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멀티카메라 시스템을 이용한 실내용 무인 항공기 자세 추정
오현동,원대연,허성식,안종선,박봉균,심현철,탁민제 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
This paper presents the pose estimation of the small UAV utilizing only low cost cameras installed indoor. To overcome the limitation of the outside flight experiment, the multi-camera indoor test-bed is developed, which consists of four major components : the multi-camera, the ground computer, the onboard color markers, and the UAV. The dynamic model of the small UAV is the six-degrees-of-freedom nonlinear equations and the measurements are the visual information of marker attached to the UAV which is obtained periodically by the camera. The unscented KALMAN FILTER (UKF) is used to obtain an accurate position and pose estimation for the small UAV. This paper finishes with several experiment results illustrating the performance and properties of the proposed multi-camera system and vision algorithm.
확률적인 방법을 이용한 무인항공기의 3차원 다중 충돌 감지 및 회피
오현동,박정우,탁민제 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
This paper presents a real-time conflict detection and resolution algorithm based on a probabilistic method. The approach uses a set of probability density functions that describe uncertainties from real time data bases such as ADS-B. To calculate the probability of conflict, we use probabilistic method by using geometric based Monte Carlo simulations that allow for reducing computation time considerably. From the probability of conflict obtained, threat level is determined between two aircraft, then, one of the possible resolution maneuver options is chosen which can minimize the probability of conflict. When the probability of conflict is in threat level zero, own aircraft is guided to the way-point. For guidance to the way-point, proportional navigation guidance law is used. The paper finishes with several multi-aircraft encounter simulations, illustrating the performance and properties of the proposed algorithm.
현동수,이용범,김형의 大田産業大學校 2000 한밭대학교 논문집 Vol.17 No.1
Since the swash plate type axial piston pump/motor utilizes hydrostatic bearings between the surfaces of fixed and moving parts in the design. it becomes not only high pressurized but also high efficient, and it is thus used in many fields that require the high speed and the high power per unit weight - mobility equipments, concrete mixer drums, tractors. military products etc. The swash plate type axial piston pump/motor is characterized by high power per unit weight, power transmission, and easy operation. but relatively big power loss, and sensitivity to contaminated operating oil are taken into consideration disadvantages over others. With the design consisting of very precise and complicated parts its performance truly varies depending on manufacturing and assembly techniques in the production. In this study, analytical approaches and power loss mechanisms are proposed for the in-line integrated Hydrostatic Transmission(HST) with variable hydraulic piston pump and fixed hydraulic piston motor in order to improve performance. To this end, first, analytical model and characteristics on the piston show and shoe plate from basic theories in hydraulic pump/motor are presented, and volumetric and mechanical losses are further investigated.
玄東洙,金善政,洪元杓,成烈九 한밭대학교 산업과학기술연구소 1995 논문집 Vol.3 No.-
This paper presents results of the development of energy saving technology for building automation system. As a result, the direct digital controllers are stand-alone control stations gathering data from the field devices such as sensors or controllers, alayzing them. Corresponding with central control & monitoring system and controlling the devices as programmed direct digital control has programmable logic control functions for reliable distributed direct digital control. Main software and direct digital control are our own developments which make it possible for us to extend or modify all the requirements of user's in the system promptly.
玄東洙,金善政,洪元杓 한밭대학교 산업과학기술연구소 1997 논문집 Vol.4 No.-
This paper presents results of the development of energy saving control technology from HVAC system. As a result, HVAC system controller are stand-alone control stations gathering data from the field devices such as sensors or controllers, analyzing them. Main software and HVAC system controller are our own developments which make it possible for us to extend or modify all the requirements of user's in the system promptly.