• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2009.05a
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• pp.347-349
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• 2009

Unmanned helicopters are needed in various fields such as monitoring system, agriculture and forest fire. Swash plate is a essential part for exact driving of unmanned helicopter. And it is usually produced by machining. In this research, hot forging process of upper swash plate has been studied to improve proof stress against repeated loading of the product. In the forming analysis, design parameters such as effective stress, effective strain and distribution of damage have been considered in the hot forging.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.209-210
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.541-542
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• 2009

• Journal of Biosystems Engineering
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• v.33 no.5
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• pp.289-295
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• 2008

The task of chemical spraying has been seriously considered as an irritating and annoying job for Korean rice farmers. An agricultural unmanned helicopter was suggested to solve this problem so as the farmers to have more decent farming condition. The objectives of this study were to analyze the adoptability of an experimental rotor blade (SW05) using the CFD simulation and also to compare the simulation results with experimental results. The simulation results showed that the induced power of this rotor reached to $57{\sim}63%$ of total power and the profile power was about $37{\sim}43%$ of total power. Therefore it can be concluded that this rotor's performance characteristics were not so efficient for the size of unmanned helicopter due to the low induced power and high profile power relatively compared with ones of conventional rotors. The comparison with experimental results showed that the tested lifts were less than 70% of simulated ones at the grip pitch of $12^{\circ}$ and decreased to 40% at the $18^{\circ}$ grip pitch. Therefore, it can be concluded that the rotor was too oversized to be used for a 15.4 kW (21 PS) engine.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.4
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• pp.335-341
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• 2010

To improve the performance of inner loop based on PD controller for a unmanned helicopter, neural networks are applied. The performance of PD controller designed on the response characteristics of error dynamics decreases because of uncertain nonlinearities of the system. The nonlinearities are decoupled to modified dynamic inversion model(MDIM) and are compensated by the neural networks. For the training of the neural networks, online weight adaptation laws which are derived from Lyapunov's direct method are used to guarantee the stability of the controller. The results of the improved performance of PD controller by neural networks are illustrated in the simulation of unmanned helicopter with nonlinearities,

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.44-53
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• 2009

In this paper, Recursive Least Squares (RLS) and Fourier Transform Regression (FTR) methods for estimating stability and control derivatives of small unmanned helicopter are evaluated together with MMLE technique. Flight data simulated by using a commercial small-scale helicopter model are exploited to estimate the parameters with accuracies for hover and cruise modes. The performances of the system identification methods are also compared by analyzing the responses of the reconstructed systems using estimated derivatives.

• Journal of Biosystems Engineering
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• v.37 no.6
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• pp.335-341
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• 2012

Purpose: While an unmanned helicopter has been extensively used for spraying chemicals on agricultural crops, its low utilization (two months per year from July to August) has recently become an issue. This study aimed to increase the utilization of the unmanned helicopter. The centrifugal rice seeder, a mounting device for rice seeding for unmanned helicopter was developed and assessed its performance. Methods: The concept of the centrifugal spraying device was to obtain design criteria for centrifugal distribution. Four types of blade shapes namely straight, curved, straight wing and curved wing were developed and used. The rotational speed of the blades was tested at 1,000, 1,200 and 1,400 rpm. Results: The blade shapes, rotational blade speed and angle of trajectory were theoretically analyzed and results were validated with a series of laboratory experiments. Conclusions: The curved wing blades provided the distribution uniformity (DU) at 1,200rpm of rotational speed and 60 degree of seed drop point. The spray uniformity of 4.2% was also achieved.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.7
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• pp.611-619
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• 2016

This paper proposes a collision prevention system for an agricultural unmanned helicopter. The collision prevention system consists of an obstacle detection system, a mapping algorithm, and a collision avoidance algorithm. The obstacle detection system based on a LiDAR sensor is implemented in the unmanned helicopter and acquires distance information of obstacles in real-time. Then, an obstacle mapping is carried out by combining the distance to the obstacles with attitude/location data of the unmanned helicopter. In order to prevent a collision, alert is activated to an operator based on the map when the vehicle approaches to the obstacles. Moreover, the developed collision prevention system is verified through flight test simulating a flight pattern aerial spraying.

• Journal of Biosystems Engineering
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• v.35 no.1
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• pp.31-36
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• 2010

A small unmanned helicopter was suggested to replace the conventional spray system. Aerial application using an agricultural helicopter helps precise and timely spraying, and reduces labor intensity and environmental pollution. In this research, a rotor system (SW05) was developed and its lift capability was evaluated. Lift force for the dead weight of the helicopter was obtained at the grip pitch angle of $12^{\circ}$. As the pitch angle increased to $14^{\circ}$ and $16^{\circ}$, the payload increased to 176 N and 216 N, respectively. Compared with SW04 airfoil performance in the total lift, the SW05 airfoil showed nearly the same capacity, but the payload of the SW05 was reduced because of the increased dead weight. A rated flight condition was defined as lifting mean payload of 294 N with the grip pitch angles of $16{\sim}17^{\circ}$ at the rotor rotating speed of 850~950 rpm for the adjusted engine power. The fuel consumption would be 4.8~6.0 L/hr, and the air temperature of cooling fan should be kept below $160^{\circ}C$.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.916-924
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• 2008

In this paper dynamic modeling parameters were estimated using a frequency domain estimation method. A systematic flight test method was employed using preprogrammed multistep excitation of the swashplate control input. In addition when one axis is excited, the autopilot is engaged in the other axis, thereby obtaining high-quality flight data. A dynamic model was derived for a small scale unmanned helicopter (CNUHELI-020, developed by Chungnam National University) equipped with a Bell-Hiller stabilizer bar. Six degree of freedom equations of motion were derived using the total forces and moments acting on the small scale helicopter. The dynamics of the main rotor is simplified by the first order tip-path plane, and the aerodynamic effects of fuselage, tail rotor, engine, and horizontal/vertical stabilizer were considered. Trim analysis and linearized model were used as a basic model for the parameter estimation. Doublet and multistep inputs are used to excite dynamic motions of the helicopter. The system and input matrices were estimated in the frequency domain using the equation error method in order to match the data of flight test with those of the dynamic modeling. The dynamic modeling and the flight test show similar time responses, which validates the consequence of analytic modeling and the procedures of parameter estimation.