Hyeonbeom Lee

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A white rot fungus was isolated from rotted leaves and identified as Pestalotiopsis sp. KCTC 8637P. It produced a flocculant biopolymer. A flocculant was partially purified from the culture broth by series of precipitations with 95% ethanol and named as Pestan. The components of Pestan were consisted of glucose : glucosamine : glucuronic acid : rhamnose(More)
This paper considers autonomous onboard hovering flight control of a micro quadrotor using a strapdown optical flow sensor which is conventionally used for desktop mice. The vehicle considered in this paper can carry only a few dozen grams of payload, therefore conventional camera-based optical flow methods are not applicable. We present autonomous hovering(More)
This paper presents planning and control of multiple aerial manipulators for cooperative transportation. Individual aerial manipulators which consist of a hexacopter and 2-DOF robotic arm are controlled by an augmented adaptive sliding mode controller based on a closed-chain robot dynamics. The desired path for each aerial manipulator is obtained by using(More)
This paper presents estimation and control synthesis for an aerial manipulator to carry an unknown payload. On-line estimation is based on parametrization of the aerial manipulator, which consists of a multirotor and a robotic arm. With the estimated physical properties, an augmented adaptive controller is proposed so that the end effector of the robotic(More)
The fluid behaviour of Pestan produced from Pestalotiopsis sp. KCTC 8637P was as a non-Newtonian fluid. The rheological behaviour of Pestan solution was examined by Power-law model, Herschel-Bulkley model and Arrhenius equation. As the result, Pestan solution was pseudoplastic behaviour with yield stress. According to increase of Pestan concentration, its(More)
This paper presents vision-based lifting of a payload using two quadrotor UAVs. It is assumed that the exact position of a payload is not available. Specifically, for multiple UAVs to approach and connect the correct spots on the payload, image-based visual servo (IBVS) is adopted. A sliding mode controller is designed to track reference positions and(More)