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Hoam Chung

Office: 131 Building 31 Clayton
Phone: +61 3 990 29673
Email: hoam dot chung at monash/edu

Research | FYP Subjects | Publications | Google Scholar Profile


 I'm a lecturer in the Department of Mechanical and Aerospace Engineering at the Monash University
My research interests include model predictive control (MPC) theory and application, autonomous miniature
flyers, semi-infinite optimization problems, real-time system design and software/hardware implementation,
autonmous unmanned systems (UAVs, UGVs, and UUVs), rotorcraft dynamics, and robotics.  I've worked in BErkeley AeRobot (BEAR) project from 2000 to 2009. 

 


Educations:

Ph.D
in Mechanical Engineering, May 2006, University of California, Berkeley, CA. 
Dissertation title: Autonomous helicopter formation: model predictive control approach

M.S in Precision Mechanical Engineering, Aug 1999, Hanyang University, Seoul, Korea. 
Thesis title: ZMP Compensation and Impedance Control for Improving Walking Stability of Biped Robots

B.S in Precision Mechanical Engineering, Feb 1997, Hanyang University, Seoul, Korea.

Curriculum Vitae (pdf)



Research Opportunities:


Current Research:

 
Final Year Projects (Semester 1, 2016):

Follow this link to the Department FYP subject collection page

Previous Research:


Teaching:

 

Publications:  

Submitted for Peer Review

 Lachlan Dworak, Hoam Chung, Christopher Wright, Chao Chen, Principles of Listing's Law of the Human Eye with Its Potential Application on Robotic Eye Movement, submitted to International Journal of Humanoid Robotics

 Andrew Nolan, Suyoung Park, Dongryeol Ryu, Hoam Chung, Sigfredo Fuentes, Development of an adaptive intervalometer remote sensing system for an unmanned aerial vehicle (UAV), submitted to Computers and Electronics in Agriculture.

 David C. Robinson, Hoam Chung, Kris Ryan, Numerical Investigation of a Hovering Micro Rotor in Close Proximity to a Ceiling Plane, submitted to Journal of Fluids and Structures.

Refereed Journals:
 
Senanayake, M., Senthooran, I., Barca, J C., Chung, H., Kamruzzaman, J. and Murshed, M., Search and Tracking Algorithms for Swarms of Robots: A Survey, 2015. To appear in: Journal of Robotics and Autonomous Systems.

W. Au, H. Chung, C. Chen, “Generation of the global workspace roadmap of the 3-RPR using rotary disk search,” Mechanism and Machine Theory, Volume 78, August 2014, Pages 248-262

Hoam Chung, Songhwai Oh, David H. Shim, and S. Sastry, "Toward Robotic Sensor Webs: Algorithms, Systems, and Experiments," Proceedings of the IEEE, Special Issue on Swarming in Natural and Engineered Systems, 99(9):1562-1586, 2011.

Hoam Chung, E. Polak, J. O. Royset, and S. Sastry, "On the Optimal Detection of an Underwater Intruder in a Channel using Unmanned Underwater Vehicles, " Naval Research Logistics, 58(8):804-820, 2011.

Hoam Chung, Elijah Polak, and S. Shankar Sastry, "On the Use of Outer Approximations as an External Active Set Strategy," Journal of Optimization Theory and Application, 146(1):51-75, 2010.

Hoam Chung, Elijah Polak, and S. Shankar Sastry, "An External Active-Set Strategy for Solving Optimal Control Problems," IEEE Transactions on Automatic Control, 54(5):1129-1133, 2009.

D.H. Shim, Hoam Chung and S. Sastry, "Conflict-free navigation in unknown urban environments," IEEE Robotics & Automation Society Magazine, Volume 13,  Issue 3,  Sept. 2006, Page(s):27 - 33

Jong H. Park and Hoam Chung, "Hybrid Control of Biped Robots to Increase Stability in Locomotion," Journal of Robotic Systems, Vol. 17, No. 4, pp. 187-197, 2000.

Lecture Notes

E. Shaw, Hoam Chung, S. Sastry, and Karl Hedrick, "Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability," Cooperative Systems: Control and Optimization,  D. Grundel, R. Murphey, P. Pardalos and O. Prokopyev (Editors), Lecture Notes in Economics and Mathematical Systems, Vol. 588, Springer, 2007.

Refereed Conferences:

Robinson, D.C, Ryan, K., Chung, H., Helicopter Hovering Attitude Control Using a Direct Feedthrough Simultaneous State and Disturbance Observer, IEEE Multi-Conference on Systems and Control, 2015

Senthooran, I., Barca, J C., Kamruzzaman, J., Murshed, M. and Chung, H., An Efficient Pose Estimation for Limited-Resourced MAVs using Sufficient Statistics. Presented at: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

Narendra H. Limbu, Indrajit Ahuja, Harshal Sonar, Sudeep Solanki, Soniya Jain, Hoam Chung, Debraj Chakraborty, “Outdoor Co-Operative Control of Multiple Quadcopters Using Decentralized GPS Localisation,” 10th International Workshop on Robot Motion and Control (RoCoMo), 2015.

Au, W., Chung, H., Chen, C., “Assembly Modes and Kinematic Path Planning of the 6-3 Stewart-Gough Platform,” 14th World Congress in Mechanism and Machine Science, 2015.

Park S., Nolan A., Ryu D., Fuentes S., Hernandez E., Chung H., and O’Connell M, “Estimation of crop water stress in a nectarine orchard using high-resolution imagery from unmanned aerial vehicle (UAV),” International Congress on Modelling and Simulation (MODSIM), 2015.

Nolan, A.P. , Park S., O’Connell M., Fuentes S., Ryu D., Chung H., Kazmierczak E., “Automated detection and segmentation of vine rows using high resolution UAS imagery,” International Congress on Modelling and Simulation (MODSIM), 2015.

D. C. Robinson, H. Chung, and K. Ryan, "Computational investigation of micro rotorcraft near-wall hovering aerodynamics," International Conference on Unmanned Aircraft Systems (ICUAS), pp.1055,1063, 27-30 May 2014

W. Au, H. Chung, and C. Chen, "Path Planning of the 3-RPR using Global Workspace Roadmap," IFToMM International Symposium on Robotics and Mechatronics, October 2013.

D. C. Robinson, E. Doherty, S. Tsai and H. Chung, "Design and System Identification of a Micro Coaxial Helicopter Testbed," IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 2013.

Wesly Au, Chao Chen, and Hoam Chung, "Path Planning of Planar Parallel Mechanisms using Global Workspace Road Maps," ASME International Design Engineering Technical Conferences (IDETC), DETC2012-70770, August 2012.

Jean Walrand, Elijah Polak, and Hoam Chung, "Harbor Attack: A Pursuit-Evasion Game," invited paper, 49th Allerton Conference on Communicaiton, Control, and Computing, September 2011.

H. Chung, E. Polak, J. O. Royset, and S. S. Sastry, "Optimal Periodic Patrolling Trajectories of UUVs Guarding a Channel," American Control Conference, 2011.

Hoam Chung and Soo Jeon, "Collision-Free Optimal Tracking of Robotic Manipulators with Hard Constraints Using External Active-Set Strategy," American Control Conference, 2011.

Hoam Chung, Elijah Polak, and Shankar Sastry, "An Accelerator for Packages Solving Discrete-Time Optimal Control Problems," Proceedings of the 17th World Congress, IFAC, p.14925 - 14300, 2008.

Hoam Chung, Elijah Polak, and Shankar Sastry, "Enhancements for Contractive Receding Horizon Control ," Proceedings of the 17th World Congress, IFAC, p.2637 - 2642, 2008.

Jessica J. Pannequin, Alexandre M. Bayen, Ian M. Mitchell, Hoam Chung, and Shankar Sastry, "Multiple Aircraft Deconflicted Path Planning with Weather Avoidance Constraints," AIAA GN&C Conference, 2007.

Hoam Chung and S. Sastry, "Autonomous Helicopter Formation using Model Predictive Control", AIAA GN&C Conference, Keystone, Colorado, 2006. 

D. Shim, Hoam Chung, H. J. Kim, S. Sastry, "Autonomous Exploration in Unknown Urban Environments for Unmanned Aerial Vehicles," AIAA GN&C Conference, San Francisco, California, August 2005. 

D. H. Shim, H. J. Kim, Hoam Chung, S. Sastry, "Multi-functional Autopilot Design and Experiments for Rotorcraft-based Unmanned Aerial Vehicles ", 20th Digital Avionics Systems Conference, Florida, 2001. 

Jong H. Park and Hoam Chung, "ZMP Compensation by On-Line Trajectory Generation for Biped Robots," Proceedings of IEEE Conference on Systems, Man and Cybernetics (SMC'99), pp. 960-965 (IV), Tokyo, Japan, October 1999.

Jong H. Park and Hoam Chung, "Impedance Control and Modulation for Stable Footing in Locomotion of Biped Robots," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), pp. 1786-1791, Kyungju, Korea, October 1999.

Jong H. Park and Hoam Chung, "Hybrid Control for Biped Robots Using Impedance Control and Computed-Torque Control," Proceedings of IEEE International Conference on Robotics and Automation (ICRA'99), pp. 1365-1370, Detroit, USA, May 1999

Technical Reports:

Hoam Chung, Elijah Polak and S. Shankar Sastry, "On the Off-Label Use of Outer Approximations: An External Active Set Strategy,"  EECS Department, University of California, Berkeley, Technical Report No. UCB/EECS-2007-127, October 26, 2007. 

Hoam Chung, Elijah Polak, and S. Shankar Sastry, "An External Active-Set Strategy for Solving Optimal Control Problems," EECS Department, University of California, Berkeley, Technical Report UCB/EECS-2007-90, July 16, 2007. 


My old publications can be downloaded from Mechatronics Lab. at Hanyang University


Last updated: 02/12//2015  Document made with KompoZer