Unmanned Systems Research Group (USRG)
무인 시스템 및 제어 연구실

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Website designed and managed by David Hyunchul Shim

"David" Hyunchul Shim - 심현철 부교수

Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles,
Ph. D. Dissertation, :University of California, Berkeley, 2000
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EDUCATION

Doctor of Philosophy, December 2000, University of California, Berkeley
Field: Mechanical Engineering Dissertation
Dissertation Title: Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles
Advisor: Professor S. Shankar Sastry
Major: Control engineering Minors: Dynamics, Signal Processing and Computer Vision

Master of Science in Engineering, February 1993, Seoul National University, Seoul, South Korea
Field: Mechanical Engineering
Thesis Title: A Study on the Design of a Hovering Flight Controller for a Model Helicopter
Thesis Supervisor: Professor Kyo-Il Lee
Major: Control engineering

Bachelor of Science in Engineering, February 1991. Seoul National University, Seoul, South Korea
Field: Mechanical Engineering
Project Title: Development of Software for Detection of Surface Irregularities using Reflection Lines
Supervisor: Professor Kunwoo Lee

WORK EXPERIENCE

Associate Professor, Dept. of Aerospace Engineering, KAIST, Daejeon, KAIST, South Korea
September, 2010 – Present (Tenured on 2014. 6)

Assistant Professor, Dept. of Aerospace Engineering, KAIST, Daejeon, KAIST, South Korea
February 21, 2007 – September, 2010

Project Manager, Principal Development Engineer, Berkeley Aerobot Research Team, University of California, Berkeley
March 1, 2005 – Feb. 28, 2007
In charge of advanced UAV systems development, both fixed- and rotary-wing-based, for multi-agent scenarios in urban environment
Management of experiment site and project group consisting of postdoctorals, graduate students, and staffs
Attraction of research funding (DARPA, US Army, and other private companies)
- Flight control system design for Yamaha RMAX
- Advanced trajectory planner using model-predictive control
- Flight control system for small-size fixed wing aircraft
- High precision flight control system for target designation

Staff servo engineer, Maxtor Corporation, Milpitas, California
June 25, 2001 – February 10, 2005
In charge of the advanced servo control system design, simulation, and test for hard disk drives.
- Tuning of high-bandwidth on-track controller
- Advanced controller tuning using Linear matrix inequality
- Multi-rate servo design using LMI and lifting
- Disk performance analysis and tuning for high operational vibration
- Advanced servo algorithm development on fixed-point DSP
- Control algorithm development and implementation for flyheight control of head

Specialist, Electronics Research Laboratory (ERL), Dept. of EECS, UC Berkeley
Dec. 2000-June 30, 2001
In charge of the development of a network of UAVs with high-level flight control system, intelligent strategic planner and high QoS wireless communication capabilities, UAV flight control system in the context of Open Control Platform (OCP) in collaboration with Boeing UAV division, and hardware-in-the-loop simulation platform for UAVs

Graduate Student Researcher, with Prof. Shankar Sastry, Dept. of Electrical Engineering and Computer Science, UCB
Dec. 1997 – Dec.2000
Funded by Office of Naval Research (ONR), Army Research Office (ARO) and Defense Advanced Research Project Agency (DARPA) Development of a complete procedural methodology to build rotorcraft-based UAVs based on commercially available radio-controlled helicopters
- Design and implementation of multiple rotorcraft-based unmanned aerial vehicles (RUAVs) and control hardware/software
- Derivation of theoretical and empirical system models for control system design - Design of linear robust controllers and multi-loop SISO controllers
- Implementation of onboard flight control system using real-time operating system (QNX) - Development of waypoint navigation scheme

Graduate Student Researcher, with Prof. Masayoshi Tomizuka, Dept. of Mechanical Engineering, UCB
Sep. 1996 – Nov. 1997
Funded by NSK Ltd., Japan Developed high-speed, high-precision position control system for linear induction motor, assisted by Low-cost accelerometer-based velocity estimation with automatic tuning. Amplifier model is identified using laser interferometer. A MS Windows-based graphic interface for real-time control and development interface is developed.

Design Engineer, Hyundai Motor Company, South Korea
Jan. 1993 – May 1994
Participated in the design of gear shift mechanism of a five-speed manual transmission. Analyzed automatic transmission control software. Derived hydro-mechanical force/displacement model for the improvement of clutch pedal force profile. Participated in the design of synchronizer rings for manual transmissions.

Research Assistant, Department of Mechanical Engineering, Seoul National University, with Dr. Kyo-Il Lee
1991-1993
Designed discrete LQG/LTR controller for attitude control of a model helicopter tethered to 3-DOF attitude constraining linkage. Constructed an experimental setup including helicopter constraining linkage, attitude sensors system, and realtime flight control hardware and software. Derived the helicopter model in hover based on full-size helicopter model. Implemented a controller in C on MS-DOS and performed successful experiments.

PROFESSIONAL ACTIVITIES

?Project Reviews Participation and Demonstration
- Annual review of ARO SWARMS, ARO, Durham, NC, Dec. 2006
- Annual review of ARO formation flight, Fort Eustis, VA, Feb. 2006
- Bi-annual review of ARO ACCLIMATE project, Philadelphia, PA, Nov. 2005
- Kick-off meeting for ARO/MURI SWARMS project, Napa, California, August 2005
- Phase II Demonstration for laser scanning-based obstacle avoidance for UCAR (unmanned combat armed rotorcraft) supported by DARPA (Mr. Don Woodbury) Implemented and successfully demonstrated obstacle avoidance capability by combining three-dimensional laser scanner and
- Phase I Demonstration for Perch & Move (PAM) supported by DARPA (Dr. John Bay), August 2004 Implemented and successfully demonstrated fully autonomous from take-off to landing in order to mobilize the radio triangulation devices
- UCAV Program Summer Review, Office of Naval Research (ONR), Berkeley, CA, August 2001 Performed ground target tracking demonstration of RUAV aided by onboard vision system. Performed way-point navigation of RUAV Demonstrated the world first pursuit-evasion game using multiple autonomous aerial and ground robots
- Software-Enabled Control Semi-annual program review, DARPA, Anapolis, MD, May 2001
- Mixed-Initiative Control of Automata-teams (MICA) Kick-off meeting, University of Washington, Seattle, WA, March 2001.
- UCAV Program Spring Review, ONR, Richmond, CA, March 2001
- Software-Enabled Control Semi-annual program review, DARPA, Durango, CO, November 2000
- UCAV Program Review, ONR, Richmond, CA, August 2000 Performed way-point navigation of RUAV implemented on Yamaha R-50 industrial helicopter
- UCAV Program Review, ONR, Richmond, CA, August 1999
- MURI-ARO, Program review, Berkeley, CA, November 1999 Performed autonomous hover of RUAV implemented on a small-size radio-controlled helicopter
- SEC Kickoff meeting, San Francisco, October 1999
- SEC pre-kickoff meeting, Georgia Institute of Technology, Atlanta, GA, May 1999
- MURI-ARO, Program review, Berkeley, CA, November 1998?Invited Presentations
- Institute seminar at Australia Center for Field Robotics, University of Sydney, Australia, Jan. 2007.
- Hands-on UAV Tutorial: IEEE International Conference on Robotics and Automation, Orlando, Florida, May 2006
- Department Seminar, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, September 2005.
- Department Seminar, Department of Mechanical and Aerospace Engineering, Korea Advanced Institute of Science and Technology, September 2005.
- Institute Seminar, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, August 2004.
- Department Seminar, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, August 2004.
- Institute Seminar, Samsung Advanced Research Institute of Technology, December 2003.
- Department Seminar for faculties, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, June 2003.
- Laboratory Seminar, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, August 2002.
- Center for Information Storage Devices, Yonsei University, Seoul, Korea, July 2002.
- Control and Dynamics Seminar, California Institute of Technology, January 2001
- Department Seminar, Department of Aeronautics and Astronautics, Stanford University, November 2000
- Department Seminar, Department of Aeronautics and Astronautics, University of Washington, October 2000
- Software Enabled Control Workshop, Boeing St. Louis Training Center, June 2000.
- Mobile robotics seminar, Stanford Research Institute International, Stanford, 2000
- DARPA Open Control Platform Semi-annual meetings (October 2000, Oct. 1999, May 1999)
- ONR UCAV Semi-annual meetings (Nov. 2002, Aug. 2001, Aug. 2000, Jan. 2000, Aug. 1999, Jan. 1999)
- Workshop on UAV: Sensing, Coordination and Control, IEEE Conference on Control Application (CCA), Anchorage, Alaska, September 2000 - NASA Ames Center, Moffett Field, California, July 2000
- BISC (Berkeley Initiative in Soft Computing) Seminar hosted by Prof. Lotfi Zadeh, February 2000
- Workshop on UAV: Sensing, Coordination and Control, IEEE Conference on Decision and Control (CDC), Phoenix, Arizona, December 1999 ?Member of AIAA, IEEE, and ASME

- Reviewer, Automatica, American Control Conference, and International Journal of Robotics Research (IJRR) , IEEE Conference on Decision and Control, etc.
- Participation in Association for unmanned vehicle systems (AUVS) competition in Hanford, Washington, August 1998.

AWARD & HONORS

The IFAC Congress Applications Paper Prize: Honourable Mention as one of the five finalist papers at XVth IFAC World Congress in Barcelona, Spain, July 2002 Scholarship in Seoul National University, 1990 Graduated with Honors from Seoul National University, 1991

SKILLS

Programming skills: C/C++, Texas Instrument DSP programming, Microchip PIC development, Realtime-programming in Tornado/VxWorks, QNX RTOS, MS-Windows programming, Windows CE/PocketPC application development, Linux, Java, Pascal, FORTRAN, BASIC, Prolog, x86 assembly, HTML Communication: TCP/IP, Wireless LAN, RS-232/422 serial communication, Graphics: OpenGL programming Simulation Tools: MATLAB, Simulink (C-MEX functions), Real-time Workshop, Mathematica Design Software: AutoCAD, OrCAD, 3D Studio MAX Tools: Microsoft Office Electronics: logic circuit design, schematic and layout using OrCAD Others: Inertial Navigation System design, Global positioning system, INS/GPS integration, PC104 systems

PATENTS

- Suppression of narrow-band disturbance using nonlinear filter, Patent Application has been filed in U.S. patent office (through Maxtor Corporation)
- Fly Height control of read/write head in hard disk drives (through Maxtor Corporation)
- Two (2) Patents were approved by the Korean Intellectual Property Office
1. Over-cooling protection valve for automatic transmissions Disclosure # 95-32712, Disclosed on 12/14/1995
2. Layout and sliding mechanism for Car Stereo Equalizer knobs Disclosure # 95-20934, Disclosed on 7/25/95

MEDIA COVERAGE

Berkeley UAV experiment covered by
- Technology Review, MIT Press, October 2005
- Berkeley Official Press Release, APTN, and KGO (ABC-affiliated) for urban flight experiment (December 2004)
- Discovery Channel (2003) for collision avoidance experiment
- Oakland Tribune (2003)
- Daily Californian (2002)

BEAR Emblem Contact Us | ©2007 Dept. of Aerospace Engineering, 373-1 Guseong-dong, Yuseong-Gu, Daejeon, South Korea, 305-701. Professor Tel. +82-42-350-3724, Office Tel . +82-42-350-3764, +82-42-350-5764