• Title/Summary/Keyword: Outdoor flight

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Outdoor Swarm Flight System Based on RTK-GPS (RTK-GPS 기반 실외 군집 비행 시스템 개발)

  • Moon, SungTae;Choi, YeonJu;Kim, DoYoon;Seung, Myeonghun;Gong, HyeonCheol
    • Journal of KIISE
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    • v.43 no.12
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    • pp.1315-1324
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    • 2016
  • Recently, the increasing interest in drones has resulted in development of new related technologies. Attention has been focused toward research on swarm flight which controls drones simultaneously without collision. Thus, complicated missions can be completed rapidly through collaboration between drones. Due to low position accuracy, GPS is not appropriate for the outdoor mission involving accurate flight. In addition, the inaccurate position estimation of GPS gives rise to the serious problem of collision, since many drones are controlled in a narrow space. In this study, we increased the accuracy of position estimation through various sensors with Real-Time Kinematic-GPS (RTK-GPS). The mode switching algorithm was proposed to minimize the problem of sensor error. In addition, we introduced the outdoor swarm flight system based on the proposed position estimation.

Flight Control Test of Quadrotor-Plane with Hybrid Flight Mode of VTOL and Fast Maneuverability (Hybrid 비행 모드를 갖는 Quadrotor-Plane의 비행제어실험)

  • Kim, Dong-Gyun;Lee, Byoungjin;Lee, Young Jae;Sung, Sangkyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.9
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    • pp.759-765
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    • 2016
  • This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.

Implementation of Virtual Instrumentation based Realtime Vision Guided Autopilot System and Onboard Flight Test using Rotory UAV (가상계측기반 실시간 영상유도 자동비행 시스템 구현 및 무인 로터기를 이용한 비행시험)

  • Lee, Byoung-Jin;Yun, Suk-Chang;Lee, Young-Jae;Sung, Sang-Kyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.9
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    • pp.878-886
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    • 2012
  • This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV's hovering on top of ground target within about several meters under geenral windy environment.

Experimental Framework for Controller Design of a Rotorcraft Unmanned Aerial Vehicle Using Multi-Camera System

  • Oh, Hyon-Dong;Won, Dae-Yeon;Huh, Sung-Sik;Shim, David Hyun-Chul;Tahk, Min-Jea
    • International Journal of Aeronautical and Space Sciences
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    • v.11 no.2
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    • pp.69-79
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    • 2010
  • This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

Development of a SLAM System for Small UAVs in Indoor Environments using Gaussian Processes (가우시안 프로세스를 이용한 실내 환경에서 소형무인기에 적합한 SLAM 시스템 개발)

  • Jeon, Young-San;Choi, Jongeun;Lee, Jeong Oog
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.11
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    • pp.1098-1102
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    • 2014
  • Localization of aerial vehicles and map building of flight environments are key technologies for the autonomous flight of small UAVs. In outdoor environments, an unmanned aircraft can easily use a GPS (Global Positioning System) for its localization with acceptable accuracy. However, as the GPS is not available for use in indoor environments, the development of a SLAM (Simultaneous Localization and Mapping) system that is suitable for small UAVs is therefore needed. In this paper, we suggest a vision-based SLAM system that uses vision sensors and an AHRS (Attitude Heading Reference System) sensor. Feature points in images captured from the vision sensor are obtained by using GPU (Graphics Process Unit) based SIFT (Scale-invariant Feature Transform) algorithm. Those feature points are then combined with attitude information obtained from the AHRS to estimate the position of the small UAV. Based on the location information and color distribution, a Gaussian process model is generated, which could be a map. The experimental results show that the position of a small unmanned aircraft is estimated properly and the map of the environment is constructed by using the proposed method. Finally, the reliability of the proposed method is verified by comparing the difference between the estimated values and the actual values.

Novel Roaming and Stationary Tethered Aerial Robots for Continuous Mobile Missions in Nuclear Power Plants

  • Gu, Beom W.;Choi, Su Y.;Choi, Young Soo;Cai, Guowei;Seneviratne, Lakmal;Rim, Chun T.
    • Nuclear Engineering and Technology
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    • v.48 no.4
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    • pp.982-996
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    • 2016
  • In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs) for radioactive material sampling and stationary tethered aerial robots (STARs) for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

A Study on the Quadcopters Formation Flight Guidance Law Design in Wireless Sensor Network (무선 센서 네트워크를 통한 쿼드콥터들의 편대 비행 기법 설계에 관한 연구)

  • Kim, Eui-hwan;Lee, Hak-soo;Ji, Seong-in;Oh, Young-jun;Lee, Kang-hwan
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2015.05a
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    • pp.101-104
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    • 2015
  • In this paper, a flight techniques many quadcopters which can be configured flexibly squadron according to the situation in wireless sensor networks is suggested. In previous studies, aircrafts fly only as part of a prescribed form and know the distance between the aircraft by sensor was able to maintain the fleet. Also, the problem occurs that between the aircraft distance is not constant. In this paper, proposes an algorithm that the context of the formation fly using the current position of the quadcopter through a virtual map is based on the relative coordinates without being affected by Indoor, outdoor and obstacles. Proposed algorithm is Leader-Follower Technique that the method of determinin the shape of the squadron to the down command to the sub-quadcopter using the wireless network by the main quadcopter to determine a given situation. As simulation result, the proposed algorithm was confirmed that formation flight efficient in sensing the all conditions as compared to the conventional method.

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Distance measurement using pulsed eye-safe laser (펄스형 eye-safe 레이저를 이용한 거리측정)

  • 유병헌;조성학;장원석;김재구;황경현;이동주
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.106-109
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    • 2004
  • In this project, we have developed the eye-safe LRF system of 1.54 ${\mu}{\textrm}{m}$ wavelength using OPO. The maximum measured distance was 3.7km in outdoor experiment. We used Nd:YAG (1064nm) as a laser medium. It was applied BBO to construct the system. We also developed a time-counter for the range finder using a method of TOF (time of flight). The counter-clock used at the time counter was 320MHz making resolution within $\pm$1m. Start and stop signals were detected by two channel systems using PIN and APD. The LRF's repetition rate was 4 times per minute. The energy was measured to be over 9mJ. And, pulse-duration was 23ns. Resolution was $\pm$2m at the distance measurement using a target.

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The principles and Applications of Outdoor & Indoor GPS(Global Positioning System) (옥내 외 위치정보측정시스템의 원리와 응용)

  • Moon, Hank
    • Journal of the Korean Professional Engineers Association
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    • v.41 no.5
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    • pp.55-58
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    • 2008
  • GPS is the global Navigation Satellite System which is developed by the United States Department of Defense as an abbreviation of the Global Positioning System. The GPS uses a constellation of 24 Medium Earth Orbit satellites that transmit precise microwave signals, that enable GPS receivers to determine their location, speed, direction, and time. Following, the shooting down of Korean Air Lines Flight 007 in 1983. President Ronald Reagan issued a directive making the system available free for civilian use as a common good. Since then, GPS has become a widely used aid to navigation worldwide, and a useful tool for map-making, land surveying, commerce, scientific uses, and hobbies such as geocaching. GPS also provides a precise time reference used in many applications including scientific study of earthquakes, and synchronization of telecommunications networks.

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Analysis and Control of Series$\cdot$Parallels Connection Characteristics for Virtual Implementation of 50[W] Solar Cell Module (50[W]급 태양전지의 가상 구현을 위한 모듈의 직$\cdot$병렬 연결 특성 해석 및 제어)

  • Han J. M.;Ryu T. G.;Gho J. S.;Choe G. H.
    • Proceedings of the KIPE Conference
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    • 2002.07a
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    • pp.53-57
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    • 2002
  • The solar energy is purity and infinity. Solar power converter were used to convert the electrical energy from the solar arrays to a stable and reliable power source. So many countries research this solar energy system The photovoltaic system is construct many solar cell array. In this paper, new implementation solar system was showed buck converter that V-I curve produced. This system can be used to study the short-term and long-term performances of solar cell and efficiency. This system is a far more cost effective and reliable replacement for field and outdoor flight testing. Study of buck converter, analysis and control series or parallels connection characteristics of solar cell way.

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