2005. 08.  Ph.D. in Mechanical Engineering
              Pohang University of Science & Technology(POSTECH), Pohang, Korea 

        Advisor: Wan Kyun Chung, Professor of Mechanical Engineering, POSTECH

              Title: THRUSTER MODELING AND CONTROL FOR AUTONOMOUS UNDERWATER VEHICLE/MANIPULATOR SYSTEMS

2000. 02.  M. Eng. in Mechanical Engineering   

              Pohang University of Science & Technology(POSTECH), Pohang, Korea 

        Advisor: Wan Kyun Chung, Professor of Mechanical Engineering, POSTECH

            Title: IMPACT ANALYSIS AND CONTROL FOR KINEMATICALLY REDUNDANT MANIPULATORS

1998. 02.  B.S. in Mechanical Engineering  

         Pohang University of Science & Technology(POSTECH), Pohang, Korea

2007 ~ Present.



 

Professor, Department of Mechanical & Automotive Engineering
 Teaching
For undergraduate: Automatic Control, Robotics, Mechatronics and Kinematics of Machinery

For graduate: Advanced Robotics, Underwater Robotics, and Advanced Automatic Control

2013 ~ 2014. 
 

2005 ~ 2007. 
 

2001. 


 

Visiting Scholar, Autonomous Systems Laboratory (ASL) 

 SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Mission) Project
PI & Advisor: Junku Yuh, Professor of Mechanical Engineering

1998 ~ 2005. 


 

Graduate Research Assistant, Robotics & Bio-Mechatronics Laboratory
 Various Government and Industrial Projects
PI & Advisor: Wan Kyun Chung, Professor of Mechanical Engineering

2021 ~ Present. 
 

2008 ~ 2013. 

ED Corporation, Seongnam, Korea

2008 ~ Present.  

 Program Chair of The 18^th IEEE International Conference on Ubiquitous Robots (UR 2021) 

 Program Chair of The 13^th Korea Robotics Society Annual Conference (KRoC 2018) 

 Conference Secretariat of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

 Associate Editor of IEEE RA-Letters: 2015–Present 

 Associate Editor of Intelligent Service Robotics: 2014–Present 

 Associate Editor of Journal of Korea Robotics Society: 2016–Present 

 Associate Editor of Journal of Institute of Control, Robotics and Systems: 2014–Present 

 Editor of IEEE ICRA CEB: 2018–2021

 Associate Editor of IEEE IROS CEB: 2016–Present 

 Associate Editor of IEEE ICRA CEB: 2010–2013 

  Underwater Robots: 3D Localization & Map Building, Vehicle Control, Thruster Dynamics

  Robotic Sensors: Underwater Distance Sensor, Fiber Optic Robotic Sensor

  Manipulation: Kinematics and Dynamics of Robot Manipulator, Redundant Robots

  Bio Application with Robotic Technology: Lab. Automation, Cell Culture Automation

  Unmanned Aerial Vehicle: Dynamics & Modeling, Design of Control System

  Complex Dynamic Systems: Mobile Manipulators, Underwater Vehicle/Manipulator Systems

  Dynamics: Impact Analysis and Control

  Award for Grand Prize of Korea Robot Engineering & Design Show, Korea, Jan. 2018

  Award for Best Paper of Korea Robot Society Journal, Korea, May 2015

  Award for Young Robotics Scientiest by Korea Robot Society, Korea, Oct. 2013 

  Award for Young Robotics Scientist by Korea Evaluation Institute of Industrial Technology (KEIT), Korea, Dec 2011

  Bronze Prize in 12th SAMSUNG HumanTech Thesis Prize by SAMSUNG Electronics Co., Korea, Feb 2006

  Silver Prize in 5th Korea Intelligent Robot Competition by Provincial Office Government of Gyeongbuk, Korea, Oct 2003 

1.     Jinhyun Kim, “Development of Artificial Lateral Line Sensor for Flow Velocity and Angle Measurements,” Journal of Sensor Science and Technology, Vol.30, No.1, pp. 30-35, 2021.

2.     Kukjin Doo and Jinhyun Kim, "Development of a Prediction Method for the Hyper-elastic Material Model Coefficient Through the Indentation Test and Machine Learning,” Journal of Institute of Control, Robotics and Systems, Vol.26, No.11, pp. 771-779, 2020.

3.     Hyeoncheol Bang, Mingyu Jang, Hyeonjin Kim, and Jinhyun Kim, “Internal-Oil-Feed-type High-Speed Spindle Mechanism to Prevent Cutting Oil Flow,” Journal of the Korean Society of Manufacturing Technology Engineers, Vol.29, No.5, pp. 400-405, 2020.

4.     Hyeonjin Kim and Jinhyun Kim, “Signal Analysis for Detecting Abnormal Breathing,” Journal of Sensor Science and Technology, Vol.29, No.4, pp. 249-254, 2020.

5.     Gihyeon Lee and Jinhyun Kim, “Design of an External Gravity Compensator for a Tendon-based Serial Mechanism,” Journal of Institute of Control, Robotics and Systems, Vol.26, No.5, pp. 385-391, 2020.

6.     Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “Analysis of Electromagnetic Waves Attenuation for Underwater Localization in Structured Environments,” International Journal of Control, Automation and Systems, Vol.18, No.3, pp. 575-586, 2020.

7.     Daegil Park, Kyungmin Kwak, Jinhyun Kim, Ji-Hong Li, and Wan Kyun Chung, “Underwater Localization using Received Signal Strength of Electromagnetic Wave with Obstacle Penetration Effects,” IFAC-PapersOnLine, Vol.52, No.21, pp. 372-377, 2019.

8.     Dongwook Hwang, Mingyu Jang, and Jinhyun Kim, “Development of a Low-cost Unmanned Underwater Vehicle and Performance Verification,” Journal of Korea Robotics Society, Vol.13, No.2, pp. 103-112, 2018.

9.     Gihyeon Lee and Jinhyun Kim, “Tendon-based Haptic Master Device Mechanism Design for Underwater Manipulation,” Journal of Institute of Control, Robotics and Systems, Vol.24, No.5, pp. 346-353, 2018.

10.  Yunghyun Kim, Dongwook Hwang, and Jinhyun Kim, “Design of Rudder Mechanism to Maximize the Turning Force of a Ducted-Type Underwater Robot,” Journal of Institute of Control, Robotics and Systems, Vol.23, No.9, pp. 771-779, 2017.

11.  Kyungmin Kwak, Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “The Underwater UUV Docking with 3D RF Signal Attenuation based Localization,” Journal of Sensor Science and Technology, Vol.26, No.3, pp. 199-203, 2017.

12.  Daegil Park, Kyungmin Kwak, Jaehoon Jung, Jinhyun Kim and Wan Kyun Chung, “Underwater Localization using RF Sensor and INS for Unmanned Underwater Vehicles,” Journal of Ocean Engineering and Technology, Vol.31, No.2, pp. 170-176, 2017.

13.  Kyungmin Kwak, Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “Correction to “Underwater 3-D Spatial Attenuation Characteristics of Electromagnetic Waves With Omnidirectional Antenna”,” IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol.21, No.6, pp. 2997-2998, 2016.

14.  Jun-Young Jung, Jung-Seok Na, Chae-Woo Lee, Gihyeon Lee, and Jinhyun Kim, “Prediction of Head Movements Using Neck EMG for VR,” Journal of Sensor Science and Technology, Vol.25, No.5, pp. 365-370, 2016.

15.  Kyungmin Kwak, Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “Underwater Localization using EM Wave Attenuation with Depth Information,” Journal of Korea Robotics Society, Vol.11, No.3, pp. 156-162, 2016.

16.  Kyungmin Kwak, Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “Underwater 3-D Spatial Attenuation Characteristics of Electromagnetic Waves With Omnidirectional Antenna,” IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol.21, No.3, pp. 1409-1419, 2016.

17.  Kyungmin Kwak, Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “Development of Underwater Short-Range Sensor Using Electromagnetic Wave Attenuation,” IEEE JOURNAL OF OCEANIC ENGINEERING, Vol.41, No.2, pp. 318-325, 2016.

18.  Kyungmin Kwak, Daegil Park, Younghyeon Kim, Wan Kyun Chung, and Jinhyun Kim, “Underwater E-plane Attenuation Model of Omnidirectional Antenna Using Half Power Beam Width (HPBW),” Journal of Institute of Control, Robotics and Systems, Vol.21, No. 11, pp. 1050-1056, 2015.

19.  Dong-Joon Won, Joonwon Kim and Jinhyun Kim, “Design optimization of duct-type AUVs using CFD analysis,” Intelligent Service Robotics, Vol.8, No. 3, pp. 233-245, 2015.

20.  Young-Jin Heo, Daegil Park, and Jinhyun Kim, “Design of a User-Friendly Control System using Least Control Parameters,” Journal of Korea Robotics Society, Vol.9, No.1, pp. 67-77, 2014.

21.  Han-Kyo Chung and Jinhyun Kim, “Analysis of underwater thruster model with ambient flow velocity using CFD,” Intelligent Service Robotics, Vol.6, No. 3, pp. 163-168, 2013.

22.  Young-Jin Heo, Gi-Hyeon Lee, and Jinhyun Kim, “Extended Kalman Filter-based Localization with Kinematic Relationship of Underwater Structure Inspection Robots,” Journal of Institute of Control, Robotics and Systems, Vol.19, No. 4, pp. 372-378, 2013.

23.  Kyung Min Kwak and Jinhyun Kim, “Development of 3-Dimensional Sensor Nodes using Electro-magnetic Waves for Underwater Localization,” Journal of Institute of Control, Robotics and Systems, Vol.19, No. 2, pp. 107-112, 2013.

24.  Seung-Guk Baek, Bumsik Shin, Sang Won Lee, Yeon-Sun Choi, Jinhyun Kim, and Ja Choon Koo, “Optimization of High Speed EMU Suspension Parameters for Vibration Reduction,” Journal of Mechanical Science and Technology, Vol. 27, No. 2, pp. 305-311, 2013.

25.  Geon Lee, Jinhyun Kim, and Youngjin Choi, “Convolution-Based Trajectory Generation Methods Using Physical System Limits,” Journal of Dynamic Systems, Measurement, and Control, Vol. 135, No. 1, 2013.

26.  Jinhyuk Kim and Jinhyun Kim, “Development of a Pool Cleaning Robot and its Cleaning Performance Evaluation,” Journal of Korea Robotics Society, Vol. 7, No. 4, 2012.

27.  Gi-Hyeon Lee and Jinhyun Kim, “Docking System for Unmanned Underwater Vehicle using Reduced Signal Strength Indicator,” Journal of Institute of Control, Robotics and Systems, Vol. 18, No. 9, pp. 830-836, 2012.

28.  Daegil Park, Kyungmin Kwak, Wan Kyun Chung, and Jinhyun Kim, “Infrastructure-based Localization System using Underwater Wireless Sensor Network,” Journal of Institute of Control, Robotics and Systems, Vol. 18, No. 8, pp. 699-705, 2012.

29.  Jinhyun Kim, Min-Sung Kang, Sangdeok Park, "Accurate Modeling and Robust Hovering Control for a Quad-rotor VTOL Aircraft," Journal of Intelligent Robot System, Vol. 57, pp. 9-26, 2010.

30.  Geon Lee, Youngjin Choi and Jinhyun Kim, “Convolution-based Desired Trajectory Generation Method Considering System Specifications,” Journal of Institute of Control, Robotics and Systems, Vol. 16, No. 10, pp. 997-1005, 2010.

31.  B. J. Choi, S. M. Jin, S. H. Shin, J. C. Koo, S. M. Ryew, J. Kim, W. H. Son, K. T. Ahn, W. K. Chung, H. R. Choi, “Development of Flexible BioRobot Platform for Integrated Clinical Test”, Journal of the Association for Laboratory Automation, vol. 13, no. 2, pp. 90-96, April 2008.

32.  Jinhyun Kim, Min-Sung Kang, Sangdeok Park, "Dynamic Modeling and Robust Hovering Control of  a Quadrotor VTOL Aircraft," Journal of Institute of Control, Robotics and Systems, Vol. 14, No. 12, pp. 1260-1265, 2008.

33.  Jinhyun Kim and Wan Kyun Chung, “Thruster Modeling for Underwater Vehicle with Ambient Flow Velocity and its Incoming Angle,” Journal of Korea Robotics Society, Vol. 2, No. 2, pp. 109-118, 2007.

34.  Jinhyun Kim, Giacomo Marani, Wan Kyun Chung and Junku Yuh, "Task Reconstruction Method for Real-Time Singularity Avoidance for Robotic Manipulators," Advanced Robotics, Vol. 20, No. 4, pp. 453-481, 2006.

35.  Jinhyun Kim and Wan Kyun Chung, "Real-time ZMP Compensation Method using Null Motion for Mobile Manipulators,", Advanced Robotics, Vol. 20, No. 5, pp. 581-593, 2006.
 

36.  Jinhyun Kim and Wan Kyun Chung, "Accurate and Practical Thruster Modeling for Underwater Vehicles," Ocean Engineering, Vol. 33, 566-586, 2006.

1.      Kyungmin Kwak, Daegil Park, Wan Kyun Chung, and Jinhyun Kim, “Development of underwater 3-dimension localization method using electromagnetic wave E-plane pattern attenuation,” The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2013), Oct. 30-Nov. 02, 2013.

2.       YoungJin Heo, Gi-Hyeon Lee and Jinhyun Kim, “EKF-based Localization for the Underwater Structure Inspection Robot using Depth Sensor and IMU,” The 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2012), Nov. 26-28, 2012.

3.       Jae Jun Park, Won Suk You, Sung Moon Jin, Hyouk Ryeol Choi , Wan Kyun Chung, Jinhyun Kim and Sung Moo Ryew “A Point-Of-Care Test Equipment for Flexible Laboratory Automation,” 8th IEEE Conference on Automation Science and Engineering, August 20-24, 2012.

4.       Kyungmin Kwak, Jinhyun Kim, Daegil Park, and Wan Kyun Chung, “Localization of Unmanned Underwater Vehicles Using EM Wave in Structured Environment,” IEEE Oceans-Yeosu 2012.

5.       Gi-Hyeon Lee and Jinhyun Kim, “A study on the UUV docking system by using torpedo tubes,” The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011) Nov. 23-26, 2011.

6.       Daegil Park, Jinhyun Kim and Wan Kyun Chung, “Simulate 3D underwater Localization based on RF Sensor Model using EKF,” The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011) Nov. 23-26, 2011.

7.       Ja Choon Koo, Seung Hoon Shin, Hyouk Ryeol Choi, Hyung Pil Moon, Sung Moo Ryew, Suk Joong Kim, Jinhyun Kim, and Wankyun Chung, “A Job Scheduling Algorithm Development for a Small Size Clinical Test Platform Using a Virtual Prototype Machine,“ Lab Automation 2011, January 30-February 2, 2011.

8.       Se-Jin Lee, Kyung-Min Kwak, and Jinhyun Kim, “Development of Two Dimensional Underwater Localization System using RF Sensors,” The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010) Nov. 23-26, 2010.

9.       Geon Lee, Youngjin Choi, Jinhyun Kim, and Suk-Joong Kim, “Jerk-Bounded Trajectory Generation Method Using Digital Convolution,” The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009) Oct. 29-30, 2009.

10.    Jinhyun Kim, Min Sung Kang, and Sangdeok Park, “Accurate Modeling and Robust Hovering Control for a Quad-rotor VTOL Aircraft,” UAV 2009, Reno, June 2009.

11.    Seung Hoon Shin, Byung June Choi, H. R. Choi, H. P. Moon, Sung Moo Ryew, J. H. Kim, Wankyun Chung and J. C. Koo "A Job Scheduling for a Small Scale Clinical Test Platform using Multiple Mobile Robots", Lab Automation 2009, January 24-28, 2009.

12.    B. J. Choi, S. M. Jin, S. H. Shin, B. S. Kim, J. C. Koo, S. M. Ryew, J. H. Kim, W. H. Son, K. T. Ahn, W. K. Chung and H. R. Choi, "A Novel Robotic Platform using Mobile Agents for Laboratory Automation", LabAutomation 2009, January 24-28, 2009.

13.    Byung June Choi, Sung Moon Jin, Seung Hoon Shin, Ja Choon Koo, Sung Moo Ryew, Min Cheol Kim, JinHyun Kim, Woong Hee Son, Ki Tak Ahn, Wan Kyun Chung and Hyouk Ryeol Choi, "Development of Flexible Laboratory Automation Platform using Mobile Agents in the Clinical Laboratory", 4th IEEE Conference on Automation Science and Engineering, August 23-26, 2008.

14.    Byung June Choi, Sung Moon Jin, Seung Hoon Shin, Ja Choon Koo, Sung Moo Ryew, Min Cheol Kim, JinHyun Kim, Woong Hee Son, Ki Tak Ahn, Wan Kyun Chung and Hyouk Ryeol Choi, "Development of Flexible Mobile Agents for BioRobot System in the Clinical Laboratory", The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), 2007.

15.    Byung June Choi, Sung Moon Jin, Seung Hoon Shin, Ja Choon Koo, Sung Moo Ryew, JinHyun Kim, Woong Hee Son, Ki Tak Ahn, Wan Kyun Chung and Hyouk Ryeol Choi, “Development of Intelligent BioRobot Platform for Integrated Clinical Test", The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), 2007.

16.    Jung Woo Kim , Byung June Choi, Kyuho Noh, Hyouk Ryeol Choi, Ja Choon Koo, Sung Moo Ryew, Jinhyun Kim, Woong Hee Son, “Automatic Scheduling Algorithm for Personalized Clinical Test,” SICE-ICASE Int. Joint Conf. 2006.

17.    Byung June Choi, Kyuho Noh, Jung Woo Kim, Ja Choon Koo, Sung Moo Ryew, Jinhyun Kim, Woong Hee Son, Hyouk Ryeol Choi, “Intelligent BioRobot Platform for Integrated Clinical Test,” SICE-ICASE Int. Joint Conf. 2006.

18.    Jinhyun Kim, Woong Hee Shon, Ho-Gil Lee, and Wan Kyun Chung, "Preliminary Thruster Control Experiments for Underwater Vehicle Positioning," IEEE Int. Conf. on Robotics and Automation 2006, Orlando, USA, 3233-3237.

19.    Jinhyun Kim, Jonghui Han, Wan Kyun Chung, and Junku Yuh, "Accurate Thruster Modeling with Non-Parallel Ambient Flow for Underwater Vehicles," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2005, 1737-1742.

20.    Jinhyun Kim, Jonghui Han, Wan Kyun Chung, Junku Yuh, and Pan-Mook Lee, "Accurate and Practical Thruster Modeling for Underwater Vehicles," IEEE Int. Conf. on Robotics and Automation 2005, 176-181.

21.    Jinhyun Kim, Giacomo Marani, Wan Kyun Chung and Junku Yuh, "A General Singularity Avoidance Framework for Robot Manipulators: Task Reconstruction Method," IEEE Int. Conf. on Robotics and Automation 2004, 4809-4814.

22.    Jinhyun Kim, Giacomo Marani, Wan Kyun Chung and Junku Yuh, "All kinds of singularity avoidance in redundant manipulators for autonomous manipulation," Int. Conf. on Control, Automation and Systems 2003, 1587-1592.

23.    Jae-Sung Moon, Wan Kyun Chung, Jinhyun Kim and Youngil Youm, "Joint Limits Avoidance of the Passive Arm for Underwater Vehicle-Manipulator Systems," Int. Conf. on Mechatronics and Information Technology 2003, 725-729.

24.    Giacomo Marani, Jinhyun Kim, Junku Yuh, and Wan Kyun Chung, "Algorithmic singularities avoidance in task-priority based controller for redundant manipulators," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2003, 3570-3574.

25.    Jinhyun Kim, Wan Kyun Chung, and Junku Yuh, "Dynamic Analysis and Two-Time Scale Control for Underwater Vehicle-Manipulator Systems," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2003, 577-582.

26.    Jinhyun Kim and Wan Kyun Chung, "Dynamic Analysis and Active Damping Control for Underwater Vehicle/Manipulator Systems," The Thirteenth (2003) International Offshore and Polar Engineering Conference, 197-204.

27.    Jinhyun Kim, Giacomo Marani, Wan Kyun Chung, and Junku Yuh, "Kinematic Singularity Avoidance for Autonomous Manipulation in Underwater," The Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium, 143-149.

28.    Jinhyun Kim, Giacomo Marani, Wan Kyun Chung, Junku Yuh, and Sang-Rok Oh, "Dynamic task priority approach to avoid kinematic singularity for autonomous manipulation," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2002, 1942-1947.

29.    Giacomo Marani, Jinhyun Kim, Junku Yuh, and Wan Kyun Chung, "A real-time approach for singularity avoidance in Resolved Motion Rate Control of Robotic Manipulators," IEEE Int. Conf. on Robotics and Automation 2002, 1973-1978.

30.    Jinhyun Kim, Wan Kyun Chung, and Youngil Youm, "Real-time ZMP Compensation Method using Null Motion for Mobile Manipulators," IEEE Int. Conf. on Robotics and Automation 2002, 1967-1972.

31.    Jinhyun Kim, Wan Kyun Chung, and Youngil Youm, "Normalized Impact Geometry and Performance Index for Redundant Manipulators," IEEE Int. Conf. on Robotics and Automation 2000, 1714-1719.

32.    Jinhyun Kim, Wan Kyun Chung, and Youngil Youm, "Impact Reduction for Unknown Environment Using Kinematic Redundancy," Proc. of Korea Automatic Control Conference, pp. E25-E28, Yong-In, 1999.

      1. 햅틱 컨트롤러 매커니즘

   2. 반 전력 빔 폭을 이용한 3차원 수중 위치 추정 방법

   3. 압력 센서 및 전자기파 신호 발생 노드 어레이를 통한 3차원 수중 위치 추정 방법

   4. 전자기파를 이용한 3차원 수중 위치 추정 방법

   5. 수중 로봇의 위치 추정 시스템

   6. 전자기파를 이용한 수중 거리측정

   7. 수중이동체 및 이의 운용시스템

   8. 전자기파를 이용한 수중 위치측정 방법 및 시스템(Underwater localization method and system using electromagnetic wave)

   9. 수중이동체 및 이의 운용시스템(UNDERWATER VEHICLE AND OPERATING SYSTEM FOR THE SAME)

   10. 전자기파를 이용한 수중 위치측정 방법 및 시스템

   11. 수조 바닥면 청소 장치(Apparatus of cleaning bottom of water container)

   12. 주행하체를 갖는 인간형 로봇(Wheel-based humanoid robot)  

   -  Jinhyun Kim, “Thruster Modeling and Controller Design for Unmanned Underwater Vehicles (UUVs),” Underwater Vehicles, Edited by Alexander V. Inzartsev, ISBN 978-953-7619-49-7, Publisher: InTech, 2009.