A5082230593- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Aerospace Engineering and Control Systems
- Infrared Target Detection Methodologies
- Engineering Applied Research
- Advanced Vision and Imaging
- Structural Health Monitoring Techniques
- Machine Fault Diagnosis Techniques
- Fault Detection and Control Systems
- Air Traffic Management and Optimization
- Vehicle emissions and performance
- Image and Video Stabilization
- Simulation and Modeling Applications
- Video Surveillance and Tracking Methods
- Advanced Manufacturing and Logistics Optimization
- Advanced Control Systems Optimization
- Adaptive Control of Nonlinear Systems
- Aerospace and Aviation Technology
- Marine and Coastal Research
- Industrial Vision Systems and Defect Detection
- Real-time simulation and control systems
- UAV Applications and Optimization
- Traffic control and management
- Advanced Algorithms and Applications
- Robotics and Automated Systems
Korea Aerospace Research Institute
2014-2024
Korea Advanced Institute of Science and Technology
2013-2016
This paper proposes a vision-based target following and landing system for quadrotor vehicle on moving platform. The is consisted with site detection locating algorithm using an omnidirectional lens. Latest smartphone was attached the UAV served as on-board image acquisition process unit. Measurements from camera are combined proper dynamic model in order to estimate position velocity of An adaptive control scheme implemented flight computer deal unknown disturbances outdoor environment....
Urban structures need constant maintenance and inspection of the structural health condition safety users, however, to access structure is getting harder due their enormous height size. In order deal with this problem, though many researchers have developed several robots for wall-climbing there no guaranteed solution yet. One critical reasons why existing haven't been available in field risk accidental fall operational failure from harsh environment like strong wind surface's unpredictable...
This paper describes a vision-based sense-and-avoid framework to detect approaching aircraft especially observed with cluttered background. The proposed consists of vision system camera that processes the incoming images using series algorithms in real time isolate moving aerial objects on image plane and classify them particle filter. Once an object has been detected potential collision course, performs evasive maneuver. performance algorithm is validated test flights two unmanned vehicles.
There have been ongoing interests in a type of aircraft that are capable vertical takeoff/landing (VTOL) for greater operability and high-speed horizontal flight capability maximal mission range. A possible solution such application is tail-sitters, which takes off vertically transitions into flight. During the entire tail-sitter from take-off to landing, it goes through largely varying dynamic characteristics. In this paper, we propose set controllers horizontal, vertical, transition...
In this paper, we propose a novel concept foran unmanned delivery service using cooperative heterogeneous system consisting of self-driving car and an aerial vehicle (UAV). The proposed is suitable to deliver parcels in high-density high-rise urban or residential areas. order achieve the concept, will develop acooperative system. Customers can goods smartphone application information, including position customer time, package transported automatically by systems. assigns tasks for each...
A fault diagnosis using deep neural network for a single rotor of octocopter is proposed. The latest attitude and its command are fed to the proposed algorithm determine failure in real time. Both normal cases considered with appropriate output pairs form data set. Two hidden layers constructed sigmoid activation functions. generalized delta rule adopted, stochastic gradient descent scheme used calculate weight update network. Numerical simulations performed validate performance algorithm....
본 논문은 전기 추진 수직이착륙 무인기의 형상에 적합하도록 회전익 모드에서 추진시스템이 고장난 상황을 대처하기 위한 컨벡스 최적화 기법 기반의 믹서를 제시한다. 각 모터 및 프로펠러의 고장 영향성을 분석하기 위하여 함수 성질을 이용하여 가용 조종력 집합을 계산하였으며 이를 도시하는 방법을 기술하였다. 할당을 문제로 정의하고, 실시간으로 최적해를 구하기 함수로 문제를 재정의하였다. 솔버를 사용하여 수직 이착륙 비행 모드의 구현하였으며 할당 기법들의 성능을 범위 집합으로 비교하였다. 최종적으로 비선형 6자유도 시뮬레이션을 통하여 타기법(의사역행렬 기법, 재분배의사역행렬 기법)과 비교 분석하였다.
Nowadays, the urban air mobility (UAM) industry has been in limelight. To guarantee high reliability of industrial-level autonomous flying regions, flight safety and survivability should be a priority concern. satisfy these industrial needs, this paper proposes semantic segmentation-based vision-enabled safe landing position estimation framework. This framework is core component contingency plan that employed case an emergency during for UAM drone transportation. More precisely, our proposed...
The UAM (Urban Air Mobility) industry is currently in the limelight To adopt sustainable urban transport systems and contribute to advancement of aerospace technology, MOLIT (Ministry Land, Infrastructure Transport) South Korea has developed K-UAM (Korea Urban roadmap by collaborating with industries academia lead research development related emerged industry. guarantee high reliability industrial-level autonomous flights areas, priority should be provided observe flight safety survivability...
View Video Presentation: https://doi.org/10.2514/6.2023-0150.vid This paper proposes developing a robot operating system (ROS)-based flight controller framework for an X-Plane 11-based simulation environment and describes its results. The proposed has advantages related to not only data acquisition under the virtual but also use of variety joystick configuration. Because fixed-wing/rotary-wing multirotor-type manned/unmanned vehicle 11 have very-high-level rendering results, it can overcome...
본 논문은 4개의 로터를 가지는 쿼드콥터에 대한 비선형 운동모델을 구성하고, 특이섭동기법을 이용한 모델 역변환 위치 제어기 설계 결과에 대해 나타낸다. 특이섭동 방식은 느린 동역학과 빠른 동역학을 시분할 기법(time scale separation)기법을 이용하여 각각 시키는 방법이다. 수립한 6자유도 운동모델 기반으로, 제어기를 설계하고 시뮬레이션을 수행한 결과 정확한 추종을 수행함을 확인하였다.