• Journal of Advanced Navigation Technology
• /
• v.25 no.3
• /
• pp.248-255
• /
• 2021

The main causes of the July 2013 OZ 214 accident were poorly performed approach and the failure to recognize the autothrottle in the HOLD position which the automated speed control was not provided. The pilots late decision for go-around was also a critical factor leading to the accident. The B777 POM restricts the use of FLCH mode beyond the FAF. This research utilized the QAR data of an airline's B777 fleet in the period of two years where 44 cases were found. In many cases, the FLCH mode was used for rapid descent from an higher than normal situation. In addition, in the base turn, continuous use of FLCH mode even when the path was below the glide path were observed. Airports with elevation above 500 ft MSL had a higher rate of occurrence. In this research, the proper descent planning and vertical path monitoring, and the adherence to the limitation set in the manuals and the stabilized approach criteria were re-emphasized as mitigation to reduce event occurences.

• Aerospace Engineering and Technology
• /
• v.5 no.2
• /
• pp.1-7
• /
• 2006

This paper presents a new point navigation guidance law which is useful for unmanned helicopters. Predicting the future position, the guidance law generates velocity and heading commands, which are used as input to autopilot. This method differs from conventional guidance law in that it reorients the direction of flight velocity vector directly, not by bank angle indirectly. For flight tests, we have developed a flight control system for a R/C helicopters. The system consists of a flight control computer, navigation sensors, and a ground station The results of the test show that the proposed law guides a unmanned helicopter along a line path within a given area. In the future, we are planning to extend the guidance law to the mission of path following. i.e., waypoint navigation.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.6
• /
• pp.385-391
• /
• 2022

This paper presents to develop a path planning algorithm combining gradient descent-based path planning (GBPP) and particle swarm optimization (PSO) for considering prohibited flight areas, terrain information, and characteristics of fixed-wing unmmaned aerial vehicle (UAV) in 3D space. Path can be generated fast using GBPP, but it is often happened that an unsafe path can be generated by converging to a local minimum depending on the initial path. Bio-inspired swarm intelligence algorithms, such as Genetic algorithm (GA) and PSO, can avoid the local minima problem by sampling several paths. However, if the number of optimal variable increases due to an increase in the number of UAVs and waypoints, it requires heavy computation time and efforts due to increasing the number of particles accordingly. To solve the disadvantages of the two algorithms, hierarchical path planning algorithm associated with hierarchical particle swarm optimization (HPSO) is developed by defining the initial path, which is the input of GBPP, as two variables including particles variables. Feasibility of the proposed algorithm is verified by software-in-the-loop simulation (SILS) of flight control computer (FCC) for UAVs.

• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.1-9
• /
• 2023

This paper presents an optimal path planning strategy for aerial searching and surveying of a user-designated area using multiple Unmanned Aerial Vehicles (UAVs). The method is designed to deal with a single unseparated polygonal area, regardless of polygonal convexity. By defining the search area into a set of grids, the algorithm enables UAVs to completely search without leaving unsearched space. The presented strategy consists of two main algorithmic steps: cellular decomposition and path planning stages. The cellular decomposition method divides the area to designate a conflict-free subsearch-space to an individual UAV, while accounting the assigned flight velocity, take-off and landing positions. Then, the path planning strategy forms paths based on every point located in end of each grid row. The first waypoint is chosen as the closest point from the vehicle-starting position, and it recursively updates the nearest endpoint set to generate the shortest path. The path planning policy produces four path candidates by alternating the starting point (left or right edge), and the travel direction (vertical or horizontal). The optimal-selection policy is enforced to maximize the search efficiency, which is time dependent; the policy imposes the total path-length and turning number criteria per candidate. The results demonstrate that the proposed cellular decomposition method improves the search-time efficiency. In addition, the candidate selection enhances the algorithmic efficacy toward further mission time-duration reduction. The method shows robustness against both convex and non-convex shaped search area.

• Journal of architectural history
• /
• v.18 no.6
• /
• pp.85-101
• /
• 2009

The Purpose of this paper is a study on the characteristics of Campidoglio hill plan by Michelangelo. 1. The plan of the Campidoglio hill is composed of the harmonized and united space, in spite of the existing conditions of a steep flight of land, a irregular site shape, a building of each other different dimension and form. And it is newly changed by site left through the modification of existing building elevation, utilization of existing building for new planning, connection with existing building and newly planned building from plaza composition of trapezoid form. 2. The concept of planning of the Campidoglio hill is planned by compromising for requirements of Baroque after Renaissance which urban planning characteristics of Baroque is as the relation with urban street through a inclined stairs and process such as street-approach stairs-plaza-symbol of inside plaza-building. 3. The section plan of the Campidoglio hill is planned by which can be easily approached to the plaza through the inclined stairs of gentle angle from street at the center east-west direction of main axis such as main axis, utilizing the existing site shape, and it is composed of the convex shape ascending gently at the center central part of the plaza. 4. The plan of the Campidoglio hill is composed of the elation with the axis of existing Senatorio palace, building planning of perfect balance, plaza composition of reversed trapezoid form bybuilding planning, central concentrated planning of buildings surrounding plaza. 5. The three palace of the plan of the Campidoglio hill is composed of the concept as theater which the stage background forms the front elevation of Senatorio palace higher two palace and the wings of either side of stage form the front elevation of Conservatori palace and Nuovo palace, surrounding three palace elevation around plaza of trapezoid form.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.34 no.1
• /
• pp.74-80
• /
• 2006

This paper addresses the trajectory optimization of Unmanned Aerial Vehicles(UAVs) under multiple ground threats like enemy's anti-air radar sites. The power of radar signal reflected by the vehicle and the flight time are considered in the performance cost to be minimized. The bank angle is regarded as control input for a 1st-order lag vehicle, and input parameter optimization method based on Sequential Quadratic Programming (SQP) is used for trajectory optimization. The proposed path planning method provides more practical trajectories with enhanced survivability than those of Voronoi diagram method.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.15 no.4
• /
• pp.424-434
• /
• 2012

This paper presents a path planning algorithm of the unmanned aerial vehicle for the neutralization of the enemy firepower. The long range firepower of the ememy is usually located at the rear side of the mountain which is difficult to bomb. The path planner not only consider the differential constraints of the Unmanned Aerial Vehicle (UAV) but also consider the final approaching angle constraint. This problem is easily solved by incorporating the analytical upper bounded continuous curvature path smoothing algorithm into the Rapidly Exploring Random Tree (RRT) planner. The proposed algorithm can build a feasible path satisfying the kinematic constraints of the UAV on the fly. In addition, the curvatures of the path are continuous over the whole path. Simulation results show that the proposed algorithm can generate a feasible path of the UAV for the bombing mission regardless of the posture of the tunnel.

• Journal of the Korean Institute of Landscape Architecture
• /
• v.17 no.3
• /
• pp.1-8
• /
• 1990

The digital terrain model (DTM) or digital elevation model (DEM) is commonly used in representing the continuous variation of relief over space. One of the most frequent applications is to display the three dimensional view of the landform concerned. In this paper, the altitude matrices-regular grid cell format of the elevation in Mt. Kyeryong National Park were used in developing the three dimensional view software for the first time in Korea. It required the removal of hidden lines or surfaces. To do this, it was necessary to identify those surfaces and line segments that are visible and those that are invisible. Then, only the visible portions of the landform were displayed. The assumption that line segments are used to approximate contour surfaces by polygons was used in developing the three dimensional orthographic view. In order to remove hidden lines, the visibility test and masking algorithms were used. The software was developed in the engineering workstation, SUN 3/280 at the Institute of Space Science and Astronomy using 'C' in UNIX operating system. The software developed in this paper can be used in various fields. Some of them are as follows : (1) Landscape design and planning for identifying viewshed area(line of sight maps) (2) For planning the route selection and the facility location (3) Flight simulation for pilot training (4) Other landscape planning or civil engineering purposes

• Advances in aircraft and spacecraft science
• /
• v.4 no.3
• /
• pp.237-267
• /
• 2017

Automatic trajectory re-planning is an integral part of unmanned aerial vehicle mission planning. In order to be able to perform this task, it is necessary to dispose of formulas or tables to assess the flyability of various typical flight segments. Notwithstanding their importance, there exist such data only for some particularly simple segments such as rectilinear and circular sub-trajectories. This article presents an analysis of a new, very efficient, way for an airplane to fly on an inclined circular trajectory. When it flies this way, the only thrust required is that which cancels the drag. It is shown that, then, much more inclined trajectories are possible than when they fly at constant speed. The corresponding equations of motion are solved exactly for the position, the speed, the load factor, the bank angle, the lift coefficient and the thrust and power required for the motion. The results obtained apply to both types of airplanes: those with internal combustion engines and propellers, and those with jet engines. Conditions on the trajectory parameters are derived, which guarantee its flyability according to the dynamical properties of a given airplane. An analytical procedure is described that ensures that all these conditions are satisfied, and which can serve for producing tables from which the trajectory flyability can be read. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and an F-16 jet airplane.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.18 no.4
• /
• pp.903-921
• /
• 2024

Industry 5.0 puts forward higher requirements for smart cities, including low-carbon, sustainable, and people-oriented, which pose challenges to the design of smart cities. In response to the above challenges, this study introduces the cyber-physical-social system (CPSS) and parallel system theory into the design of smart cities, and constructs a smart city framework based on parallel system theory. On this basis, in order to enhance the security of smart cities, a sustainable patrol subsystem for smart cities has been established. The intelligent patrol system uses a drone platform, and the trajectory planning of the drone is a key problem that needs to be solved. Therefore, a mathematical model was established that considers various objectives, including minimizing carbon emissions, minimizing noise impact, and maximizing coverage area, while also taking into account the flight performance constraints of drones. In addition, an improved metaheuristic algorithm based on ant colony optimization (ACO) algorithm was designed for trajectory planning of patrol drones. Finally, a digital environmental map was established based on real urban scenes and simulation experiments were conducted. The results show that compared with the other three metaheuristic algorithms, the algorithm designed in this study has the best performance.