• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.600-603
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• 2004

UAV (Unmanned Aerial Vehicle) is an aerial vehicle that can accomplish the mission without pilot. UAV was developed for a military purpose such as a reconnaissance in an early stage. Nowadays usage of UAV expands into a various field of civil industry such as a drawing a map, broadcasting, observation of environment. These UAV, need vision system to offer accurate information to person who manages on ground and to control the UAV itself. Especially LOS(Line-of-Sight) system wants to precisely control direction of system which wants to tracking object using vision sensor like an CCD camera, so it is very important in vision system. In this paper, we propose a method to recognize object from image which is acquired from camera mounted on gimbals and offer information of displacement between center of monitor and center of object.

• International Journal of Aeronautical and Space Sciences
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• 제9권1호
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• pp.76-84
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• 2008

This paper is mainly concerned with the vision-based attitude stabilization of a quad-rotor UAV. The methods for attitude control rely on computing the roll and pitch angles of the vehicle from a two-camera vision system. One camera is attached to the body-fixed x-axis and the other to the body-fixed y-axis. The attitude computation for the quad-rotor UAV is performed by image processing consisting of Canny edge and Hough line detection. A proportional and integral controller is employed for the attitude hold autopilot. In this paper, the quad-rotor UAV is modeled by 6-DOF nonlinear equations of motion that includes rotor aerodynamics with blade element theory. The performance of the proposed method is evaluated through 3D environmental numerical simulations.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.682-685
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• 2016

최근 무인항공기(Unmanned Aerial Vehicle, UAV)가 많은 보급됨에 따라서 다양한 방법으로 이를 제어하기 위한 노력들이 이루어지고 있다. 그 중 NUI/NUX를 이용하여 UAV를 접목하려는 시도가 있다. 전통적인 NUI/NUX는 가상현실에서 시각적인 체감에 많이 의존하고 있지만 동작 인식 센서를 기반으로 가상 에이전트를 제어하는 기법들도 소개되고 있다. 이 논문에서는 모션 인식 센서인 Myo를 사용하여 UAV를 제어하는 시스템을 제안한다. 제안한 시스템은 지상 통제소(Ground Control Station, GCS)의 서브시스템이며 전통적인 드론 조종 방법과 같이 양팔로 제어하기 때문에 두 개의 Myo를 사용한다.

• 항공우주시스템공학회지
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• 제3권4호
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• pp.35-40
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• 2009

The first purpose of this study is to develop a GCS(Ground Control System) by using RF(Radio Frequency) wireless communication equipments for UAV(Unmanned Aerial Vehicle). The second goal is to develop an antenna tracking system operating automatically. UAV receives flight data from a RF wireless system. So the role of antenna tracking system is very important to keep good communication state between UAV and GCS. GCS can check flight data and display a aviation state of UAV in real-time. The flight data displayed in real-time by GCS include the latitude, longitude, altitude, speed and so on. Experiments that measure a communication range and reliability are needed to develop a RF wireless communication system.

• Journal of Positioning, Navigation, and Timing
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• 제9권4호
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• pp.405-409
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• 2020

This paper proposes time management system for unmanned aerial vehicle (UAV) network. The computers of the UAVs need time synchronization that time offset does not exceed the minimum interval of data samples for errorless data blending between the computers. The proposed time management system is composed of time synchronization and general management systems for UAV control. The systems communicate each other for time information and control signals. The synchronization system uses improved version of existing time offset estimation that network time protocol (NTP) uses. The time synchronization is operated when the time offset of any UAV exceeds threshold that preconfigured by the general management system. The demonstration of prototype shows stable time synchronization satisfying preconfigured threshold.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2017년도 춘계학술발표대회
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• pp.475-477
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• 2017

최근 ICT 기술 발전으로 인해여 전세계에서 UAV 시장이 기하급수적으로 성장하고 있다. 실제로 미국의 Teal Group에 따르면 2024년 전세계 UVA 시장은 147억 달러에 이를 것이라 예상하고 있다. 그러나 UAV는 현재 많은 분야에서 이용되고 있지만, 대부분 저사양을 가지고 있어 복잡한 임무를 수행 할 수 없다. 이러한 문제를 해결하기 위해서는 여러 UAV가 임무를 분담 수행하는 UAV 군집 비행 제어 기술이 필수적이다. 본 논문에서는 기존 UAV 군집 비행 제어 기술을 3가지로 분류하고 향상된 복잡 UAV 군집 비행 제어 기술을 제안한다.

• 항공우주시스템공학회지
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• 제10권2호
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• pp.7-13
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• 2016

Multi disciplinary approach for aerodynamics, structure, propulsion, and flight control system is necessary to develop High Altitude Long Endurance Unmanned Aerial Vehicles (HALE UAV). Various HALE UAV development trends are surveyed to understand their operational requirements. Separating the UAV Take Off Weight by 150kg, Airworthiness implementation direction for HALE UAV is studied under the current Airworthiness regulations. NATO STANAG 4671 and STANAG 4703 Airworthiness certification criteria are analyzed, and their applicability was proposed for future HALE UAV development. In addition, minimization of the risk for UAV is studied by considering probability of cumulative catastrophic failure for HALE UAV. This Hazard Risk Index can support the future UAV Airworthiness Certification Criteria.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.663-666
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• 2016

최근에 증가한 무인항공기(Unmanned Aerial Vehicle, UAV) 활용에 따라 다양한 제어 방법이 도입되고 있다. 일반적으로는 UAV 조종기를 통해서 직접 제어하는 방법이 많이 활용되고 있다. 하지만, 세밀한 UAV 제어를 위해서는 직관적인 사용자 인터페이스가 필요하다. 이 논문에서는 Myo로 다종 UAV를 제어하는 방법을 제안한다. 이를 위해서 기 개발된 그라운드스테이션과 UAV를 연결하고 제어하는 방법을 소개한다. UAV를 체감형 인터페이스로 제어함으로써 직관적인 제어가 가능하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1005-1007
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• 2005

A Nonlinear approach to control of Small Scale Rotary Wing Unmanned Aerial Vehicle (R-UAV) is presented. Using Backstepping, a globally stabilizing control law is derived. We derive backstepping control law for angle of attack and sideslip control. The inherent nonlinear nature of the system are considered here which helps in naturally stabilizing without extensive external effort. Thus, the resulting control law is much simpler than if the feedback linearization had been used.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1085-1091
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• 2014

This paper presents the guidance and control design for automatic carrier landing of a UAV (Unmanned Aerial Vehicle). Differently from automatic landing on a runway on the ground, the motion of a carrier deck is not fixed and affected by external factors such as ship movement and sea state. For this reason, robust guidance/control law is required for safe shipboard landing by taking the relative geometry between the UAV and the carrier deck into account. In this work, linear quadratic optimal controller and longitudinal/lateral trajectory tracking guidance algorithm are developed based on a linear UAV model. The feasibility of the proposed control scheme and guidance law for the carrier landing are verified via numerical simulations using X-Plane and Matlab/simulink.