• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1253-1259
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• 2008

This paper presents a landing controller and guidance law for net-recovery of fixed-wing unmanned aerial vehicles. A linear quadratic controller was designed using the system identification result of the unmanned aerial vehicle. A pursuit guidance law is applied to guide the vehicle to a recovery net with imaginary landing points on the desired approach path. The landing performance of a pure pursuit guidance, a constant pseudo pursuit guidance, and a variable pseudo pursuit guidance is compared. Numerical simulation using an unmanned aerial vehicle model was performed to verify the performance of the proposed landing guidance law.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.98-109
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• 2010

This paper deals with a new method of unmanned aerial vehicle (UAV) recovery when a UAV fails to get a global positioning system (GPS) signal at an unprepared site. The proposed method is based on the simultaneous localization and mapping (SLAM) algorithm. It is a process by which a vehicle can build a map of an unknown environment and simultaneously use this map to determine its position. Extensive research on SLAM algorithms proves that the error in the map reaches a lower limit, which is a function of the error that existed when the first observation was made. For this reason, the proposed method can help an inertial navigation system to prevent its error of divergence with regard to the vehicle position. In other words, it is possible that a UAV can navigate with reasonable positional accuracy in an unknown environment without the aid of GPS. This is the main idea of the present paper. Especially, this paper focuses on path planning that maximizes the discussed ability of a SLAM algorithm. In this work, a SLAM algorithm based on extended Kalman filter is used. For simplicity's sake, a blimp-type of UAV model is discussed and three-dimensional pointed-shape landmarks are considered. Finally, the proposed method is evaluated by a number of simulations.

• Journal of the Architectural Institute of Korea Structure & Construction
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• v.35 no.2
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• pp.3-11
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• 2019

The recent earthquake of Pohang (M5.4) and the Gyeongju earthquake (M5.8) suggested the possibility of a strong earthquake in Korea and reminded us that the Korea is no longer an earthquake-safe zone. In the disaster recovery stage in a disaster like an earthquake, the investigation of the damage situation and the safety assessment of the building serve to provide important information for the initial action such as establishment of the recovery strategy and rescue of the survivor. However, the research that depends on manpower can not cope with the difficulty of processing a large number of doses in a short time, and the expertise of the manpower must be taken into consideration, which may result in delayed initial action. In this study, we propose an rapid safety evaluation technique of building using unmanned aerial vehicle which evaluates the performance and safety of buildings by integrating conventional safety inspection method with unmanned aerial vehicle technology and developed evaluation method of each evaluation factor. In order to verify this, the buildings damaged by the earthquake in Pohang were checked and compared using this system. The results are consistent with the results of the existing emergency earthquake risk assessment. As a result, the possibility of checking the emergency safety using the unmanned aerial vehicle for the damaged structures in case of a large-scale disaster such as an earthquake was confirmed.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.2
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• pp.260-267
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• 2016

The design process of blended inlet body (BIB) for the preliminary design of a near-space high supersonic unmanned aerial vehicle (HSUAV) is presented. The mass flow rate and cowl area of inlet at a design point are obtained according to the cruise condition of the HSUAV. A mixed-compression axisymmetric supersonic inlet section with a fixed geometry reasonably matching the high supersonic cruise state is created by using the inviscid theory of aerodynamics. The inlet section is optimized and used as a baseline section for the BIB design. Three BIB concepts for the HSUAV are proposed, and their internal aerodynamic characteristics of inlet are evaluated using Euler computational fluid dynamics (Euler CFD) solver. The preferred concept is identified, in which the straight leading edge of the baseline HSUAV configuration is modified into the convex leading edge to accommodate the inlet and meet the requirements of the cowl area to capture the sufficient air flow. The total recovery of inlet for the preferred BIB concept and the aerodynamic characteristics of the modified HSUAV configuration are verified using Navier-Stokes computational fluid dynamics (NS CFD) solver. The validation indicates that the preferred BIB concept can meet both the requirements of the inlet and aerodynamic performance of the HSUAV.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1209-1216
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• 2014

This paper copes with control design for unmanned aerial vehicle transportation system. Moving pendulum dynamics of slung-load system is derived using two methods: Udwadia-Kalaba equation and Newtonian approach. PID controller is applied to Udwadia-Kalaba equation model for structural consistency and linear quadratic Gaussian / Loop Transfer Recovery (LQG/LTR) technique is employed for Newtonian model with minimal state-space realization. Characteristics of PID and LQG/LTR controller are compared, and two controllers are combined to compensate the drawbacks of each other. Numerical simulation is set for two cases and conducted to evaluate performance of designed controllers. The result proves that combination of LQG/LTR and PID control performs stable and robust.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.207-212
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• 2010

This paper presents a spiral descending path and a landing guidance law for net-recovery of a fixed-wing unmanned aerial vehicle. The net-recovery landing flight is divided into two phases. In the first phase, a spiral descending path is designed from an arbitrary initial position to a final approaching waypoint toward the recovery net. The flight path angle is controlled to be aligned to the approaching direction at the end of the spiral descent. In the second phase, the aircraft is guided from the approaching waypoint to the recovery net using a pseudo pursuit landing guidance law. Six degree-of-freedom simulation is performed to verify the performance of the proposed landing guidance law.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2666-2687
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• 2022

As a new alternative communication scheme in 5G, unmanned aerial vehicle (UAV) is used as a relay in the remote base station (BS) for assistant communication. In order to ameliorate the quality of the backhaul link, a UAV backhaul transmission scheme based on improved Nash equilibrium (NE) strategy is proposed. First, the capacity of air-to-ground (A2G) channel by the link preprocess is maximized. Then, the maximum utility function of each UAV is used as the basis of obtaining NE point according to the backhaul channel and the backhaul congestion. Finally, the improved NE strategy is applied in multiple iterations until maximum utility functions of all the UAVs are reached, and the UAVs which are rejected by air-to-air (A2A) link during the process would participate in the source recovery process to construct a multi-hop backhaul network. Simulation results show that average effective backhaul rate, minimum effective backhaul rate increases by 10%, 28.5% respectively in ideal A2G channel, and 11.8%, 42.3% respectively in fading channel, comparing to pure NE strategy. And the average number of iterations is decreased by 5%.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.1
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• pp.81-87
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• 2016

It is important to analyze the exact damage information for fast recovery when natural disasters cause damage on river-side facilities such as dams, bridges, embankments etc. In this study, we shows the method to effectively damage analysis plan using UAV(Unmanned aerial vehicle) images and accuracy assessment of it. The UAV images are captured on area near the river-side facilities and the core methodology for damage analysis are image matching and change detection algorithm. The result(point cloud) from image matching is to construct 3-dimensional data using by 2-dimensional images, it extracts damage areas by comparing the height values on same area with reference data. The results are tested absolute locational precision compared by post-processed aerial LiDAR data named reference data. The assessment analysis test shows our matching results 10-20 centimeter level precision if external orientation parameters are very accurate. This study shows suggested method is very useful for damage analysis in a large size structure like river-side facilities. But the complexity building can't apply this method, it need to the other method for damage analysis.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.6_2
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• pp.1043-1050
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• 2020

In this study, a study was presented on the monitoring technique of landslide area using UAV. In the case of disaster investigation using drone mapping, it can be used at various disaster sites. The mission can be carried out at various disaster sites, including surveys of damage to mountainous areas caused by landslides, building collapses surveys of flood damage, typhoons, earthquakes. The damage investigation plan using drone mapping is expected to be highly utilized at disaster sites where investigators cannot access it like in mountainous areas and where it is difficult to conduct direct damage investigations at the site. Drone mapping technology has many advantages in terms of disaster follow-up, such as recovery. Compared to the existing survey system, which was mainly carried out manually, the investigation time can be drastically reduced, and it can also respond to disaster sites that are difficult to carry out or are difficult to access directly. In addition, it is possible to establish and guide spatial data at the disaster site based on accurate mapping data from the time of the disaster, which has considerable strength in managing the situation of the disaster site, selecting priority areas for recovery, and establishing recovery plans. As such, drone mapping is a technology that can be used in a wide range of sites along with natural disasters and social disasters. If a damage investigation system is established through this, it is believed that it will contribute significantly to the rapid establishment of recovery plans along with the investigation of disaster response time and extent of damage recovery.

• Korean Journal of Remote Sensing
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• v.35 no.5_2
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• pp.819-829
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• 2019

In the disaster of collapse, an immediate response is needed to prevent the damage from worsening, and damage area calculation, response and recovery plan should be established. This requires accurate detection of the damage affected area. This study performed the detection of the damaged area by using UAV which can respond quickly and in real-time to detect the collapse accident. The study area was selected as B-05 housing redevelopment area in Jung-gu, Ulsan, where the demolition of houses and apartments in progress as the redevelopment project began. This area resembles a collapsed state of the building, which clear changes before and after the demolition. UAV images were acquired on May 17 and July 9, 2019, respectively. The changing area was considered as the damaged area before and after the collapse of the building, and the changing area was detected using CVA (Change Vector Analysis) the Representative Change Detection Technique, and SLIC (Simple Linear Iterative Clustering) based superpixel algorithm. In order to accurately perform the detection of the damaged area, the uninterested area (vegetation) was firstly removed using ExG (Excess Green), Among the objects that were detected by change, objects that had been falsely detected by area were finally removed by calculating the minimum area. As a result, the accuracy of the detection of damaged areas was 95.39%. In the future, it is expected to be used for various data such as response and recovery measures for collapse accidents and damage calculation.