• Journal of KIISE
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• 제43권12호
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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.

• Journal of Advanced Navigation Technology
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• 제28권1호
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• pp.15-20
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• 2024

The utilization of small unmanned aerial vehicles (UAVs) has expanded into both military and civilian domains, increasing the necessity for research to ensure operational safety and the efficient utilization of airspace. In this study, the calculation of minimum separation distances for the safe operation of small UAVs at low altitudes was conducted. The determination of minimum separation distances requires a comprehensive analysis of the total system errors associated with small UAVs, necessitating sensitivity analysis to identify key factors contributing to flight technology errors. Flight data for small UAVs were acquired by integrating the control system of an actual small UAV with a flight simulation program. Based on this data, operational scenarios for small UAVs were established, and the minimum separation distances for each scenario were calculated. This research contributes to proposing methods for utilizing calculated minimum separation distances as crucial parameters for ensuring the safe operation of small unmanned aerial vehicles in real-world scenarios.

• Journal of Korea Water Resources Association
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• 제54권11호
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• pp.903-913
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• 2021

In the flood season, the measurement of the river discharge has many restrictions due to reasons such as budget, manpower, safety, convenience in measurement and so on. In particular, when heavy rain events occur due to typhoons, etc., it is difficult to measure the amount of flood due to the above problems. In order to improve this problem, in this study, a method was developed that can measure the river discharge in a flood season simply and safely in a short time with minimal manpower by combining the functions of a drone and a surface velocity doppler radar. To overcome the mechanical limitations of drones caused by weather issues such as wind and rainfall derived from the measurement of the river discharge using the conventional drone, we developed a drone with P56 grade dustproof and waterproof performance, stable flight capability at a wind speed of up to 36 km/h, and a payload weight of up to 10 kg. Further, to eliminate vibration which is the most important constraint factor in the measurement with a surface velocity doppler radar, a damper plate was developed as a device that combines a drone and a surface velocity Doppler radar. The velocity meter DSVM (Dron and Surface Veloctity Meter using doppler radar) that combines the flight equipment with the velocity meter was produced. The error of ±3.5% occurred as a result of measuring the river discharge using DSVM at the point of Geumsan-gun (Hwangpunggyo) located at Bonghwang stream (the first tributary stream of the Geum River). In addition, when calculating the mean velocity from the measured surface velocity, the measurement was performed using ADCP simultaneously to improve accuracy, and the mean velocity conversion factor (0.92) was calculated by comparing the mean velocity. In this study, the discharge measured by combining a drone and a surface velocity meter was compared with the discharge measured using ADCP and floats, so that the application and utility of DSVM was confirmed.

• KSCE Journal of Civil and Environmental Engineering Research
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• 제37권2호
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• pp.445-449
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• 2017

Most studies using drone is confined utilization on the ground and regulation. The drone in the water is rarely used in hydrographic surveying because of the limit of flight time and image matching. This paper is the basic research for drone hydrographic photogrammetry. The accuracy of hydrographic photogrammetry, using buoys for water reference point, was evaluated. The accuracy is influenced by the accuracy of the water reference points like the photogrammetry. The position of water reference points set up on water, keep on changing due to various environmental factors such as wind speed and water velocity. The position continuously changed of the water reference points were measured 3 times using Total Station and VRS. Experiments were conducted at two reservoirs in Gimhae City, and the accuracy of the manual image matching using the water reference points is 40 cm and 80 cm. Allowable accuracy of the ocean boundary survey is ${\pm}2m$, the results of this study are fully available. The maximum position error of the water reference point for ensuring accuracy within ${\pm}2m$ is 1.8 m.

• Korean Security Journal
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• 제62호
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• pp.65-86
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• 2020

Drones, which were originally developed for military purpose, have expanded rapidly not only in hobbies, leisure, but also in broadcasting, filming, and public sectors, and search and rescue drones have been used to find four Korean teachers who went to Nepal for volunteer work but went missing in the avalanche. The government is encouraging the use of drones in the public sector as a policy to foster the drone industry, and the market is expected to expand in the future. This study presents improvement measures and specific directions for use of drones by public agencies at a time when the use of drones is expanding in the public sector. To that end, this research reviewed the interviews of relevant experts, analysis of drone operation regulations by public agencies, and the cases of operation of drones for searching missing persons by police. First of all, it will have to secure skilled personnel before the introduction of the drones and then determine the specifications of the drones through sufficient review, and then be put into the mission after careful examination of the drones. Next, it is necessary to draw up a base rule for drone operation and draw up a manual accordingly. Finally, drone flight has the risk of a crash, and it is essential to secure dedicated personnel for drone operation, especially since drones in the public sector are specialized in large scale compared to hobby drones to achieve their purpose. This research only conducted a detailed analysis of the National Police Agency's drones for searching for missing persons, and there are limitations to the number of people interviewed. Subsequent studies will require analysis of various public institutions, and in addition to interviews, surveys will require analysis of various data and statistics.

• Atmosphere
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• 제34권1호
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• pp.35-53
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• 2024

Under the leadership of the National Institute of Meteorological Sciences (NIMS), the first domestic autonomous flight-type weather modification experimental drone for fog and lower-level cloud seeding was developed in 2021. This drone is designed based on a multi-copter configuration with a maximum takeoff weight of approximately 25 kg, enabling the installation of up to four burning flares for seeding materials and facilitating weather observations (temperature, pressure, humidity, and wind) as well as aerosol (PM₁₀, PM_2.5, and PM_1.0) particle measurements. This research aims to introduce the construction of the drone and its recent applications over the past two years, providing insights into the experimental procedures, effectiveness verification, and improvement directions of the weather modification drone-based rain enhancement. In particular, partial confirmation of the experimental effects was obtained through the fog dissipation experiment on December 10, 2021, and the lower-level cloud seeding case study on October 5, 2022. To enhance the scope and rainfall amount of weather modification experiments using drones, various technological approaches, including adjustments to experimental altitude, seeding lines, seeding amount, and verification methods are necessary. Through this research, we aim to propose the development direction for weather modification drone technology, which will serve as foundational technology for practical application of domestic rain enhancement technology.

• Journal of Institute of Control, Robotics and Systems
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• 제22권3호
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• pp.233-240
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• 2016

This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.

• Journal of the Korean Society of Industry Convergence
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• 제26권6_3호
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• pp.1325-1332
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• 2023

Recently, much research is being conducted based on point cloud data for the growth of innovations such as construction automation in the transportation field and virtual national space. This data is often measured through remote control in terrain that is difficult for humans to access using devices such as UAVs and UGVs. Drones, one of the UAVs, are mainly used to acquire point cloud data, but photogrammetry using a vision camera, which takes a lot of time to create a point cloud map, is difficult to apply in construction sites where the terrain changes periodically and surveying is difficult. In this paper, we developed a point cloud mapping system by adopting non-repetitive scanning LiDAR and attempted to confirm improvements through field application. For accuracy analysis, a point cloud map was created through a 2 minute 40 second flight and about 30 seconds of software post-processing on a terrain measuring 144.5 × 138.8 m. As a result of comparing the actual measured distance for structures with an average of 4 m, an average error of 4.3 cm was recorded, confirming that the performance was within the error range applicable to the field.

• Proceedings of the Korean Society of Computer Information Conference
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• 한국컴퓨터정보학회 2024년도 제69차 동계학술대회논문집 32권1호
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• pp.269-270
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• 2024

최근 드론 산업의 규모가 커지면서 드론을 다양한 분야에 활용하려는 노력이 커지고 있다. 대규모 환경 모니터링, 재난 관리 등에 사용되기 위해서는 장시간 연속 비행이 필요하지만 드론의 배터리 용량 문제로 인해 사람이 직접 배터리를 교체해 주지 않으면 장시간 비행이 어렵다. 본 논문은 드론이 배터리 충전을 위해 자율적으로 착륙해 충전 후 이륙하는 가로등을 활용한 자율 충전 스테이션'을 제안한다. 단순한 무선 충전이 아닌 드론이 자율 비행을 통해 스테이션에 착륙하고 스테이션의 초음파 센서를 통해 착륙이 감지되면 스테이션의 송신부에서 전력을 공급해 드론의 무선 충전이 가능하다. 또한 스테이션의 구조를 원뿔형으로 만들어 드론이 스테이션의 중앙에 정확히 안착되도록 하였다. 자율 드론 충전 스테이션을 통해 배터리 용량 문제를 새로운 방식으로 해결할 수 있고, 업무에 필요한 인력을 최소화함으로서 드론 관제, 환경 모니터링 등 드론을 활용하는 다양한 분야에 도움을 줄 수 있을 것이다.

• Journal of the Korea Convergence Society
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• 제8권6호
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• pp.9-16
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• 2017

Researchers are now faced with a limited flight time of the hoverable UAV due to the sluggish technological advances of the Li-Po energy density and try to find a bypassing solution for the fully autonomous hoverable UAV mission planning. Although there are several candidate solutions, automated wireless charging is the most likely and realistic candidate and we are focusing on the autolanding strategy of the hoverable UAV in this paper since it is the main technology of it. We developed a hoverable UAV flight simulator including Li-Po battery pack simulator using MATLAB/Simulink and UAV flight and battery states are analyzed. The maximum motor power measured as 1,647 W occurs during the takeoff and cell voltage decreases down to 3.39 V during the procedure. It proves that the two Li-Po battery packs having 22 Ah and connected in series forming 12S1P are appropriate for the autolanding mission planning.