Unmanned Systems Research Group (USRG)
무인 시스템 및 제어 연구실

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We have a variety of testbeds to perform researches



Micro Aerial Vehicle (MAV)

The target MAV considered in the research is a tailless type with a reflexed thin airfoil. It is equipped a rudder and an elevator with vertical tail. As shown, the MAV offers payload of 150 grams, which is sufficient to carry our custom miniature autopilot. The autopilot system consists of a flight control computer, an inertial measurement unit (IMU), a GPS receiver and a PWM generation board. The CPU board is built on a PXA270 400 MHz processor with 64 MB RAM and 16 MB Flash memory , which weighs only 25 grams but offers a significant computing power. The autopilot runs custom flight control software developed in house, written in C++ on Linux 2.6. The autopilot is architected in a highly structured manner so that it can be modified to support new capabilities such as the formation control considered in the project.

Configuration of Firefly MAV
MAV Test Flight

 

Unmanned Combat Aerial Vehicle (UCAV)

This platform is a subscale model of F-16 for using tests on UCAV project.

F-16
F-16

 

Tail-Sitter

This is a joint work with Professor Seung-o Park at KAIST and Seung-jo Kim at Seoul National University, funded by Agency of Defense Development. The goal is to develop an aerial vehicle that can autonomously take off and land on its tail while flying normally like conventional aircraft for maximal efficiency through transition from vertical flight to horizontal and vice versa. The advantages are improved fuel efficiency and higher cruise speed with VTOL capability while the challenges are the difficulty of control especially during the transition, navigation algorithm, and blockage-free GPS.

 

Rotorcraft UAV

This platform is based on Maxi Joker 2, an electrically powered radio-controlled helicopter. This platform is ideal for many UAV-based missions such as waypoint navigation, aerial photography, and payload delivery. The vehicle is equipped with high-precision navigation package such as ISIS-IMU and Novatel OEM V-2. The PC-104 based avionics is only 1.5kg heavy and integrated in a tight space measuring 5"x5"x4". The integrated system is capable of fully autonomous take-off, landing, and of course waypoint navigation.

RUAV in flight
Bottom view
RUAV delivering guided parafoil
Length/Height/Width
2.2/0.41/0.26m
Total Weight
8.2kg
Rotor Diameter
1.8m
Avionics Weight
1.4kg
Power plant
DC Brushless Motor
Plettenberg HP340A
Energy Source
Lithium-Polymer battery pack
10S6P (40V 12AH)
Flight Time
20+ minutes

 

Fixed-wing UAV

This platform is the major workhorse of our lab's effort to develop advanced guidance and control algorithms. The plane has the shape of blended wing-body, which is has airfoil-shaped fuselage for increased payload and higher lift-to-drag ratio. We are using this platform for the development of long-endurance, long-range UAV powered by fuel cell.

This platform is constructed with EPP (expanded polypropylene) reinforced with carbon spars and ribs, resulting a collision-proof platform ideal for many research programs that require repeated flights. Its pusher configuration makes the plane safer and the launching is easily done with using a latex tubing as the catapult. This plane is designed as a result of my joint work with Dr. Hak-tae Lee in 2006. Currently we operate three of these BWBs. The blue one shown below was constructed by Mr. Sung-sik Huh in Nov 2007.

BWB flying with smoketrail
BWB side view (can you guess why B-2 Bomber has this shape...)
BWB in bank turn

 

Guided Parafoil

This platform was originally developed for a mission of 2007 Korean UAV Competition, which requires a delivery of a payload to a designated location at 70 m altitude AGL. The traditional method would be to release the payload while flying at a significant forward speed with a precise timing. This approach was not quite easy this time due to the newly imposed air restriction that the vehicle must not enter the no-fly zone of 50m diameter cylinder of infinite height, centered at the target location. Therefore, if we chooses to throw the payload, the release should be made well ahead of the no fly zone and the vehicle will have to make an evasive maneuver not to intrude the zone. Instead, ,we chose to develop a guided parafoil system, which can reach the target point with a reasonable accuracy only using GPS.A video clip can be found here (10MB).

Gondola part
parafoil installed on the mother ship

 

 

 

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