• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.624-635
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• 2015

Design space exploration has been much neglected in aircraft conceptual design phase, which often leads to a waste of time and cost in design, manufacture and operation process. It is necessary to explore design space based on operational system-of-systems (SoS) simulation during the early phase for a competitive design. This paper proposes a methodology to analyze aircraft performance parameters in four steps: combination of parameters, object analysis, operational simulation, and key-parameters analysis. Meanwhile, the design space of an unmanned aerial vehicle applied in earthquake search and rescue SoS is explored based on this methodology. The results show that applying SoS simulation into design phase has important reference value for designers on aircraft conceptual design.

• Advances in aircraft and spacecraft science
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• v.1 no.2
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• pp.219-232
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• 2014

This paper reports on an ongoing study investigating the feasibility of using an evolutionary method to develop the rules governing Self-Organised (SO) systems for use in swarms of unmanned aerial vehicles. In general, it is difficult to design swarm systems that follow explicit global behaviour. Unlike optimising a predefined objective function, the solution to the problem is the emergent behaviour in the SO systems which results from simultaneous interactions among agents and between agents and their environment. In this study, evolutionary algorithms are used to investigate their control and effectiveness in synthesising the weighting of different rules on SO emergent behaviour. Both homogeneous swarms and heterogeneous swarms were considered though the results provided are for a case study investigating the simplest problem a homogeneous swarm without mutation. Though simple this study does indicate the potential of the approach.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1375-1379
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• 2004

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small aerial vehicle is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. In this paper, a flight control system was designed for an unmanned helicopter. This paper was concentrated on describing the mechanical design, electronic equipments and their interconnections for acquiring autonomous flight. The design methodologies and performance of the helicopter were illustrated and verified with a linearized equation of motion. The LQG based estimator and controller was designed and tested for this unmanned helicopter.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.63-71
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• 2000

In this study a drift prediction model based on fluid dynamics theory is introduced. The essential effects of environmental loads and target characteristics are taken into account from a fluid dynamics point of view. The governing equations of motion are derived from Newton's law of dynamics. In the mathematical formulation only three degrees of freedom(surge, sway, yaw) of the drifting object are assumed and the environmental loads considered are the forces and moments by wind and current. A computer algorithm for this model is implemented to obtain the numerical result in the time domain. The preliminary tests for model verification are conducted and the results are compared with the field experiment data as well as leeway formula suggested from the field test data.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.590-593
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• 2005

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small unmanned helicopter is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. The nonlinear adaptive fuzzy controller design procedure and its applications for altitude control of unmanned helicopter were described in the paper. This research was concentrated on describing the design methodologies of altitude controller design for small unmanned helicopter acquiring autonomous take off and vertical movement. The design methodologies and performance of the altitude controller were simulated and verified with an adaptive fuzzy controller. Throughout simulation results, I showed that the proposed adaptive controllers have enhanced control performance such as robustness, effectiveness and safety, in the altitude control of the unmanned helicopter.

• Journal of Korean Port Research
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• v.14 no.3
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• pp.353-360
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• 2000

In this study a drift prediction model based on fluid dynamics theory is introduced. The essential effects of environmental loads and target characteristics are taken into account from a fluid dynamics point of view. The governing equations of motion are derived from Netwon's law of dynamics. In the mathematical formulation only three degrees of freedom(surge, sway, yaw) of the drifting object are assumed and the environmental loads considered are the forces and moments by wind and current. A computer algorithm for this model is implemented to obtain the numerical result in the time domain. The preliminary tests for model verification are conducted and the results are compared with the field experiment data as well as leeway formula suggested from the field test data.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.947-952
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• 2007

EU is in the process of developing a new european global navigation satellite system - Galileo project - which technologies and capitals from member states of EU are put into, after determining to set up a separate GPS against that of US late in the 1990s. Galileo system is commercial global navigation satellite system, which allows other else nations outside of EU to participate in system development and operation, different from GPS. Korea also decided to join in the project on February in 2005. Galileo system provide 5 Services - Open Service, Safety of Life, Commercial Service, Public Regulated Service, Search and Rescue Service, and especially it can be applicable to safety-critical areas, and is to provide its part of services certified. In this paper, we are to compare the services of Galileo system, and to present necessary factors to be considered, and the applicability to use the Galileo system in safety-critical application areas, such as train control system

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.345-346
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• 2007

This paper deals with design of a cube-style modular robot. The modular robot can change its own form according to the working environment. Therefore it is suitable to work in the search and rescue area with the shape of snake, legged robot and humanoid robot. Each of modular unit has to install its own controller on the body and driving mechanism in order to give it mobility autonomously. And also they should attach and detach each other with docking mechanism and algorithm. Using this mechanism, they can make union, separation, recombination. The other important point is that some information of each cell should be exchanged to reconfigure their shape and to make some docking of the modular cell. In this paper we suggested a design concept of our modular robot focused on the docking mechanism of the robot.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• Proceedings of the Korean Information Science Society Conference
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• 2007.06d
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• pp.141-144
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• 2007

이동 애드 혹 네트워크(MANET)는 지리적, 환경적인 요인으로 기존의 네트워크를 설치할 수 없는 산악과 같은 고립된 지역에 설치할 수 있는 이동 노드들로 구성된 네트워크이다. 또한 인포스테이션은 전송지연에 민감하지 않는 정보들을 적은 비용으로 효율적으로 전송할 수 있는 시스템이다. 본 논문에서는 등산객이 무선 이동 노드를 휴대함으로서 이동 애드 혹 네트워크를 구성하고, 또한 인포스테이션이 결합된 등산객 조난 구조 시스템을 제안한다. 등산객은 이동 중에 만나는 다른 등산객과 위치정보를 공유하고, 이를 인포스테이션에 전송함으로써 다른 노드들의 위치 추적을 가능하게 한다. 이 시스템은 노드들간의 연결이 지속적이지 않은, 노드의 이동성을 통한 간헐적인 네트워크를 구성하게 된다. 따라서 시스템 구축비용이 적게 들고, 또한 인포스테이션을 통해 노드에 저장되어 있는 위치정보를 전송함으로서 필요한 메모리 용량을 감소시키는 효과도 있다. 그러므로 제안된 시스템을 활용한다면, 조난된 등산객의 위치를 신속히 파악할 수 있어, 효율적인 구조 활동이 가능하게 할 것이다.