• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.173-178
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• 2007

Recently, fires happen to occur owing to various factors. However, the demage caused by the fire is eyer increasing because timely actions could not be taken. To reduce the demage, a development of fire detection system which makes it possible to take adequate actions is requited. In this work, a sensor network-based fire detection system which utilizes both sensor nodes equipped with smoke sensor and unmaned helicopter is proposed. The proposed system is composed of unmaned helicopter which can gather the measurement data from the deployed sensor nodes and the embedded system which can get visual information on the firing spot and transmit these images to a remote server computer. The proposed system is applied to actual test bed to verify its feasibility.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.1 s.35
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• pp.37-47
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• 2006

In the last years a low-altitude image acquisition technology has been developed in application of frequent change monitoring in urban area md speedy surveillance in disaster area. A low-altitude photogrammetric system have advantages of accurate observation and free data-acquisition time. Especially, an unmaned RC-helicopter, improving safety, durability and portability, comes into the spotlight as a built-in vehicle in close range photogrammetric application due to their capability of safe near-by observation and effective flight performance. This paper gives a methodology for generating image map by development of low cost and timesaving low-altitude photogrammetric UAV(unmaned aerial vehicles) for collecting high-resolution image data, and implement of geo-rectification and image mosaicking.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1399-1411
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• 1994

A model helicopter has more versatile flight capability than the fixed-wing aircraft and it can be used as an unmaned vehicle in hazardous area. A helicopter, similar to other aircrafts, is an unstable, multi-input multi-output nonlinear system exposed to strong disturbance. So it should be controlled by robust control theories that can be applied to multivariable systems. In this study, motion equations of hovering are established, linearized and transformed into a state equation form. Various parameters are measured and calculated in other to obtain the stability derivatives in the state equation. Hovering flight controller is designed using the digital LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery) control theory. The designed controller is tested by the nonlinear simulations and implemented on an IBM-PC/386. Experiments were carried out on a model helicopter attached to the 3-DOF gimbal. The designed controller showed satisfactory hovering capability to maintain the hovering for more than 40 seconds.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.398-404
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• 2015

In this paper, we describe the design and performance of a prototype multi-rotor unmaned aerial vehicle( UAV) platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. Although there has been a fair amount of study of free-flying UAV with multi-rotors, the more recent trend has been to outfit hexarotor helicopter with gimbal to support various services. This paper introduces the hardware and software systems toward very compact and autonomous hexarotors, where they can perform search, rescue, and surveillance missions without external assistance systems like ground station computers, high-performance remote control devices or vision system. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, mathematical modeling and simulation in the helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(MCU)(ARM-cortex) board. The micro-controller is able to command the rotational speed of the rotors and to get the measurements of the IMU as input signals. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• Proceedings of the Korea Society for Simulation Conference
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• 2004.05a
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• pp.131-135
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• 2004

Landing gear force reaction module is important for aircraft take off and landing simulation. But usually this modulo is not accounted for control law design simulation. because it does not affect the flying quality of aircraft. Now a days, this module is getting more important according to the increase of needs for training purpose simulation and specific control law design such as unmaned aircraft landing on the moving platform. In this paper 1DOF mass spring simple force system per gear was accepted.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.127-130
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• 2007

The increased availability of portable, low-cost, high resolution video devices has resulted in a rapid growth of the applications for video sequences. These video devices can be mounted in handhold unit, mobile unit and airborne platforms like maned or unmaned helicopter, plane, airship, etc. A core technique in use of video sequences is to align neighborhood video frames to each other or to reference images. For video sequences registration, we extracted interested points from aerial video sequences using Harris, $F{\square}rstner$, and KLT operators and implemented image matching using these points. As the result, we analysed image matching results for each operators and evaluated accuracy of aerial video registration.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.4
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• pp.279-287
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• 2007

The increased availability of portable, low-cost, high resolution video equipments have resulted in a rapid growth of the applications for video sequences. These video devices can be mounted in handhold unit, mobile unit and airborne platforms like maned or unmaned helicopter, plane, airship, etc. This paper describes the feasibility fur generating image map from the experimental results we designed to track the interested points extracted by KLT operator in the neighboring frames and implement image matching for each frames taken from UAV (Unmaned Aerial Vehicle). In the image registration for neighbourhood frames of aerial video, the results demonstrate the successful rate of matching slightly decreases as the drift between frames increases, and also that the stable photographing is more important matching condition than the pixel shift.