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Won Kim

Address:

4800 Oak Grove Drive
M/S 321-151
Pasadena, CA 91109

Phone:

818.354.5047

Fax:

818.393.6748

Member of:

347G - Robotic Manipulation and Sampling

Won S. Kim, Ph.D.

Member of Technical Staff

Biography

Won S. Kim is a Senior Member of Technical Staff in the Mobility and Manipulation Group. He has over 20 years experience in telerobotics research and development including software design and implementation, model and sensor based control, real-time motion control, calibration, system integration, validation, and flight software implementation

Education

Ph.D. in Electrical Engineering and Computer Science, 1986, University of California, Berkeley
M.S. in Electrical Engineering, 1978, Korea Advanced Institute of Science and Technology, Korea
B.S. in Electronics Engineering, 1976, Seoul National University, Korea

Professional Experience

MSL FSW Flight S/W development (2009-present)
MSL SSE Testbed/WSTS Simulation S/W development (2007 - 2009)
ALHAT Lunar Terrain-Relative Navigation S/W Integration and Analysis (2008-2009)
MSL AEGSE Brushless Motor Control S/W Development (2007 - 2008)
Task Manager, Integration of Visual Target Tracking into MER (2005-2006)
Task Manager, Mars Science Laboratory (MSL09) Focused Technology: Instrument Placement Validation (2003-2006)
Motion/Manipulation/Mobility (M3) Lead, CLARAty Testbed (2003-2005)
System Engineering Lead, Remote Exploration and Experimentation Project (2001-2002)
Cognizant Engineer, Mars01 Robotic Arm Flight Software (1999-2000)
Task Manager, NREC/Ford AMTS Object Pose Refinement Task (1998-2000)
Task Manager, Calibrated Synthetic Viewing (1995-1997)
Task Manager, NASA-Industry Cooperative Deneb Commercialization Virtual Reality Calibration Task (1993-1994)
Cognizant Engineer, Advanced Teleoperations (1988-1992)

Research Interests

Software design and implementation for mobility and manipulation systems, supervisory and autonomous system concepts and algorithm development, model and sensor-based real-time control, system integration and validation, flight software implementation

Publications

2023
  1. Ashitey Trebi-Ollennu, Khaled Ali, Cristina Sorice, Won Kim, Steven Myint, Omair Khan, Philip Bailey, Hallie Abarca, Robert G. Deen, Jeng Yen, Justin N. Maki, Grace Lim, Nythi Udomkesmalee, and Jeffrey Umland, "Robotic Deployment and Installation of Payloads on Planetary Surface," Handbook of Space Resources, edited by Viorel Badescu, Kris Zacny, Yoseph Bar-Cohen, Springer, pp. 721 – 762, 28 April 2023.
2022
  1. K. Hand, C. Phillips, A. Murray, et al., "Science Goals and Mission Architecture of the Europa Lander Mission Concept," The Planetary Science Journal, vol. 3, iss. 1, 26 January 2022.
2014
  1. W. S. Kim, A. Diaz-Calderon, S. Peters, J. Carsten, C. Leger, "Onboard Centralized Frame Tree Database for Intelligent Space Operations of the Mars Science Laboratory Rover," IEEE TRANSACTIONS ON CYBERNETICS, VOL. 44, NO. 11, pp. 2109-2121, 01 November 2014.
2009
  1. W.KIm, I. Nesnas, M. Bajracharya, R. Madison, A. Ansar, R. Steele, J. Jiesiadecki, K.Ali, "Targeted Driving Using Visual Tracking on Mars: From Research to Flight," Journal of Field Robotics, 01 January 2009.
2008
  1. Won S. Kim, "MSL Actuator Electrical Ground Support Equipment (AEGSE) Command Dictionary: Initial Release [JPL Internal Only]," JPL D-46244, MSL-586-2349, 01 September 2008.
  2. Won S. Kim, Jeffrey J. Biesiadecki, and Khaled S. Ali, "Visual Target Tracking on the Mars Exploration Rovers," 9th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 01 February 2008.
2006
  1. Won S. Kim, "Mars Exploration Rover Flight Software Development Folder (SDF) - Module: VTT (Visual Target Tracking) [JPL Internal Only]," 01 March 2006.
  2. Won S. Kim, "Mars Exploration Rover R9.2 FSW VTT (Visual Target Tracking) Regression Test Procedure [JPL Internal Only]," 01 March 2006.
  3. Won S. Kim, Robert D. Steele, Adnan I. Ansar, Danielle E. Ator, Shawn S. Catron, "Visual Target Tracking Technology Validation Report [JPL Internal Only]," JPL D-33416, 01 January 2006.
2005
  1. W. S. Kim, A. I. Ansar, R.D. Steele, "Performance Analysis and Validation of a Stereo Vision System," IEEE SMC 2005, 01 October 2005.
  2. W. S. Kim, A. I. Ansar, R.D. Steele, "Rover Mast Calibration, Exact Camera Pointing, and Camera Handoff for Visual Target Tracking," IEEE 12th Int. Conf. on Advanced Robotics (ICAR'05), 01 July 2005.
  3. W. Kim A. Ansar R. Steele K. Ali I. Nesnas, "Rover-Based Visual Target Tracking Validation and Mission Infusion," American Institute for Aeronautics and Astronautics Conference, 01 January 2005.
  4. W. S. Kim, R. C. Steinke, R. D. Steele, "2D Target Tracking Technology Validation Report," JPL D-27015, 01 January 2005.
2004
  1. W. S. Kim, R. C. Steinke, R. D. Steele, A. I. Ansar, "Camera Calibration and Stereo Vision Technology Validation Report," JPL D-27015, 01 January 2004.
2001
  1. W.S. Kim, D.M. Helmick, and A. Kelly, "Model-Based Object Pose Refinement For Terrestrial and Space Autonomy," International Symposium on Artificial Intelligence and Robotics in Space, 01 January 2001.
1999
  1. W. S. Kim, "Computer Vision Assisted Virtual Reality Calibration," IEEE Trans. on Robotics and Automation, vol. 15, no. 3, pp. 450-464, 01 June 1999.
1996
  1. W. S. Kim, "Virtual Reality Calibration and Preview/Predictive Displays for Telerobotics," Presence, MIT Press, vol. 5, no. 2, pp. 173-190, 01 January 1996.
1992
  1. W. S. Kim, B. Hannaford, and A. K. Bejczy, "Force-Reflection and Shared Compliant Control in Operating Telemanipulators with Time Delay," IEEE Trans. on Robotics and Automation, vol. 8, no. 2, pp. 176-185, 01 April 1992.