• Journal of Advanced Navigation Technology
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• v.16 no.4
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• pp.571-577
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• 2012

In this paper, we design a flight controller using a dynamic compensator for a small unmanned aerial vehicle. The proposed method ensures flight stability during altitude holding and waypoints passing by improving the transient response and steady state error. The control system consists of dual feedback loops with an inner loop and a outer loop. The inner loop has a PD controller to improves the transient response and the outer loop has a dynamic compensator to reduce overshoot in the transient response and improve the steady state error. The performance of the proposed method is evaluated by flight test on a small UAV.

• 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 for Aeronautical & Space Sciences
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• v.40 no.7
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• pp.582-589
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• 2012

This paper describes the algorithm recognizing car type from the image received from UAV and the recognition results between three types of car images. Using the NCC(Normalized Cross-Correlation) algorithm, geometric information is matched from template images. Template images are obtained from UAV and satellite map and indoor experiment is performed using satellite map. After verification of the possibility, experiment for verification of same car type recognition is performed using small UAV. In the experiment, same type cars are matched with 0.6 point similarity and truck with similar color distribution is not matched with template image of a sedan.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.267-274
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• 2009

Recently, UAVs (Unmanned Aerial Vehicles) are expected much as the Unmanned Systems for various missions. These missions are often based on the Vision System. Especially, missions such as surveillance and pursuit have a process which is carried on through the transmitted vision data from the UAV. In case of small UAVs, monocular vision is often used to consider weights and expenses. Research of missions performance using the monocular vision is continued but, actually, ground and target model have difference in distance from the UAV. So, 3D distance measurement is still incorrect. In this study, Mean-Shift Algorithm, Optical Flow and Subspace Method are posed to estimate the relative depth. Mean-Shift Algorithm is used for target tracking and determining Region of Interest (ROI). Optical Flow includes image motion information using pixel intensity. After that, Subspace Method computes the translation and rotation of image and estimates the relative depth. Finally, we present the results of this study using images obtained from the UAV experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.12
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• pp.4682-4705
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• 2020

The Unmanned Aerial Vehicles (UAV) networks consisting of low-cost UAVs are very vulnerable to smart jammers that can choose their jamming policies based on the ongoing communication policies accordingly. In this article, we propose a novel cloud and edge-aided mobile communication scheme for low-cost UAV network against smart jamming. The challenge of this problem is to design a communication scheme that not only meets the requirements of defending against smart jamming attack, but also can be deployed on low-cost UAV platforms. In addition, related studies neglect the problem of decision-making algorithm failure caused by intermittent ground-to-air communication. In this scheme, we use the policy network deployed on the cloud and edge servers to generate an emergency policy tables, and regularly update the generated policy table to the UAVs to solve the decision-making problem when communications are interrupted. In the operation of this communication scheme, UAVs need to offload massive computing tasks to the cloud or the edge servers. In order to prevent these computing tasks from being offloaded to a single computing resource, we deployed a lightweight game algorithm to ensure that the three types of computing resources, namely local, edge and cloud, can maximize their effectiveness. The simulation results show that our communication scheme has only a small decrease in the SINR of UAVs network in the case of momentary communication interruption, and the SINR performance of our algorithm is higher than that of the original Q-learning algorithm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.1
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• pp.53-62
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• 2016

In recent years, UAV Photogrammetry based on an ultra-light UAS(Unmanned Aerial System) installed with a low-cost compact navigation device and a camera has attracted great attention through fast and accurate acquirement of geo-spatial data. In particular, UAV Photogrammetry do gradually replace the traditional aerial photogrammetry because it is able to produce DEMs(Digital Elevation Models) and Orthophotos rapidly owing to large amounts of high resolution image collection by a low-cost camera and image processing software combined with computer vision technique. With these advantages, UAV-Photogrammetry has therefore been applying to a large scale mapping and cadastral surveying that require accurate position information. This paper presents experimental results of an accuracy performance test with images of 4cm GSD from a fixed wing UAS to demarcate parcel boundaries in agricultural area. Consequently, the accuracy of boundary point extracted from UAS orthoimage has shown less than 8cm compared with that of terrestrial cadastral surveying. This means that UAV images satisfy the tolerance limit of distance error in cadastral surveying for the scale of 1: 500. And also, the area deviation is negligible small, about 0.2%(3.3m²), against true area of 1,969m² by cadastral surveying. UAV-Photogrammetry is therefore as a promising technology to demarcate parcel boundaries.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.1C
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• pp.89-96
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• 2012

Since tactical robots are going to be grown and tactical data communications will be more network-centric, the reliability of wireless tactical data networks is going to be very important in the future. However, the connectivity of such wireless tactical data networks can be extremely uncertain in practical circumstances. In this paper, we propose a searching technique to find out the weak boundary area of the network connectivity using a small UAV(unmanned aerial vehicle) which has a simple polling access function to wireless nodes on the ground in wireless tactical data networks. The UA V calculates the network topology of the wireless tactical data networks and coverts it to the Lapalcian matrix. In the proposed algorithm, we iteratively search the eigenvalues and find a minimum cut in the network resulting in finding the weak boundary of the connectivity for the wireless tactical data networks. If a UAV works as a relay nodes for the weak area, we evaluate that the throughput performance of the proposed algorithm outperforms star connection method and MST(minimum Spanning Tree) connection method. The proposed algorithm can be applied for recovering the connectivity of wireless tactical data networks.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.6
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• pp.741-747
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• 2009

For construction of 3D virtual city models, airborne digital cameras, laser scanners, multi-oblique photograph systems and other devices are currently being used. With such advanced techniques, precise 3D spatial information can be collected and high quality 3D city models can be built in a considerably large area. The 3D spatial information to be built has to provide the latest information that quickly reflects the causes of any change due to urban development. In this study, a UAV photogrammetric method using low cost UAV and digital camera was proposed to acquire and update 3D spatial information effectively on small areas where information continuously change. In the proposed UAV photogrammetric method, the elements of interior orientation were acquired through camera calibration and the vertical and oblique photographs were taken at 9 points and the 3D drawing of ground control points and buildings was performed using 20 images among the pictured images. This study also analyzed the accuracy of the proposed method comparing with ground survey data and digital map in order to examine whether the method can be used in on-demand 3D spatial information update on relatively small areas.

• 한국항공운항학회:학술대회논문집
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• 2007.06a
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• pp.85-88
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• 2007

• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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• pp.311-324
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• 2015

This study presents computational analyses for low-drag aerodynamic design that are applied to modify a long-endurance UAV. EAV-2 is a test-bed for a hybrid electric power system (fuel cell and solar cell) that was developed by the Korean Aerospace Research Institute (KARI) for use in future long-endurance UAVs. The computational investigation focuses on designing a wing with a reduced drag since this is the main contributor of the aerodynamic drag. The airfoil and wing aspect ratio of the least drag are defined, the fuselage configuration is modified, and raked wingtips are implemented to further reduce the profile and induced drag of EAV-2. The results indicate that the total drag was reduced by 54% relative to EAV-1, which was a small-sized version that was previously developed. In addition, static stabilities can be achieved in the longitudinal and lateral-directional by this low-drag configuration. A long-endurance flight test of 22 hours proves that the low-drag design for EAV-2 is effective and that the average power consumption is lower than the objective cruise powerof 200 Watts.