• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.4_1
• /
• pp.513-519
• /
• 2022

In this paper, we describe performances of P-PD controllers in the quadrotor system with steady-state error compensation by adding a corrective term to the system input. A decentralized control system using P-PD controllers was successfully implemented on a quadrotor platform. We also presented the results of a mathematical modeling analysis for control the quadrotor and experimental results for each response performance according to the heading reference value in accordance with the mathematical modeling and P-PD controller design. A control experiment with the real system was implemented for the test platform, and the results were evaluated and compared.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.20 no.4
• /
• pp.39-54
• /
• 2017

Between 1998 and 2010, the computerization of underground facilities was completed in 84 cities. Since 2011, new pipelines have been laid or existing pipelines have been maintained, renovated, and renewed. To measure the exact location and depth of the exposure pipe, a map of underground facilities was created before filling the ground. This method is based on the time when the underground facilities of the National Geographic Information Institute Regulation No. 134 of the National Geographic Information Office revised in 2010 were drafted. The process of the drone taking the video is based on a theoretical basis of ground control points. The method works by removing all ground control points located outside of the error range and re-processing it for calculating the best result. Furthermore, using a drone-based spontaneous measuring method allows workers to obtain a high accuracy underground facilities map in error bound. The proposed method could be used as a new way to standardize the processing.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2017.05a
• /
• pp.560-562
• /
• 2017

This paper presents the development and test results of a test rig for confirming the hover performance of the coaxial propeller which is applied to the drone in order to carry out the mission that requires high payload such as the development of the courier drones. the performance of each propeller was measured by varying the thrust and torque according to the H/D ratio. the Thrust sensor and torque sensor were used to measure the thrust and torque generated when the propeller rotated, and a photo sensor was used to measure the rpm. it used the data acquisition system to acquire data from each sensor, and used the Labview softwaer to control data storage, monitoring and BLDC motor control. In the test, each propeller meansured the figure of mefit according to the chansge of the interval at the same rpm.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.4
• /
• pp.276-283
• /
• 2017

This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2017.04a
• /
• pp.1003-1004
• /
• 2017

본 연구에서는 실내 환경에서 드론의 측위를 위한 마커 인식 및 검출 기술을 소개한다. 기존 실내 측위를 위한 기술인 Global Positioning System이나 Wi-Fi를 이용한 삼각측량 기법은 실내 환경에서 각각의 성질로 인하여 사용하기 어려운 점이 있다. 본 논문에서는 2차원 바코드와 마커 등의 객체를 드론의 카메라를 이용한 실시간 영상 전송을 통하여 검출하여 위치 정보를 획득하는 기술을 소개한다. 실험에서는 드론의 카메라를 통하여 실시간 전송된 영상에서 OpenCV V2.4.10을 통하여 객체를 검출하였고, 카메라와 객체 사이의 거리와 바코드 크기에 따른 2차원 바코드의 검출 여부를 보였으며 15*15cm의 2차원 바코드는 비교적 잘 인식하였으나 비교적 작은 11*11cm의 2차원 바코드는 거리가 멀어질 수록 인식이 힘들어지는 결과를 보였다.

• International Journal of Internet, Broadcasting and Communication
• /
• v.8 no.4
• /
• pp.58-62
• /
• 2016

Shipping related services is attracting attention as a UAV (Unmanned Aerial Vehicle) application with the recent economy has been generally accepted drones. UAV of the existing military-driven logistics delivery, aerial photography, wireless Internet connection, broadcasting, disaster research, digital maps, transportation, advertising, meteorological, border surveillance, agricultural use, such as hobbies range of uses from up military are diverse and growing. The advantage of delivery drones seems to be an important feature of delivery of the goods, including labor-saving, long-distance transportation in cold weather. UAV is demanded by competitive performance development for commercialization. Privacy issues that may arise during the drone operation, ensuring marketability issues, control system, regulations, operational standards and specifications, etc. should be addressed. Development direction of Korea UAV based in current technology, regulation, and growth potential presented by deriving from the idea of 'GIF 2016 Gang-won Hackathon.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2017.11a
• /
• pp.965-968
• /
• 2017

드론이라고도 불리는 소형 무인기는 비전 시스템을 대부분 갖추고 있어 비전을 응용한 기술이 적합한 플랫폼이며 특히 랜드 마크 기반 위치 추적 방법은 드론과 지상 로봇과 같은 다른 플랫폼 간의 협업을 위한 효율적인 방법 중 하나이다. 본 논문에서는 드론과 지상 로봇의 협업 시스템을 위하여 기준 마커를 검출하는 연구에 대하여 서술한다. 기준 마커 중 하나인 ArUco는 바코드보다 간단한 내부 코드를 가지고 있다. 기준 마커의 카메라 캘리브레이션을 통하여 카메라와 마커의 자세 추정이 가능하다. 성능 평가 실험을 통하여 형태가 간단한 마커, AprilTags, ArUco 간 성능 비교를 하였고 92%의 정확도를 얻어내었으며 ArUco의 적합한 이진화 알고리즘을 제시하였다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2022.05a
• /
• pp.204-207
• /
• 2022

The uses of drones are increasing despite the fact that many of us are still skeptical. In the near future, the data that will be created and used by them will be very voluminous, hence the need to find an architecture that allows good identity management and access control in a decentralized way while guaranteeing security and privacy. In this article, we propose an architecture using hyperledger fabric blockchain platform which will manage the identity in a secure way starting with the registration of the drones on the network then an access control thanks to Public Key Infrastructure (PKI) and membership service provider (MSP) to enable decision-making within the system.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.14 no.2
• /
• pp.595-609
• /
• 2020

In this study, we propose a decentralized mathematical model for predictive control of a system of multi-autonomous unmanned aerial vehicles (UAVs), also known as drones. Being decentralized and autonomous implies that all members make their own decisions and fly depending on the dynamic information received from other unmanned aircraft in the area. We consider a variety of realistic characteristics, including time delay and communication locality. For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself. The main contribution of this work is a mathematical model for stable group flight even in adverse weather conditions (e.g., heavy wind, rain, etc.) by adding Gaussian noise. Two of our proposed variance control algorithms are presented in this work. One is based on a simple biological imitation from statistical physical modeling, which mimics animal group behavior; the other is an algorithm for cooperatively tracking an object, which aligns the velocities of neighboring agents corresponding to each other. We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2016.10a
• /
• pp.755-758
• /
• 2016

본 논문에서는 마커 인식과 레이저 센서를 이용하여 드론과 모듈 로봇 간의 상호작용이 가능하며 도킹 가능한 드론을 설명한다. 모듈 로봇은 4족 로봇으로 4개의 다리를 이용하여 보행이 가능하며 스스로 장애물 회피 등의 지능적 행동이 가능하다. 연구에서는 1대의 카메라를 이용하여 마커 인식을 하고 레이저 센서 송수신을 통하여 모듈 로봇과의 상호작용이 가능함을 보인다. 실험은 마커 인식과 레이저 센서를 융합하였을 때의 도킹 성공률이 뛰어났다는 결과를 보이며 드론의 페이로드가 다른 상황에서도 안정적인 결과를 보여 영상이나 방범, 농업 분야에서 특수한 기술을 갖는 로봇을 드론과의 도킹을 통해 다른 모듈화 된 로봇들과 교체하여 실효성을 극대화 시킬 수 있을 것이다.