Design a GA-based PID Controller for a Pressure Control of a Process Chamber using a Time-domain System Identification

1. Status: 2022 22nd International Conference on Control, Automation and Systems (ICCAS) (published).

2. Author: Seungwan Ryu; Sungsoon Yim; Seokmin Wi; Seungyun Jung; Sanghoon Kim; Byeonghee Kim

3. Abstract: in URL.

4. URL: https://ieeexplore.ieee.org/abstract/document/10003779

Design, Fabrication, and Analysis of Flapping and Folding Wing Mechanism for a Robotic Bird

1. Status: Journal of Bionic Engineering 17, 229-240 (2020) (published).

2. Author: Seungwan Ryu, Jonggu Lee, and H. Jin Kim

3. Abstract: in URL.

4. URL: https://link.springer.com/article/10.1007/s42235-020-0018-3

Time-domain Model Identification of a Tailless Flapping-wing MAV using a Combined Gimbal System

1. Status: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020 (submitted).

2. Author: Seungwan Ryu, Jonggu Lee, and H. Jin Kim

3. Abstract: TBU.

4. Video clip: TBU.

5. URL: TBU.

HEXA gait robot + FPV camera

- Straight path autonomous driving of HEXA gait robot with FPV camera
- Component:

- Video clip:

- Robot URL: http://arcbotics.com/products/hexy/

DASH gait robot

- Autonomous Driving of DASH gait robot
- Coordination and free body diagram of the unicycle model

- Error dynamics and linearization based controller

- Simulation result

- Video clip and experimental result

Learning-based Path Tracking Control of a Flapping-wing Micro Air Vehicle

1. Status: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018 (accepted).

2. Author : Jonggu Lee, Seungwan Ryu, Taewan Kim, Wonchul Kim and H. Jin Kim

3. Abstract: Flapping-wing micro air vehicles (FWMAVs) become promising research platforms due to their advantages such as various maneuverability, and concealment. However, periodic and unsteady airflows generated by flapping-wing motion make their dynamics time-varying and highly nonlinear. Therefore, simple model-free controllers are widely used, but they are impractical to track diverse flight trajectories and require many trials and errors for gain-tunings. In this paper, we suggest a model-based control strategy for FWMAV using learning architecture. For this task, we construct a ground station for logging flight data and control inputs, and train dynamics with a neural network. Then, we apply model predictive control (MPC) to the trained model. We validate our method by hardware experiments.

4. Video clip:

5. URL: https://ieeexplore.ieee.org/abstract/document/8594387

Development of a Flapping-wing Micro Air Vehicle Capable of Autonomous Hovering with Onboard Measurements

1. Status: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 (accepted).

2. Author : Seungwan Ryu, and H. Jin Kim

3. Abstract: Hovering flight is one of the valuable capabilities for unmanned aerial vehicles (UAVs) to perform various missions. It is easily attainable by rotary-wing aircrafts such as a helicopter and multirotor. This flight maneuver, however, remains a significant challenge to a flapping wing micro air vehicle (FWMAV). This paper aims to regulate attitude angles of a FWMAV and maintain an altitude during hovering. For this task, we model dynamic equations of FWMAV to analyze the stability of longitudinal dynamics under the influence of tail wings. In order to examine the effect of the flapping wings on the fuselage, we carry out measurements on the power train.We develop a FWMAV with two pairs of main flapping wings and tail wings, to achieve stable hovering flight. For autonomous control, onboard sensors are used; 9-degree of freedom (DoF) IMU is for attitude regulation and barometer is for an altitude control. For estimating an altitude, we also design processing filters and a PID controller. Experimental results show that our strategy can accomplish and sustain autonomous hovering of a FWMAV.

4. Video clip

5. URL: https://ieeexplore.ieee.org/abstract/document/8206158

Autonomous Flight and Vision-based Target Tracking for a Flapping-wing MAV

1. Status: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016 (accepted). 

2. Author : Seungwan Ryu, Ukjin Kwon, and H. Jin Kim

3. Abstract: In this paper, we design an autonomous flight controller for height regulation and bang-bang control for directional control of a light-weight flapping-wing micro air vehicle (FWMAV) with limited payload. We also present autonomous vision-based target tracking for a FWMAV equipped with a low-cost and light-weight first person view (FPV) camera. We construct a ground station, integrated with control and vision algorithms, which performs the image processing and the computation of control inputs based on the acquired state variables from motion capture system. In addition, we employ a vision algorithm for a low-quality camera to detect a static target with the discussions on the techniques to improve the reliability of visual detection. Experimental results show satisfactory flight performance, achieving the height regulation and directional control, and autonomous vision-based target tracking.

4. Video clip:

5. URL: https://ieeexplore.ieee.org/abstract/document/7759830

Altitude Control of a Flapping Wing Micro Air Vehicle (날갯짓 초소형 비행체의 고도 제어)

1. Status: The Korean Society for Aeronautical & Space Sciences (KSAS) 2014.

2. Author: Seungwan Ryu, and H. Jin Kim

3. Abstract: 초기 군사 정찰용으로 출발한 무인기(UAV, Unmanned Aerial Vehicle)는 최근 기상관측이나 재난·재해 감시, 물류·통신 등 민간 분야로도 폭넓게 활용되고 있다. 그 중 날갯짓 초소형 비행체(FWMAV, Flapping Wing Micro Air Vehicle)는 고정익 비행기와 회전익 비행기의 단점을 보완할 수 있고 새나 곤충으로 오인되어 쉽게 눈에 띄지 않는다는 장점이 있어 이에 관한 연구가 활발히 진행 중에 있다. 초 소형 무인기의 특성상 외부환경에서의 실험이 쉽지 않기 때문에 대학과 연구기관에서는 비행체 개발 및 알고리즘 검증을 위해 실내에 모션캡쳐 시스템을 도입해 실험하고 있다. 본 논문에서는 실내 환경에서 구축한 모션 캡쳐 시스템을 활용해 날갯짓 초소형 비행체(FWMAV)의 반자동 선회비행을 수행하였다. 선회비행을 하기 위한 조향부분은 수동으로 제어하였으며 기체의 고도를 유지하기 위한 제어 알고리즘 의 유용성을 검증할 수 있었다.

4. Video clip: 

5. URL: 

http://www.dbpia.co.kr/pdf/pdfView.do?nodeId=NODE06295061&mark=0&bookmarkCnt=0&ipRange=N&language=ko_KR