RCL Publication

◆ 국제 저널 논문 (International Journal Paper)

[39] Pyung-hun Chang, Dong Ki Han, Yun-ho Shin, Kwang-joon Kim, Ph.D., "Effective Suppression of Pneumatic Vibration Isolators by using Input-Output Linearization and Time-Delay Control", Journal of Sound and Vibration, 2009(to be accepted)
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[38] G.R. Cho, P.H. Chang, S.H. Park and Maolin Jin, " Robust tracking under nonlinear friction using time delay control with internal model," IEEE Trans. Control Systems Technology, vol 17, iss 6, pp 1406-1414, Nov. 2009
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[37] M. Jin, J. Lee, P. H. Chang, C. Choi, "Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3593-3601, Sep 2009
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[36] Maolin Jin, P.H. Chang," Simple robust technique using time delay estimation for the control and synchronization of Lorenz systems," Chaos, Solitions & Fractals, vol 41, iss5, pp 2672-2680, Sep. 2009
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[35] S.H. Kang, M. Jin, and P.H. Chang, " A solution to the accuracy/robustness dilemma in impedance control," IEEE/ASME Trans. Mechatronics, vol. 14, iss. 3, pp.282-294 Jun. 2009
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[34] P.H.Chang and J.H. Jung, "A systematic method for gain selection of robust PID control for nonlinear plants of 2nd order controller canonical form", IEEE Transaction on Control Systems Technology, vol.17, iss 2, pp 473-483 Mar. 2009.
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[33] Maolin Jin, Sang Hoon Kang and Pyung Hun Chang, "Robust Compliant Motion Control of Robot with Nonlinear Friction Using Time Delay Estimation", IEEE Transaction on Industrial Electronics,Vol.55,No.1,Jan.2008.
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[32] Pyung Hun Chang and Sang Hyun Park, “A target-oriented design of a robot arm assisting people with disabilities at working place,” International Journal of Assitive Robotics and Mechatronics, vol.8, no.3, pp3-10, Sep. 2007.
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[31] Joon-Young Park, Pyung-Hun Chang, and Jin-Oh Kim, “A Global Optimal Approach for Robot Kinematics Design using the Grid Method ,” IJCAS , vol.4, no.5, pp.575-591, Oct. 2006.  [DownLoad]:

[30] Juyi Park, Pyung-Hun Chang, Hyung-Soon Park, and Eunjeong Lee, “Design of learning input shaping technique for residual vibration suppression in an industrial robot,” IEEE/ASME Trans. Mechatronics, 2006. [DownLoad]:

[29] P. H. Chang, H. S. Park, “Time-varying input shaping technique applied to vibration reduction of an industrial robot,” Contr. Eng. Prac., vol. 13, no. 1, pp.121-130, 2005.  [DownLoad]:

[28] J.Y. Park, P.H. Chang, “Vibration control of a telescopic handler using time delay control and commandless input shaping technique,” Contr. Eng. Prac., vol. 12, iss. 6, pp.769-780, 2004.  [DownLoad]:

[27] Z. Bien, M. J. Chung, P. H. Chang, D. S. Kwon, D. J. Kim, J. S, Han, J. H. Kim, D. H. Kim, H. S. Park, S. H. Kang, K. B. Lee, and S. C. Lim, “Integration of a rehabilitation robotic system (KARES II) with human-friendly man-machine interaction units,” Autonomous Robots, vol. 16, iss. 2, pp.165-191, Mar. 2004.  [DownLoad]:

[26] J. Y. Park, P. H. Chang and J.Y. Yang, “Task-oriented design of robot kinematics using grid method,” Advanced Robotics, vol.17, no.9, pp.879-907, Oct. 2003.  [DownLoad]:

[25] P. H. Chang and H. S. Park, “Development of a robotic arm for handicapped people: a task-oriented design approach,” Autonomous Robots, vol. 15, iss. 1, pp. 81-92, July 2003.  [DownLoad]:

[24] J.Y. Park and P.H. Chang, “Enhanced time delay control and its applications to force control of robot manipulator,” International Journal of Human-friendly Welfare Robotic Systems, vol. 4, no. 2, pp. 44-50, Jun. 2003.  [DownLoad]:

[23] E. Lee, J. Park, K.A. Loparo, C.B. Schrader and P. H. Chang, “Bang-bang impact control using hybrid impedance/time-delay control,” IEEE/ASME Trans. Mechatronics, vol. 8, no. 2, pp. 272-277, Jun. 2003.
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[22] P. H. Chang, S.H. Park, “On improving time-delay control under certain hard nonlinearities,” Mechatronics, vol. 13, pp. 393-412, May 2003.  [DownLoad]:

[21] H. S. Park, P. H. Chang, D. Y. Lee, “Trajectory planning for the tracking control of systems with unstable zeros,” Mechatronics, vol. 13, iss. 2, pp. 127-139, Mar. 2003.  [DownLoad]:

[20] S. U. Lee and P. H. Chang, “The development of anti-windup scheme for time delay control with switching action using integral sliding surface,” Trans. ASME J. Dyn. Syst. Meas. Control, vol. 125, no. 4, pp. 630-638, Dec. 2003.  [DownLoad]:

[19] S. Lee, P. H. Chang, “A straight-line motion tracking control of hydraulic excavator system,” Mechatronics, vol. 12, no. 1, pp.119-138, Jan. 2002.  [DownLoad]:

[18] S. U. Lee and P. H. Chang, “Control of a heavy-duty excavator using time delay control with integral sliding surface,” Contr. Eng. Prac., vol.10, iss. 7, pp.697-711, Aug. 2002.  [DownLoad]:

[17] H. S. Park, P. H. Chang and D. Y. Lee, “Concurrent design of continuous zero phase error tracking controller and sinusoidal trajectory for improved tracking control,” Trans. ASME J. Dyn. Syst. Meas. Control, vol.123, no. 1, pp. 127-129, Mar. 2001.  [DownLoad]:

[16] J. Park and P. H. Chang, “Learning input shaping technique for non-LTI systems,” Trans. ASME J. Dyn. Syst. Meas. Control, vol. 123, no.2, pp. 288-293, Jun. 2001.  [DownLoad]:

[15] P. H. Chang and J. Park, “A concurrent design of input shaping technique and a robust control for high-speed/high-precision control of a chip mounter,” Contr. Eng. Prac., vol.9, no.12, pp.1279-1285, 2001.
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[14] K. C. Park, P. H. Chang, S. Lee, “Analysis and control of redundant manipulator dynamics based on an extended operational space,” Robotica, vol. 19, no. 6, pp.649-662, Nov. 2001.  [DownLoad]:

[13] S. H. Park, P.H. Chang, “An Enhanced Time Delay Observer for Nonlinear Systems,” Transactions on Control, Automation and Systems Engineering, vol. 2, no. 3, pp. 149-156, Sep. 2000.  [DownLoad]:

[12] P. H. Chang, K. C. Park, S. Lee, “An extension to operational space for kinematically redundant manipulators: kinematics and dynamics,” IEEE Trans. Robot. Autom. , vol. 16, no. 5, pp. 592-596, Oct. 2000.  [DownLoad]:

[11] P.H. Chang, S.H. Park, and J.H. Lee, “A reduced order time-delay control for highly simplified brushless DC motor,” Trans. ASME J. Dyn. Syst. Meas. Control, vol. 121, no. 3, pp.556-559. Sep. 1999.   [DownLoad]:

[10] J. W. Lee and P. H. Chang, “Input/output linearization using time delay control and time delay observer,” KSME International Journal, vol. 13, no. 7, pp.546-556, 1999.  [DownLoad]:

[9] J. W. Lee and P. H. Chang, “A robust observer design for nonlinear MIMO plants using time-delayed signals,” Transaction on Control, Automation and Systems Engineering, vol. 1, no. 1, pp.22-31, 1999.  [DownLoad]:

[8] N.I.Kim, C.W.Lee, and P.H.Chang, “Sliding mode control with perturbation estimation: application to motion control of parallel manipulator,” Contr. Eng. Prac. vol. 6, no. 9, pp. 1321-1330, 1998.  [DownLoad]:

[7] P. H. Chang, J. W. Lee, and S. H. Park, “Time delay observer: a robust observer for nonlinear plants,” Trans. ASME J. Dyn. Syst. Meas. Control, vol. 119, no. 3, pp. 521-527, 1997.  [DownLoad]:

[6] P. H. Chang, B.S.Park, K.C.Park, “An experimental study on improving hybrid position/force control of robot using time delay control,” Mechatronics, vol. 6, no. 8, pp. 915-931, Dec. 1996.  [DownLoad]:

[5] P. H. Chang, J. W. Lee, “A model reference observer for time-delay control and its application to robot trajectory control", IEEE Trans. Contr. Syst. Technol., vol. 4, no. 1, pp. 2-10, Jan. 1996.  [DownLoad]:

[4] P. H. Chang, D. S. Kim, K. C. Park, “Robust force/position control of robot manipulator using time delay control,” Contr. Eng. Prac., vol. 3, no. 8, pp. 1255-1264, Sept. 1995.  [DownLoad]:

[3] P. H. Chang, J. W. Lee, “An observer design for time delay control and its application to DC servo motor,” Contr. Eng. Prac., vol. 2, no. 2, pp. 263-270, Apr., 1994.  [DownLoad]:

[2] S. M. Chin, C. O. Lee, P. H. Chang, “An experimental study on the position control of electrohydraulic servo system using time delay control,” Contr. Eng. Prac., vol. 2, no. 1, pp. 41-48, Feb. 1994.  [DownLoad]:

[1] P. H. Chang, “A closed-form solution for inverse kinematics of robot manipulators with redundancy,” IEEE Trans. Robot. Autom., vol. 3, no. 5, pp. 393-403, Oct. 1987.  [DownLoad]:

  ◆ 국내 저널 논문 (Domestic Journal Paper)

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[21] 김수현, 장평훈, “로봇 메커니즘 및 제어 기술,” 기계저널, vol47, No11,pp. 56-61, Nov, 2007.  [DownLoad]:

[20] 김종현, 김문준, Jin Maolin, 이진오, 장평훈, “목표지향설계 개념을 이용한 실외화재진압 및 인명구조 로봇의 개발,” 제어 자동화 시스템공학 논문지 제13권, 제2호, pp. 86-92, Feb, 2007.  [DownLoad]:

[19] 강상훈, 장평훈, 박형순, “케이블 구동 메커니즘을 이용한 재활 로봇의 능동 컴플라이언스 제어,” 대한기계학회논문집 A, vol 28, No.12, pp. 1823-1832, 2004.  [DownLoad]:

[18] 김성태, 장평훈, 강상훈, “시간 지연 추정을 이용한 강인 Backstepping 제어,” 대한기계학회논문집 A, vol 28, No.12, pp. 1833-1844, 2004.  [DownLoad]:

[17] 조건래, 장평훈, 정제형, “로봇 매니퓰레이터를 위한 시간지연추정과 내부 모델 개념을 결합한 강인 제어기에 관한 연구,” 대한기계학회논문집 A, vol 28, No. 8, pp. 1075-1086, 2004.  [DownLoad]:

[16] 김종현, 장평훈, 박형순, “2채널 제어 구조를 사용한 양방향 원격조종 시스템의 투명도 구현,” 대한기계학회논문집 A권, 제27권, 제11호, pp. 1967-1978, Nov, 2003.  [DownLoad]:

[15] 이성욱, 장평훈, “적분형 슬라이딩 서피스를 이용한 TDCSA(Time Delay Control with Switching Action)의 와인드업 방지를 위한 기법의 개발,” 대한기계학회논문집, 제 26권, 제 8호, pp. 1534-1544, August, 2002.  [DownLoad]:

[14] 권오석, 장평훈, 정제형 “일반적인 플랜트에 대한 시간지연을 이용한 제어기법의 안정성 해석,” 대한기계학회논문집, 제 26권, 제 6호, pp. 1035-1046, June, 2002.  [DownLoad]:

[13] 전보경, 장평훈, 박주이, “입력정합조건을 만족하지 않는 시스템에 대한 강인제어,” 제어 자동화 시스템공학 논문지, vol. 7, No.2, pp. 95-101, February, 2001.  [DownLoad]:

[12] 박준영, 장평훈, “시간지연제어기법과 무지령 입력다듬기기법을 이용한 텔레스코픽 핸들러의 진동 제어,” 대한기계학회논문집, 제 25권, 제 7호, pp. 1097-1106, July, 2001.  [DownLoad]:

[11] 윤승국, 장평훈, 박주이, “다중 입출력 시스템을 위한 음의 입력다듬기 기법의 개발,” 제어 자동화 시스템공학 논문지, vol. 6, No.12, pp. 1045-1052, December, 2000.  [DownLoad]:

[10] 박기철, 장평훈, 김승호, “구속된 환경에서의 여유자유도 로봇의 기구학적 제어와 원자력 발전소 노즐댐 장/탈착작업에서의 적용,” 대한기계학회논문집, 제 20권, 제 12호, pp. 3871-3882, 1996.   [DownLoad]:

[9] 장평훈, 이정완, “비선형계를 위한 시간지연 관측기에 관한 연구,” 대한기계학회논문집, 제 19권, 제 12호, pp. 3088-3122, 1995.  [DownLoad]:

[8] 장평훈, 박기철, 김승호, “여유자유도 로봇의 기구학, 동역학 및 제어를 위한 확장실공간 해석,” 대한기계학회논문집, 제 18권, 제 12호, pp. 3253-3268, 1994.  [DownLoad]:

[7] 박주이, 장평훈, “입력다듬기 기법을 이용한 유연관절을 갖는 로봇의 잔류 진동제어,” 대한기계학회논문집, 제 18권, 제 11호, pp. 3066-3074, 1994.  [DownLoad]:

[6] 장평훈, 박병석, 박주이, “시간지연제어기법을 이용한 로봇의 혼합제어에관한 연구,” 대한기계학회논문집, 제 18권, 제 10호, pp. 2554-2566, 1994.  [DownLoad]:

[5] 장평훈, 박석호, 이성욱, “시간지연제어의 와인드업 방지를 위한 기법의 개발,” 대한기계학회논문집, 제 18권 제 10호, pp. 2616-2628, 1994.  [DownLoad]:

[4] 이정완, 장평훈, “시간지연 제어기법을 이용한 DC서보모터 강인제어기 및 관측기 안정화에 관한 연구,” 대한기계학회 논문집, 제 17권, 제 5호 pp. 1029-1040, 1993.  [DownLoad]:

[3] 이정완, 장평훈, “선형 시불변 계에서 시간지연 제어기를 위한 관측기 설계,” 대한전기학회 논문집, 제 42권 10호 pp. 94-106, 1993.  [DownLoad]:

[2] 박주이, 장평훈, “다중처리기를 갖는 고성능 범용제어기의 개발과 여유자유도로봇의 제어에의 응용,” 한국정밀공학회지, 제10권, 제 4호, pp. 227-235, 1993.  [DownLoad]:

[1] 장평훈, 조선휘, “전기유압식 엑튜에이터의 최적제어,” 대한 기계학회 논문집, 제1권, 제3호, pp 131-140, 1977.   [DownLoad]:

◆ 국제 학회 논문 (International Conference Paper)

[80] P.H. Chang, S.H. Kang and K.B. Park, "Stochastic estimation of human arm impedance under Nonlinear friction in robot joints: a model study," in Proc. of IEEE 11th International Conference on Rehabilitation Robotics, Kyoto Japan, pp 147-154, June 23-26, 2009.

[79] K. B. Park and P. H. Chang, "A vision enhancement technique for remote control of fire fighting robots,". in Proc .of the 39th International Symposium on Robotics, Seoul, Korea, pp. 489-494, Oct 15-17,2008.

[78] S. T. Kim and , P. H. Chang, “Safety-ensuring systematic design for service robots”, in Proc. 6th Int. Conf. on smart Homes and Health Telematics(ICOST), Iowa, USA, pp.208-217, June 28- July 2,2008.

[77] Dong Ki Han, Pyung Hun Chang, and Maolin Jin, “Robust trajectory control of robot manipulators using time delay control with adaptive compensator,”in Proc. of IFAC July.2008.

[76] Sang Hoon Kang, Maolin Jin, and Pyung Hun Chang, “An IMC based enhancement of accuracy and robustness of impedance control,” in Proc. of IEEE International Conference on Robotics and Automation, Pasedana, CA, pp 2623-2628, May 19-23, 2008.

[75] Dong Ki Han and Pyung Hun Chang, "A Robust Two-Time-Scale Control Design for a Pneumatic Vibration Isolator",in Proc. of IEEE Conference on Decision and Control, Dec.2007.

[74] Jae Won Jeong and Pyung Hun Chang, "An Efficient Framework for Multiple Tasks in Human-like Robots",in Proc. of IEEE-RAS International Conference on Humanoid Robots, Nov.2007.

[73] Jonghyun Kim and Pyung Hun Chang , "Extended Transparency as a Quantitative Performance Measure in Bilateral Teleoperation", in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov.2007.

[72] Je Hyung Jung, Pyung-Hun Chang and Sang Hoon Kang, “Stability Analysis of Discrete Time Delay Control for Nonlinear Systems”, in Proc. of the American Control Conference(ACC 2007), pp.5995-6002, July. 2007.

[71] Pyung Hun Chang and Maolin Jin, “Nonlinear target impedance design and its use in robot compliant motion control with time delay estimation,” in Proc.32nd Annual Conf. of IEEE Industrial Electronics Society (IECON2006), Paris, France, pp.161-166, Nov. 2006.

[70] Pyung-Hun Chang, Young-Hwan Kang, Gun Rae Cho, Jong Hyun Kim, Maolin Jin, Jinoh Lee, Jae Won Jeong, Dong Ki Han, Je Hyung Jung, Woo-Jun Lee and Yong-Bo Kim, “Control architecture design for a fire searching robot using task oriented design methodology,” in Proc. SICE-ICASE International Joint Conference (ICCAS2006), Busan, Korea, pp.3126-3131, Oct. 2006.

[69] G.R. Cho, P.H. Chang, and S. H. Park, “Robustifying Internal Model Control,” in Proc. of the 7th International Workshop on Human-friendly Welfare Robotics Systems, pp. 83-90, Oct. 2006.

[68] Maolin Jin, Sang Hoon Kang, Pyung Hun Chang, “A robust compliant motion control of robot with certain hard nonlinearities using time delay estimation,” in Proc. IEEE Int. Symposium Ind. Electron., Montreal, Quebec, Canada, pp. 311-316, July 2006.

[67] G.R. Cho, P.H. Chang and S.H. Park, “Robust trajectory control of robot manipulators using time delay estimation and internal model concept,” in Proc. 44th IEEE Conf. Decision Control and European Control Conf., pp. 3199-3206, Dec. 2005.

[66] P. H. Chang, S. H. Park, G.R. Cho, and J.H. Jung, “A target-oriented design of a robot arm assisting PWD at working place,” in Proc. 6th Int. Workshop on Human-friendly Welfare Robotic Systems (HWRS), pp. 301-307, Daejeon, Korea, Nov. 2005.

[65] P. H. Chang, S. R. Park, G.R. Cho, J.H. Jung and S.H. Park, “Development of a robot arm assisting people with disabilities at working place using task-oriented design,” in Proc. 9th Int. Conf. on Rehabilitation Robotics (ICORR), pp. 482-487, Jun. 2005.

[64] S.H. Kang, M. Jin, P.H. Chang, and E. Lee, “Nonlinear bang-bang impact control for free space, impact and constrained motion: multi-DOF case,” in Proc. American Control Conf., vol.3, pp. 1913-1920, USA, Jun. 2005.

[63] M. Jin, S.H. Kang, P.H. Chang, and E. Lee, “Nonlinear bang-bang impact control: a seamless control in all contact modes,” in Proc. IEEE Int. Conf. Robotics and Automation, pp.557-564, Apr. 2005.

[62] H.S. Park, P.H. Chang and J.H. Kim, “Significance of causality analysis for transparent teleoperation,” in Proc. IEEE Int. Conf. Robotics and Automation, pp 697-702, Apr. 2005.

[61] J.H. Kim, P.H. Chang and H.S. Park, “Transparent teleoperation using two-channel control architectures,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots and Syst. (IROS), pp 1953-1960, 2005.

[60] P.H. Chang , “Direction for Development of Service(Welfare) Robot Industry,” International Robot Industry Forum, Nov. 12, 2004.(Invited Talk)

[59] J.Y. Park, P.H. Chang, J.O. Kim, “Use of grid method for efficient global optimum design of robot kinematics,” in Proc. 5th Int. Workshop on Human-friendly Welfare Robotic Systems (HWRS), pp. 99-104, Daejeon, Korea, 2004.

[58] S.H. Kang, P.H. Chang and E. Lee, “Stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator,” in Proc. IEEE Int. Conf.Mechatron., pp. 84-91, Jun. 2004.

[57] S. H. Kang, M. Jin, P. H. Chang, and E. Lee, “Robot interaction control in unstructured space environment for space exploration,” in Proc. AIAA unmanned unlimited technical conference, AIAA-2004-6567 Chicago, Sept. 2004.

[56] S.H. Kang, P.H. Chang and M. Jin and E. Lee, “Nonlinear bang-bang impact control using time delay: stability analysis and experiments,” in CDROM preprints 5th IFAC Workshop Time Delay System, paper173.pdf, Leuven,
Belgium, Sept. 2004.

[55] J.H. Jung, P.H. Chang and O.S. Kwon, “A new stability analysis of time delay control for input-output linearizable plants,” in Proc. American Control Conf., vol.6, pp. 4972-4979, Jun. 2004.

[54] P.H. Chang, J.H. Jung and J. Lee, “A simple tuning method for robust MIMO PID control,” in CDROM Proc. Int. Conf. Electrical Machines and Syst. (ICEMS), PD-11(630-S01-015) , 2004.

[53] S.U. Lee, P.H. Chang and S.T. Kim, “Time delay control with switching action using frequency-shaped integral sliding surface,” in Proc. American Control Conf., vol.1, pp. 202-207, Jun. 2003.

[52] E. Lee, P.H. Chang, J. Park and Cheryl B. Schrader, “Hybrid impedance/time-delay control from free space to constrained motion,” in Proc. American Control Conf., pp. 2132-2137, Jun. 2003.

[51] E. Lee, J. Park, Cheryl B. Schrader and P.H. Chang, “Impact when robots act wisely,” in Proc. IEEE Int. Conf. Robotics and Automation, vol.3, pp. 3692-3697, Sept. 2003.

[50] Z. Bien, D.J.Kim, M.J.Chung, D. Kwon and P.H. Chang, “Development of a wheelchair-based rehabilitation robotic system (KARES II) with various human-robot interaction interfaces for the disabled,”, in Proc. Int. Conf. on Advanced Intell. Mechatron. , pp. 902-907, July 2003.

[49] P.H. Chang, "Target-Oriented Design of Robots for Handicapped People: Design Philosophy and Two case Studies," International Conference on Rehabilitation Robotics, Apr. 25, 2003. (Plenary speaker)

[48] P.H. Chang, S.H. Kang, H.S. Park, S.T. Kim and J.H. Kim, “Active compliance control for the rehabilitation robot with cable transmission,” in Proc. 8th Int. Conf. on Rehabilitation Robotics (ICORR), pp. 84-87, Daejeon, Korea, Apr. 2003.

[47] P.H. Chang, "Target-Oriented Approach to Robot Design and Its Application to a Fire-fighting Robot," Japan Symposium on Rescue Robotics, Jan. 24, 2003. (Plenary speaker)

[46] S.U. Lee, P.H. Chang and J.H. Jung, “The development of anti-windup scheme for time delay control with switching action using integral sliding surface,” in CDROM Proc. 33rd Int. Symp. Robotics, 054_p84.pdf, Stockholm, Sweden, Oct. 2002.

[45] H.S. Park and P.H. Chang, “Causality analysis Using bond-graph and its significance in bilateral teleoperation,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots and Syst. (IROS), vol 1, pp.2991-2998, Oct. 2002.

[44] J. Park, P.H. Chang and E. Lee, “Can a time invariant input shaping technique eliminate residual vibrations of LTV systems?” in Proc. American Control Conf., vol.3, pp. 2292-2297, May 2002.

[43] K.C. Park, P.H. Chang and S. Lee, “A new kind of singularity in redendant manipulation: semi algorithmic singularity,” in Proc. IEEE Int. Conf. Robotics and Automation, pp.1979-1984, May 2002.

[42] Pyung-Hun Chang, Joon-Young Park and Jeong-Yean Yang, “Task Oriented Design of Robot Kinematics using Grid Method and Its Applications to Nuclear Power Plant,” International symposium on Artificial Intelligence, Robotics and Human Centered Technology for Nuclear applications, pp.114-123, Japan, Jan. 2002.

[41] P. H. Chang, J.Y. Park and J.Y. Yang, “Task oriented design of robot kinematics using grid method,” in Proc. 3rd Int. Workshop on Human-friendly Welfare Robotic Systems (HWRS), pp.10-21, Daejeon, Korea, Jan. 2002.

[40] P.H. Chang, H.S. Park, J. Park, J.H. Jung, B.K. Jeon, “Target-oriented design of a robotic arm for physically disabled people,” 2nd International Workshop on Human-friendly Welfare Robotic Systems (HWRS), pp. 67-74, Daejeon, Korea, Jan. 2001.

[39] P.H. Chang, H.S. Park, J.Park, J.H. Jung, and B.K. Jeon, “Development of a robotic arm for handicapped people: a target-oriented design approach,” in Proc. 7th Int. Conf. on Rehabilitation Robotics (ICORR) ,Integration of Assistive Technology in the Information Age, vol. 9 pp. 84-92, Evry, France, Apr. 2001.

[38] J.Y. Park and P.H. Chang, “Vibration control of telescopic handler using time delay control and commandless input shaping technique,” in Proc. 32nd Int. Symp. Robotics, pp.20-25, Apr. 2001.

[37] S.U. Lee and P.H. Chang, “Trajectory control of an electro-hydraulic excavator Using a robust controller,” in Proc. 32nd Int. Symp. Robotics, pp.1380-1385, Apr. 2001.

[36] S.U. Lee and P.H. Chang, “Control of a heavy-duty robotic excavator using time delay control with switching action with integral slinding surface,” in Proc. IEEE Int. Conf. Robotics and Automation, pp.3955-3960, May 2001.

[35] Zeungnam Bien, PyungHun Chang, Won-Kyung Song, and Hyung-Soon Park, “Wheelchair-based robotic arm system, KARES II, for the disabled - a robotic arm and visual servoing,” 2001 ICRA Workshop, pp.3662-3667, Seoul , Korea, May 2001.

[34] Z. Bien, W.K. Song, D. Kwon, M.J. Chung, P. H. Chang, H.S. Park, D.J. Kim, J.H. Kim, K. Lee, “A wheelchair robot system and its various interface methods for the disabled persons,” in Proc. 2001 IARP/IEEE-RAS Joint Workshop, Technical Challenge for Dependable Robots in Human Environments, VI-4, Seoul, Korea, May, 2001.

[33] P.H. Chang, J. Park, and J.Y. Park, “Commandless input shaping technique,” in Proc. American Control Conf., pp.299-304, Jun. 2001.

[32] J. Park, H.S. Park and P.H. Chang, “Design of a learing input shaping technique for suppressing residual vibration of an industrial robot,” in CDROM Proc. 7th Mechatron. Forum Int. Conf., 10-05.pdf, Sept. 2000.

[31] S.H. Park, P.H. Chang, “An enhanced time delay observer for nonlinear systems,” Proc. 3rd IASTED Int. Conf. Intell. Syst. Contr. (ISC2000), pp.268-274, 2000.

[30] P. H. Chang, K. C. Park, S. Lee, “Dynamic formulations for kinematically redundant manipulator: a comparative study,” in Proc. 1st Int. Workshop on Human-friendly Welfare Robotic Systems (HWRS), pp. 129-164, Daejeon, Korea, Jan. 2000.

[29] S.J. Lee, P.H. Chang and Y.M. Kwon, “An experimental study on cartesian tracking control of automated excavator system using TDC-based robust control design,” in Proc. American Control Conf., vol 5, pp.3180-3185, Jun. 1999.

[28] H.S. Park, P.H. Chang and D.Y. Lee, “Continuous zero phase error tracking controller with gain error compensation,” in Proc. American Control Conf., vol.5, pp.3554~3558, Jun. 1999.

[27] H.S. Park and P.H. Chang, J. S. Hur, “Time-varing input shaping technique applied to vibration reduction of an industrial robot,” in Proc. Int. Conf. Intell. Robots and Syst. (IROS), vol. 1, pp.285-290, Oct. 1999.

[26] K.C. Park, P.H. Chang and S.H. Kim, “Characteristics of optimal solutions in resolving manipulator redundancy under inequality contraints,” in Proc. Int. Conf. Intell. Robots and Syst. (IROS), vol. 1, pp.442-447, Oct. 1999.

[25] J. Park and P.H. Chang, “Learning input shaping technique for non-LTI systems,” in Proc. American Control Conf., vol. 5, pp. 2652-2656, Jun. 1998.

[24] P.H. Chang and S.H. Park, “The development of anti-windup scheme and stick-slip compensator for time delay control,” in Proc. American Control Conf., vol.6, pp.3629-3633, Jun. 1998.

[23] P.H. Chang, J.H. Lee and S.H. Park, “A reduced order time-delay control for highly simplified brushless DC motor,” in Proc. American Control Conf., vol.6, pp.3791-3795, Jun. 1998.

[22] J.W. Lee, P. H. Chang, “Input/output linearization using time delay control and time delay observer,” in Proc. American Control Conf., vol 1, pp. 318-322, Jun. 1998.

[21] K. C. Park, P.H. Chang and S.H. Kim, “The enhanced compact QP method for redundant manipulators using practical inequality constraints,” in Proc. IEEE Int. Conf. Robotics and Automation, vol 1, pp.107-114, May 1998.

[20] P.H. Chang and S.H. Park, “The enhanced time delay observer using low pass filter for nonlinear systems,” in Proc. 37th Int. Conf. Decision and Control, vol.1, pp.367-368, 1998.

[19] K.C. Park, P.H. Chang, and Salisbury J. Kenneth, “A unified approach for local resoution of kinematic redundancy with inequality constraints and its application to nuclear power plant,” in Proc. IEEE Int. Conf. Robotics and Automation, vol.1 , pp. 766-773, 1997.

[18] P.H.Chang and J.W.Lee, “Time delay observer for nonlinear MIMO plants,” in Proc. 2nd Asian Control Conf., vol. 1, pp. 257-260, 1997.

[17] K.C. Park, P.H. Chang, “Kinematic control of redundant manipulators in a constrained environment and its application to a nozzle dam task for a nuclear power plant,” in Proc. 27th Int. Symp. Industrial Robots (ISIR), pp. 237-242, Oct. 1996.

[16] P.H. Chang, K.C. Park, “An extension to operational space formulation for kinematically redundant manipulators: kinematics, dynamics and control,” in Proc. 27th Int. Symp. Industrial Robots (ISIR), pp. 533-538, Oct. 1996.

[15] K.C. Park and P.H. Chang, “Resolution of kinematic redundancy using constrained optimization techniques under kinematic inequality constraints,” in Proc. 11th Korea Automatic Control Conf. (KACC), pp.69-72. Oct. 1996.

[14] K.C. Park , P.H. Chang and S.H. Kim, “Local path-planning of a 8-dof redundant robot for the nozzle dam installation/detachment of the nuclear power plants,” in Proc. 11th Korea Automatic Control Conf. (KACC), pp.133-136. Oct. 1996.

[13] P.H. Chang and J. Park, “Use of input shaping technique with a robust feedback control and its application to the position control of surface mount machine,” in Proc. IEEE Int. Conf. Control Applications, pp. 397-402, Sept. 1996.

[12] S.H. Park, K.C. Park, P.H. Chang, “Global path planning of robot manipulator with kinematic redundancy and its applications,” in Proc. 1st Asia-Pacific Conf. Simulated Evolution and Learning, pp. 227-234, Nov. 1996.

[11] J.H. Lee, P.H.Chang, Y.C. Lee and S.Y. Lee, “A robust control compensates for hardware deficiency in the plant: time delay control for the BLDC motor drive,” in Proc. American Control Conf. vol. 5, pp. 3813-3817, Jun. 1995.

[10] P.H. Chang and J.W. Lee, “Time-delay observer: a robust observer for nonlinear plants using time-delayed signal,” in Proc. American Control Conf., vol. 3, pp. 21-23, Jun. 1995.

[9] P.H. Chang and J.W. Lee, “A robust observer design for nonlinear MIMO plants using time-delayed signals,” in Proc. 3rd European Control Conf., pp. 3760-3765, Sept. 1995.

[8] S.H. Kim and P.H. Chang, “Optimal control of vibration of flexible robot arm with linear actuator,” 1994年度弟12回日本ロボット學會學術講演會, pp. 105-107, 1994.

[7] P.H.Chang and J.W.Lee, “An observer design for time-delay control and its application to trajectory control of robot with high speed,” in Proc. 5th Int. Symp. Robotics and Manufacturing (ISRAM'94), vol.5, pp.41-46, ASME Press, 1994.

[6] P.H.Chang and J.W.Lee, “A model reference observer for time-delay control and its application to robot trajectory control,” in Proc. 4th IFAC Symp. Robot Control, pp. 29-34, Sept. 1994.

[5] P.H.Chang, D.S.Kim and J.W.Lee, “An intelligent force/position control of robot manipulator using time delay control,” in Proc. IEEE Conf. Intell. Robots and Syst. (IROS), vol. 3, pp.1632-1638, Sept. 1994.

[4] P.H.Chang and J.W.Lee, “An observer design for time-delay control and its application to DC servo motor,” in Proc. American Control Conf., pp.1032-1036, 1993.

[3] Sung-Mu Chin, Pyung-Hun Chang and Chung-Oh Lee, “Application of the time Delay Control for An Electrohydraulic Servo System,” Proc. of the 3rd ICFP, pp.309-3112, 1993.

[2] P.H. Chang, “A dexterity measure for the control of redundant manipulators,” in Proc. American Control Conf., pp 496-502, 1989.

[1] P.H. Chang, “A closed-form solution for the control of manipulators with kinematic redundancy,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, pp. 3-14, 1986.

◆ 국내 학회 논문 (Domestic Conference Paper)

[42] 장평훈, 김종현, " 양방향 원격조종의 성능 평가를 위한 성능 목표의 포괄적 고려방법," 2008 제 3회 군사용 로봇 워크샵 논문집 pp. 157-160.

[41] 장평훈, 이진오, 정재원, 김종현, 조건래, 김종권, 이우준, "소방로봇을 위한 인명구조 보조용 마스터/슬레이브 매니퓰레이터의 설계", 2007 한국화재 소방학회지, pp.213-218.

[40] 장평훈, 박경빈, 조건래, 김종권, 이우준, "소방로봇 원격제어를 위한 영상 강화 기법", 2007 한국화재 소방학회지, pp.219-224.

[39] 김종현, 김문준, Jin Maolin, 이진오, 장평훈, “목표 지향 설계 개념을 이용한 실외화재 진압 및 인명 구조 로봇의 개발,” 2006 제어 자동화 시스템 공학회 대전 충청지부 학술발표회 모음집, pp. 101-106.

[38] 장평훈, 강영환, 조건래, 김종현, Jin Maolin, 이진오, 정재원, 한동기, 정제형, 이우준, 김용보, “목표지향설계 개념을 이용한 화재탐색로봇의 제어구조 설계,” 2006 제어자동화시스템 심포지엄 논문집, pp.693-698.

[37] 장평훈, 박형순, 서명진, 강상훈, 김성태, “Implementation of Predefined Tasks for the Disabled Bu Using the Target-Oriented-Designed soft Robotic Arm,” Proceedings of 2001 service Robot workshop, pp. 135-142, 평창, 한국, Nov. 30-Dec. 1, 2001.

[36] 장평훈, 정제형, “화재 진압용 로봇의 개념 정의 와 설계,” 대한 기계학회2001년도 동역학 및 제어부분 하계 워크숍, pp. 80-94.

[35] 이수진, 장평훈, “본드그래프 모델링 소프트웨어를 이용한 굴삭기 시스템의 모델링,” 2000년도 대한기계학회 동역학 및 제어부문 하계(7월) 학술대회 논문집, pp. 143-151.

[34] 장평훈, 박주이, 박형순, 정제형, 전보경, “Designing/manufacturing a soft robotic arm for the disabled based on predefined tasks,” Proceedings of 2000 Service Robot Workshop, pp. 131-138, Seoul, Korea, July 2000.

[33] 박주이, 박형순, 장평훈, “산업용 로봇의 잔류진동 제어를 위한 학습 입력다듬기 기법의 설계,” 대한 기계학회 동역학 및 제어 부문-생산 및 설계 공학 부문 1999년도 공동학술 대회, pp. 190-196, Oct., 1999.

[32] 윤승국, 장평훈, “다중 입출력 시스템을 위한 음의 입력다듬기기법의 개발,” 대한 기계학회 동역학 및 제어 부문-생산 및 설계 공학 부문 1999년도 공동학술 대회, pp. 197-202, Oct., 1999.

[31] 김태영, 장평훈 “매니퓰레이터의 제어 성능 향상을 위한 시간 지연 제어기의 설계,” 1999년 대한기계학회 동역학 및 제어부문 학술대회 논문집, pp. 68-73.

[30] 장평훈, 박주이, 박형순, 정제형, 양정연, “Design strategy for service robot and workspace identification”, Proceedings of 1999 Service Robot Workshop, pp. 145-151, Seoul, Korea, July, 1999.

[29] 정제형, 장평훈, “2자유도 Overhead Crane: 시간 지연 추정을 사용한 Backstepping 제어,” 1998년 대한 기계학회 춘츄 학술대회 논문집, 제1권, 1호, pp. 482-487.

[28] 정제형, 장평훈, “시간 지연 추정을 사용한 Backstepping 제어,” 1998년 대한기계학회 춘계학술대회, pp. 577-582.

[27] 장호연, 박기철, 장평훈, “Feedforward 방법을 이용한 BLDC 모터의 토크리플 보상,” 1997년 제 12차 한국자동제어학술회의 논문집(I) pp. 736-739.

[26] 박준영, 이성욱, 박주이, 장평훈, “DSP 를 이용한 고속 범용 제어기의 구현과 응용,” 1997년 제 12차 한국자동제어학술회의 논문집(I) pp. 69-72.

[25] 박준영, 장평훈, “오차의 상사변환에 위한 선형 관측기 설계에 관한 연구,” 1997년 제 12차 한국자동제어학술회의 논문집(II), pp. 1080-1083.

[24] 이정완, 박주이, 장평훈, “시간지연제어기법의 개념을 이용한 PID제어기의 체계적 게인 추정,” 1997년 제 12차 한국 자동제어 학술회의 논문집(II) pp. 1093-1096.

[23] 박주이, 장평훈, “비동기 멀티레이트 시스템에서의 주기적인 안정성 변화에 관한 연구,” 1996년 제어계측/자동화/연구회 합동 학술발표회 논문집, pp. 38-41.

[22] 박석호, 장평훈, “시간지연추정을 사용한 로봇매니퓰레이터의 모델 추종가변구조제어,” 1996년 제어계측/자동화/연구회 합동 학술발표회 논문집, pp. 127-130.

[21] 박형순, 장평훈, “비최소위상 시스템에서 궤적제어를 위한 연속시간영역의 ZPETC 및 TDC의 동시적 설계에 대한 연구,” 1996년 대한기계학회 춘추학술대회 논문집, 제1권, 1호 pp. 434-439.

[20] 이성규, 장평훈, “시간지연제어기법을 이용한 로봇혼합제어에서 진동의 원인분석 및 대책,” 1996년 대한기계학회 춘추학술대회 논문집, 제1권, 1호, pp. 396-401.

[19] 박기철, 장평훈, “구속된 환경에서 여유자유도 매니퓰레이터의 기구학적 제어와 원자력 발전소를 위한 노즐댐 작업에의 적용,” 1995년 한국자동제어 학술회의 논문집, pp. 1162-1165.

[18] 박기철, 장평훈, “로봇과 환경의 충돌시 충격현상을 최소화 하기 위한 여유자유도의 이용에 관한 연구,” 1994년 한국자동제어 학술회의 논문집, pp. 362-367.

[17] 장평훈, 박주이, “Input shaping을 이용한 유연체의 자유진동 제어 기법,” 1994년 제4차 유도무기 학술대회 pp. 284-289.

[16] 이정완, 장평훈, “비선형 다입출력계를 위한 시간지연 관측기에 관한 연구,” 1994년 한국자동제어 학술회의 논문집, pp. 1466-1471.

[15] 박주이, 장평훈, “입력다듬기 기법을 이용한 유연관절을 갖는 로봇의 잔류진동 제어,” 1994년 한국정밀공확회 춘계학술대회, pp. 286-291.

[14] 박석호, 이성욱, 장평훈, “포화 요소가 있는 시스템에 대한 TDC의 강인제어성능,” 1994년 한국자동제어 학술회의논문집, pp. 732-737.

[13] 장평훈, 박병석, 박주이, “시간지연 제어기법을 이용한 로봇의 혼합(위치/힘) 제어에 관한 연구,” 1994년 한국정밀공학회 춘계학술대회, pp. 297-302.

[12] 이성욱, 장평훈, “RCCL(Robot Control C Library)를 이용한 범용제어기의 다중 로봇 제어,” 1995년 대한기계학회 춘추학술대회 논문집, 제1권 1호 pp. 882-887.

[11] 박석호, 장평훈, “마찰을 갖는 시스템의 TDC 적용에 관한 연구,” 1995년 대한기계학회 춘추학술대회 논문집, 제 1권, 1호,pp. 850-855.

[10] 이수진, 장평훈, “여유자유도 로봇 제어방법의 문제점 분석 및 해결방법,” 1994년 대한기계학회 춘추학술대회 논문집, 제1권, 1호, pp. 717-722.

[9] 이정완, 장평훈, “비선형계를 위한 시간 지연 관측기에 관한 연구,” 1994년대한기계학회 춘계학술회의 논문집, 제1권, 1호, pp. 588-593

[8] 장평훈, 박석호, 이성욱, “TDC의 와인드업 방지를 위한 기법 개발,” 1994년 제 4차 유도무기 학술대회, pp. 264-269.

[7] 박기철, 장평훈, “속도수준 확장 실공간에 기초한 여유자유도 매니퓰레이터의 동역학적 제어 알고리즘,” 1993년 대한기계학회 춘추 학술회의 논문집, 제1권, 1호, pp. 309-314.

[6] 박석호, 이성욱, 장평훈, “TDC의 와인드업 방지를 위한 기법 개발,” 1993년 대한기계학회 추계학술대회, pp. 265-270.

[5] 이정완, 장평훈, “단일 입출력계를 위한 TDC의 강인 안정성을 위한 연구,” 1993년 대한기계학회 추계 학술대회, pp. 271-276.

[4] 이정완, 장평훈, “선형 시불변 계에서 시간 지연 제어기를 위한 관측기의 설계,” 1993년 대한기계학회 춘추학술대회 논문집, 제1권 1호, pp. 612-617.

[3] 박주이, 장평훈, “다중 처리기를 갖는 고성능 범용 제어기의 개발과 여유자유도로봇 제어에의 적용,” 1993년 대한기계학회 춘추 학술회의 논문집, 제1권, 1호, pp. 300-304.

[2] 박주이, 장평훈, “다중처리기를 갖는 고성능 범용 제어기 개발과 여유자유도 로봇제어에의 응용,” 93로보틱스 및 자동화 연구회 워크샵논문집, pp. 30-34, 1993.

[1] 이정완, 장평훈, 김승호, “TDC를 이용한 강인 DC서보모터 제어기 설계 및 관측기/제어기 안정화에 관한 연구,” 1992년 대한기계학회 춘추학술대회 논문집, 제1권, 1호, pp. 599-604.