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황종현,유태석,한용수,김현욱,Hwang, Jong-Hyon,Yoo, Tae-Suk,Han, Yongsu,Kim, Hyun Wook 한국정보통신학회 2020 한국정보통신학회논문지 Vol.24 No.11
본 논문에서는 수중에서 운동하는 무인잠수정의 경로점 유도법칙을 제안한다. 시선각 유도법칙과 수선경로 오차를 줄여가는 경로추종 유도법칙을 조합하여 효과적인 경로점 유도법칙을 설계하였고, 수선경로 오차의 거리에 따라 제어이득을 변화시켜 시스템의 안정성을 증가시켰다. 또한, 관성항법장치와 도플러속도계를 이용한 복합항법 시스템의 성능을 확인할 수 있는 HILS를 구성하였다. 같은 경로점 및 목표점을 입력 후 HILS 수행결과와 실해역 주행시험 결과를 비교하여, 제안한 유도법칙 및 HILS가 올바르게 구성되어 있음을 확인하였다. This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.
퍼지 이득 스케쥴링 기법을 이용한 무인 잠수정의 심도제어기 설계 - HILS 검증
황종현(Jong-Hyon Hwang),박세원(Sewon Park),김문환(Moon-Hwan Kim),이상영(Sang-Young Lee),홍성경(Sung Kyung Hong) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
This paper proposes a fuzzy logic gain scheduling method for depth controller of the AUV (Autonomous Underwater Vehicle). Gains of depth controller are calculated by using multi-loop root locus technique. Fuzzy logic based gain scheduling approach is used to modify multi-loop gains as control condition. It is illustrated by simulations that the proposed fuzzy logic gain scheduling method yields smaller rising time and overshoot compared to the fixed-gain controller. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether by HILS.
황종현(Jong Hyon Hwang),황성필(Sungpil Hwang),홍성경(Sung Kyung Hong),유민구(Min Goo Yoo) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
This paper focuses on attitude stabilization performance improvement of the quadrotor flying robot. First, the dynamic model of quadrotor flying robot was estimated through PEM (Prediction Error Method) using experimental input/output data. And attitude stabilization performance was improved by increasing the generation frequency of PWM signal from 50 Hz to 500Hz. Also, the controller is implemented using a standard PID (Proportional-Integral-Derivative) controller augmented with feedback on angular acceleration, allowed the gains to be significantly increased, yielding higher bandwidth. Improved attitude stabilization performance is verified by experiment.
초공동 수중운동체의 조종면 조합에 따른 심도 및 직진 제어성능 분석
유범열,모혜민,김승균,황종현,박정훈,전윤호,Yu, Beomyeol,Mo, Hyemin,Kim, Seungkeun,Hwang, Jong-Hyon,Park, Jeong-Hoon,Jeon, Yun-Ho 한국군사과학기술학회 2021 한국군사과학기술학회지 Vol.24 No.4
This study describes the depth and straight motion control performance depending on control surface combinations of a supercavitating underwater vehicle. When an underwater vehicle experiences supercavitation, friction resistance can be minimized, thus achieving the effect of super-high-speed driving. Six degrees of freedom modeling of the underwater vehicle are performed and the guidance and control loops are designed with not only a cavitator and an elevator, but also a rudder and a differential elevator to improve the stability of the roll and yaw axis. The control performance based on the combination of control surfaces is analyzed by the root-mean-square error for keeping depth and straight motion.
실내 자율형 주행로봇의 자기위치 추정을 위한 보상필터 설계
한재원(Jae Won Han),황종현(Jong Hyon Hwang),홍성경(Sung Kyoung Hong),류영선(Young-sun Ryuh) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.11
This paper present an effective complementary filtering method using encoder and gyro sensors for the self-localization(including heading and velocity) of indoor mobile robot. The main idea of the proposed approach is to find the pros and cons of each sensor through a various maneuvering tests and to design of an adaptive complementary filter that works for the entire maneuvering phases. The proposed method is applied to an indoor mobile robot and the performances are verified through extensive experiments.
VP-BEM 기법을 이용한 초공동 수중 운동체의 형상 및 수심 변화에 따른 수치해석
황대규,안병권,박정훈,전윤호,황종현,Hwang, Dae-Gyu,Ahn, Byoung-Kwon,Park, Jeong-Hoon,Jeon, Yun-Ho,Hwang, Jong-Hyon 한국군사과학기술학회 2021 한국군사과학기술학회지 Vol.24 No.2
In recent years, the maturity of the technology for a high speed underwater vehicle using supercavitation increase, it is entering the stage of applied research for practical use. In this study, hydrodynamic performance of the supercavitating object was evaluated by using a Viscous-Potential based Boundary Element Method(VP-BEM). 27 models with different shape parameters such as body diameter, length and fore-body shape were considered. The process of the supercavity development of each model was simulated, and drag generated according to operating conditions such as changes in water depth was analyzed.
조강희,우성,황종현,이영진 대한마취과학회 1993 Korean Journal of Anesthesiology Vol.26 No.3
Malignant hyperthermia is a potentially fatal hypermetabolic syndrome characterised by hyperpyrexia and skeletal muscle rigidity. It can be induced by all of the currently used inhalation anesthetics or by injection of succinylcholine. A case of malignant hyperthermia was experienced which developed 80 minute after induction of general anesthesia with thiopental sodium, suecinylcholine, halothane, N₂O and O₂. One and half hours after induction, arrhythmia developed and was followed by unstable blood pressure, hyperpyrexia and muscle rigidity. Anesthesia was terminated and vigorous emergency treatment and dantrolene were administered. The patient recovered normal body temperature and consciousness, but expired about 4 days after induction because of late complication including disseminated intravascular coaggulation. The etiologic factor, clinieal feature, treatment and prevention of Malignant hyperthermia are discussed.