• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.4
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• pp.318-322
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• 2016

A quad-copter or quad rotor system is an unmanned flying machine having four engines, which their thrust force is produced by four propellers. Its stable control is very important and has widely been studied. It is a typical example of a nonlinear system. So, it is difficult to get a desired control performance by conventional control algorithms. In this paper, we propose the design of a vectored sum defuzzification based fuzzy logic system for the hovering control of a quad-copter. We first summarize its dynamics and introduce a vectored sum defuzzification scheme. And then we design a vectored sum defuzzification based fuzzy logic system. for the hovering control of the quad-copter. Finally, in order to check the feasibility of the proposed system we present some simulation examples.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.7
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• pp.527-534
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• 2018

The endurance of the multi-copter is one of the important variables that determine the mission performance. Therefore, accurate endurance should be defined as essential for performing effective missions. In this paper, we present the results of the study on the flight performance of the aircraft, especially the hovering of the drone(multi-copter). Unlike conventional aircraft, which consider aerodynamic performance by the fuselage, the multi-copter is mostly determined by the propulsion system. Therefore, the research method classifies the various parts constituting the drone system into functions, analyzes the performance of the unit parts and obtains the experimental data by sorting out the specifications and functions at the component level and mathematical formulation, The results of this study are as follows. In addition, the 5kg class quad copter was used to predict and verify the voltage change with endurance through analysis of in situ flight. By predicting endurance under various conditions, it can help design/build the right Multi-copter for mission.

• Transactions of the Korean hydrogen and new energy society
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• v.34 no.6
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• pp.758-766
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• 2023

Multi-copter of unmanned aerial vehicle (UAV) was initially developed as strategic technology in the only military field, but it is developing into an industrial field with a wide range of applications in the civil sector based on the development and convergence of aviation technology and information and communication technology. Currently, the degree of utilization of multi-copter is increasing in various industries for the purpose of performing classic tactical missions, logistics transportation, farm management, internet supply, video filming, weather management, life-saving, etc, and active technology development responding to market demand. Existing commercial multi-copter mainly use an electric energy propulsion system consisting of an electric battery and a brushless direct current (BLDC) motor. It is the limitations for usage in the flying time (up to 20 minutes) and payload (less than 20 kg). this study aims to overcome these limitations and expand the commercialization of engine-powered multi-copter of UAV in various industries in the futures.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.600-606
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• 2015

Applications of the drone have been enlarged and study on the quad-copter system has been widely progressed. Quad-copter system is raised vertically with four propellers, and it is free to move side to side, and upper and lower. It is also a typical example of non-linear systems. In this paper, we design two-input fuzzy logic control systems in order to control the quad-copter that is complex nonlinear system. And then we analyze their control rule tables and derive some characteristics that they present skew symmetric property and the control actions are enhanced as the distance from the diagonal band. This property enables the design of other control systems. We here design simple-structured fuzzy logic control systems and simulate them. We confirm some effects of the proposed systems and finally discuss about them.

• Journal of Aerospace System Engineering
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• v.13 no.1
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• pp.47-53
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• 2019

To improve an aerodynamic characteristic of the eVOTL aircraft, Korea Aerospace Research Institute (KARI) performed a validity test of the cross-rotating propeller technology. First, CFD analysis was carried out and an idea of the cross-rotating propeller to imply on a multi-copter confirmed with a commerce pitch control multi-copter that has two different blades, 0.11 and 0.21 m. After verifying the idea, a multi-copter with about 3 kg maximum take-off weight (MTOW) was custom designed to complete a ground test to measure thrust and noise. The test was performed with 15 and 22 in. propellers at the identical tip speed. The test results show that the 22 in. propeller with the cross-rotating technology required about 30 % less power and reduced 3~5 dB aerodynamic noise as compared to 15 in. propeller without cross-rotating.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.6
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• pp.899-905
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• 2013

In this paper, we focus on how to calibrate multi-cameras easily and how to efficiently detect quad-copters with small-numbered particles. Each particle is a six dimensional vector that is composed of 3D position and 3D orientation of a quad-copter in the space. Due to curse of dimensionality, that leads to explosive computational costs with a large amount of high-dimensioned particles. To detect efficiently, we need to put more particles in very promising spaces and few particles in other spaces. Though computational cost is lowered by minimizing particles, in order to track a quad-copter with multiple cameras in real-time, multiple images from the cameras should be synchronized and analyzed. Therefore, lots of the computations still need to be done. Because of this, GPGPU(General-Purpose computing on Graphics Processing Units) is implemented for parallel computing. This method has been successfully tested and gives accurate results in practical situations.

• Journal of Satellite, Information and Communications
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• v.9 no.4
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• pp.104-110
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• 2014

This paper considers two reconstruction schemes of structured-sparse signals, turbo inference and Markov chain Monte Carlo (MCMC) inference, in compressed sensing(CS) technique that is recently getting an important issue for an efficient video wireless transmission system using multi-copter as an unmanned aerial vehicle. Proposed reconstruction algorithms are setting importance on reduction of image data sizes, fast reconstruction speed and errorless reconstruction. As a result of experimentation with twenty kinds of images, we can find turbo reconstruction algorithm based on loopy belief propagation(BP) has more excellent performances than MCMC algorithm based on Gibbs sampling as aspects of average reconstruction computation time, normalized mean squared error(NMSE) values.

• Journal of Satellite, Information and Communications
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• v.9 no.4
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• pp.20-25
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• 2014

In this paper, we provide efficient spectrum sensing technology for smooth use of frequency and energy charge of multi-copter. The proposed structures focus on improving performance of spectrum sensing that is based on Ad-hoc network. First, we explain basic principles and disadvantages of cooperative spectrum sensing and ad-hoc based spectrum sensing. To solve these problems, in this paper, we employ the beamforming technology that guarantees higher transmit primary users' signal power to secondary users in ad-hoc network. The performance of proposed algorithm is analyzed in terms of detection probabilities, and the results of this paper can be applied to the various ad-hoc based Cognitive Radio system.

• Journal of Broadcast Engineering
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• v.19 no.3
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• pp.372-384
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• 2014

DTV field tests have been performed to measure field strength and to check reception ratio on indoor and outdoor sites. They use an antenna of 9m to measure DTV signal in case of outdoor measurement on the road. Modern skyscrapers require the analysis of vertical-directional wave propagation by measuring vertical-directional DTV signal. Even if the field strength is above the reception threshold of $43dB{\mu}V/m$, the reception is impossible in case of strong multi-path or high impulse noise. So, vertical-directional field measurement is essential in environment of tall buildings. In this paper, we developed an octo type multi-copter to measure vertical-directional DTV signal level. A compact and portable DTV signal level meter, an antenna, a microwave transmitter for data transmission, and a recording equipment are equipped in the multi-copter. Three different sites are selected to test the measurement system. Developed measurement system using the multi-copter is very useful in measuring vertical-directional DTV signal, especially in apartments, non-accessible area by vehicles, and forbidden areas.

• Journal of Aerospace System Engineering
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• v.11 no.6
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• pp.10-16
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• 2017

In order to improve the safety of the multi-copter, Korea Aerospace Research Institute (KARI) performed a wind-tunnel test using an octocopter with the maximum takeoff weight (MTOW) of 28 kg. The wind-tunnel test was performed with three different RPM ranges, 3,500, 4,500 and 5,500 rpm, and three different wind speeds, 3.5, 5 and 7 m/sec. The tested range of the angle of attacks was $-40^{\circ}$ to $20^{\circ}degree$ and ${\pm}90^{\circ}degree$. Vortex ring state (VRS) of the tested multi-copter was located around the vertical descending speed of 6 m/sec and the decrement of thrust was about 13 % at the time of testing. Compared with the single propeller wind-tunnel test result, the propeller efficiency of the octocopter dropped to 10 to 15% depending on the propeller RPM. It is hypothesized that the obtained aerodynamic characteristics by the wind-tunnel test will be used to improve the performance and wind resistance of the multi-copter.