Dongjun Lee

Assistant Professor

Dept. of Mech., Aero. & Biomed. Engineering

502 Dougherty Hall

Univ. of Tennessee-Knoxville

Knoxville, TN 37996-2210

(phone) 865-974-5309 (fax) 865-974-5274

(email) djlee at utk dot edu   (personal webpage) http://web.utk.edu/~djlee

(dept. webpage) http://www.engr.utk.edu/mabe/fac-dl.html       

   education

       - Ph.D. Mechanical Engineering, Univ. of Minnesota-Minneapolis, May 2004 (advisor: Prof. Perry Y. Li)

       - M.S. Automation and Design, KAIST, Seoul, Korea, Feb. 1997 (advisor: Prof. Jiho Song)

       - B.S. Mechanical Engineering, KAIST, Taejon, Korea, Feb. 1995

   experience

       - Assistant Professor, July 2006 -Present
          Dept. of Mech., Aero. & Biomed. Engineering, Univ. of Tennessee-Knoxville

       - Postdoctoral Research Fellow, January 2004 - June 2006 (supervisor: Prof. Mark W. Spong)
          Coordinated Science Laboratory, Univ. of Illinois, Urbana-Champaign

       - Engine Development Engineer, January 1997 - May 1999
          Powertrain Research Group, Central R & D Center, Kia Motors, Korea

   research

       research interests

            bilateral teleoperation over the Internet; human interactive & cooperative robots;

            haptic interfaces; biped walking robot; multirobot teleoperation & cooperative manipulation; 

            multiagent distributed coordination & mobile sensor networks; multiple spacecraft

            formation flying; geometric control theory of mechanical systems; application of control

            system concepts for innovative product design  

      research lab:  Interactive & Networked Robotics Lab

        some recent publications (for full publication list, see here)            

             - On passive non-iterative variable-step numerical integration of mechanical systems for haptic

                  rendering, D. Lee & K. Huang, ASME Dynamic Systems & Control Conference 2008 (accepted: pdf)

             - Semi-autonomous tele-driving of multiple wheeled mobile robots over the Internet,

                  D. Lee, ASME Dynamic Systems & Control Conference 2008 (accepted: pdf)

                - Passive position feedback over packet-switching communication network with varying-delay

                  and packet-loss, D. Lee & K. Huang, Haptics Symposium 2008 (pdf)

             - Passive decomposition of multiple nonholonomic mechanical systems under motion coordination

                 requirements, D. Lee, IFAC World Congress 2008 (pdf)          

             - Passive decomposition of multiple mechanical systems under motion coordination requirements,

                 D. Lee & P. Y. Li, IEEE Transactions on Automatic Control (submitted, pdf)

            - Passivity-based switching control for stabilization of wheeled mobile robots, D. Lee,

                 IEEE Transactions on Automatic Control (submitted, pdf)

                 Robotics: Science & Systems 2007 (to appear, pdf)

                 *video: single robot stabilization [avi] / multiple robots coordination [avi]

            - Passivity and energy in the control of biped locomotion, M. W. Spong, J. K. Holm & D. Lee,

                 IEEE Robotics & Automation Magazine (to appear, pdf)

                 *video: walking speed changing while maintaining limit-cycle trajectory (avi)

            - Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators,

                 D. Lee & P. Y. Li, IEEE Transactions on Robotics, vol.21, no.5, p.936-951, 2005 (pdf)

                 *video: 2-dof nonlinear telerobot [mpg]         

            - Passive bilateral teleoperation with constant time-delay, D. Lee & M. W. Spong,

                 IEEE Transactions on Robotics, vol.22, no.2, p.269-281, April 2006 (pdf)

            - Stable flocking of multiple inertial agents on balanced graphs, D. Lee & M. W. Spong,

                 IEEE Transactions on Automatic Control (to appear, pdf)

                  * unstable flocking when inertial effects are neglected [avi]

                  * stabilized flocking with inertial effects considered [avi]

                  * stable flocking of many agents [avi, avi, avi]

            - Agreement with non-uniform information delays, D. Lee & M. W. Spong,

                 2006 American Control Conference (pdf), Automatica (submitted, pdf)   

                  * homogeneous agents agreement (all second-order) [avi]

                  * heterogeneous agents agreement (two are now first-order) [avi]  

                  * agreement of many agents [avi]

            - Bilateral teleoperation of a wheeled mobile robot over delayed communication networks, D. Lee,

                 O. Martinez-Palafox & M. W. Spong, 2006 IEEE Int'l Conf. on Robotics & Automation (pdf)

                   *video 1: view from U. of Illinois (Urbana) [wmv]

                   *video 2: view from U. of New Mexico (Albuquerque: shrieks from camera) [wmv]

            - Bilateral teleoperation of multiple cooperative robots over delayed communication networks: 

                 theory, D. Lee & M. W. Spong, 2005 IEEE Int'l Conf. on Robotics & Automation (pdf)

                   *videos: maintaining rigid formation [avi]/ cooperative manipulation [avi]

                                (green is master robot/other threes are slave robots)

            - Passive decomposition approach to maneuver and formation control of multiple agents with inertias,
                 D. Lee & P. Y. Li, ASME Journal of Dynamic Systems, Measurement & Control (to appear, pdf)

                   *video 1: spacecraft formation flying (attitude & translation) [avi]

                   *video 2: string-stability under disturbance [avi]

                   *video 3: hierarchical control of nine agents [avi]

                   *video 4: hierarchical control of nine agents with temporary actuation failure [avi]

   teaching

       - ME586: Mechanics and Control of Robotic Manipulator

       - ME363: System Dynamics

   awards, honors & services

       - Associate Editor for the ICRA 2007-present; Program Committee for IROS 2008-present;

                 Co-Chair for UKC08 MRM Symposium.

       - NSF Panel: May 2008

       - Doctoral Dissertation Fellowship, University of Minnesota, 2002-2003
       - Best Session Technical Presentation Award, American Control Conference 2003