• 한국위성정보통신학회논문지
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• 제12권1호
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• pp.76-80
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• 2017

소형 무인기(UAV: Unmanned Aerial Vehicle)가 급속히 대중화됨에 따라 최근의 UAV 시스템은 각각의 목적에 따라 다양한 분야에서 설계되고 활용되고 있다. 이는 UAV 조정과 관련하여 전자, 센서, 카메라, 소프트웨어 프로그램 등에 이르기까지 많은 새로운 기회를 열어 가고 있으며 저비용 및 혁신적 업무 수행 능력으로 UAV의 활용과 응용 영역의 확대는 새로운 기술 혁신을 주도하고 있다. 특히 소형 UAV는 저고도 상황에서 예측이 힘든 돌발 변화나 장애물 출현 발생 확률이 높은 환경에서 비행을 하여야 한다. 본 논문에서는 소형 UAV 시스템의 자율 비행 기술에 관한 최근의 연구를 소개하고 적대적인 환경에서 소형 UAV의 저비용 센서들을 활용하여 경로 생성과 충돌 회피를 통해 안전하게 목표물에 도착을 유도하는 시험적 방안을 제안 한다.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.310-312
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• 2015

Small Unmanned Aerial Systems (SUAS) have been gaining a special attention in the U.S. recently because it is capable of getting aerial footages conveniently and cost effectively, but also because of its potential threat to the safety of our society. Regarding the benefits, one can easily find successful cases. For example, remote controlled or pre-programmed unmanned aircraft help ranch owners monitor their livestocks or crop harvesting status cost-effectively without having to hire human pilots. The professionals in the construction industry also acknowledge the benefits they could gain from using SUAS. Some firms already use a small unmanned aircraft for monitoring their construction activities, which may help project managers figure out construction progress, resolve disputes in real time, and make proactive decisions for quality control. However, there are many technical challenges that my hinder the use of small unmanned aircraft in the construction industry. This paper explores opportunities and challenges in using unmanned aircraft to monitor concrete cracks on the surface of containment building in the nuclear power plant.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1181-1188
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• 2014

In this paper, we propose a novel concept foran unmanned delivery service using a cooperative heterogeneous unmanned system consisting of a self-driving car and an unmanned aerial vehicle (UAV). The proposed concept is suitable to deliver parcels in high-density and high-rise urban or residential areas. In order to achieve the proposed concept, we will develop acooperative heterogeneous unmanned system. Customers can order goods using a smartphone application and the order information, including the position of the customer and the order time, and the package is transported automatically by the unmanned systems. The system assigns the tasks suitable for each unmanned vehicle by analyzing it based on map information. Performance is validated by experiments consisting of autonomous driving and flight tests in a real environment. For more evaluation, the landing position error analysis is performed using circular error probability (CEP).

• 전자공학회논문지
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• 제51권4호
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• pp.18-24
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• 2014

본 논문에서는 무인항공기의 운용 범위 내에서 데이터링크 두절을 최소화할 수 있는 탑재 가시선 데이터링크 방향성 안테나의 최적 위치를 EM(Electromagnetic) 시뮬레이션을 통하여 분석하였다. 무인항공기의 급격한 거동 시 동체 Blockage로 인한 전자파 왜곡 및 손실로 데이터링크 두절이 발생할 수 있다. 이와 같은 데이터링크 두절을 방지하기 위하여 무인항공기의 거동범위를 제한하면 선회 반경이 커지게 되고, 이로 인하여 임무 수행에 많은 제약이 발생할 수 있다. 이를 해결하기 위하여 1축 방향성 안테나의 동체 상/하부 장착을 고려한 최적위치에 대하여 EM시뮬레이션을 수행하였다. 장착된 방향성 안테나는 수직빔폭이 넓은 1축 안테나를 적용하여 수직 빔폭 만큼 무인항공기가 데이터링크 두절 없이 거동할 수 있도록 설계하였다. 또한, 2축이 아닌 1축 안테나 탑재로 인하여 탑재 중량도 크게 줄일 수 있는 장점을 갖고 있다.

• 한국산업정보학회논문지
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• 제21권5호
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• pp.55-72
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• 2016

본 연구는 국내 무인항공기산업과 같은 신성장동력산업의 국제적 기술 경쟁력 확보와 시장성 확보 및 산업성장이 가능한 미래유망 기술을 도출하는 방법론을 제시하는 것이다. 이에 본 연구는 KrKwic, Excel, NetMiner등의 분석 툴을 활용하여 무인항공기산업 분야의 특허데이터를 대상으로 동시출현 단어를 활용한 소셜네트워크분석과 하위그룹분석, 인지지도분석 방법을 제시하였다. 그 결과, '비행조정 기술', '피아식별 기술' 등은 향후 유망한 기술로 선정하여 집중 투자할 필요성이 큰 기술이라 볼 수 있었다.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1212-1217
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• 2008

This paper studies the feasibility of using the nonlinear model predictive control as a formation flight control algorithm for unmanned aerial vehicles. The optimal control inputs for formation flight are calculated through the cost function which incorporates the relative positions of the individual vehicles to maintain a desired formation and also the inequality constraints on inputs and states using the Karush-Kuhn-Tucker conditions. In the nonlinear model predictive control setting, the optimal control inputs are implemented in a receding horizon manner, which is suitable for dealing with dynamic constraints. Numerical simulations are executed for the validation of the proposed scheme.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1112-1117
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• 2014

Unmanned aerial vehicles (UAVs) are a popular research topic because of a great ripple effect in the future. However, current UAV technologies cannot be applied to manual aerial vehicles without any modification. As an alternative to current UAV technology, humanoid robots are adopted as pilots. If a humanoid robot controls an aerial vehicle autonomously, not only could manual aerial vehicles be utilized as UAVs, but the humanoid robot would also be put into an environment created for humans and conduct some missions suitable for humans. Humanoid robots are also able to handle tools and equipment designed for humans. In order to prove that a humanoid robot can pilot an airplane, an experiment is performed and the results of this experiment are shown in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.141.3-141
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• 2001

Since 1990´s, there has been many researches for the development of the Unmanned Aerial Vehicle (UAV). Especially, for the development of digital electronics, the technologies of UAV toward to the miniaturization low-cost, and high reliability. Therefore, recent trends for the development of UAV are focused on the development modern Flight Control System (FCS). In this paper, focusing on the FCS, the development process for Sejong Unmanned Research Vehicle -1 (SURV-1) from design to flight test is presented.

• 산업경영시스템학회지
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• 제45권1호
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• pp.10-19
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• 2022

Recently, the Defense Advanced Research Projects Agency(DARPA) in the United States is studying a new concept of war called Mosaic Warfare, and MUM-T(Manned-Unmanned Teaming) through the division of missions between expensive manned and inexpensive unmanned aircraft is at the center. This study began with the aim of deriving the priority of autonomous functions according to the role of unmanned aerial vehicles in the present and present collaboration that is emerging along with the concept of mosaic warfare. The autonomous function of unmanned aerial vehicles between the presence and absence collaboration may vary in priority depending on the tactical operation of unmanned aerial vehicles, such as air-to-air, air-to-ground, and surveillance and reconnaissance. In this paper, ACE (Air Combat Evaluation), Skyborg, and Longshot, which are recently studied by DARPA, derive the priority of autonomous functions according to air-to-air collaboration, and use AHP analysis. The results of this study are meaningful in that it is possible to recognize the priorities of autonomous functions necessary for unmanned aircraft in order to develop unmanned aerial vehicles according to the priority of autonomous functions and to construct a roadmap for technology implementation. Furthermore, it is believed that the mass production and utilization of unmanned air vehicles will increase if one unmanned air vehicle platform with only essential functions necessary for air-to-air, air-to-air, and surveillance is developed and autonomous functions are expanded in the form of modules according to the tactical operation concept.

• 한국지능시스템학회논문지
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• 제14권7호
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• pp.883-888
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• 2004

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos UAVs meet an obstacle in an Arnold equation, Chua's equation and hyper-chaos equation trajectory the obstacle reflects the UAV( Unmanned Aerial Vehicle).