• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.87-93
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• 2012

In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.

• Journal of KIISE
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• v.43 no.12
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• pp.1315-1324
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• 2016

Recently, the increasing interest in drones has resulted in development of new related technologies. Attention has been focused toward research on swarm flight which controls drones simultaneously without collision. Thus, complicated missions can be completed rapidly through collaboration between drones. Due to low position accuracy, GPS is not appropriate for the outdoor mission involving accurate flight. In addition, the inaccurate position estimation of GPS gives rise to the serious problem of collision, since many drones are controlled in a narrow space. In this study, we increased the accuracy of position estimation through various sensors with Real-Time Kinematic-GPS (RTK-GPS). The mode switching algorithm was proposed to minimize the problem of sensor error. In addition, we introduced the outdoor swarm flight system based on the proposed position estimation.

• Proceedings of the KIEE Conference
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• 2000.07e
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• pp.17-21
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• 2000

A Study on the electron energy distribution function in $SF_6+Ar$ mixtures gas used by MCS-BE algorithm, the electron swam parameters in the 0.5% and 0.2% $SF_6+Ar$ mixtures are measured by time of flight method over the E/N(Td) range from 30 to 300(Td). A two-term approximation of the Boltzmann equation analysis and Monte Carlo simulation have been also used to study electron transport coefficients. The electron energy distribution function has been analysed in $SF_6$ gas and $SF_6+Ar$ mixtures at E/N : 200(Td) for a case of the equilibrium region in the mean electron energy. The measured results and the calculated results have been compared each other.