• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권2호
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• pp.51-56
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• 2017

최근에 증가한 무인항공기(Unmanned Aerial Vehicle, UAV) 활용에 따라 다양한 UAV 제어 방법이 도입되고 있다. 일반적으로는 UAV 조종기를 통해 직접 제어하는 방법이 많이 활용되고 있다. 하지만, 세밀한 UAV 제어를 위해서는 직관적인 사용자 인터페이스가 필요하다. 이 논문에서는 다수개의 Myo로 UAV를 제어하는 방법을 제안한다. 이를 위해서 기 개발된 지상관계시스템을 통해 Myo로 UAV를 제어하는 방법을 소개한다. 체감형 인터페이스로 UAV를 제어함으로써 직관적인 제어가 가능하다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.216-218
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• 2009

This paper proposes an image processing algorithm to stabilize shaken scenes of UAV(Unmanned Aerial Vehicle) caused by vehicle self-vibration and aerodynamic disturbance. The proposed method stabilizes images by compensating estimated shake motion which is evaluated from global motion. The global motion between two continuous images modeled by 6 parameter warping model is estimated by non-linear square method based on Gauss-Newton algorithm with excluding outlier region. The shake motion is evaluated by subtracting the global motion from aerial vehicle motion obtained by averaging global motion. Experimental results show that the proposed method stabilize shaken scenes effectively.

• 농업과학연구
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• 제42권3호
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• pp.269-276
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• 2015

Unmanned Aerial Vehicle (UAV) has several advantages over conventional remote sensing techniques. They can acquire high-resolution images quickly and repeatedly. And with a comparatively lower flight altitude, they can obtain good quality images even in cloudy weather. In this paper, we discussed the state-of-the-art of the domestic and international use of UAV in agricultural sector as well as assessed its utilization and applicability for agricultural environment in Korea. Association of robotic, computer vision and geomatic technologies have established a new paradigm of low-altitude aerial remote sensing that has now been receiving attention from researchers all over the world. In a field study, it has been found that use of UAV imagery in an agricultural subsidy program can reduce the farmers' complain and provide objective evidence. UAV high resolution photography can also be helpful in monitoring the disposal zone for animal carcasses. Due to its expeditiousness and accuracy, UAV imagery can be a very useful tool to evaluate the damage in case of an agricultural disaster for both parties insurance companies and the farmers. Also high spatial and temporal resolution in UAV system can increase the prediction accuracy which in turn help to maintain the agricultural supply and demand chain.

• ETRI Journal
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• 제42권5호
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• pp.700-711
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• 2020

Because of the rapid increase of mobile traffic, flexible broadband supportive unmanned aerial vehicle (UAV)-based 6G mobile networks using free space optical (FSO) links have been recently proposed. Considering the advancements made in UAVs, big data processing, and artificial intelligence precision control technologies, the formation of an additional wireless network based on UAV aerial platforms to assist the existing fixed base stations of the mobile radio access network is considered a highly viable option in the near future. In this paper, a combined time bound optimization scheme is proposed that can adaptively satisfy the control and communication time constraints as well as the processing time constraints in FSO-based 6G UAV aerial networks. The proposed scheme controls the relation between the number of data flows, input data rate, number of worker nodes considering the time bounds, and the errors that occur during communication and data processing. The simulation results show that the proposed scheme is very effective in satisfying the time constraints for UAV control and radio access network services, even when errors in communication and data processing may occur.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1112-1117
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• 2014

Unmanned aerial vehicles (UAVs) are a popular research topic because of a great ripple effect in the future. However, current UAV technologies cannot be applied to manual aerial vehicles without any modification. As an alternative to current UAV technology, humanoid robots are adopted as pilots. If a humanoid robot controls an aerial vehicle autonomously, not only could manual aerial vehicles be utilized as UAVs, but the humanoid robot would also be put into an environment created for humans and conduct some missions suitable for humans. Humanoid robots are also able to handle tools and equipment designed for humans. In order to prove that a humanoid robot can pilot an airplane, an experiment is performed and the results of this experiment are shown in this paper.

• 산업경영시스템학회지
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• 제35권1호
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• pp.39-46
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• 2012

An unmanned aerial vehicle (UAV) is a powered aerial vehicle that does not carry a human operator, uses aerodynamic forces to provide vehicle lift, can fly autonomously or be piloted remotely, can be expendable or recoverable, and can carry a lethal or non-lethal payload. An UAV is very important weapon system and is currently being employed in many military missions (surveillance, reconnaissance, communication relay, targeting, strike, etc.) in the war. To accomplish UAV's missions, guarantee of survivability should be preceded. The main objective of this study is a local path planning to maximize survivability for UAV on the battlefield of dynamic threats (obstacles, surface-to-air missiles, radar etc.). A local path planning is capable of producing a new path in response to environmental changes. This study suggests a $Smart$ $A^*$ (Smart A-star) algorithm for local path planning. The local path planned by $Smart$ $A^*$ algorithm is compared with the results of existing algorithms ($A^*$ $Replanner$, $D^*$) and evaluated performance of $Smart$ $A^*$ algorithm. The result of suggested algorithm gives the better solutions when compared with existing algorithms.

• 산업공학
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• 제24권4호
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• pp.304-313
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• 2011

An Unmanned Aerial Vehicle(UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are currently employed in many military missions(surveillance, reconnaissance, communication relay, targeting, strike etc.) and a number of civilian applications(communication service, broadcast service, traffic control support, monitoring, measurement etc.). For accomplishing the UAV's missions, guarantee of survivability should be preceded. The main objective of this study is the path planning to maximize survivability for UAV based on 3-dimensional environment. A mathematical programming model is suggested by using MRPP(Most Reliable Path Problem) and solved by transforming MRPP into SPP(Shortest Path Problem). This study also suggests a $A^*PS$ algorithm based on 3-dimensional environment to UAV's path planning. According to comparison result of the suggested algorithm and SPP algorithms (Dijkstra, $A^*$ algorithm), the suggested algorithm gives better solution than SPP algorithms.

• Journal of Mechanical Science and Technology
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• 제17권5호
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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 advanced smart convergence
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• 제9권3호
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• pp.207-214
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• 2020

Currently, the operation of unmanned aerial vehicle (UAV) is regulated to be able to fly only within the visible range, but in recent years, the needs for operation in the invisible area, in the urban area and at night have increased. In order to operate UAVs in the invisible area, at night, and in the urban area, a flight path for UAVs must be prepared like those operated by manned aircraft, and for this, it is necessary to establish an unmanned aircraft system traffic management (UTM). In order to establish the UTM, information on the minimum separation distance to prevent collisions with UAVs and buildings is required, and accordingly, information on the navigation performance of UAVs is required. In order to analyze the navigation performance of an UAV, total system error (TSE), which is the difference between the planned flight path and the actual location of the UAV, is required. If the collected data are insufficient and classification according to integrity, independence, and direction is not performed, accurate navigation performance is not derived. In this paper, propose a navigation performance analysis method of UAV that is derived TSE using flight data and modeled with normal distribution, analyze performance.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.98-109
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• 2010

This paper deals with a new method of unmanned aerial vehicle (UAV) recovery when a UAV fails to get a global positioning system (GPS) signal at an unprepared site. The proposed method is based on the simultaneous localization and mapping (SLAM) algorithm. It is a process by which a vehicle can build a map of an unknown environment and simultaneously use this map to determine its position. Extensive research on SLAM algorithms proves that the error in the map reaches a lower limit, which is a function of the error that existed when the first observation was made. For this reason, the proposed method can help an inertial navigation system to prevent its error of divergence with regard to the vehicle position. In other words, it is possible that a UAV can navigate with reasonable positional accuracy in an unknown environment without the aid of GPS. This is the main idea of the present paper. Especially, this paper focuses on path planning that maximizes the discussed ability of a SLAM algorithm. In this work, a SLAM algorithm based on extended Kalman filter is used. For simplicity's sake, a blimp-type of UAV model is discussed and three-dimensional pointed-shape landmarks are considered. Finally, the proposed method is evaluated by a number of simulations.