• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.21-27
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• 2015

A conventional fire detection has been developed based on images captured from a fixed camera. However, It is difficult to apply current algorithms to a flying Quad-rotor to detect fire. To solve this problem, we propose that the fire detection algorithm can be modified for Quad-rotor using Ego-motion compensation. The proposed fire detection algorithm consists of color detection, motion detection, and fire determination using a randomness test. Color detection and randomness test are adapted similarly from an existing algorithm. However, Ego-motion compensation is adapted on motion detection for compensating the degree of Quad-rotor's motion using Planar Projective Transformation based on Optical Flow, RANSAC Algorithm, and Homography. By adapting Ego-motion compensation on the motion detection step, it has been proven that the proposed algorithm has been able to detect fires 83% of the time in hovering mode.

• Journal of Aerospace System Engineering
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• v.3 no.1
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• pp.36-41
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• 2009

Quad-rotor is one kind of a rotorcraft in Unmanned Aerial Vehicle (UAV), which consists of four rotors in total and fixed-pitch blades located at the four corners. This vehicle is emerging as popular platform for UAV research due to the simplicity of its construction, the ability of hovering and the vertical take-off and landing (VTOL) capability, etc. Because of those specific capabilities, this vehicle can be applied to many fields: search and rescue, mobile sensor networks, fire observation, etc. However a quad-rotor is much affected by the disturbance due to the characteristics of structure. So this vehicle needs attitude control for stabilizing. In this paper, we design the control law for automatic stabilization. The PID controller is used to control a brushless DC motor. And an accelerometer is used to measure the roll and pitch angles of a quad-rotor.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.10
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• pp.761-769
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• 2013

Effects of helicopter wakes on helicopter aerodynamics are serious, but the wake configuration is very complicated and hard to predict. The purpose of this study is the detailed observation of wake using numerical methods. Vortex lattice method and freewake method are used to track the vortices in the wake. In this paper, the wake configuration is observed during hovering flight. In the case of hovering flight at the moderate thrust level, besides tip vortex, counter-rotating vortex can be observed at the inboard part of blade. When the vortices move downward, tip vortex and counter-rotating vortex get close and influence to each other. Therefore, vortices are highly distorted due to their own instability.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.12
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• pp.1173-1183
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• 2009

In order to reduce the download around the Smart UAV(SUAV) at hovering, flow control using synthetic jet has been performed. Many of the complex tilt rotor flow features are captured including the leading and trailing edge separation, and the large region of separated flow beneath the wing. In order to control the leading edge and trailing edge separation, synthetic jet is located at 0.01c, $0.3c_{flap}$, $0.95c_{flap}$. As non-dimensional frequency, the flow pattern is altered and the rate of drag reduction is changed. The results show that synthetic jets shorten the vortex period and decrease the vortex size by changing local flow structure. By using leading edge jet and trailing edge jet, download is efficiently reduced compared to no control case at hovering mode.

• Journal of the Korean Society of Visualization
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• v.16 no.1
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• pp.30-36
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• 2018

In the present study, we investigate the flow characteristics of a quadrotor UAV in a hovering mode by measuring multiple two-dimensional velocity fields in the wake. The experiment is conducted at Re = 24,000 in a chamber large enough to neglect the ground effect, where Re is the Reynolds number based on the rotor chord length and the rotor tip speed. The rotational speed of the rotor is determined by an optical tachometer so that the lift force can be balanced with the weight of the UAV. The velocity field measured on the center plane of the rotor shows that the vortices are shedding from the tip of the rotor, inducing large fluctuations in the streamwise velocity along the wake shear layer. The strength of the rotor-tip vortex shedding is asymmetric with respect to the rotor axis due to the interaction between the rotor and the wake centerline of each rotor is inclined to the center of the UAV due to the pressure difference caused by the induced velocity. The wake from each rotor moves closer to each other while traveling in the streamwise direction, and then is merged together inducing large fluctuations in the transverse velocity. Due to the wake merging, on the center plane of the UAV, the velocity increases in the streamwise direction showing two-peak structure in the streamwise velocity contours.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.957-963
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• 2007

this study, helicopter rotor flow is simulated by using a tightly coupled CFD/FreeWake method to describe wake characteristics and to calculate the flow field and rotor aerodynamics. In this tightly coupled CFD/FreeWake method, freewake model provides the boundary condition required in the CFD calculation and CFD provides the pressure distribution on blade surface used in feewake generation. To show the advantage of this method, the pressure distributions on blade surface of a hovering 2-bladed rotor are compared with other numerical methods. This tightly coupled CFD/FreeWake method shows good accuracy in the predicted results and efficient computation time.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.1-9
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• 2007

As a first step toward a complete CFD-CSD coupling for helicopter rotor load analysis, the present study attempts to loosely couple a CFD code with a source-double panel method. The far-field wake effects were calculated by a time-marching free vortex wake method and were implemented into the CFD module via field velocity approach. Unlike the lifting line method, the air loads correction process is not trivial for the source-doublet panel method. The air loads correction process between the source-doublet method and CFD is newly suggested in this work and the computation results are validated against available data for well-known hovering flight conditions.

• 한국전산유체공학회:학술대회논문집
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• 2008.03a
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• pp.251-255
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• 2008

Flow field around helicopter involves incompressible flow near the blade root and compressible flow at the blade tip. A problem occurs for low Mach number flow due to the stiffness of the governing equations. Time-derivative preconditioning techniques have been incorporated to reduce the stiffness that occurs at low speed region. The preconditioned form of the compressible Navier-Stokes and Euler equations is used. Computations are performed for the Caradonna-Tung's hovering and non-lifting forward flight case. Computational results are in good agreement with the experimental data.

• 한국전산유체공학회:학술대회논문집
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• 2008.10a
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• pp.251-255
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• 2008

Flow field around helicopter involves incompressible flow near the blade root and compressible flow at the blade tip. A problem occurs for low Mach number flow due to the stiffness of the governing equations. Time-derivative preconditioning techniques have been incorporated to reduce the stiffness that occurs at low speed region. The preconditioned form of the compressible Navier-Stokes and Euler equations is used. Computations are performed for the Caradonna-Tung's hovering and non-lifting forward flight case. Computational results are in good agreement with the experimental data.

• International Journal of Aeronautical and Space Sciences
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• v.5 no.2
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• pp.62-70
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• 2004

CFD method has been coupled with a time-marching free-wake model by usingfield velocity approach suggested by J. D. Baeder (Ref. 1). The coupled method hasbeen applied to rectangular and BERP-like blades and the calculated perfonnance dataare compared with the experimental results.For hovering analysis, the present method could yield sufficiently good resultswith reasonable computation time and is particularly suitable for the flow fieldanalysis with the complex shaped blade.