• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• Journal of the Korean Association of Geographic Information Studies
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• v.22 no.4
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• pp.86-101
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• 2019

Remote sensing technology has been continuously developed both quantitatively and qualitatively, including platform development, exploration area, and exploration functions. Recently, the use cases and related researches in the agricultural field are increasing. Also, since it is possible to detect and quantify the condition of cropland and establish management plans and policy support for cropland and agricultural environment, it is being studied in various fields such as crop growth abnormality determination and crop estimation based on time series information. The purpose of this study was to analyze the vegetation index for agricultural land reclamation area using a UAV equipped with a multi-spectral sensor. In addition, field surveys were conducted to evaluate the accuracy of vegetation indices calculated from multispectral image data obtained using UAV. The most appropriate vegetation index was derived by evaluating the correlation between vegetation index calculated by field survey and vegetation index calculated from UAV multispectral image, and was used to analyze vegetation index of the entire area.

• Journal of Aerospace System Engineering
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• v.15 no.1
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• pp.19-31
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• 2021

Recently, the development of UAV application system using augmented reality (AR) has received much attention. In general, the design and implementation of UAV application system are verified with SILS techniques before actual flight experiments. However, existing SILS environment cannot be used to verify the application system based on AR and UAV because it does not include key features related to AR. To overcome this problem, we proposed an SILS platform that could be effectively used for the development of application systems based on AR and UAV. Simulation results on accuracy, efficiency, and scalability show that the proposed platform could be effectively utilized for the development of AR and UAV based-application systems.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.2
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• pp.107-120
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• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.25 no.4
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• pp.149-161
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• 2021

This study proposes a methodology for mission/path planning of an unmanned aerial vehicle (UAV) using an artificial potential field with the Markov Decision Process (MDP). The planning problem is formulated as an MDP. A low-resolution solution of the MDP is obtained and used to define an artificial potential field, which provides a continuous UAV mission plan. A numerical case study is conducted to demonstrate the validity of the proposed technique.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.79-80
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• 2009

최근 UAV(Unmanned Aerial Vehicle)의 OFP(Operation Flight Program)에 대한 많은 연구가 진행되고 있다. UAV의 OFP는 경성 소프트웨어 일종으로 Time deadline과 수많은 요인으로 인한 Fault에 대하여 소프트웨어의 높은 신뢰성이 요구가 된다. 본 논문에서는 UAV의 OFP에 대하여 STR(Primary-Shadow TMO replication)기반의 fault tolerant Architecture에 대하여 제안을 한다.

• Electronics and Telecommunications Trends
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• v.35 no.2
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• pp.38-49
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• 2020

In recent years, the unmanned aerial vehicle (UAV) assisted mobile free space optical (FSO) communication technique has attracted considerable attention regarding its aims to provide improved communication conditions for fixed-to-fixed FSO network and promising fronthaul and backhaul solutions for 5G+ wireless networks. This can be attributed to its outstanding advantages such as fast deployment and flexible network configuration. The UAV-assisted mobile FSO system can be used to provide cost-effective internet services in rural and remote areas and in hotspot areas that are characterized by increased data traffic. Additionally, it can be used to provide secure communication services under emergency circumstances. In this report, we review recent R&D trends in wireless network technology employing the UAV-assisted mobile FSO technique and key technologies for mobile FSO wireless networks. Furthermore, we introduce drone-based mobile FSO terminals and control systems that we have developed.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.4
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• pp.79-87
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• 2008

There has been a strong demand for low altitude UAV development in rapid mapping not only to acquire high resolution image with much more low cost and weather independent, compared to satellite surveying or traditional aerial surveying, but also to meet many needs of the aerial photogrammetry. Especially, efficient geocoding of UAV imagery is the key issue. Contrary to high UAV potential for civilian applications, the technology development in photogrammetry for example direct georeferencing is in the early stage and it requires further research and additional technical development. In this study, two approaches are supposed for automatic geocoding of UAV still images by simple affine transformation and block adjustment of affine transformation using minimal ground control points and also evaluated the applicability and quality of geometric model compared to geocoded images generated by commercial S/W.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.7
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• pp.622-628
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• 2016

The prosperity of IT technologies and the removal of restrictions regarding Unmanned Aerial Vehicles (UAVs), also known as drones, have driven growth in their popularity. However, without a proper solution to the problem of accident avoidance for UAVs, this popularity increases the potential for collisions between UAVs and between UAV and terrain features. These collisions can occur because UAVs to date have flown using radio control or image recognition based autonomous navigation. Therefore, we propose efficient UAV routing schemes to tackle the collision problem using vehicular communication systems. Performance evaluation by computer simulation shows that the proposed methods effectively reduce the collision probability and improve the routing efficiency of the UAV. Furthermore, the proposed algorithms are compatible and can be directly applied with small overhead to the commercial vehicular communication system implementation.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.4
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• pp.85-92
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• 2020

Applications for the unmanned aerial vehicle (UAV) have expanded enormously in recent years. Of all its various technologies, the UAV's ability to take off and land in a moving environment is particularly required for military or oceanic usage. In this study, we develop a novel leveling platform that allows the UAV to stably take off and land even on uneven terrains or in moving environments. The leveling platform is composed of an upper pad and a lower mobile base. The upper pad, from which the UAV can take off or land, is designed in the form of a 2 degrees of freedom (DOF) gimbal mechanism that generates the leveling function. The lower mobile base has a four-wheel drive structure that can be operated remotely. We evaluate the developed leveling platform by performing extensive experiments on both the horizontal terrain and the 5-degree ramped terrain, and confirm that the leveling platform successfully maintains the horizontal pose on both terrains. This allows the UAV to stably take off and land in moving environments.