• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.5
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• pp.376-382
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• 2014

This paper presents a method to enable a UAV in autonomous flight along a desired path to follow it backwards when a strong headwind prevents the vehicle from proceeding forward. The main purpose of the reverse path following in this study is to return to a mission quickly when the wind becomes weaker. When the nonlinear path following guidance law is used, there are two reference points available in the path following. One of the two points is selected considering a flight direction for calculating a straight-line distance(L) from the vehicle to the point for the path following. An initial heading angle with respect to the wind direction determines whether the reverse path following is feasible or not at the time of the wind is generated. The result of the proposed method based on kinematic model in this study is verified through simulations implemented in Matlab.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.1
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• pp.76-81
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• 2014

Military helicopter is exposed to the enemy gun firing due to the low altitude flight of contour flight, hovering & nap of the Earth flight, therefore it has the high possibility to be exploded by the gun firing. Recently the Anti-ballistic requirement is required to get the high level of safety from gun firing in required operational capability. The first military utility helicopter of SURION has the Anti-ballistic requirement and explosion proof. In order to meet the requirement, OBIGGS is adopted for the first time in KUH. It is proven that Anti-Explosion capability is satisfied to requirement for improving vent system which was insufficiently designed in development period and related to Anti-explosion.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.5
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• pp.157-171
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• 2021

As smartphones spread and ICT technologies develop, taxi services have changed from hovering to platform-based calls and reservations. This has improved the mobility and accessibility of taxi users but caused problems, such as digital observing (no-responses to calls) for either short-distance services or services during the peak-demand periods. Digital Observing means ignoring and not accepting calls when they occur, which require improvement. Therefore, this study aims to derive measures to mitigate discrepancies in taxi supply and demand by adjusting the expected revenue of each taxi service using reinforcement learning based on the Taxi operation data. The results confirmed that the average complete response rate to calls would increase from 50.29% to 54.24% when incentives are applied, and an improvement of 5.86% can be achieved in short-distance sections of less than 5,000 won incentives. It is expected that the improvement will increase profitability for drivers, reduce the waiting time for passengers, and improve satisfaction with taxi services overall.

• Journal of the Korea Society of Computer and Information
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• v.26 no.5
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• pp.9-16
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• 2021

In this paper, we propose a building exploration drone that can be used for a digital twin-based building control system. The existing building control system using a fixed position sensor box has a problem that a management blind spot occurs. And because people patrol themselves, it takes a lot of human resources. In this paper, a drone equipped with a temperature and humidity sensor and a gas leak detection sensor is used to search the internal path of the building centering on the control blind spot. It also aims to solve the problem of the building control system by transmitting information in real time along with the video. In addition, it has a stable hovering function using an optical floor sensor and can be applied to an existing digital twin-based building control system. The results of this study are believed to be of great help in improving the quality of digital twin control systems using drones.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.6 no.9
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• pp.81-90
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• 2016

Recently drones have become popular enough to be one of the hobby. The drone refers to an unmanned aerial vehicle which can fly and be steered by a radio wave without a pilot and it has a airplane or helicopter shape. The drone was first started to be used from military purpose, but its usage has been expanded to the private such as construction site, crop-dusting, field discovery, freight shipping and drones to prevent cheating. However the drone that we can see often in the market is expansive, hard to be repaired when it broken down and has a discomfort of the short flight time. In this paper, to solve an uncomfortable talk on the cheap 8-bits microcontrollers ATmega128 Using drone for implementation. Axes gyroscope and accelerometers mcu between posture an attitude control, communications through drone control, pid. Receiver input them into transmitter signals of movements to control drone c the programming was implemented in on the basis of language. drone using ATmega128 microcontroller is possible hovering, By utilizing a pin that are not required for control it can be used as a drone for a variety of uses.

• Korean Journal of Ichthyology
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• v.13 no.3
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• pp.166-172
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• 2001

Parental care of eggs of Chromis fumea (Tanaka) was observed by Skin Scuba gear in August 1995 off Cheju Island. The eggs and larval development were observed in the laboratory at Pukyong National University, Pusan. Eggs were deposited on a flat surface of hard substratum and formed a plain sheet of one layer of eggs. Males showed parental care of the eggs by hovering over the nest and attacking other fishes that approached the nest. The spawned eggs were transparent, elliptical in shape and measured 0.73~0.88 mm in long axis and 0.50~0.56 mm in short axis. An analysis by T-test of the long axis of the egg with time showed a significant difference (p<0.01). However, there was no significant difference in short axis with time. Eggs were reared at water temperatures of $23.0{\sim}25.5^{\circ}C$ and took about 4~5 days from embryonic body stage to hatching. The newly hatched larvae were 1.10~1.61 mm in notochord length (NL) had 21 myomeres, has closed mouth but open anus, preanus length was 45.8% of NL. Melanophores were distributed on the occipital region of head, the eye, the peritoneal region, and along the ventral contour. The larvae absorbed the yolk material and oil globule in 3~4 days after hatching and became postlarvae. On the third day after hatching, the larvae had attained 1.9~2.4 mm in NL, had 25 myomeres, and showed rapid growth. By the ninth day after hatching, the larvae had attained 2.9 mm in NL, had an swimbladder in the dorsal margin of ventral region, the preanus length was 37.9% of NL, and their melanophores were enlarged and reduced in number.

• Journal of Aerospace System Engineering
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• v.14 no.1
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• pp.68-73
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• 2020

This purpose of this paper was to review the development trend of the VTOL MAVs with a ducted propellant that can fly like the VTOL at intermediate and high speeds, hovering, landing, and lifting off vertically over urban areas, warships, bridges, and mountainous terrains. The MAV differs in flight characteristics from helicopters and fixed wings in many respects. In addition to enhancing thrust, the duct protects personnel from accidental contact with the spinning rotor. The purpose of the U.S. Army FCS and DARPA's OAV program is spurring development of a the VTOL ducted MAV. Today's MAVs are equipped with video/infrared cameras to hover-and-stare at enemies hidden behind forests and hills for approximately one hour surveillance and reconnaissance. Class-I is a VTOL ducted MAV developed in size and weight that individual soldiers can store in their backpacks. Class-II is the development of an organic VTOL ducted fan MAV with twice the operating time and a wider range of flight than Class-I. MAVs will need to develop to perch-and-stare technology for lengthy operation on the current hover-and-stare. The near future OAV's concept is to expand its mission capability and efficiency with a joint operation that automatically lifts-off, lands, refuels, and recharges on the vehicle's landing pad while the manned-unmanned ground vehicle is in operation. A ducted MAV needs the development of highly accurate relative position technology using low cost and small GPS for automatic lift-off and landing on the landing pad. There is also a need to develop a common command and control architecture that enables the cooperative operation of organisms between a VTOL ducted MAV and a manned-unmanned ground vehicle.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.