• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1074-1080
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• 2015

In the last decades, the increasing interest in unmanned aerial vehicle(UAV) for military, surveillance, and rescue applications made necessary the development of flight control theory and body structure more and more efficient and fast. In this paper, we describe the design and performance of a prototype hexarotor UAV platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, dynamic modeling and simulation in the hexarotor helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(ARM-cortex) board. The P-PD control algorithm was used to control the hexarotor. We used the Matlab software to help us to tune the P-PD control parameters for quick response and minimizing the fluctuation. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.145-150
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• 2006

The paper deals with integrated navigation and sense & avoid systems for small unmanned aerial vehicles (UAV). First an introduction to the current UAV activities of the institute is given. It is followed by an overview about the integrated navigation system developed for small UAVs. The system is based on a tightly-coupled GPS/INS architecture. But instead of using delta-ranges, time-differenced carrier phases are used to aid the INS. Finally, results from navigation filter validation in flight tests are presented. After that an overview about sense and avoid strategies for application in small unmanned aircraft is given. From this a guideline for developing such a system for the institute's UAVs is presented.

• Smart Structures and Systems
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• v.33 no.5
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• pp.349-358
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• 2024

Structural digital models can be effectively established by spatially obtaining digital images using an unmanned aerial vehicle (UAV). One of the main purposes of the structural digital modeling is computer vision-based exterior damage detection of a target structure. To investigate micro-scale damage from the digital model, high-resolution digital images obtained with a close-up vision survey is typically required. However, serial image synthesis such as image stitching may cumulate stitching errors as the number of scanned images increases. Therefore, in this paper, a novel loop closure-based digital image stitching technique is proposed and experimentally validated using the close-up surveyed digital images acquired from an in-situ dam structure located in South Korea. The test results reveal that the proposed technique outperforms a non-loop closure-based image stitching technique, which can cause serious distortions, such as ghosting and vanishing phenomena.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.10
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• pp.1017-1025
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• 2008

The air data system(ADS) was developed for unmanned aerial vehicle(UAV) in this paper. Generally, the ADS helps flight control computer(FCC) to control the UAV above the stall speed and to hold the given altitude. The accurate measurement of airspeed and altitude of UAV is important because it indicates a flight performance and assures a safe flight. The ADS consists of MEMS pressure sensors, a lowpass filter, a micro controller unit and a pitot-tube. The ADS errors were reduced by pressure and temperature compensation of MEMS sensors. Finally, the altitude and airspeed data of the ADS was compared with GPS data in the flight test.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.04a
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• pp.87-90
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• 2007

Fuel cell power system was developed for high-endurance unmanned aerial vehicle (UAV). Liquid chemical hydride was selected as a fuel due to its high energy density. Liquid storage of the fuel is an ideal alternative solution of the existing compressed hydrogen storage. The fueling system that extracts hydrogen from chemical hydride consists of catalytic reactor, micro-pump, fuel cartridge, separator, and controller. The fuel cell power system including the fueling system and the fuel cell that generates electricity was integrated into a proposed UAV. The performance verification of the fuel cell power system was performed to use as a power plant of the UAV.

• Korean Journal of Remote Sensing
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• v.40 no.3
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• pp.295-305
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• 2024

This study aims to analyze the micro-sedimentary structures of the Hwangdo tidal flats using ultra-high resolution unmanned aerial vehicle (UAV) data. Tidal flats, located in the transitional area between land and sea, constantly change due to tidal activities and provide a unique environment important for understanding sedimentary processes and environmental conditions. Traditional field observation methods are limited in spatial and temporal coverage, and existing satellite imagery does not provide sufficient resolution to study micro-sedimentary structures. To overcome these limitations, high-resolution images of the Hwangdo tidal flats in Chungcheongnam-do were acquired using UAVs. This area has experienced significant changes in its sedimentary environment due to coastal development projects such as sea wall construction. From May 17 to 18, 2022, sediment samples were collected from 91 points during field surveys and 25 in-situ points were intensively analyzed. UAV data with a spatial resolution of approximately 0.9 mm allowed identifying and extracting parameters related to micro-sedimentary structures. For mud cracks, the length of the major axis of the polygons was extracted, and the wavelength and ripple symmetry index were extracted for ripple marks. The results of the study showed that in areas with mud content above 80%, mud cracks formed at an average major axis length of 37.3 cm. In regions with sand content above 60%, ripples with an average wavelength of 8 cm and a ripple symmetry index of 2.0 were formed. This study demonstrated that micro-sedimentary structures of tidal flats can be effectively analyzed using ultra-high resolution UAV data without field surveys. This highlights the potential of UAV technology as an important tool in environmental monitoring and coastal management and shows its usefulness in the study of sedimentary structures. In addition, the results of this study are expected to serve as baseline data for more accurate sedimentary facies classification.

• 유체기계공업학회:학술대회논문집
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• 2001.11a
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• pp.361-366
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• 2001

A mim turbo-shaft engine of 50HP for UAV, which can be easily modified to turbo-prop and turbo-jet engine by sharing the core engine and has many applications to civilian demands and munitions, will be developed This kind of micro gas turbine engine has been developed mostly by the corporations which have special technology but are small in its scale. Especially, the gas turbine engine can be easily applied to other fields and developed by domestic technology, so that the sharing of technology is planed to realize through the cooperations with academies and research institutes. In this paper, the gas turbine engine, which has the compressor ratio of 3.8, the turbine inlet temperature of l180K and the engine speed higher than 100,000 rpm, is composed of centrifugal compressor, combustor, gas generator turbine, free power turbine and gear box. The competitiveness of the gas turbine engine can be obtained from minimizing its cost by the utilization of domestic infrastructure for the performance test and the decisive outsourcing.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.398-404
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• 2015

In this paper, we describe the design and performance of a prototype multi-rotor unmaned aerial vehicle( UAV) platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. Although there has been a fair amount of study of free-flying UAV with multi-rotors, the more recent trend has been to outfit hexarotor helicopter with gimbal to support various services. This paper introduces the hardware and software systems toward very compact and autonomous hexarotors, where they can perform search, rescue, and surveillance missions without external assistance systems like ground station computers, high-performance remote control devices or vision system. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, mathematical modeling and simulation in the helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(MCU)(ARM-cortex) board. The micro-controller is able to command the rotational speed of the rotors and to get the measurements of the IMU as input signals. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.5
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• pp.1645-1653
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• 2014

In general, RGB, NIR, and thermal images are used for obtaining geospatial data. Such multiband images are collected via devices mounted on satellites or manned flights, but do not always meet users' expectations, due to issues associated with temporal resolution, costs, spatial resolution, and effects of clouds. We believe high-resolution, multiband images can be obtained at desired time points and intervals, by developing a payload suitable for a low-altitude, auto-piloted UAV. To achieve this, this study first established a low-cost, high-resolution multiband image collection system through developing a sensor and a payload, and collected geo-referencing data, as well as RGB, NIR and thermal images by using the system. We were able to obtain a 0.181m horizontal deviation and 0.203m vertical deviation, after analyzing the positional accuracy of points based on ortho mosaic images using the collected RGB images. Since this meets the required level of spatial accuracy that allows production of maps at a scale of 1:1,000~5,000 and also remote sensing over small areas, we successfully validated that the payload was highly utilizable.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.3
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• pp.343-350
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• 2021

Unmanned aerial vehicles(UAV) photogrammetry provides a cost-effective option for collecting high-resolution 3D point clouds compared with UAV LiDAR and aerial photogrammetry. The main objectives of this study were to (1) validate the accuracy of 3D site model generated, and (2) determine the differences between Digital Elevation Model(DEM) and Digital Surface Model(DSM). In this study, DEM and DSM were shown to have varying degree of accuracy from observed data. The results indicated that the model predictions were considered tend to over- and under-estimated. The range of RMSE of DSM predicted was from 8.2 and 21.3 when compared with the observation. In addition, RMSE values were ranged from 10.2 and 25.8 to compare between DEM predicted and field data. The predict values resulting from the DSM were in agreement with the observed data compared to DEM calculation. In other words, it was determined that the DSM was a better suitable model than DEM. There is potential for enabling automated topography evaluation of the prior-harvest areas by using UAV technology.