• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.5
• /
• pp.407-412
• /
• 2012

In this paper, we discuss an observer-based fault tolerant controller design for the unmanned aerial vehicle (UAV) systems with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.12
• /
• pp.1260-1265
• /
• 2008

This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.

• Journal of Information Processing Systems
• /
• v.16 no.1
• /
• pp.42-48
• /
• 2020

This paper proposes an operating system architecture for unmanned aerial vehicle (UAV), which is secure against root exploit, resilient to connection loss resulting in the control loss, and able to utilize common applications used in Linux. The Linux-based UAVs are exposed to root exploit. On the other hand, the microkernel-based UAVs are not able to use the common applications utilized in Linux, even though which is secure against root exploit. For this reason, the proposed architecture uses a virtualized microkernel on the Linux operating system to isolate communication roles and prevent root exploit. As a result, the suggested Operating system is secure against root exploit and is able to utilize the common applications at the same time.

• Korean Journal of Remote Sensing
• /
• v.38 no.1
• /
• pp.1-20
• /
• 2022

As unmanned aerial vehicle (UAV) technology grew in popularity over the years, it was introduced for air quality monitoring. This can easily be used to estimate the sidewalk emission concentration by calculating road traffic emission factors of different vehicle types. These calculations require a simulation of the spread of pollutants from one or more sources given for estimation. For this purpose, a Gaussian plume dispersion model was developed based on the US EPA Motor Vehicle Emissions Simulator (MOVES), which provides an accurate estimate of fuel consumption and pollutant emissions from vehicles under a wide range of user-defined conditions. This paper describes a methodology for estimating emission concentration on the sidewalk emitted by different types of vehicles. This line source considers vehicle parameters, wind speed and direction, and pollutant concentration using a UAV equipped with a monocular camera. All were sampled over an hourly interval. In this article, the YOLOv5 deep learning model is developed, vehicle tracking is used through Deep SORT (Simple Online and Realtime Tracking), vehicle localization using a homography transformation matrix to locate each vehicle and calculate the parameters of speed and acceleration, and ultimately a Gaussian plume dispersion model was developed to estimate the CO, NOx concentrations at a sidewalk point. The results demonstrate that these estimated pollutants values are good to give a fast and reasonable indication for any near road receptor point using a cheap UAV without installing air monitoring stations along the road.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2017.05a
• /
• pp.391-393
• /
• 2017

Unmanned aerial vehicles(UAVs) operating in the military for various purposes are designed to transmit information collected according to the purpose to GCS(Ground Control System), and to transmit/receive the vehicle's operational control and status information using wireless communication(or datalink). Currently, the military UAV systems in operation in Korea use unique communication methods, protocols, and message structures for each system. In this paper, we analyze the TM/TC data protocol of two types of military UAV systems currently under development and propose a more efficient TM/TC message design scheme in wireless communication(or datalink) environment. And we will discuss issues to be considered for standardization of technology for ensuring interoperability with many UAVs or newly introduced UAV systems.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.26 no.2
• /
• pp.129-138
• /
• 2023

Acquiring precise coordinates of ground targets can be regarded as the key mission of the tactical-level military UAS(Unmanned Aerial System) operations. The coordinates deviations for the ground targets estimated from UAV (Unmanned Aerial Vehicle) images may depend on the sensor specifications and slant ranges between UAV and ground targets. It has an order of several tens to hundreds of meters for typical tactical UAV mission scenarios. In this paper, we propose a scheme that precisely acquires target coordinates from UAS by mapping image pixels to geographical coordinates based on GCP(Ground Control Points). This scheme was implemented and tested from ground control station for UAS. We took images of targets of which exact location is known and acquired the target coordinates using our proposed scheme. The experimental results showed that errors of the acquired coordinates remained within an order of several meters and the coordinates accuracy was significantly improved.

• Transactions of the Korean hydrogen and new energy society
• /
• v.35 no.1
• /
• pp.56-65
• /
• 2024

Fuel cell powered unmanned aerial vehicles (UAV) are globally being developed for various application according to hydrogen roadmap. However, safety standards for hydrogen fuel cell for UAV have not been established. Therefore, in this study, we derive safety data based on risk assessment to develop safety standards for fuel cells for UAV. We use fault tree analysis method which is broadly used in hydrogen facilities as a risk assessment tool. We set hydrogen leaks and fires as top events and derived the basic events. Safety data for the basic events were derived by quoting overseas safety standards related to fuel cells. The safety data will be used for developing fuel cell inspection standard according to Act on Hydrogen Economy Promotion and Hydrogen Safety Management.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.9 no.9
• /
• pp.1019-1025
• /
• 2014

Recently, the studies of the Unmanned Aerial Vehicle(UAV) has been studied a variety from military aircraft to civilian aircraft and for general hobby activity aircraft. In particular, for small unmanned aircraft research for the ease of turning and hovering and Vertical-Off Take Landing(VTOL), have been studied mainly quadrotor unmanned aircraft is a type suitable for this study of small unmanned aircraft. The studies of these unmanned aircraft is the kinetic analysis requires complex processes, because these support by the aerodynamic forces on the unmanned aircraft study, and the controller design based on these dynamical analysis and experimental model analysis. In this paper, after the implementation of the basic attitude control based on a general PID controller, we propose concept design of the attitude control method on quadrotor attitude control by using the reinforcement learning algorithm of neural networks for non-linear elements not considered in the controller design.

• Journal of the Korean Society of Industry Convergence
• /
• v.23 no.2_1
• /
• pp.125-137
• /
• 2020

Tracking micro-sized insects is one of the challenges of protecting ecosystems and biodiversity. In this study, we propose an approach for the autonomous tracking of micro-sized flying insects, and develop an unmanned aerial vehicle (UAV)-based robotic system. The Kalman filter is applied to the received signal strength emitted from radio telemetry to estimate the position while reducing the measurement error and noise. The autonomous tracking strategy is a method in which the UAV rotates at one point to measure the signal strength and control its position in the strongest direction of the signal. We also design a system architecture comprising a tracking sensor system and a UAV system for micro-sized insects. The estimation and autonomous tracking of the target position by the proposed system are verified and evaluated through dynamic simulation. Therefore, in this study, we propose and validate a UAV-based tracking system for micro-sized flying insects, which has not been proposed in studies conducted thus far.

• Korean Journal of Remote Sensing
• /
• v.32 no.5
• /
• pp.483-497
• /
• 2016

Unmanned Aerial Vehicle (UAV) imagery are being assessed for analyzing within field spatial variability for agricultural precision management, because UAV imagery may be acquired quickly during critical periods of rapid crop growth. This study refers to the derivation of barley and wheat growth prediction equation by using UAV derived vegetation index. UAV imagery was taken on the test plots six times from late February to late June during the barley and wheat growing season. The field spectral reflectance during growing period for the 5 variety (Keunal-bori, Huinchalssal-bori, Saechalssal-bori, Keumkang and Jopum) were measured using ground spectroradiometer and three growth parameters, including plant height, shoot dry weight and number of tiller were investigated for each ground survey. Among the 6 Vegetation Indices (VI), the RVI, NDVI, NGRDI and GLI between measured and image derived showed high relationship with the coefficient of determination respectively. Using the field investigation data, the vegetation indices regression curves were derived, and the growth parameters were tried to compare with the VIs value.