• Journal of Biosystems Engineering
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• v.36 no.6
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• pp.467-475
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• 2011

Aerial spraying technology using a small unmanned helicopter is an efficient and practical tool to achieve stable agricultural production to improve the working condition. An attitude controller for the agricultural helicopter would be helpful to aerial application operator. In order to construct the flight controller, a state space model of the helicopter should be identified using a dynamic analysis program, such as CIFER$^{(R)}$. To obtain the state space a model of the helicopter, frequency-sweep flight tests were performed and time history data were acquired using a custom-built stick position transmitter. Four elements of stick commands were accessed for the collective pitch (heave), aileron (roll), elevator (pitch), rudder (yaw) maneuvers. The test results showed that rudder stick position signal was highly linear with rudder input channel signal of the receiver; however, collective pitch stick position signal was exponentially manipulated for the convenience of control stick handling. The acquired stick position and flight dynamic data during sweep tests would be analyzed in the followed study.

• Current Research on Agriculture and Life Sciences
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• v.31 no.2
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• pp.131-138
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• 2013

The precision aerial application of small farms, such as paddy, upland and orchard fields using agricultural unmanned helicopters became a new paradigm. The objective of this study was to evaluate the performance of a GPS module and algorithm, controlling drift of agricultural helicopter by the crosswind and maintaining the position for emergency landing. Purpose of the drift control, of which an algorithm works while hovering is related with the emergency sequence that coping with abnormal conditions of rotorcraft system. However, the inertial attitude control cannot detect a drifting motion of fuselage moving at the constant velocity, thus the crosswind takes the helicopter away from the landing position. Performance of the drift control module, based on the GPS that a hovering position did not deviate within 5m in diameter, were tested and evaluated. Initially, the reaction against a disturbing gust wind was sensitive, soon the helicopter maintained its locking position and azimuth within 5m in diameter. It was, however, difficult for the helicopter to recognize the swaying and nodding, the some deviation was expected due to the discrepancy characteristics of the GPS signal. The performance of the drift control proved the effectiveness of the module to maintain the position against an unintended drift during the emergency landing or hovering.

• Journal of Aerospace System Engineering
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• v.4 no.1
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• pp.15-18
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• 2010

In the hot summer manual spray work for plants would be the hardest one among the agricultural field works. Besides the physical load the possible toxication would strongly ask a way to do the job on behalf of human. Although an aircraft with sprayer could be a good candidate, the manned airplanes do not play proper roles in our country because of field geometry. Today, unmanned helicopter as expensive as 200,000 dollars can do the job with high risk of control. Therefore safe and cheap air vehicle with sprayer, if developed, could be a great help to agriculture.

• Korean journal of applied entomology
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• v.59 no.2
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• pp.83-91
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• 2020

We assessed efficacy of spraying pesticides from an unmanned helicopter to control two insect species, Monochamus alternatus and M. saltuarius, which are vectors of pine wood nematodes. Control efficacy of thiacloprid FL (33×), acetamiprid ME (33×), and flupyradifurone SL (33×) was determined by placing caged insects in the canopy of pine trees (Pinus sp). Water-sensitive paper was used to record the spray pattern of pesticide droplets and the degree of coverage; furthermore, we investigated peripheral scattering due to spraying. The three pesticides showed > 96% control efficacy against the targeted vectors, and pesticide droplet spray patterns were similar. Peripheral scattering was observed up to 20 m in front and 10 m to the left, right, and behind the targeted area. The coverage index of all the directions at 5 and 10 m distance was 6-7 and 2, respectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.597-604
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• 2016

The aim of this study was to prevent the decrease in crop output by disease and insect pests and excessive spraying of agricultural pesticides by application uniformity. A 3m height and 15km/h speed is difficult to maintain with an unmanned helicopter for aerial application, which has been affected by the controlling habits and methods or environmental factors, such as changes in the wind. Therefore, in this study, an aerial application system was design to be attached to an unmanned helicopter, which can allow a controlled application width and spray rate automatically and verified experimentally using Rmax of MS-AVIATION. The size of agricultural land was 50 m2 and nine water sensitive cards were arranged at 1.25m intervals in 5 rows with each row having a 10m interval from the position of 5m. The unmanned helicopter was flying at speeds ranging from 7.2km/h to 17.6km/h and heights ranging from 2.32m to 3.47m. The proposed aerial application system allowed application uniformity by making a valid spraying area of 7.5 m2 with 46423 particles distributed on average.

• Weed & Turfgrass Science
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• v.3 no.4
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• pp.323-328
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• 2014

This study was conducted to find out the effects of aerial application by unmanned helicopter (AAUH) on controlling weeds under water-seeded rice cultivation. Foliar herbicide (bentazone sodium + fenoxaprop-P-ethyl) was applied with diluted 8-times (standard concentration pest control) as AAUH. Foliar herbicide treatment with standard and two times amount were little damage, but with more than three times amount showed great damage in rice growth. Six annual and two perennial weeds were major weeds occurred in the experimental paddy field. On foliar herbicide treatment 25 days after direct seeding, AAUH showed high control values against weeds (96.3% for annual weeds and 99.8% for perennial weeds). There was no significant difference in weed control values between AAUH and conventional application. There was no spray injury against rice plants with aerial application. In the experiment for good spray timing (15, 20 and 25 days after direct seeding) 15 days showed highest weed control values with 98.5% to annual weeds and 99.8% to perennial weeds and no spray injury.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.268-268
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• 2017

Common sowing method of italian ryegrass (IRG) has been using the backpack seed sprayer (BSS) in Korea. It has weak point including a hard work and a little sowing area. This study was conducted to find out the effects of sowing IRG using unmanned helicopter (UH) under the established rice field. We checked the labour saving of sowing IRG and the growth and yield of rice after using IRG as forage crop. Two sowing implements(using by UH and backpack seed sprayer (BSS)) were tested for the ability of sowing IRG. For proper pretreatment of IRG seeds for aerial sowing using with UH, we tested one-day soaking seeds, iron-coated seeds, coated seeds sold in stores and untreated seeds. Aerial sowing of IRG seeds using UH was tested under the speed 10 km/h and flying altitude 3~4m. We tried to confirm the effects on rice growth in a paddy field after IRG had been used as forage in mid May. In 6 hours of seeding per day, UH had a seeding area of 21.8 hectares, three times wider than BSS. UH had a decrease of about 63 percent of sowing-seed cost in comparison with BSS. In the IRG aerial sowing using UH, coating seeds had the wider sowing width of 5~6 meter than 3~4 meter untreated seeds. Residual dry matter of IRG after using forage had 4.5 ton per hectare and 20 percent of top dry matter. The amount of nitrogen remaining in residual IRG in the soil was 12 kg per hectare, and the other nutrients such as calcium and potassium was incorporated into the soil with less than 10 kg/ha. The rice yield after the harvesting IRG was 5 percent higher than that of rice single cropping. Consequently, IRG sowing using UH was effective in reducing sowing time and sowing cost compared with conventional methods and, it is considered that there is a positive effect on the rice cultivation compared to rice single cropping.

• Journal of Biosystems Engineering
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• v.31 no.4 s.117
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• pp.342-348
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• 2006

Aerial application using an unmanned agricultural helicopter became necessary for both labor saving and timely spraying. In the previous paper, a rotor system was developed and lift capability was evaluated. The experimental results were compared with simulated predictions using the CFD-ACE program. From the simulation, the relative velocity on the top surface of the blade airfoil increased, resulting in the pressure drop. The CFD analyses were revealed that a drag resistance on the leading edge of the airfoil, a wake at the trailing edge, and a positive pressure underneath the bottom surface were observed. As the results of the simulation, total lifts of 56.8, 74.4 and $95.0kg_f$ were obtained at the 6, 8 and $10^{\circ}$ of AAT (angle of attack), respectively. The simulation results agreed reasonably up to $10^{\circ}$ of AAT. However, at a greater AAT $(<12^{\circ})$ the simulated total lift continuously increased to $105kg_f$, comparing with a decreasing experimental total lift due to the lack of engine power. At a stiff angle of $18^{\circ}$ AAT, a wake was observed at the trailing edge of the airfoil. A rated operating condition determined from the previous paper was also verified through the simulation.

• Korean journal of applied entomology
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• v.62 no.1
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• pp.43-48
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• 2023

The efficacy of spinetoram sprayed from an unmanned helicopter to control two insect vectors of pine wood nematodes, Monochamus alternatus and M. saltuarius was assessed. By using a ULV (Ultra Low Volume) sprayer, the mortality rates of phenthoate, bifenthrin, etofenprox, and diflubenzuron, which are registered for use against coleopteran insects, indoxacarb and spinetoram, which are registered for use against lepidopteran insects, were evaluated for efficacy as aerial spraying agents. The ULV test, using 33- and 55-fold dilutions of phenthoate, bifenthrin, indoxacarb, and spinetoram demonstrated a 100% insect mortality rate upon contact and feeding mortality on the third day after treatment, while etofenprox and diflubenzuron exhibited a slightly lower mortality rate than the remaining compounds. Consequently, spinetoram was selected as a candidate pesticide for aerial spraying and its efficacy to control the insect vectors was assessed. The x 33 dilution of spinetoram resulted in a 98.6-100% control efficacy against two insect vectors. However, risk assessment for bees following aerial spraying will be necessary before applying the pesticide to control insect vectors.

• Journal of Biosystems Engineering
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• v.36 no.3
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• pp.180-186
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• 2011

The objective of this research was to establish the estimation method of growth information on potato using Multi-Spectral Image Sensor (MSIS) and Global Positioning System (GPS). And growth estimation map for determining a prescription map over the entire field was generated. To determine the growth model, 10 ground-truth points of areas of $4m^2$ each were selected and investigated. The growth information included stem number, crop height and SPAD value. In addition, images information involving the ground-truth points were also taken by an unmanned helicopter, and reflectance value of Green, Red, and NIR bands were calculated with image processing. Then, growth status of potato was modeled by multi-regression analysis using these reflectance value of Green, Red, and NIR. As a result, potato growth information could be detected by analyzing Green, Red, and NIR images. Stem number, crop height and SPAD value could be estimated with $R^2$ values of 0.600, 0.657 and 0.747 respectively. The generated GIS map would describe variability of the potato growth in a whole field.