Browsing by Author "Kim, Taegyun"
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Item Open Access Data-driven diagnosis of multicopter thrust fault using supervised learning with inertial sensors(AIAA, 2023-09-25) Kim, Taegyun; Kim, Seungkeun; Shin, HyosangThis study proposes a data-driven fault diagnosis for multicopter unmanned aerial vehicles that uses the principal direction vector of inertial measurement unit (IMU) sensor signals calculated by principal component analysis. The main idea comes from the fact that a normal sphere-shaped distribution of the sensor data changes to a specific elliptical shape under a certain thrust fault situation. The fault diagnosis is based on classification and regression using supervised learning with the gyroscope and accelerometer datasets of an IMU. We analyze the performance of the proposed approach by depending on different learning algorithms. To verify the diagnostic performance, ground experiments with a hexacopter on the gimbaled jig are performed for various cases of damaged propellers. Then, the applicability of the proposed data-driven fault diagnosis is confirmed by analyzing the accuracy of the fault’s location and degree.Item Open Access Design and flight testing of the ducted-fan UAV flight array system(Springer, 2023-02-24) Kim, Taegyun; Jeaong, Hoijo; Kim, Seongyoung; Kim, Inrae; Kim, Seungkeun; Suk, Jinyoung; Shin, HyosangThis study proposes a ducted-fan flight array (DFA) system that can change the array based on the mission environment and validate the feasibility through ground and flight tests. This DFA can carry out normal formation flight as separated UAV members and can also cooperate as a single entity by physical connection. The ducted-fan unmanned aerial vehicle (UAV) is manufactured in-house and equipped with a connected surface and an assembly device on the side to perform connection and separation tasks. Moreover, the control system was designed using an open-source autopilot environment, and the communication environment for multi-UAV flight was constructed using the Robot Operating System (ROS). Then, ground and preliminary experimental tests verified the feasibility and performance of the DFA system for connected and separated flight.