• Journal of Advanced Navigation Technology
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• v.16 no.1
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• pp.1-7
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• 2012

In this research, a single-axis attitude control test bed is developed, and simulation and tests experiments are performed, as a preliminary research of a quad-rotor aerial vehicle development. A single-axis test bed with seesaw configuration is manufactured using two motors and propellers, and the aerodynamic parameters are derived by thrust tests. The response of the system is estimated with Matlab/Simulink, and experiments are performed with attitude control computer and an attitude sensor onboard the test bed. Comparing the results of simulated and tested data, factors of steady-state errors during experiments are found, and performances of used attitude control algorithm and the control computer were verified. In these process, essential preliminary data for attitude control of a quad-rotor unmanned aerial vehicle were acquired.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.5
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• pp.359-367
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• 2018

The vortex ring state that occurs during the descending flight of a rotorcraft generates a circulating flow like a donut near the rotating surface, and it often causes a rotorcraft fall due to loss of thrust. In this paper, we have physically identified the flow field in the vortex ring state of the quadcopter, one of the types of unmanned aerial vehicles. The descending flight of the quadcopter was simulated in a 1m subsonic wind tunnel of the Korea Aerospace Research Institute(KARI) and the Particle Image Velocimetry(PIV) was used for the flow field measurement. The induced velocity in the hovering state is estimated by using the momentum theory and the test was carried out in the range of descent rate at which the vortex ring condition could be caused. The development and the direction of the vortex ring were confirmed by the measurement of the flow field according to not only the descent rate but also propeller separation distance. In addition, the results of the study show the vortex ring state can be predicted sufficiently by measuring the flow velocity around the quadcopter.

• Journal of the Korea Institute of Military Science and Technology
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• v.2 no.1
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• pp.121-131
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• 1999

Automatic Rudder Trim System(ARTS) is a device to reduce the pilot's work load for rudder trimming greatly required in varying abruptly aircraft's engine power. This paper represents a technical analysis and a design of control law of the ARTS. The control law of the ARTS is designed based on the analysis of aircraft's characteristics, system's requirements, and limitations. The control law is comprised of open loop control using the rudder trim map for a specific aircraft and closed loop control to compensate the error of the open loop control system. flight test results show that the ARTS can reduce pilot's work load for rudder trimming dramatically and can compensate the aircraft's transient yaw motion.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.7
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• pp.479-487
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• 2022

This paper presents the control and guidance algorithm of a KAU-SPUAV(Korea Aerospace University - Solar Powered Unmanned Aerial Vehicle) which is designed and developed in Korea Aerospace University. Aerodynamic coefficients are calculated using the vortex-lattice method and applied to the aircraft's six degrees of freedom equation. In addition, the thrust and torque coefficients of the propeller are calculated using the blade element theory. An altitude controller using thrust was used for longitudinal control of KAU-SPUAV to glide efficiently when it comes across the upwind. Also describes wind estimation technic for considering wind effect during flight. Finally, introduce some guidance laws for endurance, mission and coping with strong headwinds and autonomous landing.

• Journal of Aerospace System Engineering
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• v.11 no.6
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• pp.10-16
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• 2017

In order to improve the safety of the multi-copter, Korea Aerospace Research Institute (KARI) performed a wind-tunnel test using an octocopter with the maximum takeoff weight (MTOW) of 28 kg. The wind-tunnel test was performed with three different RPM ranges, 3,500, 4,500 and 5,500 rpm, and three different wind speeds, 3.5, 5 and 7 m/sec. The tested range of the angle of attacks was $-40^{\circ}$ to $20^{\circ}degree$ and ${\pm}90^{\circ}degree$. Vortex ring state (VRS) of the tested multi-copter was located around the vertical descending speed of 6 m/sec and the decrement of thrust was about 13 % at the time of testing. Compared with the single propeller wind-tunnel test result, the propeller efficiency of the octocopter dropped to 10 to 15% depending on the propeller RPM. It is hypothesized that the obtained aerodynamic characteristics by the wind-tunnel test will be used to improve the performance and wind resistance of the multi-copter.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.244-245
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• 2008

본 논문은 관성센서를 이용한 무인 항공체의 자세 제어에 관한 연구를 다루었다. 항공계의 종류는 크게 고정익기와 회선익기로 나뉘는데 본 연구에서는 회전익기의 형태를 가진 Quarter Vehicle을 사통하였다. Quarter Vehicle은 4개의 프로펠러에 의한 양력과 회전 반발력으로 비행을 한다. 이때의 양력은 수평면에 대해 수직으로 추력을 발생시키므로 다른 비행체보다 불안정하며 이를 안정하게 제어하기 위해 관성 센서를 적용하여 균형을 유지한다. 본 연구에서는 관성센서를 이용하여 UAV의 자세와 균형을 안정적으로 유지하여 안정적인 비행이 가능하도록 하였다. 또한 상호 의존적인 항법 시스템으로 환경변화에 영향을 받지 않으며, 정확한 위치정보를 제공하는 GPS를 사용하여 3개 이상의 위성으로부터 정보를 받아 좌표를 계산하고 위치, 속도 및 방향을 결정하여 자율 비행이 가능하도록 설계하였다. 본 논문에서는 Quarter Vehicle의 구조와 이론적 배경을 통한 설계, 그리고 관성센서와 GPS의 적용을 위한 방법을 제시 한다.

• Bulletin of the Society of Naval Architects of Korea
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• v.26 no.4
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• pp.14-26
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• 1989

This paper describes the method of statistical analysis and its programs for predicting the ship's powering performance. The equation for the wavemaking resistance coefficient is derived as the sectional area coefficients by using the wavemaking resistance theory and its regression coefficients are determined from the regression analysis of the model test results. The equations for the form factor, wake franction and thrust deduction fraction are derived by purely regression analysis of the principal dimensions, sectional area coefficients and model test results. The statistical analyses are performed using the various descriptive statistic and stepwise regression analysis techniques. The powering performance prognosis program is developed to cover the prediction of resistance coefficients, propulsive coefficients, propeller open-water efficiency and various scale effect corrections.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.357-358
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• 2008

본 논문은 GPS를 이용한 무인 비행체의 자율비행에 관한 연구를 다루었다. 비행체의 종류는 크게 고정익기와 회전익기로 나뉘는데 본 연구에서는 회전익기의 형태를 가진 Quarter Vehicle을 사용하였다. Quarter Vehicle은 4개의 프로펠러에 의한 양력과 회전 반발력으로 비행을 한다. 이때의 양력은 수평면에 대해 수직으로 추력을 발생시키므로 다른 비행체보다 불안정하며 이를 안정하게 제어하기 위해 관성 센서를 적용하여 균형을 유지한다. 본 연구에서는 UAV의 자세와 균형을 안정적으로 유지하기 위해 관성센서를 적용하였으며 GPS를 활용하여 독립적인 자율비행이 가능하도록 하였다. 정확한 위치정보를 제공하는 GPS는 3개 이상의 위성으로부터 시간 및 위치 정보를 받아 좌표를 계산하고 비행체의 위치, 속도 및 방향을 결정하여 자율 비행이 가능하도록 한다. 또한 초형 지자기센서를 비행체에 적용하여 GPS의 방향 정보를 보완하도록 하였다. 본 논문에서는 무인 비행체의 자율비행의 기초가 되는 위치좌표 계산을 위한 GPS의 적용 방법과 비행경로계획 알고리즘을 제시 한다.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.8
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• pp.1128-1134
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• 2010

This paper is about the development of the 300W underwater thrusting system driven by a brushless DC motor (BLDC) for underwater robots. A design of the structure such as the structure analysis on the thrusting system using FEM and the design of the propeller using the fluid analysis has been performed. Also, a new structure such as decoupling and non-gear structure has been explained. The performance test of the designed and developed thrusting system in water and in air was undertaken and its results were compared with an existing product with high performance. The comparison results show that the developed thrusting system has better performance by 16% in forward thrusting force and by 12% in backward thrusting force.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.5
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• pp.437-446
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• 2017

An integrated flight simulation program for multicopter drones is presented. The program includes rigid body dynamics, propeller thrust, battery energy, control, and air. Using this program, users can monitor and analyze the states of drones along flight trajectories. As a programming language, Modelica has been chosen, that specializes in simulation program development. Modelica enables users to develop simulation programs efficiently due to acausal and object oriented properties. For missions including horizontal and vertical maneuvers, many dynamical states of drones have been analyzed with simulation results.