• Journal of Power System Engineering
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• v.15 no.3
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• pp.65-69
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• 2011

This paper introduces the multi-coil eddy current sensor and its characteristic in magnetic material gas turbine rotor. In the past, magnetic particle inspection method was used for qualitative defect evaluation in magnetic material gas turbine rotor. And the ultrasonic inspection method was used for quantitative defect evaluation. Nowadays, eddy current method is used in magnetic gas turbine rotor inspection due to advanced sensor design technology. We developed multi-coil eddy current sensor for the rotor dovetail inspection. At first, rotor stress is analyzed for the determination of sensor position and number. The sensor coils are designed to cover the stress concentration area of rotor dovetail. We select optimum frequency according to material standard penetration data and experiment results. The rotor mock-up and artificial defects were made for the signal detection and resolution analysis of multi-coil eddy current sensor. The results show that signal detection and resolution capabilities are enhanced in comparison to the commercialized sensor enough for the gas turbine rotor inspection. So, this developed multi-coil eddy current sensor substituted for commercialized one and it applied in real gas turbine rotor inspection.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.252-259
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.6
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• pp.141-146
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• 2012

This paper introduces development of multi-rotor system and vision based autonomous landing system. Multi-rotor platform is modeled by rigid body motion with Newton Euler concept. Also Multi-rotor platform is simulated and tuned by LQR control algorithm. Vision based Autonomous Landing system uses a single camera that is mounted Multi-rotor system. Augmented reality algorithm is used as marker detection algorithm and autonomous landing code is test with GCS for the precision landing.

• Wind and Structures
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• v.34 no.3
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• pp.291-301
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• 2022

Although mostly used in wind turbine market, single rotor wind turbines have problems with transportation and installation costs due to their large size. In order to solve such problems, multi-rotor wind turbine is being proposed; however, light weight design of multi-rotor wind turbine is required considering the installation at offshore or deep sea. This study proposes the systematic design process of the multi-rotor wind turbine focused on its supporting structure with simultaneous consideration of static and dynamic behaviors in an ideal situation. 2D and successive 3D topology optimization process based on the density method were applied to minimize the compliance of supporting structure. To realize the conceptual design obtained by topology optimization for manufacturing feasibility, the derived 3D structure was modified to have shell structures and optimized again through parametric design using the design of experiments and the response surface method for detail design of their thicknesses and radii. The resultant structure was determined to satisfy the stress and the buckling load constraint as well as to minimize the weight and the resultant supporting structure were verified numerically.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.343-352
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• 2016

A multi-rotor vehicle is an unmanned vehicle consisting of multiple rotors. A multi-rotor vehicle can be categorized as tri-, quad-, hexa-, and octo-rotor depending on the number of the rotors. Multi-rotor vehicles have many advantages due to their agile flight capabilities such as the ability for vertical take-off, landing and hovering. Thus, they can be widely used for various applications including surveillance and monitoring in urban areas. Since multi-rotors are subject to uncertain environments and disturbances, it is required to implement robust attitude stabilization and flight control techniques to compensate for this uncertainty. In this research, an advanced nonlinear control algorithm, i.e. sliding mode control, was implemented. Flight experiments were carried out using an onboard flight control computer and various real-time autonomous attitude adjustments. The feasibility and robustness for flying in uncertain environments were also verified through real-time tests based on disturbances to the multi-rotor vehicle.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.66-78
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• 2007

A multi-point aerodynamic shape optimization technique has been developed for helicopter rotor blades in hover based on a continuous adjoint method on unstructured meshes. The Euler flow solver and the continuous adjoint sensitivity analysis were formulated on the rotating frame of reference. The 'objective function and the sensitivity were obtained as a weighted sum of the values at each design point. The blade section contour was modified by using the Hicks-Henne shape functions. The mesh movement due to the blade geometry change was achieved by using a spring analogy. In order to handle the repeated evaluation of the design cycle efficiently, the flow and adjoint solvers were parallelized based on a domain decomposition strategy. A solution-adaptive mesh refinement technique was adopted for the accurate capturing of the wake. Applications were made to the aerodynamic shape optimization of the Caradonna-Tung rotor blades and the UH-60 rotor blades in hover.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.137-148
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• 2014

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.1
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• pp.37-44
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• 2021

This study is implemented as a sensor-less position controller capable of multi-turn detection to replace the expensive absolute encoder used in the turret servo system. For sensor-less control, the position information of the rotor is essential. For this, a magnetic flux estimator was implemented from the mathematical model of IPMSM used in the turret servo system. The position of the rotor and the angular velocity of the rotor were obtained using the rotor magnetic flux calculated from the magnetic flux estimator. Using the zero-crossing technique, one pulse was generated for each rotation of the estimated rotor magnetic flux to measure the number of multi-turns. Simulation and experiment results confirmed the usefulness of the proposed method.