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Dasol Lee,HanJun Song,David Hyunchul Shim 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper proposes a spline-RRT* algorithm and describes its application to path planning for fixed-wing UAVs operating in three-dimensional environments. The tree structure of the proposed spline-RRT* algorithm is extended by using a spline method based on a cubic Bezier curve. Through the use of this spline method, the algorithm can produce a smooth path without any post-processing and can also handle the initial approach direction, that is, the heading and flight path angle for the target UAV. A dynamic feasibility check, incorporating a geometric collision check, is also run as part of the tree extension, allowing the algorithm to generate a smooth three-dimensional path that is both geometrically and dynamically feasible while also being cost-optimal. Several simulation results show the validity of the proposed spline-RRT* algorithm, implying that it can be effectively applied to path planning for fixed-wing UAVs operating in three-dimensional environments.
Design, Implementation, and Flight Tests of a Feedback Linearization Controller for Multirotor UAVs
Dasol Lee,Hanseob Lee,Jaehyun Lee,David Hyunchul Shim 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
This paper proposes a feedback-linearization-based control algorithm for multirotor unmanned aerial vehicles (UAVs). The feedback linearization scheme is highly efficient for considering nonlinearity between the rotational and translational motion of multirotor UAVs. We also propose a dynamic equation that reflects the aerodynamic effects of the vehicles; the equation’s parameters can be determined through curve fitting using actual flight data. We derive the feedback linearization controller from the proposed dynamic equation, and propose a Luenberger observer to attenuate measurement noises. The proposed algorithm is implemented using our in-house flight control computer, and we describe its implementation in detail. To investigate the performance of the proposed algorithm, we carry out two flight scenarios: the first scenario, an autonomous landing on a moving platform, is a test of maneuverability; the second, picking up and replacing an object, test the algorithm’s accuracy. In these scenarios, the proposed algorithm precisely controls multirotor UAVs, and we confirm that it can be successfully applied to real flight environments.
( Dasol Noh ) 부산외국어대학교 지중해지역원 2023 The Mediterranean Review Vol.16 No.1
This paper empirically investigates the effects of two noteworthy economic trends in TFP growth recently observed in the Arab world, i.e., the increasing trend of inward FDI and the decreasing trend of imports from technologically advanced countries. Multiple panel regression analyses, based on the long-term panel dataset of 10 selected Arab states from 1991 to 2019, show that inward FDI flows are a significantly positive factor on TFP growth in non-oil dependent Arab countries. However, it was observed to be an insignificant variable in the case of oil dependent Arab countries. In sharp contrast, another independent variable in the study, imports from high-income countries, appears to have a positive association with the TFP growth in oil dependent Arab countries. However, this study could not find any empirical evidence supporting a significant association between imports and TFP growth in non-oil dependent Arab countries.
Dasol Kim,Yu-Yeong Yang,Ji-Hye Ryu,Gi-Yeon Lee,Jin-Young Lee,Yong-Seok Kwon 한국식품영양과학회 2021 한국식품영양과학회 학술대회발표집 Vol.2021 No.10
As Korea"s aging population increases, research on the development of senior-friendly foods is being actively conducted, such as preparing standards for senior-friendly foods. In this study, the hardness of raw ingredients and processed foods was measured by selecting fruits that were consumed frequently by the elderly in Korea. The hardness level of raw ingredients and processed foods was selected for each mastication level according to the standards of the Food Code (KS H 4897). As a result of measuring the hardness according to the third method, 2 types (banana, peach) of the 6 types of raw fruit met the standard for the first stage (tooth intake), and all other raw fruits exceeded 500,000 N/m2 and did not meet the standard. In case of processed food, all products except for 2 types (pear, grape) satisfied the first stage (tooth intake) stadard. Accordingly, the hardness was re-measured according to the first method for raw and processed foods that met the first stage criteria. In case of raw fruits, both types (banana, peach) did not exceed 500,000 N/m2 in hardness, thus satisfying the standard. All six processed foods, including apples, also met the hardness standards.