• 한국컴퓨터정보학회논문지
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• 제24권8호
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• pp.29-35
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• 2019

This paper proposes a UAV equipped with an automatic control system for educational purposes such as navigation flight or autonomous flight. The proposed UAV is capable of automatic navigation flight and it is possible to control more precisely and delicately than existing UAV which is directly controlled. And it has the advantage that it is possible to fly in a place out of sight. In addition, the user may arbitrarily change the route or route information to use it as an educational purpose for achieving the special purpose. It also allows you to check flight status by shooting a video during flight. For this purpose, it is designed to check the image in real time using 5.8GHz video transmitter and receiver. The flight information is recorded separately and used as data to judge the normal flight after the flight. The result of the paper can be flighted along the coordinates specified using GPS information. Since it can receive real-time video, it is expected to be used for various education purposes such as reconnaissance of polluted area, achievement of special purpose, and so on.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.187-187
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• 2000

This paper presents the comparison of Euler-Rodrigues quaternion and Euler Angles using attitude kinematics for aircraft flight simulation. It is hard for PC-Level to accomplish real-time simulation. The purpose of this paper is to accomplish real-time simulation of the aircraft dynamics modeling parts and the graphics parts. The computation time is more reduced in case of applying quaternions than Euler Angles. This paper provides a quaternions algorithm and it's applications for the real-time simulation.

• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.410-418
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• 2007

For the purpose of fault detection of the primary control surface, real-time estimation of the longitudinal stability and control derivatives of the DURUMI-II using the flight data is considered in this paper. The DURUM-II, a research UAV developed by KARI, is designed to have split control surfaces for the redundancy and to guarantee safety during the fault mode flight test. For fault mode analysis, the right elevator was deliberately fixed to the specified deflection condition. This study also mentions how to implement the multi-step control input efficiently, and how to switch between the normal mode and the fault mode during the flight test. As a realtime parameter estimation technique, Fourier transform regression method was used and the estimated data was compared with the results of the analytical method and the other available method. The aerodynamic derivatives estimated from the normal mode flight data and the fault mode data are compared and the possibility to detect the elevator fault by monitoring the control derivative estimated in real time by the computer onboard was discussed.

• 한국운동역학회지
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• 제13권3호
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• pp.67-79
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• 2003

The purpose of this study is to investigate the effective skill motion through the kinematic analysis of the Yurchenko Streched motion in new horse vaulting. The subjects in this study were 3 male gymnasts who were ranked as national athletes. After the 3D motion analysis, kinematic variables were analyzed to comparison with the difference between this study and the previous study(Yang, D. Y and Lee, C. S, 1999). As a result, the following conclusions was drawn; 1. In the board contact phase, this study showed a shorten contact time to maintain in condition highly extension of hip and hee angle than the previous study. 2. In the pre-flight phase, this study appeared more shortly flight duration time and horizontal flight displacement than the previous study. 3. In the horse contact phase, the contact duration time and horizontal displacement of COG shortened than the previous study, but appeared to the fast horizontal and vertical velocity and highly extension of shoulder an. 4. In the post-flight phase, a stable horse contact appeared to the increase of the flight duration time and the apex height during the post-flight. And it showed that these results have a stable and good landing.

• 항공우주정책ㆍ법학회지
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• 제20권2호
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• pp.235-251
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• 2005

항공운송산업의 선진극인 독일에서는 1994년 새로 제정된 근로시간법(Arbeitszeitgesetz)에서 통상 8시간을 1일 최대근로시간으로 규정하여 1주일간 근로시간을 48시간으로 규정하는 한편, 6개월 또는 24주 이내의 기간을 기준으로 1일 평균 8시간을 넘지 않는 범위 내에서 1일 8시간을 초과하여 10시간까지 근로시키는 것을 가능하게 함으로써 변형근로시간제를 채택할 경우 특정 주의 근로시간을 최대 60시간까지 가능하게 하고 있다. 그리고, 근로시간법에서는 1일 근로의 종료에서 다음 근로의 개시까지는 최소 11시간의 휴식시간을 부여하도록 함으로써 근로자가 1일 동안 사용자의 지휘하에 놓이는 시간의 상한을 13시간으로 제한하는 독특한 입법형식을 취하고 있다. 한편, 근로시간법 제5조, 제7조, 제14조, 그리고 제15조에서는 항공기승무원등과 같이 특수한 형태의 근로를 하는 직종에 대해서는 일반원칙의 적용을 배제하는 예외조항을 두고 있으며, 점포영업시간법에서도 특정한 경우에 대해서는 동법의 적용을 배제하는 예외조항을 두고 있다. 이라한 예외규정에 따라 제정된 행정명령인 항공운송사업자에 관한 2차 볍규명령(2.DV LuftBO)에서는 개별 항공기승무원의 블록시간, 비행근무시간, 휴식시간 등에 대해 자세한 제한규정을 설정하고 있다. 특히, 다른 나라에서는 찾아보기 어려운 시차를 고려한 휴식시간 부여기준 연장이라든가 최대비행근로시간을 1일 20시간까지 가능하도록 직접 규정하고 있는 것은 항공기승무원의 건강을 유지할 수 있도록 함으로써 항공안전을 확보하는 한편, 항공운송산업의 현실을 정확히 반영하고 있다. 독일의 이러한 입법방식은 항공기승무원들의 근로시간 및 휴식시간에 대해 근로기준법과 항공법에서 각각 규정함으로써, 일반 업종 근로자들에게 적용되는 근로기준법의 규정과 항공기승무원들의 근로특정을 고려한 항공법의 규정을 중첩적으로 준수하여야 함으로 인해 각종 문제점을 노정하고 있는 우리나라도 참고하고 도입할만한 우수한 입법으로 판단된다. 아울러 향후 제정될 JAR 부속서 Q에도 반영되어 유럽국가 모두에 적용되어야 할 우수한 제도이다.

• Journal of Platform Technology
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• 제10권4호
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• pp.62-69
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• 2022

드론과 무인항공기에 탑재되는 비행제어시스템은 설계단계에서부터 철저한 검증이 필수적이며, 이러한 검증은 비행제어 통합시험환경을 통해 이루어진다. 일반적으로 비행제어컴퓨터의 내부 상태를 실시간으로 모니터링하기 위해서는 별도의 디버거를 이용한다. 실시간 메모리 참조 및 Trace가 가능한 Emulator는 비교적 고가이고, JTAG Emulator은 실시간 동작이 불가능 하거나 현재의 고속 프로세서의 처리속도를 따라잡을 수 없는 한계가 있다. 본 논문에서는 NUTTX 기반 드론 비행조종컴퓨터 프로세서의 내부 모니터링 소프트웨어를 개발한 결과를 기술하였으며, 기능시험을 통해 그 기능이 정상적으로 동작되는 것을 확인할 수 있었다. 본 연구 결과는 상용 Debugger와 비교하여 제공되는 기능은 제한적이지만, 예산이 제한적인 상황에서 본 시스템을 활용하여 비행제어시스템 검증에 충분히 사용할 수 있을 것으로 판단된다.

• Bulletin of the Korean Chemical Society
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• 제26권2호
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• pp.303-308
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• 2005

A miniaturized time-of-flight mass spectrometer with an electron impact ionization source and sheet membrane introduction has been developed. The advantages and features of this mass spectrometer include high sensitivity, simple structure, low cost, compact volume with field portability, and ease of operation. A mass resolution of 400 at m/z 78 has been obtained with a 25 cm flight path length. Under optimized conditions, the detection limits for the volatile organic compounds (VOCs) studied were 0.2-10 ppm by volume with linear dynamic ranges greater than three orders of magnitude. The response times for various VOCs using a silicone membrane of 127 $\mu$m thickness were in the range 4.5-20 s, which provides a sample analysis time of less than 1 minute. These results indicate that the membrane introduction/time-of-flight mass spectrometer will be useful for a wide range of field applications, particularly for environmental monitoring.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.522-534
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• 2017

According to the characteristics of salvo attack for the multiple flight vehicles (MFV), the design of cooperative guidance law can be converted into the consensus problem of multi-vehicle system through the concept of multi-agent cooperative control. The flight vehicles can be divided into leader and followers depending on different functions, and the flight conditions of leader are independent of the ones of followers. The consensus problem of leader-follower multi-vehicle system is researched by graph theory, and the consensus protocol is also presented. Meanwhile, the finite time guidance law is designed for the flight vehicles via the finite time control method, and the system stability is also analyzed. Whereby, the guidance law can guarantee the line of sight (LOS) angular rates converge to zero in finite time, and hence the cooperative attack of the MFV can be realized. The effectiveness of the designed cooperative guidance method is validated through the simulation with a stationary target and a moving target, respectively.

• 항공우주기술
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• 제12권1호
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• pp.182-188
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• 2013

본 논문에서는 비행안전통제실, 비행정보전시시스템 및 비행안전통제원의 임무 및 훈련을 순차적으로 기술하고 KSLV-I 3차 비행중 실시간으로 처리된 데이터 및 분석 결과를 제시하였다. 3차 비행시험의 비행안전통제실 운용에서, KSLV-I 비행 상황 감시가 정상적으로 이루어졌으며 순간낙하점 계산을 포함한 비행안전 알고리듬 계산도 정상적으로 수행되었다.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1217-1224
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• 2014

This paper presents a modified track guidance algorithm for formation flight of multiple UAVs. The suggested guidance algorithm is the spatial version of the first order dynamic characteristics for a time-dependent system so the algorithm is able to generate a path without overshoot to track the desired line. A crucial design parameter is a spatial constant that controls the shape of the convergence to an assigned flight path similarly to a time constant. Reference flight trajectories are designed based on a two-dimensional vehicle model, and the performance of the proposed guidance law is verified by numerical simulation using rigid body UAV dynamics with MATLAB/Simulink Aerosim Blockset.