Jinok Shin

Design and Development of a Class of Rotorcraft-based UAV

We discuss the development of a mini-quadrotor system and coaxial quadrotor system for indoor and outdoor applications. The attitude control system consists of a stability augmentation system and a modern control approach. To perform an experimental flight test, a PID controller is used to validate our aerodynamic modelling and basic electronics hardware is developed in a simple configuration. We use a low-cost 100 Hz AHRS for inertial sensing, infrared (IR) sensors for horizontal ranging, an ultrasonic sensor for ground ranging and an AVR microcontroller for the flight control computer. A ground control system is developed for the monitoring and gathering of flight data. Based on the modelling and simulation data of the mini-quadrotor system, a flight test is performed and automatic hovering ability is implemented. A collision detection system is one of the important parts of an indoor and outdoor flight test. To overcome the payload limitation of the mini-quadrotor system, we design a coaxial quadrotor system and we use a Kinect sensor as the collision detect sensor. Kinect sensors give 3D depth information and the collision detection system uses that information.

A vision system for UAV position control

In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. 1 2The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking algorithm without the help of visual beacons or landmarks at known positions. The displacement of the UAV is estimated by the homography, the relationship between a pair of points. The experimental results show that it is possible to extract useful position information from the proposed vision system even when the UAV flies high, and the information can be used temporary position control of UAVs during GPS failure.

Design of quadrotor controller for emergency situation using Xplane

In this paper, we propose position controller for quadrotor and emergency landing control algorithm when a failure occurs with the some thrust. We design position/attitude PID based controller and fuzzy logic for detecting failure. We show that the proposed algorithm using Simulink and Xplane.

Design, modeling and hovering control of a spherical MAV using a non-linear controller based on nested saturations

In this paper we present a spherical type MAV(micro aerial vehicle) which is characterized by a structure to allow VTOL(vertical take-off and landing) and a balancing motion like a roly-poly after unstable landing. After deriving a nonlinear model capable to describe the system dynamics which is modularized into primary five components that influence flight envelopes including slow flights and hovering, a simulator was formed using MATLAB. We designed a controller based on nested saturations for hovering and then present the simulation results.

Development of a Coaxial Rotor Flying Robot for Observation

A coaxial rotor flying robot is developed for surveying and reconnoitering various circumstances under calamity environment. The robot has two contrarotating rotors on a common axis, an embedded microcontroller, an IMU(Inertial Measurement Unit), an IR sensor for height control, a micro camera for surveillance, ultrasonic position sensors and wireless communication devices. A bell-bar mounted on the top of the upper rotor hub increases stability and improves flight performance. In this paper, we present a dynamic model of a coaxial rotor flying robot and design an embedded controller far the robot, and implement them to control the developed flying robot. Experimental results show that the proposed controller is valid for autonomous hovering and position control.