• Journal of information and communication convergence engineering
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• v.16 no.2
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• pp.78-83
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• 2018

Rapidity and accuracy are important considerations when a drone is employed in a wide surveillance area to detect a target. They are more important when the scope of application is a search and rescue operation or the monitoring of natural disasters, which may require prompt warnings and response. During the actual operation of a drone, rapidity and accuracy are associated with the change in the altitude of the drone. The aim of this study is to analyze the characteristics of drones at varying altitudes and prove that altitude is a relevant factor in the performance of drones. Herein, the characteristics of the drone at varying altitudes were analyzed through several search simulations. The results suggest that a high-altitude drone is relatively advantageous compared to a low-altitude drone in a probability-based target search, and that the search altitude is also a very important and fundamental factor in target search by drones.

• Journal of Information Technology Services
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• v.15 no.4
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• pp.25-39
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• 2016

The drone is an unmanned aerial vehicle which has no human pilot. Drones can be classified into military drones, commercial drones, and personal drones by usage. Also, drones can be classified from large-sized to nano-sized drone by size and autonomous, remote controlled drone by control type. Especially, military drones can be classified into low-altitude drones, medium-altitude, and high-altitude drones by altitude. Recently, the drone industry is one of the fast growing industries in the world. As drone technologies have become more advanced and cost-effective, Korean government has set its goal to become a top-level country in drone business. However, the government's strict regulation for drone operations is one of the biggest hurdles for the development of the related technologies in Korea and other countries. For example, critical problems for drone delivery can be classified into technical issues and institutional issues. Technical issues include durability, conditional awareness, grasp and release mechanisms, collision avoidance systems, drone operating system. Institutional issues include pilot and operator licensing, privacy rules, noise guidelines, security rules, education for drone police. This study analyzes the trends of the drone industry from the viewpoint of technology and regulation. Also, we define the business areas of drone utilization. Especially, the drone business types or models for public sector are proposed. Drone services or functions promoting public interests need to be aligned with the business reference model of Korean government. To define ten types of drone uses for public sector, we combine the business types of government with the future uses of drones that are proposed by futurists and business analysts. Future uses of drones can be divided into three sectors or services. First, drone services for public or military sectors include early warning systems, emergency services, news reporting, police drones, library drones, healthcare drones, travel drones. Second, drone services for commercial or industrial services include parcel delivery drones, gaming drones, sporting drones, farming and agriculture drones, ranching drones, robotic arm drones. Third, drone services for household sector include smart home drones.

• Journal of Korea Multimedia Society
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• v.22 no.10
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• pp.1178-1186
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• 2019

In recent years, interest in drones has grown, and many countries are developing them into a strategic industry of the future. Drones are not only used in industries such as logistics and agriculture but also in various public sectors such as life rescue, disaster investigation, traffic control, and firefighting. One of the most important tasks of a drone is to accurately identify targets in these applications. Target recognition may vary depending on the search environment of the drone. Therefore, this study tests and analyzes the drone's target recognition performance according to changes in the search environment such as the search altitude and the search angle. In addition, we propose a new algorithm that improves upon the disadvantages of the Haar cascade method, which is the existing algorithm that recognizes the target by analyzing a captured image.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.7
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• pp.1123-1130
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• 2017

This paper deals with the dynamic surface control based tracking control for a drone equipped with a 2-DOF manipulator. First, the dynamics of drone and 2-DOF manipulator are derived separately. And we obtain the combined model of a drone equipped with a manipulator considering the inertia and the reactive torque generated by a manipulator. Second, a dynamic surface control based attitude and altitude control method is presented. Also, multiple sliding mode control based position control method is presented. The system stability and convergence of tracking errors are proven using Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.

• Journal of IKEEE
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• v.28 no.2
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• pp.136-144
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• 2024

In this paper, we propose a PID controller for altitude control of quadrotor system with experimental analysis. The Routh-Hurwitz test is applied to analyze the system to which our proposed controller is applied. We also summarize experimental data in which the gain values of kP, kI, and kD are changed using MATLAB and Simulink based on mathematical modeling of the quadrotor system. Based on the summarized experimental data, we analyze the effect of changes in each gain values (k_P, k_I, k_D) of PID controller on altitude control of quadrotor, and present an algorithm for tuning the PID controller gain values. The PID controller with the proposed algorithm is applied to AR.Drone system, subsequently and result are verifised through experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.6
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• pp.343-351
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• 2016

In this study, we implemented a formation flight control system using two drones. Ground control system communicates with drones by MAVLink protocol, does keep watch on drone's status and sends simultaneously formation flight instructions to drones in real time. Two drones have been able to fly by a formation flight algorithm without crashing while maintaining the same speed, and a constant distance and altitude.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.6
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• pp.448-453
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• 2023

As the production of small quadcopter drones has diversified and multi-sensors have been installed in FC due to the spread of MCU capable of high-speed processing, small drones that can perform special-purpose operations rather than simple operations have been realized. Hovering, attitude control, and position movement control were possible through the IMU in the FC mounted on the drone, but control is not easy when GPS connection and video communication are not possible in a closed building with a complex structure. In this study, when encountering an obstacle with a change in altitude in such a space, we proposed a method to overcome the obstacle and perform autonomous flight using optical flow and IR sensors using the Lucas-Kanade method. Through experiments, the drone's altitude flight on stairs that replace the complex structure of a closed space with stable hovering motion has a success rate of 98% within the tolerance of 10 [cm] due to external influences, and reliable autonomous flight up and down is achieved.

• The Journal of Korean Institute of Information Technology
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• v.16 no.12
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• pp.49-56
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• 2018

As the era of the 4th industrial revolution comes, there is a growing interest in the use of UAVs. While various technologies are being developed using drones, controlling flight of drones is the most basic. Hovering control is essential in order to enable autonomous flight, especially during flight control of drones. In this paper, we design drones based on ATmega2560, Sonar, Optical Flow, and acceleration / gyro 6 axis sensor for drones hovering control, and developed horizontal control, altitude control, position tracking and fixed algorithm based on PID control. In this research, in order to measure the objective result of the drone, keeping the altitude immediately after the drone takes off according to the time, measure the movement value until the position is fixed and stable hovering is maintained and compared analyzed. Experimental results show that the drones can stably hover within 4cm horizontal and 2cm vertical from 50cm above the reference coordinates.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.6
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• pp.35-40
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• 2019

In this research, we suggest a real-time tele-driving system for unmanned drone operations using the LTE communication system. The drone operator is located 180km away and controls the altitude and position of the drone with a 50ms time delay. The motion data and video from the drone is streamed to the operator. The video is played on the operator's head-mounted display (HMD) and the motion data emulates the drone on the simulator for the operator. In general, a drone is operated using RF signal and the maximum distance for direct control is limited to 2km. For long range drone control over 2km, an auto flying mode is enabled using a mission plan along with GPS data. In an emergency situation, the autopilot is stopped and the "return home" function is executed. In this research, the immersion tele-driving system is suggested for drone operation with a 50ms time delay using LTE communication. A successful test run of the suggested tele-driving system has already been performed between an operator in Daejeon and a drone in Inje (Gangwon-Do) which is approximately 180km apart.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.301-307
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• 2018

Unmanned Aerial Vehicles (i.e., drone) are gaining a lot of interest from a wide range of application domains such as infrastructure monitoring and parcel delivery service. In those service scenarios, multiple UAVs are involved and should be reliably operated by so-called UAV management system. For that, we propose oneM2M standard based UAV management and control system which is specifically targeted at traffic management of low-altitude UAVs. In this paper, we include oneM2M platform architecture and its implementation for UAV management system in conjunction with UAV interworking procedure.