Publications              

 

 International Journal

* S. Kim and S. J. Kwon, "Robust transition control of underactuated two-wheeled self-balancing vehicle with semi-online dynamic trajectory planning," Mechatronics Volume 68, 2020, 102366.

* S. Kim and S. J. Kwon, "Nonlinear Optimal Control Design for Underactuated Two-Wheeled Inverted Pendulum Mobile Platform," IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 22, NO. 6, pp. 2803-2808, Dec. 2017

* S. Kim and S. J. Kwon, "Dynamic Modeling of a Two-Wheeled Inverted Pendulum Balancing Mobile Robot,"  Int. Journal of Control Automation and Systems, Vol. 13, No. 4, pp. 926-933, Aug. 2015.

* Y. Kim and S. J. Kwon, "A Heuristic Obstacle Avoidance Algorithm Using Vanishing Point and Obstacle Angle," Intelligent Service Robotics, Vol. 8, pp. 175-183, Jul. 2015.

* H. Jeong, J. Cheong, and S. J. Kwon, "Dual-Mode Variable Stiffness Actuator using Two-Stage Worm Gear Transmission for Safe Robotic Manipulators," Int. J. of Precision Eng. and Manufacturing, Vol. 16, No. 8, pp. 1761-1769, Jul. 2015.

* S. J. Kwon, S. Kim, J. Yu, "Tilting-Type Balancing Mobile Robot Platform for Enhancing Lateral Stability,"  IEEE/ASME Trans. on Mechatronics, Vol. 20, No. 3, pp. 1470-1481, Jun. 2015.

* S. J. Kwon, J. Hwang, "Hybrid-Type Spatial Mask-Panel Alignment System for Manufacturing Flat Panel Displays," Journal of Engineering Manufacture (Proc of IMechE Part B), 227(11), pp. 1724-1732, 2013.

* S. J. Kwon and J. Park, "Kinesiology Based Robot Foot Design for Humanlike Walking," Int. Journal of Advanced Robotic Systems, Vol. 9, 259:2012.

* S. J. Kwon, H. Jeong, and J. Hwang, "Kalman Filter Based Coarse-to-Fine Control for Display Visual Alignment Systems," IEEE Trans. on Automation Science and Engineering, Vol. 9, No. 3, Jul. 2012.

* S. J. Kwon, J. Hwang, "Kinematics, Pattern Recognition, and Motion Control of Mask–Panel Alignment System," Control Engineering Practice, Vol. 19, Issue 8, pp. 883~892, Aug. 2011.

* SangJoo Kwon, Sangdeok Park, and Sang Moo Lee, "A Perturbation Observer Based Robust Estimation Technique for Structural Monitoring and Control," Solid State Phenomena, Vol. 120, pp. 241-246, Jan. 2007.

* SangJoo Kwon and Joono Cheong, "Robust Minimum-Time Control with Coarse/Fine Dual-Stage Mechanism," KSME Journal of Mechanical Science and Technology, pp. 1834~1847, Nov. 2006.

* SangJoo Kwon, "Robust Kalman Filtering with Perturbation Estimation Process for Uncertain Systems," IEE Proceedings Control Theory and Applications, pp. 600~606, Sep. 2006 (Selected as the paper of the month).

* Joono Cheong and SangJoo Kwon, "Robustness Analysis Under Second-Order Plant and Delay Uncertainties for Symmetrically Coupled Systems with Time Delay," KSME Journal of Mechanical Science and Technology, pp. 1195~1208, Aug. 2006.

* J. Park, S. Kim, D.-H. Kim, B. Kim, S. J. Kwon, J.-O Park, and K.-I. Lee, Identification and Control of a Sensorized Microgripper for Micromanipulation, IEEE/ASME Trans. on Mechatronics, Vol. 10, No. 5, Oct. 2005, pp. 601-606.

* SangJoo Kwon and Wan Kyun Chung, “Combined Synthesis of State Estimator and Perturbation Observer, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 125, pp. 19-26, Mar. 2003.

* SangJoo Kwon and Wan Kyun Chung, “A Discrete-Time Design and Analysis of Perturbation Observer for Motion Control Applications, IEEE Trans. on Control Systems Technology, Vol. 11, No. 3, pp. 399-407, May, 2003.

* SangJoo Kwon and Wan Kyun Chung, “A Robust Tracking Controller Design with Hierarchical Perturbation Compensation,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 124, pp. 261–271, Jun. 2002.

* SangJoo Kwon and Wan Kyun Chung, “Robust Performance of the Multi-Loop Perturbation Compensator,” IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 2, pp. 190–200, Jun. 2002.

* SangJoo Kwon, Youngil Youm, and Wan Kyun Chung, “General Algorithm for Automatic Generation of theWorkspace for n-link Planar Redundant Manipulators,” ASME Journal of Mechanical Design, Vol. 116, No.3, pp. 967–969, Sep. 1994.

 

Domestic Journal

*이수한, 김용국, 권상주, "로드셀을 이용한 이륜형 셀프 밸런싱 로봇 주행기기의 실시간 편심 추정 및 보상 기법," 제어로봇시스템학회 논문지 (제27권 3호, 255-261), 2021. 03.

*김용국, 심규영, 권상주, "셀프-밸런싱 역진자 로봇에 대한 모델기반 실시간 궤적생성 방법," 제어로봇시스템학회 논문지 (제26권 10호, 848-855), 2020. 10.

*김용국, 한승우, 권상주, "이륜 역진자 주행 로봇의 자세제어 성능 향상을 위한 슬립방지 제어기 설계," 제어로봇시스템학회 논문지 (제26권 1호, 312-318), 2020. 01.

*김용국, 이수한, 이경근, 권상주, "선회주행 성능 개선을 위한 양바퀴 역진자 로봇 설계" 제어로봇시스템학회 논문지 (제25권 4호, 312-318), 2019. 04.

*김상태, 권상주, "이륜 역진자 로봇의 제어 시스템 개발을 위한 설계 고려사항," 제어로봇시스템학회 논문지 (제23권 1호, 26~32), 2017. 01.

*유재림, 김용국, 권상주, "이륜 밸런싱 로봇에 대한 비선형 모델 기반 외란보상 기법," 제어로봇시스템학회 논문지 (제22권 10호, 826-832), 2016. 10.

*김상태, 서정민, 권상주, "횡방향 틸팅 기능을 갖는 이륜 밸런싱 모바일 플랫폼 설계," 제어로봇시스템학회 논문지 (제20권 1호, 87~93), 2014. 01.

*유재림, 김상태, 박윤수, 권상주, "전방향 셀프-밸런싱 로봇휠체어 개발” 한국로봇학회 논문지 (제8권 4호, 229~237), 2013. 12. (2013년 한국로봇학회 최우수논문상)

*황재웅, 권상주, “3차원 하이브리드 비전 정렬 시스템에 관한 연구” 반도체디스플레이기술학회지 (제10권 4호, 79~87), 2011. 12.

*김상태, 권상주, “SDRE 기법을 이용한 이륜 밸런싱 로봇의 비선형 최적제어” 제어로봇시스템학회 논문지 (제17권 10호, 1037~1043), 2011. 10.

*박진희, 권상주, “인체운동학에 기반한 이족로봇의 인간형 걸음새 설계” 제어로봇시스템학회 논문지 (제17권 7호, 659~667), 2011. 07.

*박진희, 김현술, 권상주, “발가락과 뒤꿈치 조인트를 갖는 유연한 로봇 발 설계” 한국정밀공학회지 (제28권 4호 446~454), 2011. 04.

*정해민, 황재웅, 권상주, “정렬오차 추정 필터에 기반한 비전 정렬 시스템의 고속 정밀제어” 제어로봇시스템학회 논문지 (제16권 12호, 1233~1240), 2010. 12.

*정해민, 권상주, 이상무, "여유 구동 병렬기구를 이용한 마스크-패널 얼라인 로봇 시스템," 제어로봇시스템학회 논문지 제15권, 제9호, pp.887-893, 2009년 9월.

*권상주, 오용환, "이족 보행 로봇의 무게중심 실시간 추정에 관한 연구," 제어로봇시스템학회 논문지, Vol. 14, No. 9, pp. 886-892, 2008년 9월.

*권상주, 박찬식, 이상무, "평판 디스플레이 비전 정렬 시스템의 기구학 및 제어," 제어로봇시스템학회 논문지, Vol. 14, No. 4, pp. 369-375, 2008년 4월.

*안상익, 오용환, 권상주, "인간손의 동작과 모양을 모방한 휴머노이드 로봇손 설계," 제어로봇시스템학회 논문지, Vol. 14, No. 1, pp. 62-69, 2008년 1월.

*권상주, "섭동 추정 프로세스를 이용한 불확실 시스템에 대한 강인 칼만 필터링 기법," 제어자동화시스템공학논문지, Vol. 12, No. 3, pp. 201-207, 2006년 3월.

*권상주, "섭동관측기를 연합한 강인 상태 추정기 설계 및 해석," 제어자동화시스템공학논문지, Vol. 11, No. 6, pp. 477-483, 2005년 6월.

 

 International Conference Proceedings

* Sangtae Kim, Jungmin Seo, and SangJoo Kwon, "Development of a Two-Wheeled Mobile Tilting & Balancing (MTB) Robot," 2011 11th International Conference on Control, Automation and Systems Oct. 26-29, 2011.

* Hyunsool Kim, Jinhee Park, and SangJoo Kwon, "New Robotic Foot Design with Toes and Heel Joints," 2009 6th Int. Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp. 780-782, Gwangju, Korea.

* Sangtae Kim and SangJoo Kwon, "Nonlinear Optimal Control of a Two-Wheeled Inverted Pendulum Mobile Robot," 2009 6th Int. Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp. 775-777, Gwangju, Korea

* SangJoo Kwon and Yonghwan Oh, “Real-Time Estimation Algorithm for the Center of Mass of a Bipedal Robot with Flexible Inverted Pendulum Model,” Proc. of the 2009 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS 2009), St Louis, USA, Oct. 2009.

* SangJoo Kwon and Haemin Jeong, “Kinematics and Control of a Mask-Panel Aligning Robot System, “Proc. of the 2009 Int. conference on Service and Interactive Robotics (SIRCon 2009), Taipei, Taiwan, Aug. 2009.

* SangJoo Kwon and Haemin Jeong, “Observer Based Fine Motion Control of Autonomous Visual Alignment Systems,” Proc. of the 2009 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2009), Singapore, pp. 1822-1827, Jul. 2009.

* Haemin Jeong and SangJoo Kwon, "Kalman Filter Based Coarse-Fine Control Method for a Visual Alignment Robot," The 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2008), pp. 625-630.

* Sangik Ahn, Yonghwan Oh, and SangJoo Kwon, "Design of a Humanoids Specific Anthropomorphic Robot Hand by Imitating Human Finger’s Motion," The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), pp. 13-19.

* SangJoo Kwon and Sang Moo Lee, "Microscopic Motion Control of a Parallel Visual Alignment Stage," Proc. of the 2007 Int. Conference on Control, Automation and Systems (ICCAS 2007), pp. 2744-2748.

* SangJoo Kwon and Yonghwan Oh, "Estimation of the Center of Mass of Humanoid Robot," Proc. of the 2007 Int. Conference on Control, Automation and Systems (ICCAS 2007), pp. 2705-2709.

* SangJoo Kwon, "A Reference Following Robust Minimum-Time Control," Proc. of the 2007 American Control Conference (ACC 2007), pp. 5366-5371, NY, USA, Jul. 2007.

* SangJoo Kwon and Chansik Park , "Visual alignment robot system: Kinematics, Pattern Recognition, and Control," Proc. of the 4th Int. Conf. on Informatics in control, Automation and Robotics (ICINCO 2007), pp. 36-43, Angers, France, May 2007.

* Chansik Park and SangJoo Kwon, "An Efficient Vision Algorithm for fast and fine Mask-Panel Alignment," Proc. of 2006 SICE-ICASE International Joint Conference (SICE-ICCAS 2006), pp. 1461-1465, Busan, Korea, Oct. 2006.

* SangJoo Kwon and Chansik Park, "Kinematics and Control of the 4-Axes Visual Alignment System," Proc. of 2006 SICE-ICASE International Joint Conference (SICE-ICCAS 2006), pp. 1389-1393, Busan, Korea, Oct. 2006.

* S. J. Kwon, K. W. Yang and S. Park, "An Effective Kalman Filter Localization Method for Mobile Robots," Proc. of the 2006 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS 2006), pp. 1524-1529, Beijing, China, Oct. 2006.

* SangJoo Kwon, "Robust Kalman Filtering with Perturbation Estimation Process," Proc. of the 2006 American Control Conference(ACC’06), pp. 997-1002, Minneapolis, USA, Jun. 2006 (selected as the best session paper).

* S. Park, D.H. Won, M.S. Kang, T.J. Kim, H.G. Lee, and S. J. Kwon, “RIC(Robust Internal-loop Compensator) Based Flight Control of a Quad-Rotor Type UAV,” 2005 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Alberta, Canada.

* SangJoo Kwon, KwangWoong Yang, Sangdeok Park, and Youngsun Ryuh, “Robust Mobile Robot Localization with Combined Kalman Filter-Perturbation Estimator,” 2005 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Alberta, Canada.

* SangJoo Kwon, KwangWoong Yang, Sangdeok Park, and Youngsun Ryuh, “A Kalman filter localization method for mobile robots,” 2005 International Conference on Control, Automation, and Systems (ICCAS 2005)," pp. 973-978.

* D.-S. Seo, D. Won, G.-W.Yang, M.-S. Choi, S. J. Kwon, and J. W. Park, “A Probabilistic Approach for Mobile Robot localization under RFID Tag Infrastructures,” 2005 International Conference on Control, Automation, and Systems (ICCAS2005), pp 1797-1801.

* K. W. Yang, D. Won, M.-S. Choi, H. S. Kim, T. Lee, S. J. Kwon, and J. W. Park, “Robot software component interface abstractions for distributed sensor and actuator,” 2005 International Conference on Control, Automation, and Systems (ICCAS2005), pp 2285-2289.

* D.-H. Kim, B. Kim, S. Yun*, and S. J. Kwon, "Cellular Force Measurement for Force Reflected Biomanipulation," Proceedings of the 2004 IEEE International Conference on Robotics & Automation, pp. 2412-2417, 2004.

* J. Park, S. Kim, D.-H. Kim, B. Kim, S. J. Kwon, J.-O. Park and K.-I Lee, "Advanced Controller Design and Implementation of a Sensorized Microgripper for Micromanipulation," Proceedings of the 2004 IEEE International Conference on Robotics & Automation, pp. 5025-5032, 2004.

* SangJoo Kwon, Wan Kyun Chung, and Youngil Youm, "A Combined Observer for Robust State Estimation and Kalman Filtering," Proceedings of the 2003 American Control Conference, pp. 2459-2464, Denver, Colorado June 4-6, 2003.

* SangJoo Kwon and Wan Kyun Chung, “A Discrete-Time Design and Analysis of Perturbation Observer,” Proc. of the 2002 American Control Conference(ACC), Alaska, USA, pp. 2653–2658.

* SangJoo Kwon and Wan Kyun Chung, “An Improved Perturbation Attenuation Method for Motion Control of Robotic Systems,” Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Hawaii, USA, pp. 2060–2065.

* SangJoo Kwon, Wan Kyun Chung, and Youngil Youm, “A Novel Robust Tracking Controller Based on Hierarchical Perturbation Compensation,” Proc. of 2001 American Control Conference(ACC), Arlington, VA, USA, pp. 541–546.

* SangJoo Kwon, Wan Kyun Chung, and Youngil Youm, “On the Coarse/Fine Dual-Stage Manipulators with Robust Perturbation Compensator,” Proc. of the 2001 IEEE International Conference on Robotics and Automation(ICRA), Seoul, Korea, pp. 121–126.

* SangJoo Kwon, Wan Kyun Chung, and Youngil Youm, “Robust and Time Optimal Control Strategy for Coarse/Fine Dual Stage Manipulators,” Proc. of the 2000 IEEE International Conference on Robotics and Automation(ICRA), SF, USA, pp. 4051–4056.

* SangJoo Kwon, Wan Kyun Chung, and Youngil Youm, “Self-Collision Avoidance for n-link Redundant Manipulators,” Proc. of the 1991 IEEE International Conference on Systems, Man, and Cybernetics(SMC), VA, USA, pp. 937–942.

* SangJoo Kwon, Wan Kyun Chung, and Youngil Youm, “General Algorithm for Automatic Generation of the Workspace for n-link Redundant Manipulators,” Proc. of the 1991 International Conference on Advanced Robotics(ICAR), Pisa, Italy., pp. 1722–1725.

 

 Patent

* 권상주 외 3인, “이동 로봇의 위치 추정 시스템 및 그 방법” (등록번호: 10-0883792, 등록일자: 2009년02월09일)

* 권상주 외 5인, “얼라인 마크 인식 머신 비전 시스템 및 얼라인 마크 인식방법” (등록번호: 10-0801665, 등록일자: 2008년01월30일)

* 권상주 외 5인, “이중 광반사 구조물 및 그 이중 광반사 구조물의 제조방법” (등록번호: 10-0649124, 등록일자: 2006년11월16일)

 

 Book

* S. J. Kwon, W. K. Chung, “Perturbation Compensator Based Robust Tracking Control and State Estimation of Mechanical Systems, Springer LNCIS series Vol. 307, Springer, 2004.