• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.8
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• pp.1080-1088
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• 2018

General methods of controlling a drone are divided into manual control and automatic control, which means a drone moves along the route. In case of manual control, a man should be able to figure out the location and status of a drone and have a controller to control it remotely. When people control a drone, they collect information about the location and position of a drone with the eyes and have its internal information such as the battery voltage and atmospheric pressure delivered through telemetry. They make a decision about the movement of a drone based on the gathered information and control it with a radio device. The automatic control method of a drone finding its route itself is not much different from manual control by man. The information about the position of a drone is collected with the gyro and accelerator sensor, and the internal information is delivered to the CPU digitally. The location information of a drone is collected with GPS, atmospheric pressure sensors, camera sensors, and ultrasound sensors. This paper presents an investigation into drone control by a remote computer. Instead of using the automatic control function of a drone, this approach involves a computer observing a drone, determining its movement based on the observation results, and controlling it with a radio device. The computer with a Depth camera collects information, makes a decision, and controls a drone in a similar way to human beings, which makes it applicable to various fields. Its usability is enhanced further since it can control common commercial drones instead of specially manufactured drones for swarm flight. It can also be used to prevent drones clashing each other, control access to a drone, and control drones with no permit.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.179-185
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• 2017

Communication technologies hold a significant place in the swarm flight of drones for surveillance, inspection of disasters and calamities, entertainment performances, and drone collaborations. A GCS(ground control station) for the control of drone swarms needs its devoted communication method to control a large number of drones at the same time. General drone controllers control drones by connecting transmitters and drones in 1:1. When such an old communication method is employed to control many drones simultaneously, problems can emerge with the control of many transmitter modules connected to a GCS and frequency interference among them. This study implemented a transmitter controller to control many drones simultaneously with a communication chip of 2.4GHz ISM band and a Cortex M4-based board. It also designed a GCS to control many transmitter controllers via a network. The hierarchical method made it possible to control many more drones. In addition, the problem with frequency interference was resolved by implementing a time- and frequency-sharing method, controlling many drones simultaneously, and adding the frequency hopping feature. If PPM and S.BUS protocol features are added to it, it will be compatible with more diverse transmitters and drones.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.5
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• pp.163-169
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• 2021

In this paper, we implemented a deep learning-based automatic object tracking and handy motion control drone system and analyzed the performance of the proposed system. The drone system automatically detects and tracks targets by analyzing images obtained from the drone's camera using deep learning algorithms, consisting of the YOLO, the MobileNet, and the deepSORT. Such deep learning-based detection and tracking algorithms have both higher target detection accuracy and processing speed than the conventional color-based algorithm, the CAMShift. In addition, in order to facilitate the drone control by hand from the ground control station, we classified handy motions and generated flight control commands through motion recognition using the YOLO algorithm. It was confirmed that such a deep learning-based target tracking and drone handy motion control system stably track the target and can easily control the drone.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.536-541
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• 2015

In this paper, we propose a the image-based automatic flight control system for the mini drone. Automatic flight system with a camera on the ceiling and markers on the floor and landing position is designed in an indoor environment. Images from the ceiling camera is used not only to recognize the makers and landing position but also to track the drone motion. PC sever identifies the location of the drone and sends control commands to the mini drone. Flight controller of the mini drone is designed using state-machine algorithm, PID control and way-point position control method. From the, The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized and the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experimental results show that the drone can approach and correctly land on the target positions which are set at different height.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.42 no.4
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• pp.69-75
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• 2019

Remotely Piloted Aircraft (RPA) controls as a type of unmanned aerial vehicle (drone) is growing rapidly and its flight controller stick disposition is required standardization. We should standardize RPA drone flight control disposition because the flight pilot of RPA is hard to be trained so the flight controller stick differences impairs safety and wastes time and effort of flight controller industry. So this study researches the on-going standardization of RPA drone flight control disposition in Korea and foreign countries. Also this paper analyzes and researches of expert about RPA drone flight controller function and application of flight control mode. I accomplished expert research about standardization plan of unmanned flight control mode and confirm the necessity. Nowadays mode1 and 2 are mostly used in Korea so I carried out preference investigation for two modes. There were 4 preferences choices of RPA drone control mode necessity (importance) and recommendation of standardization modes. They answered that necessity of standardization is important considering pilot training, flight safety and positive development of drone industry. The result of standardization mode preference is that they prefer mode 2 (drone maker 86%, training facilities and research facilities 58%, government bureau 60%). Overall preference result shows that mode 1 24%, mode 1&2 16%, mode 2 60%. So they preferred mode 2 by 60%. The differences between two modes are the direction of throttle and pitch. Direction of throttle and pitch operate opposite way. They prefer mode 2 because mode 2 has similarities of manned flight control mode. Significance of this study is that it showed the necessity of standardization and flight control preference in a quantitative way. It will help drone standardization in related industries and development direction near future.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.14 no.6
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• pp.461-466
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• 2021

Drone can be controlled by the method such as Bluetooth communication for close distance and can be controlled through network communication for long distance. Especially, the coordinate is set using GPS and drone is controlled using network communication and video communication when the activity range is long distance. However, the drone should be controlled by receiving control authority accordingly in response about it appropriately when the drone leaves the control area after arriving at the destination if there is a problem with network communication and video communication. So, this study proposes a method to control a drone with a simple mutually promised simple gesture and the drone can be controlled in the proposed method even if the drone leaves from the control authority in above situation. The reference posture was established for mutually promised simple gesture algorithm and automatically handed over the control authority of drone to a person who takes the reference posture when the drone recognizes it to implement this. And all the movements of the drone could be controlled by starting the beginning of all commands from the reference posture (The hovering posture of the drone). Lastly, the control authority of the drone should be returned after achieving the purpose, and the algorithm was implemented to make the drone can perform next action of its own, and it was confirmed that the drone was operating normally by the mapped instruction.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.367-371
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• 2004

This paper describes development of automatic flight control system for an unmanned target drone which is operated by Korean army as for anti-air gun shooting training. Current target drone is operated by pilot control of on-board servo motor via remote control system. Automatic flight control system for the target drone greatly reduces work load of ground pilot and can increase application area of the drone. Most UAVs being operated now days use high-priced sensors as AHRS and IMU to measure the attitude, but those are costly. This paper introduces the development of low-cost automatic flight control system with low-cost sensors. The integrated automatic flight control system has been developed by integrating combining power module, switching module, monitoring module and RC receiver as an one module. The performance of automatic flight control system is verified by flight test.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.7
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• pp.1123-1130
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• 2017

This paper deals with the dynamic surface control based tracking control for a drone equipped with a 2-DOF manipulator. First, the dynamics of drone and 2-DOF manipulator are derived separately. And we obtain the combined model of a drone equipped with a manipulator considering the inertia and the reactive torque generated by a manipulator. Second, a dynamic surface control based attitude and altitude control method is presented. Also, multiple sliding mode control based position control method is presented. The system stability and convergence of tracking errors are proven using Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.6 no.9
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• pp.81-90
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• 2016

Recently drones have become popular enough to be one of the hobby. The drone refers to an unmanned aerial vehicle which can fly and be steered by a radio wave without a pilot and it has a airplane or helicopter shape. The drone was first started to be used from military purpose, but its usage has been expanded to the private such as construction site, crop-dusting, field discovery, freight shipping and drones to prevent cheating. However the drone that we can see often in the market is expansive, hard to be repaired when it broken down and has a discomfort of the short flight time. In this paper, to solve an uncomfortable talk on the cheap 8-bits microcontrollers ATmega128 Using drone for implementation. Axes gyroscope and accelerometers mcu between posture an attitude control, communications through drone control, pid. Receiver input them into transmitter signals of movements to control drone c the programming was implemented in on the basis of language. drone using ATmega128 microcontroller is possible hovering, By utilizing a pin that are not required for control it can be used as a drone for a variety of uses.

• Journal of Platform Technology
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• v.9 no.3
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• pp.78-83
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• 2021

The new industry drone research is increasing through convergence between 4th industrial revolution technology. In particular, the government indicates the D.N.A platform as a countermeasure of 4th industrial revolution. So, the research topics are remarkable which are using D.N.A platform. On the other hand, the drone for industrial and research has spatial factor based on sequential because, they performance scenario-based mission through control operation. When the drone flights as a control operation, they have necessity apply multi-dimensional methods to improve the security level. So, this study researched a scenario based drone platform to improve the security level. As a result, the space classified as a ground control system, drone, drone data server and designed the application method based on scenario security technology.