• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.95-99
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• 1998

We introduce an autonomous flying system using a model-helicopter. A feature of the helicopter is that autonomous flight is realized on the low-cost compact model-helicopter. Our helicopter system is divided into two parts. One is on the helicopter, and the other is on the land. The helicopter is loaded with a vision sensor and an electronic compass including a tilt sensor. The control system on the land monitors the helicopter movement and controls. We firstly introduce the configuration of our helicopter system with a vision sensor and an electronic compass. To determine the 3-D position and posture of helicopter, a technique of image recognition using a monocular image is described based on the idea of the sensor fusion of vision and electronic compass. Finally, we show an experiment result, which we obtained in the hovering. The result shows the effectiveness of our system in the compact model-helicopter.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.11
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• pp.1129-1136
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• 2004

The structural modification to install a heavy sensor was made at the front extremities of the foreign-produced helicopter operated in the Korea Navy Mounting the sensor directly to the nose structure is unlikely to be practical because it lowers a dynamic mode of the airframe close to rotor blade passing frequencies, leading to increased helicopter vibration. Unfortunately we have no information on dynamic characteristics of the imported helicopter. So the experimental modal model derived from shake testing on the overall airframe of a working helicopter was used to solve the sensor Installation problems. The sensitivity analysis was done to evaluate what the best of modification woo)d be. Simple ID model and experimental modal data for mount system with sensor were Incorporated into overall dynamic model to assess the effects of the sensor installation on helicopter. Modal testing for the modified helicopter shows that the airframe modes are sufficiently displaced from rotor passing frequencies. The mount system has been proven fight to be sufficiently stable to meet vibration-level requirement for all required operational profiles.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.185-188
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• 1993

The goal of this paper is to develop an on-board controller for a model helicopter's hovering attitude control, using i8096 one-chip microcontroller. Required controller algorithm is programmed in ASM-96 assembly language and downloaded into an i8096 microcontroller. The performance of hovering flight using this system is verified by experiments with the model helicopter mounted on an instrumented flight stand where 3 potentiometers and an optical proximity sensor measure te attitude and main rotor speed of the helicopter.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.969-974
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• 2004

For a maneuvering unmanned autonomous helicopter, it is necessary to design a proper controller of each flight mode. In this paper, overall helicopter dynamics is derived and hovering model is linearized and transformed into a state equation form. However, since it is difficult to obtain parameters of stability derivatives in the state equation directly, a linear control model is derived by time-domain parametric system identification method with real flight data of the model helicopter. Then, two different controllers - a linear feedback controller with proportional gains and a robust controller - are designed and their performance is compared. Both proposed controllers show outstanding results by computer simulation. These validated controllers can be used to autonomous flight controller of a real unmanned model helicopter.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1120-1125
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• 2000

This paper presents a technique for estimating the attitude of a model helicopter at near hovering using a combination of inertial and non-inertial sensors such as gyroscope and potentiometer. To estimate the attitude of helicopter a simplified indirect Kalman filter based on sensor modeling is derived and the characteristics of sensors are studied, which are used in determining the optimal Kalman gain. To verify the effectiveness of the proposed algorithm simulation results are presented with real flight data. Our approach avoids a complex dynamic modeling of helicopter and allows for an elegant combination of various sensor data with different measurement frequencies. We also describe the method of implementation of the algorithm in the model helicopter.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.168-171
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• 2003

We introduced a small-sized automatic model helicopter for using in the remote sensing. The feature of our helicopter system is that the helicopter system is realized using commercialized radio-controlled model helicopter, whose payload is 1.5 kg. Therefore, our system has may benefits when apply our system to practical tasks. The compactness and light-weight of our system is realized by the introduction of our original technique to suppress the vibration noise using a slimy material as well as the introduction of latest sensors and semiconductor products. Submerging the acceleration sensor into a slimy material, moise ratio is highly improved. In this paper, we show an experimental results for the effect of our orignal technique to remove the vibration noise of helicopter. The result of hovering flying test shows the effectiveness of our system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.173-177
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• 1992

The Helicopter has a lot of flight modes. The most characteristic flight mode is Hovering. It enables the helicopter to be used in many situations. However, a helicopter has nonlinear dynamics so its mathematical modeling is very difficult. Hence it is not easy to control helicopter in hover. In this paper, RC model helicopter is selected as a plant. To stabilize the behavior of RC model helicopter, Fuzzy alogrithm is used as a controller and one camera is used as a sensor. To get proper Information from camera Image, three characteristic points are attatched to the helicopter and a position recognition algorithm is developed. Experiments are performed to stabilize 3 rotational motions synchronousely with fuzzy control algorithm. As a result, Fuzzy control represents better performances than the conventional PID control.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.1099-1105
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• 2010

The purpose of this paper is to propose a methodology that can estimate optimal requirement of attack helicopter Korea army will be operating in future. For estimating optimal requirement, attack helicopter's operation concept, performance, battlefield environment and enemy threat are considered. We use a wargame model, AAsim(Army Aviation simulation), as a analytic simulation model which is used to analyze DOTMLPF and operation in army aviation field. In this paper, we conduct battle experiment for anti armored corps operation which reflects attack helicopter's combat effectiveness very well. As a result of simulation, the destructive rate for enemy armored corps per each attack helicopter can be calculated. In this paper, we propose optimal requirement of attack helicopter using that destructive rate for enemy armored corps.

• Aerospace Engineering and Technology
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• v.11 no.1
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• pp.185-191
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• 2012

This paper developed Helicopter Chassis Dynamometer System(HCDS) to perform the bench test of the scaled rotor blade and to design a scaled model helicopter flight test bed and accomplished the scaled helicopter ground test. The scaled helicopter should be checked the relation of thrust and power input to maintain regular RPM by collective pitch angle versus throttle input. It showed hovering performance results of IGE with OGE, the max. F.M. was 0.76 without ground effect. The results of the chassis dynamometer test of scaled helicopter will usefully apply to design the scaled helicopter and evaluate the rotor blade performance.