 0 3-OH, and summed feature 3 (C 16 : 1 !7c and/or C 16 : 1 !6c). The respiratory quinone was menaquinone MK-7. These data supported the affiliation of THG-DN6.14 T to the genus Emticicia. THG-DN6.14 T could be distinguished from related species of the genus Emticicia by physiological and biochemical tests. Therefore, the novel isolate represents a novel species, for which the name Emticicia aquatilis sp. nov. is proposed, with THG-DN6.14 T (=KACC 18540 . The purpose of this study was to determine the taxonomic position of strain THG-DN6.14 T by using a polyphasic approach.Strain THG-DN6.14 T was isolated from a freshwater sample near Donghaksa temple in Daejeon, Republic of Korea. A 1 ml aliquot of water sample was diluted in 9 ml sterile 0.85 % NaCl (w/v; saline solution). Serially diluted samples were plated onto nutrient agar plates (NA; Difco). The plates were incubated at 28 C for one week. Single colonies were purified, transferred to fresh NA plates and were incubated once again. One isolate, THG-DN6.14 T , was cultured routinely on NA at 28 C and preserved as a suspension in nutrient broth (NB; Difco) with glycerol (25 %, w/v) at À80 C.Extraction of the genomic DNA was achieved using a commercial genomic DNA extraction kit (Solgent). The 16S rRNA gene was amplified from the chromosomal DNA with two primer pairs (27F/1492R and 518F/805R) [5] and the purified PCR products were sequenced by Solgent (Daejeon, Republic of Korea). The 16S rRNA gene sequences of related taxa were obtained from the GenBank database and EzTaxone server [6]. The multiple alignments were performed by using the CLUSTAL_X program [7]. Gaps were edited in the BioEdit program [8]. The evolutionary distances were calculated using the Kimura two-parameter model [9]. The phylogenetic trees were reconstructed using the neighbour-joining method [10] and the maximum-likelihood method [11] in the MEGA 6 program, with bootstrap values based on 1000 replications [12].According to the EzTaxon-e server, 16S rRNA gene sequence similarity indicated that the closest relatives of THG-DN6.14 T were E. sediminis JBR12 T (99.1 % sequence similarity), E. oligotrophica DSM 17448 T (...