lecturer in the Department
of Mechanical and Aerospace Engineering at
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.
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)
UAVs in civilian applications
Control of micro-flyers in indoor environments
Optimal trajectory generation for complex mechanisms (with Dr.
Final Year Projects (Semester 1, 2013):
6 credit point FYP subjects
Fabrication of Airframes for Environmental Remote Sensing, 2 students, no area preference
Experimental Data Collection of Miniature Helicopters, 1 students, mechatronics
12 credit point FYP subjects
Environmental Remote Sensing using UAVs, 2-3 students, mechatronics and aerospace
Semester 1 2012 MEC4418 Control Systems
Semester 1 2012 MAE3404 Flight Dynamics (with Dr. Shahin Khoddam)
Semester 2 2011 TRC3000 Mechatronics Project II
Semester 1 2011 MEC4418 Control Systems
Semester 2 2010 TRC3000 Mechatronics Project II (with Dr. Tuck W. Ng)
Semester 1 2010 MEC4418 Control Systems (with Dr. Chao Chen)
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.
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.
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.
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.
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
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: Oct/23/2012