• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1253-1259
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• 2008

This paper presents a landing controller and guidance law for net-recovery of fixed-wing unmanned aerial vehicles. A linear quadratic controller was designed using the system identification result of the unmanned aerial vehicle. A pursuit guidance law is applied to guide the vehicle to a recovery net with imaginary landing points on the desired approach path. The landing performance of a pure pursuit guidance, a constant pseudo pursuit guidance, and a variable pseudo pursuit guidance is compared. Numerical simulation using an unmanned aerial vehicle model was performed to verify the performance of the proposed landing guidance law.

• 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 the Korean Society for Aviation and Aeronautics
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• v.23 no.1
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• pp.8-13
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• 2015

In this paper, a simple algorithm is proposed to estimate wind speed and direction which can significantly improve the landing performance of an unmanned parafoil. The proposed algorithm is applied to flight test data along with other known algorithms and the results are compared and discussed. The proposed algorithm shows comparable performance while it can still be applied to the parafoil under control.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.2
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• pp.131-138
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• 2020

In this paper, we analyze the delay phenomenon that can occur when controlling an unmanned aerial vehicle using a camera and describe a solution to solve the phenomenon. The group of pictures (GOP) value is changed in order to reduce the delay according to the frame data size that can occur in the moving image data transmission. The appropriate GOP values were determined through experimental data accumulation and validated through camera self-test, system integration laboratory (SIL) verification test and system integration test.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.75-75
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• 2000

Recently, number of navigation system using GPS and other complementary sensors has been developed to offer high-position accuracy. In this paper, an integration of GPS and Dead-Reckoning, which consists of a fiber optical gyroscope and two high-precision wheel-motor encoders for a unmanned navigation system, is presented. The main objective of this integrated GPS/DR unmanned navigation system is to provide accurate position and heading navigation data continuously for autonomous mobile robot. We propose a method for increasing the accuracy of the estimated position of the mobile robot by its DR sensors, high-precision wheel-motor encoders and a fiber optical gyroscope. We used Kalman filter theory to combine GPS and DR measurements. The performance of GPS/DR navigation system is evaluated.

• Journal of Information Technology Services
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• v.16 no.2
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• pp.129-138
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• 2017

This paper is concerned with an Internet of Things (IoT)-based unmanned home-delivery box system, in which the system is developed with a prototype using a weight sensor, shock sensor, the Arduino and Raspberry-Pi of open-source hardware platforms. The developed system provides several functions such as a safe storage means, prevention of delivery-theft, and remote control of the home-delivery box, etc. Specifically, the system recognizes the arrival of goods by detecting the weight of deliveries and sends the arrived message of deliveries to the recipient' smartphone, and also controls (i.e., open and close) the locker of the unmanned home-delivery box system remotely with the smartphone. Furthermore, the developed system provides automatically a warning alarm around the unmanned home-delivery box when an external shock is applied to the home-delivery box, and sends a message on the shock to the recipient' smartphone. The major functions of the developed home-delivery box system have been verified in a realistic environment, and confirmed to work well. With the application of the developed home-delivery box system to the homes and offices where recipients are always not to stay, it is expected to significantly improve the safety of delivered goods as well as to effectively prevent the delivery operatives posing as a crime.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2008.11a
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• pp.105-110
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• 2008

Unmanned helicopter has several abilities such as vertical take off, hovering, low speed flight at a specific altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance in the case of a large size disaster and forest fire. In this paper, a flight control system was designed for an unmanned helicopter. This paper was concentrated on describing the systematic design, electronic equipments and their interconnections for realizing the autonomous flight and aerial monitoring. A study on the autonomous waypoint navigation and altitude control performance were performed and tested on a test unmanned helicopter and the performance and the feasibility were represented.

• International Journal of Internet, Broadcasting and Communication
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• v.13 no.4
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• pp.103-111
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• 2021

In modern society, digital lifestyles are spreading to minimize contact with people and to receive contactless information. The spread trend has established an unmanned distribution system in which transactions through contactless technologies such as kiosks and chatbots are activated in face-to-face transactions with sellers and consumers. In order to streamline logistics supply worldwide, digital new deal based joint logistics hubs, unmanned courier storage platforms, and fresh logistics based last mile services have been developed into unmanned logistics systems, focusing on the intelligent logistics system automation process. Unmanned courier storage system installed in urban areas and home to daily logistics where volume is concentrated are provided with fresh logistics services through cold chain and receiving freights in contactless environments. Development is also underway to minimize safety accidents caused by courier services, such as managing various information based on the integrated control system. This paper defines the concept of integrated operation for the development of a platform for contactless unmanned courier storage device developed into next-generation logistics system. In addition, we intend to develop systems engineering-based output for deriving safety requirements and specifications by identifying risk sources that may occur in the operational scenario. Therefore, the goal is to establish a foundation for safety and reliability between interfaces of logistics systems to be installed in apartment and subway station environments that want to provide unmanned logistics services to various consumers.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.86-94
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• 2019

This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.4
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• pp.244-250
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• 2008

This paper describes the design and implementation of an unmanned ground vehicle (UGV) and also estimates how well autonomous navigation and remote control of UGV can be performed through the optimized arbitration of several sensor data, which are acquired from vision, obstacle detection, positioning system, etc. For the autonomous navigation, lane detection and tracing, global positioning, and obstacle avoidance are necessarily required. In addition, for the remote control, two types of experimental environments are established. One is to use a commercial racing wheel module, and the other is to use a haptic device that is useful for a user application based on virtual reality. Experimental results show that autonomous navigation and remote control of the designed UGV can be achieved with more effectiveness and accuracy using the proper arbitration of sensor data and navigation plan.