• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.137-148
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• 2014

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.8
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• pp.1124-1129
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• 2021

The application area based on UAV (Unmanned Aerial Vehicle) is continuously increasing as time passing by. In particular the UAVs which consist of more than four horizontal propellers and the functionality of VTOL (Vertical Take-Off and Landing) are utilized in diverse platforms and the application products due to their safety and aerodynamically simpler design and architectures. The most UAV missions are controlled by GCSs (Ground Control System). The GCSs are generally connected to the internet and get electrical map and environmental information such as temperature, humidity, wind speed, wind direction and so on. In this paper, we design a system for UAV system to have capability of approaching to a certain ship and monitoring her efficiently by using AIS (Auto Identification System) information. Furthermore we verify that adapting AIS on GCS side is more efficient through experiments.

• Journal of Advanced Navigation Technology
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• v.27 no.4
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• pp.330-336
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• 2023

Rapid urbanization is rapidly progressing around the world, and urban problems such as traffic congestion, environmental pollution, and noise pollution are emerging, due to this urban concentration phenomenon, logistics and transportation costs are increasing. Urban Air Mobility(UAM) is a three-dimensional futuristic urban transportation that is expected to become an important transportation axis of smart cities as a service(MaaS) linked to roads, railways, and personal transportation. However, as of July 2023, research on airspace systems, Bertieport design, navigation, and communication for UAM operation is actively being conducted, but little research has been conducted on the concept of pilot education and training and education and training programs. Therefore, this paper aims to present a suitable plan for the domestic pilot training system through SWOT analysis of vertical takeoff and landing(VTOL) pilot education and training programs in the United States and Europe.

• Journal of Advanced Navigation Technology
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• v.27 no.6
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• pp.788-797
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• 2023

In this paper, we introduced a test environment to test a vision-aided navigation system, as an alternative navigation system when global positioning system (GPS) is unavailable, for vertical take-off and landing (VTOL) unmanned aerial system. It is efficient to use a virtual environment to test and evaluate the vision-aided navigation system under development, but currently no suitable equipment has been developed in Korea. Thus, the proposed test environment is developed to evaluate the performance of the navigation system by generating input signal modeling and simulating operation environment of the system, and by monitoring output signal. This paper comprehensively describes research procedure from derivation of requirements specifications to hardware/software design according to the requirements, and production of the test environment. This test environment was used for evaluating the vision-aided navigation algorithm which we are developing, and conducting simulation based pre-flight tests.

• Journal of Aerospace System Engineering
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• v.14 no.1
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• pp.68-73
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• 2020

This purpose of this paper was to review the development trend of the VTOL MAVs with a ducted propellant that can fly like the VTOL at intermediate and high speeds, hovering, landing, and lifting off vertically over urban areas, warships, bridges, and mountainous terrains. The MAV differs in flight characteristics from helicopters and fixed wings in many respects. In addition to enhancing thrust, the duct protects personnel from accidental contact with the spinning rotor. The purpose of the U.S. Army FCS and DARPA's OAV program is spurring development of a the VTOL ducted MAV. Today's MAVs are equipped with video/infrared cameras to hover-and-stare at enemies hidden behind forests and hills for approximately one hour surveillance and reconnaissance. Class-I is a VTOL ducted MAV developed in size and weight that individual soldiers can store in their backpacks. Class-II is the development of an organic VTOL ducted fan MAV with twice the operating time and a wider range of flight than Class-I. MAVs will need to develop to perch-and-stare technology for lengthy operation on the current hover-and-stare. The near future OAV's concept is to expand its mission capability and efficiency with a joint operation that automatically lifts-off, lands, refuels, and recharges on the vehicle's landing pad while the manned-unmanned ground vehicle is in operation. A ducted MAV needs the development of highly accurate relative position technology using low cost and small GPS for automatic lift-off and landing on the landing pad. There is also a need to develop a common command and control architecture that enables the cooperative operation of organisms between a VTOL ducted MAV and a manned-unmanned ground vehicle.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.17 no.2
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• pp.70-79
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• 2005

Most of landing piers in Korea employ the combination of vertical piles and batter piles, which shows good efficiency in static lateral resistance but poor seismic performance. Many attempts have continuously been made to increase the seismic performance of batter piles with various aseismatic systems. In this study, new types of aseismatic system were developed by use of rubber and ball bearing, and shaking table tests and 3 dim. numerical analyses were performed in order to compare the seismic performance for various types of pile head. The test and numerical analysis results show the high seismic performance of newly proposed systems and the applicability off dim. numerical analysis considering the non-linear behaviour of rubber and ball bearing systems.

• Korean Journal of Applied Biomechanics
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• v.21 no.2
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• pp.173-179
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• 2011

This study aims to analyse difference in biomechanical factors between dominant legs and recessive ones according to muscular imbalance during drop landing targeting talented children in sports. The subjects of the study were ten primary students who are attending to Sports Program for Talented Children organized by C university (age: $12.28{\pm}0.70$ year, height: $1.52{\pm}0.11$ m, and weight: $45.2{\pm}4.9$ kg). Strength legs were classified into dominant side and strengthless legs were classified into non-dominant legs. For three-dimensional analyses of the data collected, 6 video cameras(MotionMaster200, Visol, Korea) were used. To analyse ground reaction force, two force platforms(AMTI ORG-6, MA) were used and to analyse electromyograghy a 8-channeled wireless Noraxon Myoresearch made in USA was used at 1000 Hz for sampling. As a result, it was discovered that the dominants legs controlled knee bending motions more stably than strengthless legs as the maximum vertical ground reaction force was significantly high in dominant legs(p<.05), and joint moment of knee joints of the dominant legs was high(p<.05). Therefore, this study suggested that injury prevention program focusing on muscular balance as well as the existing sports programs for talented children should be developed based on results of the study and it is expected that the results will be useful for improvement of sports programs for talented children.

• Korean Journal of Applied Biomechanics
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• v.16 no.2
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• pp.65-73
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• 2006

The aim of this study was to find out the differences of Kinematics factors from touching down the vaulting board to landing when techniques of 1/1Turn and Tucked were performed on the old vaulting horse and on the new vaulting table. Three national representative men gymnasts were sampled for this study. Three dimension motion analyses by means of six Sony PD-150 video cameras with the velocity of 60 fps were used As a result of analyzing the kinematic data from two kind of vaulting table, the following conclusions were made. 1. The performing time from taking off the vaulting horse to landing(phase 4) in the 1/1 Turn technique on the new vaulting table was significantly longer than that of the old vaulting horse, while the time from contacting to taking off the vaulting horse on the new vaulting table was shorter than that of the old vaulting horse in both and the Tucked techniques. 2. The vertical release COG velocity was faster on the new vaulting table compare to the old vaulting horse in the all kind technique. However the horizontal release COG velocity of the 1/1 Turn technique was faster a little in the old vaulting horse compare to the new vaulting table.

• Physical Therapy Rehabilitation Science
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• v.9 no.4
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• pp.281-286
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• 2020

Objective: This study examined the effects of dynamic tape applied to the patellofemoral joint on the knee valgus angle, muscle activity, and ground reaction force during a single leg squat (SLS) and single leg landing (SLL). Design: Cross-sectional study. Methods: Twenty-four subjects (11 male, 13 female) who met the inclusion criteria were screened by the knee palpation and patella compression tests. First, the knee valgus angle and muscle activity during SLS were measured. Second, the knee valgus angle and ground reaction force during SLL were measured. For the intervention, a patella joint loop using dynamic tape was used. The knee valgus angle, muscle activities in SLS and SLL after the intervention, and the ground reaction force were measured in the same way. A paired t-test was used to examine the difference between before and after the intervention. Results: The knee valgus angle showed a statistically significant improvement after dynamic taping application in SLS and SLL (p<0.05). The differences in muscle activity of the VL/VMO and ground reaction forces were not statistically significant after dynamic taping application in SLS and SLL. Conclusions: This study showed that dynamic taping applied around the patellofemoral joint was effective in improving the knee valgus angle in SLS and SLL and had a reduced risk of secondary injury during sports activity.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.4
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• pp.122-128
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• 2018

A compound drone that combines a fixed wing and a rotary wing is an aircraft that can take off and landing vertically, and can increase flight time and fly faster with fixed wings. The compound drones are divided into many types depending on the method of adding the thrust vectoring or the lift fan and the position of the rotor. In this study, we designed and fabricated a composite drone with four V-TOL motors in a fixed-wing, and assigned missions to the aviation body, hence judged mission accuracy using the actual flight test. The design process and the mission evaluation process employed in this study can be utilized on the development of various unmanned aerial vehicle.