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최병화(Francis Byonghwa Choi),이동준(Dongjun Lee) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
In this paper, we introduce the modeling and control of coupled quadrotor-type UAVs system. We first model the coupled quadrotor system and design a controller which is based on the backstepping control and optimization to exploit its advantages, e.g. overcoming under-actuation. The simulation results are presented to validate the theory.
황유성(Yuseong Hwang),최병화(Francis Byonghwa Choi),이동준(Dongjun Lee) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
In this paper we present a novel interface for teleoperating multiple quadrotor UAVs using Kinect. We first introduce some functions of Kinect used in the research, i.e. skeleton tracking and depth streaming. Also we design the controller based on passive decomposition to decompose multiple quadrotor system into locked system, i.e. centroid and shape system, i.e. formation. Then teleoperation interface using human’s upper body with Kinect is developed. Right side of the body represents the centroid control and left side of the body takes charge of the formation control. User study results are presented to confirm the intuitiveness of the proposed system.