• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.246-253
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• 2005

An experimenal study on flight control of high-speed AEV(Aero-levitation Electric Vehicle) scale model in wind-tunnel is conducted. The AEV is to fly at very low altitude in predesigned track so that it is always under the wing-in-ground effect. The experiment is intended to fly the scale model to follow the predesigned altitude schedule while holding its attitude (pitch, roll, and yaw). Especially, the altitude changes for climb, cruise, and descent with constant pitch angle are most important maneuvers. The experiment shows that the required mission flights can be performed with appropriate sensors, processors, and actuators.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1871-1876
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• 2005

In this paper, We present a new nonlinear adaptive control law using a disturbance accommodating control (DAC) observer for a Japanese automatic landing flight experiment vehicle called ALFLEX. A future spaceplane must have ability to deal with greater fluctuations in the stability and control derivatives of flight dynamics, because its flight region is much wider than that of conventional aircraft. In our previous studies, digital adaptive flight control systems have been developed based on a linear-parameter-varying (LPV) model depending on dynamic pressure, and obtained good simulation results. However, under previous control laws, it is difficult to accommodate uncertainties represented by disturbance and nonlinearity, and to design a stable flight control system. Therefore, in this study, we attempted to design a nonlinear adaptive control law using the DAC Observer and inverse dynamic methods. A good tracking property of the obtained system was confirmed in numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.519-524
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• 2003

In this report, a longitudinal adaptive flight control law is presented for the automatic landing system of a Japanese automatic landing flight experiment vehicle (ALFLEX). The longitudinal adaptive flight control law is designed to track an output of the vehicle to a guidance signal from the guidance portion of the automatic landing system. The proposed adaptive control law in the attitude control portion adjusts the controller gains continuously online as flight conditions change, in spite of the existence of unmodeled dynamics. The number of the controller gains to be adjusted is decreased to 1/2 from the previous studies. Computer simulation involving six-degree-of-freedom (DOF) nonlinear flight dynamics is performed to examine the effectiveness of the proposed adaptive control law. In order to verify the influence of the dispersion of the initial conditions, the Monte Carlo simulation is also applied. The initial conditions are more widely dispersed than the previous studies. As a result, except under the unsuitable initial conditions, the ALFLEX successfully landed on the runway.

• 유통과학연구
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• 제12권10호
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• pp.99-108
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• 2014

Purpose - The goals of this study are the following. First, this study focused on customer satisfaction of in-flight service. Specifically, in-flight duty free items were considered because of their potential value related with the differentiated strategy of airline companies. Second, this study analyzed feasible strategies that would fence off the aversive attitudes of consumers toward innovation regarding in-flight duty free items. Third, this study strived to discover implicit routes related with the reactions of of consumers to innovation. Fourth, the construal level theory was applied to the context of in-flight service. Psychological distance is expected to promote acceptance of innovation for duty free items. Research design, data, and methodology - This study consisted of three experiments. All data were collected through the participation of university students. First, the experiment employed a 2×2 between-subject design. The first independent variable was temporal distance (long vs. short of navigation time). The second independent variable was innovativeness (innovative duty free items vs. typical items). Further, experiment 2 involved a 2×2 between-subject design. The first independent variable was social distance (typical vs. atypical stewardess image). The second was innovativeness that was based on a pattern similar to that of the prior experiment. The third experiment involved a 2×2×2 design. The first and second independent variables were temporal distance and item innovation, respectively, based on the method of experiment 1. The third independent variable was cognitive depletion (depletion vs. control condition). Results - Experiment 1 demonstrated that the innovation of duty free items would need to consider the journey time of the airline. Specifically, innovative items were preferred in case of a long journey; typical items, however, were liked in a short journey. Further, experiment 2 demonstrated that, in spite of a short journey, innovative items would be preferred if an atypical stewardess was serving. An atypical stewardess was linked with social distance, and the psychological effects would activate a creative and flexible mindset that would fit with innovative duty free items. The final experiment was accomplished for the examination of cognitive processing of psychological distance on innovation-acceptance. Specifically, if the effects were related with systematic processing, then cognitive effort would be needed. In contrast, if they were related with heuristic processing, then such efforts would not be required. The same pattern appeared under both cognitive depletion and control condition; therefore, the effects of psychological distance were implied to be heuristic processing. Conclusions - Managers need to consider the navigation time, stewardess concepts, and depletion of consumers as important factors for innovative strategy regarding in-flight service. Longer journeys are more successful for innovative trials. Further, a more atypical stewardess image is more successful for atypical service. Long navigation and unfamiliar stewardesses may activate creative and flexible thinking. Further, cognitive depletion of consumers is not a dominant factor of psychological distance effects, because the effects are not related with systematic processing, but with heuristic processing.

• 전기학회논문지
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• 제64권7호
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• pp.1074-1080
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• 2015

In the last decades, the increasing interest in unmanned aerial vehicle(UAV) for military, surveillance, and rescue applications made necessary the development of flight control theory and body structure more and more efficient and fast. In this paper, we describe the design and performance of a prototype hexarotor UAV platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, dynamic modeling and simulation in the hexarotor helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(ARM-cortex) board. The P-PD control algorithm was used to control the hexarotor. We used the Matlab software to help us to tune the P-PD control parameters for quick response and minimizing the fluctuation. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• 한국항행학회논문지
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• 제8권2호
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• pp.112-119
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• 2004

본 논문에서는 무인기용으로 개발된 자세측정용 GPS/INS 통합 항법 시스템의 설계 개념을 제안하고 비행실험을 통한 성능 평가 결과를 제시한다. 제안하는 시스템은 무인 항공기 자동 비행 시스템의 일부분으로 설계되었고 자세측정용 GPS 수신기, 항법 컴퓨터, 상용의 IMU(Inertial Measurement Unit)로 이루어져 있다. 제안된 항법 시스템은 소형 저가의 구현이 가능하면서도 무인 항공기의 안정된 비행 제어를 위해 요구되는 정확도를 가지는 자세 정보를 제공 할 수 있다. 제안된 시스템을 검증하기 위한 통합 항법 하드웨어와 소프트웨어를 개발하였다. 비행 실험을 통하여 성능 평가를 수행하였다. 비행 실험 결과 개발된 항법 시스템은 GPS 또는 INS 단독보다 정확한 위치, 속도, 자세 정보를 제공하는 것을 확인 할 수 있었고 특히 자세 결과는 기준 자세 시스템과 비교를 통하여 정확도를 확인 할 수 있었다.

• 정보과학회 논문지
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• 제44권6호
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• pp.559-565
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• 2017

무인항공기는 사람이 탑승하지 않고 미리 설계된 프로그램에 따라 동작하기 때문에 전자기 간섭 등의 외부 영향에 대해 높은 신뢰성을 요구한다. 하지만 소형 무인항공기는 무게 및 공간의 제약으로 인해 외부 영향에 대해 물리적으로 완벽한 저항성을 가지도록 만들기가 어렵다. 이러한 여건으로 인해 기존에 운용 중인 소형 무인항공기는 외부 영향으로 비행제어 컴퓨터가 재시작 될 경우 비행체가 추락하는 상황이 발생하기도 하였다. 따라서 본 논문에서는 소형 무인항공기 비행안전성 향상을 위한 비행제어컴퓨터 알고리즘을 제안한다. 제안하는 알고리즘은 3개의 단계로 이루어져 있다. 첫 번째 단계는 항법장비를 교정하고 유효성을 검증하는 것이다. 두 번째 단계는 이륙단계에 교정데이터를 저장하는 것이다. 세 번째 단계는 비행제어컴퓨터 재시작 발생 시 현재 비행 상태를 판단하고, 비행 중일 경우에 교정데이터를 복구하는 것이다. 제안하는 알고리즘을 실제 소형 무인기에 적용하여 시험한 결과 비행제어컴퓨터가 재시작 되는 상황에도 안전하게 비행 유지가 가능함을 확인할 수 있었다.

• 한국항공우주학회지
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• 제37권12호
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• pp.1209-1216
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• 2009

본 논문에서는 실내 공간에 설치된 복수의 카메라로부터 획득한 영상정보를 소형무인기의 자세 추정 및 제어에 이용하는 시스템에 대한 연구를 기술하였다. 제안된 시스템은 실외 비행시험의 제한을 극복하고 효율적인 비행시험 환경을 구축하기 위한 것으로 무인기의 위치 및 자세를 측정하기 위해 별도의 센서를 탑재할 필요가 없어 저가의 장비로 테스트베드를 구성할 수 있다는 장점을 갖는다. 시스템 구현을 위해 요구되는 카메라 보정, 마커 검출, 자세 추정 기법을 소개하였으며 테스트베드를 이용한 실험 결과를 통해 제안된 방법의 타당성 및 성능을 보였다.

• 대한기계학회논문집A
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• 제40권4호
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• pp.343-352
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• 2016

멀티로터 비행체는 여러 개의 로터로 이루어진 무인 비행로봇으로서, 로터의 개수에 따라서 트라이로터, 쿼드로터, 헥사로터, 옥토로터 등으로 나누어 진다. 멀티로터는 수직이착륙 및 정지비행과 같은 높은 기동성으로 인하여 다른 무인 비행로봇에 비하여 험준한 산학지역 및 건물이 밀집되어 있는 도심과 같은 지역의 정찰 및 감시 등 여러 응용분야에 유용하게 활용될 수 있다. 하지만, 멀티로터는 불확실한 외부 환경 및 외란의 영향에 쉽게 노출될 수 있어 강건한 자세 및 비행제어 기법의 적용을 필요로 한다. 본 논문에서는 강인제어기법 중 하나인 슬라이딩 모드제어기를 설계 및 임베디드 알고리듬을 구현을 통하여 실시간 실내 비행실험을 위한 시스템을 구성하고, 실시간 위치제어 및 자세 안정화에 대한 실내 비행실험을 수행하였다. 특히, 불확실한 외부환경에 대한 강건한 비행특성을 검증하기 위하여 외란을 삽입하여 비행시험을 통해 성능을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.995-1000
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• 2004

A digital adaptive flight control system is presented for a Japanese automatic landing flight experiment vehicle (ALFLEX). In previous adaptive control systems based on a linear-parameter-varying (LPV) form, the output behavior was excellent, while the behavior of the adjusted parameters was unsatisfactory. In the present study, to obtain a more appropriate parameter adjustment law, the relationship between the coefficient matrices in a continuous-time state equation and the coefficients of a pulse transfer function in a discrete system for conventional aircraft is investigated. As a result, it is revealed that the coefficients of the numerator can be treated as a linear function of dynamic pressure (linear-parameter-varying: LPV), while the coefficients of the denominator can be treated as constant (linear-time-invariant: LTI). From the above analysis, an improved parameter adjustment law is derived by reducing the number of the adjustment parameters. Simulation results also revealed both good output tracking and good parameter adjustment compared with the previous results.