• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• Journal of Mechanical Science and Technology
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• v.17 no.5
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• pp.654-667
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• 2003

This paper presents a consequence of the systematic approach to identify the aerodynamic parameters of an unmanned aerial vehicle (UAV) equipped with the automatic flight control system. A 3-2-1-1 excitation is applied for the longitudinal mode while a multi-step input is applied for lateral/directional excitation. Optimal time step for excitation is sought to provide the broad input bandwidth. A fully automated programmed flight test method provides high-quality flight data for system identification using the flight control computer with longitudinal and lateral/directional autopilots, which enable the separation of each motion during the flight test. The accuracy of the longitudinal system identification is improved by an additional use of the closed-loop flight test data. A constrained optimization scheme is applied to estimate the aerodynamic coefficients that best describe the time response of the vehicle. An appropriate weighting function is introduced to balance the flight modes. As a result, concurrent system models are obtained for a wide envelope of both longitudinal and lateral/directional flight maneuvers while maintaining the physical meanings of each parameter.

• International Journal of Aeronautical and Space Sciences
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• v.5 no.1
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• pp.57-63
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• 2004

UAV(Unmanned Aerial Vehicle) has become one of the most popularmilitary/commercial aerial robots in the new millennium. In spite of all theadvantages that UAVs inherently have, it is not an easv job to develop a UAVbecause it requires very systematic and complete approaches in full developmentenvelop. The ground test and evaluation phase has the utmost importance in thesense that a well-developed system can be best verified on the ground. In addition,many of the aircraft crashes in the flight tests were resulted from the incompletedevelopment procedure. In this research, a verification procedure of the wholeairbome integrated system was conducted including the flight management system.An airbome flight control computer(FCC) senses the extemal environment from thepehpheral devices and sends the control signal to the actuating system using theassigned control logic and flight test strategy. A ground test station controls themission during the test while the downlink data are transferred from the flightmanagement computer using the serial communication interface. The pilot controlbox also applies additional manual actuating commands. The whole system wastested/verified on the wind-tunnel system, which gave a good pitch controlperformance with a preUspecified flight test procedure. The ground test systemguarantees the performance of fundamental functions of airbome electronic systemfor the future flight tests.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.3
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• pp.71-77
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• 2005

An unmanned aerial vehicle (UAV) is generally flied via a pre-planned flight path or real-time commands by an operator. To succeed in an assigned mission, analysis such as the line-of-sight analysis for communication between UAV and a ground data terminal should be performed. In this paper, various analysis algorithms which are performed by a ground control station in pre-flight and in-flight phases, are proposed for the safe flight of UAV. Note that the proposed algorithms can be applied to most UAV systems.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.21 no.3
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• pp.277-287
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• 2003

As primary source data toward the systematic and efficient management of national land, the aerial photographs have been utilized in many different areas. However, the quality of aerial photographs does not meet the requirement of the users due to unidentified miscellaneous reasons. Aiming for the improvement of the quality of aerial photographs, we first investigated the current status of domestic rules and working procedures related to aerial photographing and film processing in great details. In addition, we investigated and analyzed those of advanced nations such as U.S.A., Canada, G.B. and so on. It was drawn from the comparison and analysis that the poor quality of domestic aerial photographs resulted from lack of the quantitative and objective standards on aerial photography specification as well as poor condition and aging problem of equipments such as aerial camera and film developing equipment. In this paper, we proposed a stepwise strategic plan which consists of the aerial photography specification and quantitative quality control standard taking into consideration the current status of domestic rules and working procedures.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.12
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• pp.1095-1102
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• 2016

This paper presents the results of the design, fabrication and tether test for a gross weight 20 kg tilt-duct VTOL aerial robot. The tilt-duct vehicle, a tri-ducts air-vehicle, which composed of two main tilt ducts for thrust and an aft-fan for pitch attitude control, has been developed as an aerial platform. The research on the air vehicle has been focused on the hover characteristics and controllability to improve the thrust and stability. The tether test for measuring various performance of vehicle and evaluating controllability have been carried out to figure out effects of modified main-prop linkage, actuator, duct configuration and control surfaces.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.3
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• pp.1377-1399
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• 2020

In search and rescue mission, micro aerial vehicles (MAVs) are typically used to capture image and video from an aerial perspective and transfer the data to the ground station. Because of the power limitation, a cluster of MAVs are required for a large search area, hence an ad-hoc wireless network must be maintained to transfer data more conveniently and fast. However, the unstable link and the intermittent connectivity between the MAVs caused by MAVs' movement may challenge the packet forwarding. This paper proposes a delay tolerant packet forwarding algorithm based on location estimation for MAV networks, called DTN_est algorithm. In the algorithm, ferrying MAVs are used to transmit data between MAVs and the ground station, and the locations of both searching MAVs and ferrying MAVs are estimated to compute the distances between the MAVs and destination. The MAV that is closest to the destination is selected greedy to forward packet. If a MAV cannot find the next hop MAV using the greedy strategy, the packets will be stored and re-forwarded once again in the next time slot. The experiment results show that the proposed DTN_est algorithm outperforms the typical DTN_geo algorithm in terms of packet delivery ratio and average routing hops.

• Ocean and Polar Research
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• v.27 no.4
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• pp.497-507
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• 2005

This paper presents a method for obtaining mosaic aerial photographs that are useful for a long-term shoreline change study in the Nakdong estuary. Although this method involves digital photogrammetry software of the shelf its usage can be simplified to accomodate the shoreline change study. Ground control points, which are common in aerial photographs, were measured from digital maps. Block triangulation was highly affected by land-based GCPs. Extension of tie points near the shoreline to vertical control points gave more reliable results for the block triangulation. A constant Digital Elevation Model (DEM), close to mean sea level, was employed to produce ortho-rectified photographs, from which mosaic photographs were made. Accuracy of photographs were found to be acceptable for the analysis of long-term shoreline change, and the promising construction of a shoreline change database in the Nakdong estuary.

• Korean Journal of Korean Medical Institute of Dermatology and Aesthetics
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• v.1 no.1
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• pp.127-144
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• 2005

This study compared the activity of the aerial part of P. japonicum with its root in order to examine the possibility of the medicinal use of the aerial part, which has not been used as medicine, in substitute for the root that has traditionally been used as medicine. For this purpose, the author measured the proliferation of Human $CD4^-$ T cells, which are related to immunity, the differentiation of HL-60 cells, and the contents of IL-6, IgE and $TNF-{\alpha}$ and compared their anti-cancer effect on Hep3B and A549 cells. The results of this study are as follows: 1. As for Human $CD4^-$ T cells, $1.0\;g/{\ell}$ methanol extract from the aerial part promoted the proliferation of the cells 1.8 times higher while $1.0\;g/{\ell}$ methanol extract from the root did by 1.76 times higher compared to the control group. 2. As for HL-60 cells, methanol extract and water extract from the aerial part showed differentiation 1.14 times higher and 1.12 times higher respectively while methanol extract and water extract from the root did 1.14 times higher and 1.07 times higher compared to tile control group. 3. Cell density was highest on Day 4 of culture in all samples, Methanol extracts from the aerial part and the root showed activities of $7.9{\times}10^3\;cells/m{\ell}$ and $7.5{\times}10^3\;cells/m{\ell}$ respectively, and water extracts from the aerial part and the root did activities of $5.3{\times}10^3\;cells/m{\ell}$ and $6.1{\times}10^3\;cells/m{\ell}$. 4. The secretion of IL-6 was highest on Day 4 of culture. Methanol extracts from the aerial part and the root showed secretions of $6.7{\times}10^{-3}\;pg/cells/m{\ell}$ and $7.2{\times}10^{-3}\;pg/cells/m{\ell}$ respectively, and water extracts from the aerial part and the root did secretions of as high as $7.0{\times}10^{-3}\;pg/cells/m{\ell}$ and $6.0{\times}10^{-3}\;pg/cells/m{\ell}$. 5. As for the production of IgE, water extract from the root effectively inhibited the product at $1,000\;{\mu}g/m{\ell}$, methanol extract from the root at $10\;{\mu}g/m{\ell}$ and $100\;{\mu}g/m{\ell}$, water extract from the aerial at $1,000\;{\mu}g/m{\ell}$, and methanol extract from the aerial part at $1,000\;{\mu}g/m{\ell}$. 6. According to the result of measuring the content of $TNF-{\alpha}$, methanol extracts from the root and the aerial part showed inhibition effect at $10\;{\mu}g/m{\ell}$, $100\;{\mu}g/m{\ell}$ and $1,000\;{\mu}g/m{\ell}$. 7. As for liver cancer cell Hep3B, $1.0\;g/{\ell}$ methanol extracts from the root and the aerial part showed inhibition effects of 78% and 70% respectively, and $1.0\;g/{\ell}$ water extracts from the root and the aerial part did inhibition effects of 56% and 59%. 8. As for lung cancer cell A549, $1.0\;g/{\ell}$ methanol extracts from the root and the aerial part showed inhibition effects of 75% and 70% respectively, and $1.0\;g/{\ell}$ water extracts from the root and the aerial part did inhibition effects of 48% and 45%. The results of this study presented above show that the aerial part of P. japonicum has immunizing and anti-cancer effects as high as its root, which has commonly been used as medicine. There should be more in-depth research on the aerial part of P. japonicum in the future.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.225-230
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• 2003

Efficient representation is crucial in the analysis of complex geospatial information. In case of aerial triangulation, most of currently available software are designed as black boxes where only an experienced user would be able to prepares the preformatted input file and interprete the result of the adjustment. This paper introduces a solution to this problem through the UML design of a Graphical User Interface (GUI) for the aerial triangulation task. The design was then implemented with ArcGIS. The error of the exterior orientation of each aerial Imagery was represented with a 3-D error ellipse, enabling the visualization of the adjustment result. The attributes of images and points (control points, tie points and image points) were maintained as a database which enables the searching and querying of adjustment information.