• Title/Summary/Keyword: Unmanned Systems

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Unmanned Navigation of Vehicle Using the Ultrasonic Satellite System (초음파 위치인식 시스템을 이용한 차량의 무인주행)

  • Kim, Su-Yong;Lee, Jung-Min;Lee, Dong-Hwal;Lee, Man-Hyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.9
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    • pp.875-882
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    • 2007
  • In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

Output Tracking of an Unmanned Tandem Helicopter Based On Dynamic Augment Method

  • Hu, Chun-hua;Zhu, Ji-hong;Huang, Xing-li;Hu, Jin-chun;Sun, Zeng-qi
    • International Journal of Control, Automation, and Systems
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    • v.2 no.2
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    • pp.156-164
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    • 2004
  • The unmanned tandem helicopter, which is a MIMO nonlinear system with complexity and inherent instability, exists in unstable zero dynamics. In this paper, approximate linearization is presented to design the controller for output tracking of an unmanned tandem helicopter based on the dynamic augment method, and the simulation results are encouraging.

Vision Processing for Precision Autonomous Landing Approach of an Unmanned Helicopter (무인헬기의 정밀 자동착륙 접근을 위한 영상정보 처리)

  • Kim, Deok-Ryeol;Kim, Do-Myoung;Suk, Jin-Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.1
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    • pp.54-60
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    • 2009
  • In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.

Development of Flight Control Application for Unmanned Aerial Vehicle Employing Linux OS (리눅스 기반 무인항공기 제어 애플리케이션 개발)

  • Kim Myoung-Hyun;Moon Seungbin;Hong Sung Kyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.1
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    • pp.78-84
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    • 2006
  • This paper describes UAV (Unmanned Aerial Vehicle) control system which employs PC104 modules. It is controlled by application program based on Linux OS. This application consists of both Linux device driver in kernel-space and user application in user-space. In order to get data required in the unmanned flight, external devices are connected to PC104 modules. We explain how Linux device drivers deal with data transmitted by external devices and we account for how the user application controls UAV on the basis of data processed in the device driver as well. Furthermore we look into the role of GCS (Ground Control Station) which is to monitor the state of UAV.

Design and Flight Test of Path Following System for an Unmanned Airship (무인 비행선의 자동 경로 추종 시스템 개발 및 비행시험)

  • Jung, Kyun-Myung;Sung, Jae-Min;Kim, Byoung-Soo;Je, Jeong-Hyeong;Lee, Sung-Gun
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.5
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    • pp.498-509
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    • 2010
  • In this paper, a waypoint guidance law Line Tracking algorithm is designed for testing an Unmanned Airship. In order to verify, we develop an autonomous flight control and test system of unmanned airship. The flight test system is composed FCC (Flight Control Computer), GCS (Ground Control System), Autopilot & Guidance program, GUI (Graphic User Interface) based analysis program, and Test Log Sheet for the management of flight test data. It contains flight test results of single-path & multi-path following, one point continuation turn, LOS guidance, and safe mode for emergency.

Unmanned Vehicle System Configuration using All Terrain Vehicle

  • Moon, Hee-Chang;Park, Eun-Young;Kim, Jung-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1550-1554
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    • 2004
  • This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

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Development of Vision Based Steering System for Unmanned Vehicle Using Robust Control

  • Jeong, Seung-Gweon;Lee, Chun-Han;Park, Gun-Hong;Shin, Taek-Young;Kim, Ji-Han;Lee, Man-Hyung
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.1700-1705
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    • 2003
  • In this paper, the automatic steering system for unmanned vehicle was developed. The vision system is used for the lane detection system. This paper defines two modes for detecting lanes on a road. First is searching mode and the other is recognition mode. We use inverse perspective transform and a linear approximation filter for accurate lane detections. The PD control theory is used for the design of the controller to compare with $H_{\infty}$ control theory. The $H_{\infty}$ control theory is used for the design of the controller to reduce the disturbance. The performance of the PD controller and $H_{\infty}$ controller is compared in simulations and tests. The PD controller is easy to tune in the test site. The $H_{\infty}$ controller is robust for the disturbances in the test results.

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A study on the autonomous control system for an unmanned surface vessel?

  • Park, Soo-Hong;Kim, Jong-Kwon;Jang, Cheol-Soon
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.417-420
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    • 2004
  • Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environment monitoring mission, many ocean engineers had scoped with the routine and even risky works. The automatic system can replace the periodic and routine missions: water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for routine and periodic ocean environmental missions. An autonomous control system was designed and tested for the unmanned vessel. A GPS and gyro compass was used for navigation. A linear autopilot model for course control can be derived from the maneuvering model. Nomoto's 2nd-order response equation was derived. The design methodologies and performance of the surface vessel were illustrated and verified with this linearized equation of motion. A linear controller was designed and automatic route tracking performance was verified for yaw subsystem.

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Embedded Real-Time Software Architecture for Unmanned Autonomous Helicopters

  • Hong, Won-Eui;Lee, Jae-Shin;Rai, Laxmisha;Kang, Soon-Ju
    • JSTS:Journal of Semiconductor Technology and Science
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    • v.5 no.4
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    • pp.243-248
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    • 2005
  • The UAV (Unmanned Aerial Vehicle) systems like unmanned autonomous helicopters are used in various missions of flight navigation and used to collect the environmental information of the surroundings. To realize the full functionalities of the UAV, the software part becomes a challenging problem. In this paper embedded real-time software architecture for unmanned autonomous helicopter is proposed that guarantee real-time performance of hard-real time tasks and re-configurability of soft-real time and non-real time tasks. The proposed software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented (Kyosho RC Helicopter) in our lab to test and evaluate the performance of the proposed system.

Small Unmanned Aerial System (SUAS) for Automating Concrete Crack Monitoring: Initial Development

  • Kang, Julian;Lho, B.C.;Kim, J.W.;Nam, S.H.
    • International conference on construction engineering and project management
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    • 2015.10a
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    • pp.310-312
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    • 2015
  • Small Unmanned Aerial Systems (SUAS) have been gaining a special attention in the U.S. recently because it is capable of getting aerial footages conveniently and cost effectively, but also because of its potential threat to the safety of our society. Regarding the benefits, one can easily find successful cases. For example, remote controlled or pre-programmed unmanned aircraft help ranch owners monitor their livestocks or crop harvesting status cost-effectively without having to hire human pilots. The professionals in the construction industry also acknowledge the benefits they could gain from using SUAS. Some firms already use a small unmanned aircraft for monitoring their construction activities, which may help project managers figure out construction progress, resolve disputes in real time, and make proactive decisions for quality control. However, there are many technical challenges that my hinder the use of small unmanned aircraft in the construction industry. This paper explores opportunities and challenges in using unmanned aircraft to monitor concrete cracks on the surface of containment building in the nuclear power plant.

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