• Title/Summary/Keyword: aerial control

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Automatic UAV Control Signal Assessment Method (UAV 제어 신호의 자동 검사 방법)

  • Kwak, Jeonghoon;Park, Jong Hyuk;Sung, Yunsick
    • Proceedings of the Korea Information Processing Society Conference
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    • 2016.04a
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    • pp.679-681
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    • 2016
  • 최근에 무인항공기(Unmanned Aerial Vehicle, UAV)를 재난 발생 지역과 같은 넓은 지역을 촬영하기 위해서 사용되고 있다. 촬영 비용을 낮추면서 넓은 지역을 촬영하기 위해서 자율 비행 방법이 필요하다. 예를 들어, 모터프리미티브를 기반으로 제어 신호를 UAV로 전송하여 자율 비행하는 방법이 있다. 하지만, 지상관제소(Ground Control Station, GCS)에서 UAV로 제어 신호를 전송하는 과정에서 제어 신호의 손실이 발생하면 예상한 모터프리미티브를 수행하지 못한다. 이 논문에서는 GCS에서 UAV로 송신된 제어 신호가 실행되고 있는지 검사하는 방법을 제안한다. UAV로 송신된 제어 신호의 실행 여부를 확인함으로써 예상한 모터프리미티브를 제어 신호 손실 없이 수행가능하다.

Motion Recognition Sensor-based UAV Control Signal Generation Method (모션 인식 센서 기반의 UAV 제어 신호 생성 방법)

  • Kim, Donguk;Kim, Hyeok;Sung, Yunsick
    • Proceedings of the Korea Information Processing Society Conference
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    • 2016.04a
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    • pp.682-685
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    • 2016
  • 최근 무인항공기(Unmanned Aerial Vehicle, UAV)가 많은 보급됨에 따라서 다양한 방법으로 이를 제어하기 위한 노력들이 이루어지고 있다. 그 중 NUI/NUX를 이용하여 UAV를 접목하려는 시도가 있다. 전통적인 NUI/NUX는 가상현실에서 시각적인 체감에 많이 의존하고 있지만 동작 인식 센서를 기반으로 가상 에이전트를 제어하는 기법들도 소개되고 있다. 이 논문에서는 모션 인식 센서인 Myo를 사용하여 UAV를 제어하는 시스템을 제안한다. 제안한 시스템은 지상 통제소(Ground Control Station, GCS)의 서브시스템이며 전통적인 드론 조종 방법과 같이 양팔로 제어하기 때문에 두 개의 Myo를 사용한다.

UGR Detection and Tracking in Aerial Images from UFR for Remote Control (비행로봇의 항공 영상 온라인 학습을 통한 지상로봇 검출 및 추적)

  • Kim, Seung-Hun;Jung, Il-Kyun
    • The Journal of Korea Robotics Society
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    • v.10 no.2
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    • pp.104-111
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    • 2015
  • In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird's eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.

Design and Construction of a Quad Tilt-Rotor UAV using Servo Motor

  • Jin, Jae-Woo;Miwa, Masafumi;Shim, Joon-Hwan
    • Journal of Engineering Education Research
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    • v.17 no.5
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    • pp.17-22
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    • 2014
  • Unmanned aerial vehicles (UAVs) that have been recently commercialized can largely be divided into fixed-wing aircraft and rotor aircraft by their styles and flight characteristics. Although the fixed-wing aircraft represents higher power efficiency, higher speed, longer flight distance and larger loading weight than the rotor aircraft, they have a disadvantage of requiring a space for take-off and landing. On the other hand, the rotor aircraft can implement vertical take-off and landing (VTOL) and represents various flight modes (hovering, steep bank turns and low-speed flights). But they require both precision take-off control and attitude control. In this study, we used a quad-tilt rotor UAV to combine advantages in both the fixed-wing aircraft and the rotor aircraft. The quad-tilt rotor (QTR) system was designed and constructed by adding a tilt device with a servo motor to a general quad-rotor vehicle.

Analysis of Importance of Search Altitude Control for Rapid Target Detection of Drones

  • Ha, Il-Kyu
    • Journal of information and communication convergence engineering
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    • v.16 no.2
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    • pp.78-83
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    • 2018
  • Rapidity and accuracy are important considerations when a drone is employed in a wide surveillance area to detect a target. They are more important when the scope of application is a search and rescue operation or the monitoring of natural disasters, which may require prompt warnings and response. During the actual operation of a drone, rapidity and accuracy are associated with the change in the altitude of the drone. The aim of this study is to analyze the characteristics of drones at varying altitudes and prove that altitude is a relevant factor in the performance of drones. Herein, the characteristics of the drone at varying altitudes were analyzed through several search simulations. The results suggest that a high-altitude drone is relatively advantageous compared to a low-altitude drone in a probability-based target search, and that the search altitude is also a very important and fundamental factor in target search by drones.

Time Management System for Applications of UAV Network

  • Lee, Won-Seok;Jang, Jun-Yong;Song, Hyoung-Kyu
    • Journal of Positioning, Navigation, and Timing
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    • v.9 no.4
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    • pp.405-409
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    • 2020
  • This paper proposes time management system for unmanned aerial vehicle (UAV) network. The computers of the UAVs need time synchronization that time offset does not exceed the minimum interval of data samples for errorless data blending between the computers. The proposed time management system is composed of time synchronization and general management systems for UAV control. The systems communicate each other for time information and control signals. The synchronization system uses improved version of existing time offset estimation that network time protocol (NTP) uses. The time synchronization is operated when the time offset of any UAV exceeds threshold that preconfigured by the general management system. The demonstration of prototype shows stable time synchronization satisfying preconfigured threshold.

Efficacy of Foliar Herbicide Treatment by Unmanned Helicopter under Water-Seeded Rice Cultivation (벼 담수표면산파 재배에서 무인헬기를 이용한 제초제 경엽처리 효과)

  • Seong, Deok-Gyeong;Bea, Sung-Mun;Kim, Young-Gwang;Cho, Yong-Cho;Lee, Sang-Dae;Shim, Sang-In;Chung, Jung-Sung
    • 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.

Development of Flight Control System and Troubleshooting on Flight Test of a Tilt-Rotor Unmanned Aerial Vehicle

  • Kang, Youngshin;Park, Bum-Jin;Cho, Am;Yoo, Chang-Sun;Koo, Sam-Ok;Tahk, Min-Jea
    • International Journal of Aeronautical and Space Sciences
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    • v.17 no.1
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    • pp.120-131
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    • 2016
  • The full results of troubleshooting process related to the flight control system of a tilt-rotor type UAV in the flight tests are described. Flight tests were conducted in helicopter, conversion, and airplane modes. The vehicle was flown using automatic functions, which include speed-hold, altitude-hold, heading-hold, guidance modes, as well as automatic take-off and landing. Many unexpected problems occurred during the envelope expansion tests which were mostly under those automatic functions. The anomalies in helicopter mode include vortex ring state (VRS), long delay in the automatic take-off, and the initial overshoot in the automatic landing. In contrast, the anomalies in conversion mode are untrimmed AOS oscillation and the calibration errors of the air data sensors. The problems of low damping in rotor speed and roll rate responses are found in airplane mode. Once all of the known problems had been solved, the vehicle in airplane mode gradually reached the maximum design speed of 440km/h at the operation altitude of 3km. This paper also presents a comprehensive detailing of the control systems of the tilt-rotor unmanned air vehicle (UAV).

Trajectory Guidance and Control for a Small UAV

  • Sato, Yoichi;Yamasaki, Takeshi;Takano, Hiroyuki;Baba, Yoriaki
    • International Journal of Aeronautical and Space Sciences
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    • v.7 no.2
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    • pp.137-144
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    • 2006
  • The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

Fault Detection System Design and HILS Evaluation for the Smart UAV FCS

  • Nam, Yoon-Su;Jang, Hu-Yeong;Hong, Sung-Kyung;Park, Sung-Su
    • International Journal of Control, Automation, and Systems
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    • v.5 no.1
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    • pp.104-109
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    • 2007
  • This paper is about a redundancy management system design for the Smart UAV(unmanned aerial vehicle) which utilizes the tilt..rotor mechanism. In order to meet the safety requirement on the PLOC(probability of loss of control) of $1.7{\times}10^{-5}$ per flight hour for FCS (flight control system) failures, a digital FCS is mechanized with a dual redundant structure. A fault detection system which is composed of a CCM(cross channel monitor) and analytic redundancy using the Kalman filtering is designed, and its effectiveness is evaluated through experiments. A threshold level and persistence count for managing redundant sensors are designed based on the statistical analysis of the FCS sensors. To increase the survivability of the UAV after the loss of critical sensors in the SAS(stability augmentation system) and to provide reference information for a tie-breaking condition at which an ILM(in-line monitor) cannot distinguish the faulty channel between two operating ones, the Kalman filter approach is investigated.