• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.3
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• pp.22-30
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• 2006

In this paper, a systematic design method on an IPMC(ionic polymer-metal composite)-driven ZNMF(zero-net-mass-flux) pump is introduced for the flow control of an MAV's (micro air vehicle) wing. Since the IPMC is able to generate a large deformation under a low input voltage along with its ability to operate in air, and is easier to be manufactured in a small size, it is considered to be an ideal material of the actuating diaphragm. Through the numerical methods, an optimal shape of the IPMC　diaphragm was found for maximizing the stroke volume. Based on the optimal IPMC diaphragm, a proto-type ZNMF pump with a slot, was designed. By using the flight speed of the MAV considered in this work, the driving frequencies(~ 40 Hz) of IPMC diaphragm, and the flow velocity through the pump's slot, the calculated non-dimensional frequency and the momentum coefficient ensure the feasibility of the designed ZNMF pump as a flow control device.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.105-119
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• 2003

일반적인 로봇시스템은 자신이 이동해야 할 목표 지점을 자율적으로 생성할 수 없으므로 어떤 다른 시스템의 정보를 이용하여 주변을 탐색하거나 장애물을 인식하고 식별하여 자신의 제어전략을 수립한다. 그러므로 본 논문에서 제시한 시스템은 초소형 비행체를 이용하여 주위 환경과 자율 이동로봇의 위치 정보를 탐색할 수 있도록 시스템을 구성하였다 이러한 시스템의 성능은 로봇이 위치하고 있는 주위의 불완전한 정보로부터 적절한 결론을 유도해 낼 수 있어야 한다. 그러한 비선형적인 문제는 현재까지도 문제 해결을 위해 많은 연구가 진행되고 있다. 본 연구에서는 자율이동로봇의 행동 환경을 공간상의 제약을 받지 않는 비선형 시스템인 초소형 비행체에 극초단파(UHF16채널) 영상장치를 이용하여 호스트 PC로 전송하고 호스트 PC는 로봇의 현재 위치, 이동해야 할 목표위치, 장애물의 위치와 형태 등을 분석한다. 분석된 결과 파라메타는 RF-Module을 이용해서 로봇에 전송하고, 로봇은 그 데이터를 분석하여 동작하게 된다. 로봇이 오동작 또는 장애물로 인해 정확한 목적지까지 도달하지 못할 때 호스트 PC는 새로운 최단경로를 생성하거나 장애물을 회피 할 새로운 전략을 로봇에게 보내준다. 본 연구에 적용한 알고리즘은 초소형 비행체에서 탐지한 불완전한 영상정보에서도 비교적 신뢰도 놀은 결과를 보이는 A* 알고리즘을 사용하였다 적용한 알고리즘은 실험을 통하여 실시간으로 정보를 처리할 수 있었으며, 자율 이동로봇의 충돌회피나 최단 경로 생성과 같은 문제를 실험을 통하여 그 성능과 타당성을 검토하였다.delta}textitH]$를 도출하였다.rc}C$에서 30 ㎫의 압력으로 1시간동안 행하였다 소결한 시편들은 직사각형 형태로 가공하였으며 표면은 0.5$\mu\textrm{m}$의 다이아몬드 입자로 연마하였다. XRD, SEM 및 TEM을 이용하여 상분석 및 미세조직관찰을 행하였다. 파괴강도는 3중점 굽힘 법으로 (3-point bending test) 측정하였다. 이때 시편 하부의 지지 점간의 거리는 30mm, cross-head 속도는 0.5 mm/min으로 하였고 5개의 시편을 측정하여 평균값을 구하였다.ell/\textrm{cm}^3$, 혼합재료 3은 0.123$\ell/\textrm{cm}^3$, 0.017$\ell/\textrm{cm}^3$, 혼합재료 4는 0.055$\ell/\textrm{cm}^3$, 0.016$\ell/\textrm{cm}^3$, 혼합재료 5는 0.031$\ell/\textrm{cm}^3$, 0.015$\ell/\textrm{cm}^3$, 혼합재료 6은 0.111$\ell/\textrm{cm}^3$, 0.020$\ell/\textrm{cm}^3$로 나타났다. 3. 단일재료의 악취흡착성능 실험결과 암모니아는 코코넛, 소나무수피, 왕겨에서 흡착능력이 우수하게 나타났으며, 황화수소는 펄라이트, 왕겨, 소나무수피에서 다른 재료에 비하여 상대적으로

• Journal of Aerospace System Engineering
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• v.14 no.1
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• pp.68-73
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• 2020

This purpose of this paper was to review the development trend of the VTOL MAVs with a ducted propellant that can fly like the VTOL at intermediate and high speeds, hovering, landing, and lifting off vertically over urban areas, warships, bridges, and mountainous terrains. The MAV differs in flight characteristics from helicopters and fixed wings in many respects. In addition to enhancing thrust, the duct protects personnel from accidental contact with the spinning rotor. The purpose of the U.S. Army FCS and DARPA's OAV program is spurring development of a the VTOL ducted MAV. Today's MAVs are equipped with video/infrared cameras to hover-and-stare at enemies hidden behind forests and hills for approximately one hour surveillance and reconnaissance. Class-I is a VTOL ducted MAV developed in size and weight that individual soldiers can store in their backpacks. Class-II is the development of an organic VTOL ducted fan MAV with twice the operating time and a wider range of flight than Class-I. MAVs will need to develop to perch-and-stare technology for lengthy operation on the current hover-and-stare. The near future OAV's concept is to expand its mission capability and efficiency with a joint operation that automatically lifts-off, lands, refuels, and recharges on the vehicle's landing pad while the manned-unmanned ground vehicle is in operation. A ducted MAV needs the development of highly accurate relative position technology using low cost and small GPS for automatic lift-off and landing on the landing pad. There is also a need to develop a common command and control architecture that enables the cooperative operation of organisms between a VTOL ducted MAV and a manned-unmanned ground vehicle.

• Composites Research
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• v.22 no.6
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• pp.7-12
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• 2009

This paper deals with a fabrication method of composite hinge mechanisms for flapping-wing micro air vehicles. The fabrication process includes curing process of Graphite/Epoxyprepregs, laser cutting for high fabrication repeatability, laminating of Graphite/Epoxy prepregs with Kapton film which is used for flexure, and so on. The fabricated hinge mechanism was attached with PUMPS actuators and the measured flapping angle was $173^{\circ}$ when driving voltage was 300V 170Hz.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.3
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• pp.185-195
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• 2021

The flapping-wing micro air vehicle (FW-MAV) in this study utilizes the cambered wings made of quite flexible material. Similar to the flying creatures, the present cambered wing uses three different materials at its leading edge, vein, and membrane. And it is constrained in various conditions. Since passive rotation uses the flexible nature of the wing, it is important to select an appropriate material for a wing. A three-dimensional fluid-structure interaction solver is developed for a realistic modeling of the cambered wing. Then a parametric study is conducted to evaluate the aerodynamic performance in terms of the elastic modulus of leading edge and vein. Consequently, the elastic modulus plays a key role in enhancing the aerodynamic performance of FW-MAVs.

• ICROS
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• v.7 no.5
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• pp.46-54
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• 2001

• The Science & Technology
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• no.6 s.409
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• pp.116-117
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• 2003

제36회 과학의 날 기념식 개최/ 제5회 로봇 올림피아드 전국 대회 개최/ 국내 최초 초소형비행체 개발/ 2007년까지 디지털 홈 구축/ 한국 과학논문 발표실적 세계13위/ 매트릭스폰 미국에서 출시/ 황사에 발암물질 검출돼/

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.2
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• pp.82-87
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• 2004

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.6
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• pp.31-38
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• 2005

Aerodynamic influence coefficient linearly relates pressure with downwash in panel method for load analysis in which the viscosity of a flow is ignored and the compressibility cannot be taken into account in transonic region. Since the planform of an aerodynamic surface determines the coefficient, the panel method has a limit to the analysis of low Reynolds number flow. The accuracy of the pressure distribution can be improved by a direct correction to the pressure or a correction to the downwash, which is considered the change of camber or thickness, using the aerodynamic coefficients from wind tunnel test as constraints. A premultiplying correction method as well as a postmultiplying correction method is applied to a micro air vehicle to provide more accurate aerodynamic pressure for trim and load analyses. Theoretical aerodynamic pressure is obtained from the panel method. Correction factor matrix and correct pressure coefficient are computed for the conditions with two constraints in addition to single constraint. The postmultiplying correction method gives a better improvement in pressure distribution on micro air vehicle due to the flow characteristics on it.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.837-847
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• 2020

A velocity profile for flapping flight is optimized to increase the power efficiency of 20g weighted flapping wing micro air vehicle in hover. The experimental optimization of flapping velocity profile is carried out with a real sized flapper, and various velocity profiles are realized by non-circular gear. Kriging with noise is adopted as a meta model of the profile optimization to reflect the data noise by uncertainty. The optimization results confirm that the flapping efficiency (thrust-to-power ratio) is substantially improved (11.3%) through the elastic deformation that carries the angular kinetic energy from previous stroke.