• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.7-9
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• 2012

본 논문에서는 안드로이드 폰을 이용하여 쿼드콥터의 모터 속도를 원격으로 제어하기 위한 사용자 인터페이스 기법을 제시한다. 제시한 기법은 내부적으로 JSON 프로토콜을 사용하여 메시지를 생성하고 UDP 소켓을 통하여 인터넷과 무선 통신한다. 제시한 기법의 타당성을 검토하기 위하여 Nexus S 안드로이드 폰에 앱 프로그램을 구현하고 Falinux(주)의 G100-S3C6410 보드를 이용하여 쿼드콥터 원격제어를 실험하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.66-68
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• 2012

본 논문에서는 안드로이드 폰을 이용하여 쿼드콥터의 모터를 제어하기 위한 임베디드 리눅스 시스템을 제시한다. 제시한 시스템은 메시지 수신 및 파싱 모듈과 모터 제어 모듈로 나누어 설계한다. 제시한 시스템의 기능적 타당성을 겸토하기 위하여 각각의 모듈을 구현하고, ARM 프로세서 기반의 임베디드 보드가 탑재된 실험용 쿼드콥터를 이용하여 실험을 하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.10
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• pp.833-844
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• 2018

This paper aims to predict the aerodynamic characteristics of individual rotor for the gust and flight conditions. Transformation procedure into the wind frame is conducted to analyze the gust. Hover, forward, and climb flight conditions of an individual rotor are analyzed using the blade element momentum theory (BEMT) considering the rigid blade flapping motion. XFOIL is used to derive aerodynamic results. Validation for hover, forward flight, and climb conditions are conducted using the present BEMT. In addition, a static experimental environment is constructed. The experimental results and the present BEMT are compared and verified.

• Journal of Korea Multimedia Society
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• v.21 no.2
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• pp.250-260
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• 2018

In order to control the quadcopter using reinforcement learning, hovering of 1-axial drones prototype is implemented through reinforcement learning. A complementary filter is used to measure the correct angle, and the range of angles is from -180 degrees to +180 degrees using modified complementary filter. The policy gradient method is used together with the REINFORCE algorithm for reinforcement learning. The prototype learned in this way confirmed the difference in performance depending on the length of the episode.

• Journal of Institute of Convergence Technology
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• v.5 no.2
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• pp.13-19
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• 2015

Recently, quadcopters have been popular as aerial drones. The structure of quadcopters is simpler than traditional helicopters and they are easy to construct and maneuver. Various hardware platforms for quadcopters have been developed. However, the controller design is not easy due to the requirement of 6-DOF flights using 4 rotors(control inputs)(under-actuated systems). In order to overcome the underactuation problem, various control methods - PID, LQR, $H_{\infty}$, SMC, backstepping control, and etc. - have been suggested for the control of quadcopters. In this paper, dynamic features and control methods of quadcopters are reviewed and evaluated. Future works are proposed for designing the advanced controllers of quadcopters.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.326-329
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• 2017

We argue that the one potential solution is creating a drone or quadcopter that could be used to detect the network hacking attempts and even have the capability to disconnect illegal drones from their user's jamming signals, or de-authenticate them from networks. This could be used as a direct countermeasure, or would at least provide monitoring capacities, for these criminally-purposed drones. In this paper, we focus on implementing the device that can detect intrusion.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.995-998
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• 2017

본 논문에서는 객체 추적이 가능한 쿼드콥터의 구현에 대하여 연구하였다. 드론의 안정적인 호버링 및 영상촬영을 위하여 쿼드로터의 비행원리와 PID 제어에 대한 이론을 연구하고 보다 안전한 실험환경 구성을 위한 Solution을 제시하였다. 또한 색 정보와 광흐름(Optical Flow) 기법을 공간 주파수 영역의 영상처리 방법(Nonlinear Matched Filter)과 융합하여 객체추적 하는 방법을 연구하였다.

• Smart Structures and Systems
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• v.21 no.2
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• pp.139-149
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• 2018

Understanding the current status of a construction project is necessary to achieve successful on-site management. Real-time information delivery is a major concern for construction industry practitioners in order to expedite decisions and discussions. We propose the use of a first personal view (FPV) system of a quadcopter drone as a tool for monitoring on-site status and communicating between construction participants. The most important function of the drone FPV system is its ability to visually monitor construction site situations in real time. An on-site management system process is developed, verified, and applied to several construction work tasks after determining factors that affect efficient construction management. The proposed system is expected to assist the construction manager in achieving high efficiency.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.316-322
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• 2023

The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.779-787
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• 2016

A nonlinear control law for the quad-rotor of a low-complexity, global approximation-free from system uncertainties and external disturbances are described in this paper. The control law guarantees convergence to a small bounded error using a prescribed performance function. The stability of the proposed nonlinear control system is also proven by the Lyapunov stability theorem. The advantage of this technique is that it has a simpler form than any other nonlinear compensators and is applicable to any nonlinear systems without precise knowledge of the systems. In this paper, the proposed approach is applied to attitude/altitude control of a quad-rotor. Numerical simulations are performed to investigate the proposed nonlinear attitude control law by applying it to an uncertain quadcopter system with external disturbances.