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% Creation date: 2013-06-20
% Creation time: 14-13-12
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@Article { LeeFSBR2013,
   title = {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles},
   journal = {IEEE/ASME Transaction on Mechatronics},
   year = {2013},
   month = {5},
   abstract = {Abstract—We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP’s motion according to the teleoperation commands and local artificial potentials (for
VP-VP/VP-obstacle collision avoidance and VP-VP connectivity
preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs’ velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2013/2013b-LeeFraSonBueRob.pdf},
   department = {Department B{\"u}lthoff},
   state = {},
   author = {Lee, D and Franchi, A and Son, HI and B{\"u}lthoff, HH and Robuffo Giordano, P}
}

@Article { SonFLKBR2012,
   title = {Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots},
   journal = {IEEE Transactions on Cybernetics},
   year = {2013},
   month = {4},
   volume = {43},
   number = {2},
   pages = {597-609},
   abstract = {In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/2013a-SonFraChuKimBueRob.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6294459},
   DOI = {10.1109/TSMCB.2012.2212884},
   author = {Son, HI and Franchi, A and Chuang, LL and Kim, J and B{\"u}lthoff, HH and Robuffo Giordano, P}
}

@Article { ChoSBLL2011,
   title = {Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues},
   journal = {IEEE Transactions on Industrial Electronics},
   year = {2013},
   month = {3},
   volume = {60},
   number = {3},
   pages = {946-957},
   abstract = {Surgical teleoperation systems are being increasingly deployed recently. There are, however, some unsolved issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues, and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to generalize any approach to develop a control for the system. This paper addresses these issues by proposing a H1 suboptimal controller preserving robust stability and performance. The environment, i.e., soft tissues, is characterized with the nonlinear Hunt-Crossley model. This nonlinear characteristics of soft tissues are expressed with an affine combination of linear models within a predefined parameter polytope. For this linear parmeter varying system, a gain-scheduling control scheme is employed to design a sub-optimal controller while guaranteeing its stability. To avoid using any force measurement in slave, we used position-position control architecture. The developed gain-scheduling control is validated with quantitative experimental results. The developed gain-scheduling PP control scheme shows good tracking capacity and high transparency for varied experimental conditions. Error of the transmitted impedance is significantly lower compared to other conventional control schemes for frequencies less than 2Hz which is frequently recommended for surgical teleoperation.},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6161639},
   DOI = {10.1109/TIE.2012.2189537},
   author = {Cho, JH and Son, HI and Bhattacharjee, T and Lee, DG and Lee, DY}
}

@Article { FranchiSSBR2012,
   title = {Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology},
   journal = {IEEE Transaction on Robotics},
   year = {2012},
   month = {10},
   volume = {28},
   number = {5},
   pages = {1019-1033},
   abstract = {In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine, and underwater) is proposed. By using a decentralized control architecture, the group of robots, which is treated as the slave side, is made able to navigate in a cluttered environment while avoiding obstacles, interrobot collisions, and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity-based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to interrobot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics and validate performance through human/hardware-in-the-loop simulations by considering a heterogeneous fleet of unmanned aerial vehicles (UAVs) and unmanned ground vehicles as a case study. Finally, we also provide an experimental validation with four quadrotor UAVs.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/2012e-FraSecSonBueRob.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6199993},
   DOI = {10.1109/TRO.2012.2196304},
   author = {Franchi, A and Secchi, C and Son, HI and B{\"u}lthoff, HH and Robuffo Giordano, P}
}

@Article { 6459,
   title = {Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation},
   journal = {Advanced Robotics},
   year = {2012},
   month = {9},
   volume = {26},
   number = {18},
   pages = {2115-2143},
   abstract = {This paper presents a new design and analysis of a haptic interface for a gastrointestinal endoscopy simulation. The gastrointestinal endoscopy is a procedure in which the digestive tract and organs of a patient are diagnosed and treated using a long and flexible endoscope. The developed haptic interface incorporates two degrees of freedom (DOF), each of which is necessary to describe the movements of an endoscope during the actual endoscopy procedures. The haptic interface has a translational motion mechanism to implement the insertion movement of the endoscope, and a rotational motion mechanism to implement the rotational movement of the endoscope. The endoscope included in the haptic interface is supported by a folding guide to prevent the endoscope from buckling. Force feedback in each direction is provided by wire-driven mechanisms. The developed haptic interface has a workspace, sensitivity, and maximum attainable force and torque enough to simulate the endoscopy procedures such as colonoscopy, upper GI (gastrointestinal) endoscopy, and endoscopic retrograde cholangiopancreatography (ERCP). The developed haptic interface is applied to implementation of a colonoscopy simulation. Performance including force bandwidth is evaluated through experiments and simulation.},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.tandfonline.com/doi/abs/10.1080/01691864.2012.703300},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1080/01691864.2012.703300},
   author = {Yu, IS and Woo, HS and Son, HI and Ahn, W and Jung, HR and Lee, DY and Yi, SY}
}

@Article { 6456,
   title = {Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation},
   journal = {IEEE Transactions on Industrial Electronics},
   year = {2012},
   month = {8},
   volume = {59},
   number = {8},
   pages = {3273-3285},
   abstract = {This paper aims at analyzing the effect of widely known impedance-shaping control method on the perception of soft-tissues in tele-microsurgical applications. The generalized teleoperation control architecture has been modified to include the impedance-shaping term. New performance index has been defined based on the two proposed indices for the detection and the discrimination of the soft environments to analyze the effect of this modified control on the kinesthetic perception of soft-tissues. The effect is then theoretically analyzed on the conventional position-position, force-position, and four-channel control architectures based on the newly defined index. The effectiveness of this newly proposed kinesthetic perception index is also verified using psychophysics experiments. The theoretical analysis of the effects of the impedance-shaping method on the perception of soft tissues is then validated using the proposed index by experiments with phantom soft tissues for conventional teleoperation architectures.},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5759774},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1109/TIE.2011.2148672},
   author = {Son, HI and Bhattacharjee, T and Hashimoto, H}
}

@Article { SonO2011,
   title = {Real-time automatic inspection of macro defects in in-line TFT fabrication process},
   journal = {Proceedings of the Institution of Mechanical Engineering, Part E: Journal of Process Mechanical Engineering},
   year = {2012},
   month = {5},
   volume = {226},
   number = {2},
   pages = {178-183},
   abstract = {In this article, an automatic detection and judgement method for macro defects in thin film transistor (TFT) fabrication process is proposed using a high-resolution line charge-coupled device camera as a preliminary inspection method for TFT liquid crystal display (TFT-LCD) panel. Macro defects are classified primarily into four types. Relevant detection and judgement methods are then applied according to the type of macro defect using different criteria such as diffraction pattern shifts, just noticeable differences, and the gradient of inspection images. The proposed method is verified with industrial experiments. In the experiment, 559 TFT glasses are used, which are sampled among the glasses and were judged as PASS (i.e. non-killer-defected glass) in the TFT fabrication process by a conventional human inspection method, but were judged as REJECT (i.e. killer-defected glass) in the module process. All macro defects in the sampled glasses were detected and rejected in the TFT fabrication process using the proposed method.},
   department = {Department B{\"u}lthoff},
   web_url = {http://pie.sagepub.com/content/226/2/178.full.pdf+html},
   DOI = {10.1177/0954408911413194},
   author = {Son, HI and Oh, MH}
}

@Article { 6457,
   title = {Enhancement in Operator's Perception of Soft Tissues and Its Experimental Validation for Scaled Teleoperation Systems},
   journal = {IEEE/ASME Transactions on Mechatronics},
   year = {2011},
   month = {12},
   volume = {16},
   number = {6},
   pages = {1096-1109},
   abstract = {This paper focuses on scaled teleoperation systems interacting with soft tissues and presents an optimal control scheme to maximize the operator's kinesthetic perception of remote soft environments while maintaining the stability in macro–micro interactions. Two performance metrics are defined to quantify the kinesthetic perception of the surgeons and the position tracking ability of the master–slave system. Kinesthetic perception is defined based on psychophysics by using two metrics, which relate to the detection and discrimination of stimulus. This paper then employs a multiconstrained optimization approach to get an optimal solution in the presence of the stability-performance tradeoff wherein the objective is to enhance the kinesthetic perception while maintaining the tracking and robust stability for interactions between macro and microworlds. Simplified stability constraints for scaled teleoperation systems are designed based on Llewellyn's absolute stability criterion for the optimization procedure, which provides easy and effective design guidelines for selecting control gains. Experiments with phantom soft tissues have been conducted using scaled force–position control architecture, scaled position–position control architecture, and scaled four-channel control architecture to verify the proposed control scheme. Results prove the effectiveness of this algorithm in enhancing the kinesthetic perception of surgeons for scaled teleoperation systems. Psychophysical experiments were then performed to compare our approach with similar contemporary research methods that further validated its efficacy.},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5605252\&tag=1},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1109/TMECH.2010.2076826},
   author = {Son, HI and Bhattacharjee, T and Hashimoto, H}
}

@Article { 6455,
   title = {Effect of Scaling on the Performance and Stability of Teleoperation Systems Interacting with Soft Environments},
   journal = {Advanced Robotics},
   year = {2011},
   month = {7},
   volume = {25},
   number = {11},
   pages = {1577-1601},
   abstract = {There is generally a tradeoff between stability and performance in haptic control systems. Teleoperation systems with haptic feedback are no exception. Scaling in these systems used in applications such as telemicrosurgical systems has further effects on the stability and performance. This paper focuses on those applications interacting with soft tissues and analyzes the effects of the scaling in an effort to increase the performance of these systems while maintaining the stability. Position tracking and kinesthetic perception are especially important in the tele-surgical systems and, hence, are used as the performance criteria. Quantitatively defined stability robustness, which is based on Llewellyn's absolute stability criterion, is used as a metric for stability analysis. Various choices of scaling factors, and human and environment impedances are then investigated. The proposed kinesthetic perception concept is validated using psychophysical experiments. Widely used bilateral control architectures such as the two-channel position-position, two-channel force-position and four-channel controls are specifically analyzed and evaluated using simulations and experiments with phantom soft tissues. Results also show that the force-position control architecture shows the best position tracking performance irrespective of the scaling factors while the four-channel controller shows the best kinesthetic perception capability.},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.ingentaconnect.com/search/download;jsessionid=5cti7430ec5kb.alexandra?pub=infobike\%3a\%2f\%2fvsp\%2farb\%2f2011\%2f00000025\%2f00000011\%2fart00011\&mimetype=application\%2fpdf\&exitTargetId=1311077540702},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1163/016918611X579547},
   author = {Son, HI and Bhattacharjee, T and Hashimoto, H}
}

@Article { 6642,
   title = {Design and implementation of decentralised supervisory control for manufacturing system automation},
   journal = {International Journal of Computer Integrated Manufacturing},
   year = {2011},
   month = {3},
   volume = {24},
   number = {3},
   pages = {242-256},
   abstract = {Supervisory control theory, which was first proposed by Ramadge and Wonahm, is a well-suited control theory for the control of complex systems such as semiconductor manufacturing systems, automobile manufacturing systems, and chemical processes because these are better modelled by discrete event models than by differential or difference equation models at higher levels of abstraction. Moreover, decentralised supervisory control is an efficient method for large complex systems according to the divide-and-conquer principle. This article presents a solution and a design procedure of supervisory control problem for the case of decentralised control. We apply the proposed design procedure to an experimental miniature computer-integrated manufacturing (CIM) system. This article presents the design of fourteen modular supervisors and one high-level supervisor to control the experimental miniature CIM system. These supervisors are controllable, non-blocking, and non-conflicting. After the verification of the supervisors by simulation, the collision avoidance supervisors for automated guided vehicle system have been implemented to demonstrate their efficacy.},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.informaworld.com/smpp/content\verb=~=db=all?content=10.1080/0951192X.2011.552530},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1080/0951192X.2011.552530},
   author = {Son, HI}
}

@Article { 6447,
   title = {Estimation of environmental force for the haptic interface of robotic surgery},
   journal = {International Journal of Medical Robotics and Computer Assisted Surgery},
   year = {2010},
   month = {6},
   volume = {6},
   number = {2},
   pages = {221-230},
   abstract = {Background
The success of a telerobotic surgery system with haptic feedback requires accurate force-tracking and position-tracking capacity of the slave robot. The two-channel force-position control architecture is widely used in teleoperation systems with haptic feedback for its better force-tracking characteristics and superior position-tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end-effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end-effector for incision or cautery of tissues.

Methods
This paper provides a method to estimate the environment force, using a function parameter matrix and a recursive least-squares method. The estimated force is used to feed back the force information to the surgeon through the control architecture without involving the force sensors.

Results
The simulation and experimental results verify the efficacy of the proposed method. The force estimation error is negligible and the slave device successfully tracks the position of the master device while the stability of the teleoperation system is maintained.

Conclusions
The developed method allows practical haptic feedback for telerobotic surgery systems in the two-channel force-position control scheme without the direct employment of force sensors at the end-effector of the slave robot.},
   department = {Department B{\"u}lthoff},
   web_url = {http://www3.interscience.wiley.com/cgi-bin/fulltext/123410015/PDFSTART},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1002/rcs.311},
   author = {Son, HI and Bhattacharjee, T and Lee, DY}
}

@Article { 6448,
   title = {Automatic Inspection Method for Macro Defects in TFT-LCD Color Filter Fabrication Process},
   journal = {IEICE Electronics Express},
   year = {2009},
   month = {8},
   volume = {6},
   number = {8},
   pages = {516-521},
   abstract = {Defect inspection of thin film transistor liquid crystal displays (TFT-LCDs) is divided into two steps: detection and judgment. This letter proposes an automatic detection and judgment method for macro defects in the TFT-LCD color filter (CF) fabrication process using the diffraction pattern shift and chromaticity, respectively. The proposed method is verified via experiments using sampled CF glasses with macro defects, which were judged as PASS (no defect) in the CF fabrication process by a human operator who inspects CF glasses using conventional inspection systems, but were rejected in the module process. Seventeen rejected glasses were used in the experiments. All macro defects, including non-uniformity under 300{\AA}, were detected and are judged as REJECT (defect) using the proposed method.},
   web_url = {http://www.jstage.jst.go.jp/article/elex/6/8/6_516/_article},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1587/elex.6.516},
   author = {Son, HI}
}

@Article { 6450,
   title = {A Comparison of Decentralized and Partially Observed Supervisors: Application to a CIM Testbed},
   journal = {Journal of Institute of Control, Robotics and Systems},
   year = {2008},
   month = {11},
   volume = {14},
   number = {11},
   pages = {1155-1164},
   abstract = {Supervisory control theory, which was first proposed by Ramadge and Wonahm, is a well-suited control theory for the
control of complex systems such as semiconductor manufacturing systems, automobile manufacturing systems, and chemical processes because these are better modeled by discrete event models than by differential or difference equation models at higher levels of abstraction. Moreover, decentralized supervisory control is an efficient method for large complex systems according to the
divide-and-conquer principle. Decentralized supervisors cannot observe the events those of which occur only within the other supervisors. Therefore decentralized supervisors can be designed according to supervisory control theory under partial observation. This paper presents a solution and a design procedure of supervisory control problem (SCP) for the case of decentralized control and SCP under partial observation (SCPPO). We apply the proposed design procedure to an experimental CIM Testbed. And we compare and analyze the designed decentralized supervisors and partially observed supervisors.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/J-Inst-Contr-Rob-Syst-2008-14-1155.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Lee, S}
}

@Article { 6449,
   title = {Failure Diagnosis and Recovery based on DES Framework},
   journal = {Journal of Intelligent Manufacturing},
   year = {2007},
   month = {2},
   volume = {18},
   number = {2},
   pages = {249-260},
   abstract = {As many industrial systems become more complex, it becomes extremely difficult to diagnose the cause of failures. This paper presents a new failure diagnosis approach based on discrete-event systems (DES) framework. In particular, the approach is a hybrid of event-based and state-based ones leading to a simpler failure diagnoser with supervisory control capability. In our approach, we include the failure recovery events for failures in the system model in order to derive a diagnoser we refer to as a recoverable diagnoser. Further, in order to reduce the state size of the recoverable diagnoser, a procedure to construct a high-level diagnoser is presented. The design procedure for diagnoser is presented along with a pump-valve system as a illustrative example.},
   web_url = {http://www.springerlink.com/content/1760t45712672253/fulltext.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {en},
   DOI = {10.1007/s10845-007-0018-8},
   author = {Son, HI and Lee, S}
}

@Article { 6451,
   title = {Failure Diagnosis of Discrete Event Systems},
   journal = {Journal of Control, Automation and Systems Engineering},
   year = {2001},
   month = {5},
   volume = {7},
   number = {5},
   pages = {375-383},
   note = {In Korean},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Kim, KW and Lee, S}
}

@Article { 6452,
   title = {Design and Implementation of Supervisors to Control of a CIM Testbed},
   journal = {Journal of Control, Automation and Systems Engineering},
   year = {2000},
   month = {6},
   volume = {6},
   number = {6},
   pages = {478-485},
   abstract = {A discrete event systems (DES) is a physical system that is discrete in time and state space, asynchronous (event rather than clock- driven), and in some sense generative(or nondeterministic). This paper presents the design of
fifteen modular supervisors to control an experimental CIM testbed. These supervisors are nonblocking, controllable and
nonconflicting. After verification of the supervisors by simulation, the supervisors for AGV system have been
implemented to demonstrate their efficacy.},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Lee, S}
}

@Inproceedings { RiedelFRBS2012,
   title = {Experiments on Intercontinental Haptic Control of Multiple UAVs},
   year = {2013},
   pages = {227-238},
   abstract = {In this paper we propose and experimentally validate
a bilateral teleoperation framework where a group of
UAVs are controlled over an unreliable network with typical
intercontinental time delays and packet losses. This setting is meant to represent a realistic and challenging situation for the stability the bilateral closed-loop system. In order to increase human telepresence, the system provides the operator with both a video stream coming from the onboard cameras mounted on the UAVs, and with a suitable haptic cue, generated by a forcefeedback
device, informative of the UAV tracking performance
and presence of impediments on the remote site.
In addition to the theoretical background, we describe the
hardware and software implementation of this intercontinental teleoperation: this is composed of a semi-autonomous group of multiple quadrotor UAVs, a 3-DOF haptic interface, and a network connection based on a VPN tunnel between Germany and South Korea. The whole software framework is based upon the Robotic Operating System (ROS) communication standard.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2012/IAS-2012-Riedel2.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.ias-12.org/main/},
   editor = {Lee, S. , H. Cho, K.-J. Yoon, J. Lee},
   publisher = {Springer},
   address = {Berlin, Germany},
   booktitle = {Intelligent Autonomous Systems 12},
   event_place = {Jeju Island, South Korea},
   event_name = {12th International Conference on Intelligent Autonomous Systems (IAS-12)},
   ISBN = {978-3-642-33931-8},
   DOI = {10.1007/978-3-642-33932-5_22},
   author = {Riedel, M and Franchi, A and Robuffo Giordano, P and B{\"u}lthoff, HH and Son, HI}
}

@Inproceedings { SonHBL2012,
   title = {Effects of imperfect communication network on haptic teleoperator's performance},
   year = {2012},
   month = {10},
   pages = {1772-1777},
   abstract = {There is, practically, imperfect communication network (e.g., time delay and packet loss/switching) in haptic interaction (or teleoperation) systems. It is well known that such imperfect communication degrades teleoperator's performance as well as stability. We hypothesis that as an imperfectness level in the communication network is increasing, the teleoperator's performance is decreasing monotonically. In this paper, we verified the hypothesis via a human-centered evaluation of the teleoperator's perceptual performance in terms of just noticeable difference (JND), point of subject equality (PSE), and perception time using two psychophysical experiments: experiment of packet separation time and experiment of packet loss. In the experiment of packet separation time, there were significant increases of JND and PSE as the packet separation time was increased. However, interestingly, there was no significant decrease of teleoperator's perceptual performance in the experiment of packet loss although the packet loss rate was increased until 75 \%. The experimental results clearly shows that the packet separation time affects on the teleoperator's perceptual performance more than the packet loss rate.},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=06393131},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {Jeje, South Korea},
   event_name = {12th International Conference on Control, Automation and Systems (ICCAS 2012)},
   ISBN = {978-1-4673-2247-8},
   author = {Son, HI and Hong, A and B{\"u}lthoff, HH and Lee, D}
}

@Inproceedings { HongBS2012,
   title = {Experimental Design for the Evaluation of a Multi-Modal Feedback in Multi-Robot Teleoperation},
   year = {2012},
   month = {4},
   pages = {-},
   department = {Department B{\"u}lthoff},
   web_url = {http://conference.icros.org/},
   publisher = {Institute of Control, Robotics and Systems},
   address = {Bucheon, South Korea},
   event_name = {27th ICROS Annual Conference (ICROS 2012)},
   author = {Hong, A and B{\"u}lthoff, HH and Son, HI}
}

@Inproceedings { SonCKB2011,
   title = {Haptic Feedback Cues Can Improve Human Perceptual Awareness in Multi-Robots Teleoperation},
   year = {2011},
   month = {10},
   pages = {1323-1328},
   abstract = {The availability of additional force cues in haptic devices are often expected to improve control performance, over conditions that only provide visual feedback. However, there is little empirical evidence to show this to be true for the teleoperation control of remote vehicles (i.e., multiple unmanned aerial vehicles (UAVs)). In this paper, we show that force cues can increase one's sensitivity in discerning the presence of obstacles in the remote multi-UAVs' environment. Significant benefits, relative to a purely visual scenario, were achieved only when force cues were sufficiently amplified by large gains. In addition, force cues tended to provide stronger benefits when they were based on the UAVs' velocity information.},
   department = {Department B{\"u}lthoff},
   web_url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6106130},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {Gyeonggi-do, Korea},
   event_name = {11th International Conference on Control, Automations and Systems (ICCAS 2011)},
   ISBN = {978-1-4577-0835-0},
   author = {Son, HI and Chuang, L and Kim, J and B{\"u}lthoff, HH}
}

@Inproceedings { SonCFKLLBR2011,
   title = {Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots},
   year = {2011},
   month = {9},
   pages = {3039-3046},
   abstract = {In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/IROS-2011-Son.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.iros2011.org/},
   editor = {Amato, N.M.},
   publisher = {IEEE},
   address = {Piscatawy, NJ, USA},
   event_place = {San Francisco, CA, USA},
   event_name = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)},
   ISBN = {978-1-61284-454-1},
   DOI = {10.1109/IROS.2011.6048185},
   author = {Son, HI and Chuang, LL and Franchi, A and Kim, J and Lee, D and Lee, S-W and B{\"u}lthoff, HH and Robuffo Giordano, P}
}

@Inproceedings { SonKCFRLB2011,
   title = {An Evaluation of Haptic Cues on the Tele-Operator's Perceptual Awareness of Multiple UAVs' Environments},
   year = {2011},
   month = {6},
   pages = {149-154},
   abstract = {The use of multiple unmanned aerial vehicles (UAVs) is increasingly being incorporated into a wide range of teleoperation applications. To date, relevant research has largely been focused on the development of appropriate control schemes. In this paper, we extend previous research by investigating how control performance could be improved by providing the teleoperator with haptic feedback cues. First, we describe a control scheme that allows a teleoperator to manipulate the flight of multiple UAVs in a remote environment. Next, we present three designs of haptic cue feedback that could increase the teleoperator's environmental awareness of such a remote environment. These cues are based on the UAVs' i) velocity information, ii) proximity to obstacles, and iii) a combination of these two sources of information. Finally, we present an experimental evaluation of these haptic cue designs. Our evaluation is based on the teleoperator's perceptual sensitivity to the physical environment inhabited by the multiple UAVs. We conclude that a teleoperator's perceptual sensitivity is best served by haptic feedback cues that are based on the velocity information of multiple UAVs.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/WHC-2011-Son.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.haptics2011.org/en/},
   editor = {Jones, L. , M. Harders, Y. Yokokohji},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {Istanbul, Turkey},
   event_name = {IEEE 2011 World Haptics Conference (WHC 2011)},
   ISBN = {978-1-4577-0299-0},
   DOI = {10.1109/WHC.2011.5945477},
   author = {Son, HI and Kim, J and Chuang, LL and Franchi, A and Robuffo Giordano, P and Lee, D and B{\"u}lthoff, HH}
}

@Inproceedings { FranchiRSSB2011,
   title = {A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology},
   year = {2011},
   month = {5},
   pages = {898-905},
   abstract = {In this paper, a novel distributed control strategy for teleoperating a fleet of Unmanned Aerial Vehicles (UAVs) is proposed. Using passivity based techniques, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join decisions while guaranteeing stability of the system. Furthermore, the overall teleoperation system is also made passive and, therefore, characterized by a stable behavior both in free motion and when interacting with unknown passive obstacles. The performance of the system is validated through semi-experiments.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/2011a-FraRobSecSonBue-preprint.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.icra2011.org/},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {Shanghai, China},
   event_name = {IEEE International Conference on Robotics and Automation (ICRA 2011)},
   ISBN = {978-1-61284-386-5},
   DOI = {10.1109/ICRA.2011.5980368},
   author = {Franchi, A and Robuffo Giordano, P and Secchi, C and Son, HI and B{\"u}lthoff, HH}
}

@Inproceedings { LeeFRSB2011,
   title = {Haptic Teleoperation of Multiple Unmanned Aerial Vehicles over the Internet},
   year = {2011},
   month = {5},
   pages = {1341-1347},
   abstract = {We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for inter-VP/VP-obstacle collision avoidance and inter-VP connectivity preservation); and 3) teleoperation layer, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet. Master-passivity/slave-stability and some asymptotic performance measures are proved. Semi-experiment results are presented to validate the theory.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/2011b-LeeFraRobSonBue-preprint.pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www.icra2011.org/},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   event_place = {Shanghai, China},
   event_name = {IEEE International Conference on Robotics and Automation (ICRA 2011)},
   ISBN = {978-1-61284-386-5},
   DOI = {10.1109/ICRA.2011.5979993},
   author = {Lee, D and Franchi, A and Robuffo Giordano, P and Son, HI and B{\"u}lthoff, HH}
}

@Inproceedings { 6655,
   title = {Position-Position Control with Gain-Scheduling for Telesurgical Systems},
   journal = {Proceedings of the International Conference on Advanced Mechatronics (ICAM 2010)},
   year = {2010},
   month = {10},
   pages = {283-288},
   abstract = {Surgical teleoperation systems are being increasingly
deployed. There are, however, remaining issues such as
nonlinear characteristics of the interaction between the
slave robot and soft tissues, and difficulty in employing
force sensors in the surgical end-effectors of the slave.
These issues make it difficult to offer a general
approach to designing the overall control structure.
This paper addresses these issues by proposing an
optimized controller which guarantees robust stability
and performance. The environment, i.e., soft tissues, is
characterized with the nonlinear Hunt-Crossley model.
The overall teleoperation system is modeled as a linear
parameter-varying system. A gain-scheduling control
scheme is adapted to design a performance-optimized
controller while guaranteeing robust stability. The
developed gain-scheduling control scheme shows good
tracking capacity and high transparency in varied
experimental conditions. Error of the transmitted
impedance is significantly lower compared to other
conventional control schemes for frequency band less
than 2 Hz which is frequently recommended for
surgical teleoperation.},
   url = {http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/ICAM2010-Cho_6655[0].pdf},
   department = {Department B{\"u}lthoff},
   web_url = {http://www-arailab.sys.es.osaka-u.ac.jp/icam2010/},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Osaka, Japan},
   event_name = {International Conference on Advanced Mechatronics (ICAM 2010)},
   language = {en},
   author = {Cho, JH and Son, HI and Bhattacharjee, T and Lee, DG and Lee, DY}
}

@Inproceedings { RobuffoGiordanoFSSLB2010,
   title = {Towards Bilateral Teleoperation of Multi-Robot Systems},
   year = {2010},
   month = {10},
   pages = {1-2},
   abstract = {In this paper, we discuss a novel control strategy
for the bilateral teleoperation of multi-robot systems, by especially focusing on the case of Unmanned aerial Vehicles (UAVs). Two control schemes are proposed: a top-down approach to maintain a desired topology of the local robots, and a bottomup approach which allows changes of topology based on local robots interactions. In both cases, passivity of overall teleoperation system is formally guaranteed. The haptic cues fed back to the operator reflect the motion status of the multirobot team and inform him about the presence of obstacles. The proposed approaches are validated through semi-experiments.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/HFR-2010-Robuffo.pdf},
   department = {Department B{\"u}lthoff},
   web_url2 = {http://hfr2010.wordpress.com/},
   event_place = {T{\"u}bingen, Germany},
   event_name = {3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010)},
   author = {Robuffo Giordano, P and Franchi, A and Son, HI and Secchi, C and Lee, D and B{\"u}lthoff, HH}
}

@Inproceedings { 6460,
   title = {Psychophysical Evaluation of Control Scheme Designed for Optimal Kinesthetic Perception in Scaled Teleoperation},
   journal = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2010)},
   year = {2010},
   month = {5},
   pages = {5346-5351},
   abstract = {This paper focuses on psychophysical evaluation of the control scheme developed to optimize the kinesthetic perception during the scaled teleoperation. The control problem is formulated as a multi-objective constrained optimization. The objective function is a metric which quantifies the detection and discrimination capacity of the human operator. The constraints are position tracking accuracy and absolute stability of the scaled teleoperation. Two popular control architectures, i.e., the position-position and the force-position control architectures are considered in this paper. The method of limits is employed in this paper to conduct the psychophysical experiments and evaluation. Results show that the developed control scheme is more effective in increasing the detection and discrimination capacity of human subjects as compared to the traditional transparency-optimized control laws.},
   department = {Department B{\"u}lthoff},
   web_url = {http://icra2010.grasp.upenn.edu/},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   institution = {Institute of Electrical and Electronics Engineers},
   event_place = {Anchorage, AK, USA},
   event_name = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
   language = {en},
   ISBN = {978-1-424-45038-1},
   DOI = {10.1109/ROBOT.2010.5509368},
   author = {Son, HI and Bhattacharjee, T and Jung, HR and Lee, DY}
}

@Inproceedings { 6461,
   title = {Control Design Based on Analytical Stability Criteria for Optimized Kinesthetic Perception in Scaled Teleoperation},
   journal = {ICCAS-SICE International Joint Conference},
   year = {2009},
   month = {8},
   pages = {3365-3370},
   abstract = {This paper considers kinesthetic perception as the main performance objective for a scaled teleoperation system, and devises a scheme to optimize it with constraints of position tracking and absolute stability. Analytical criteria for monitoring stability have been derived for position-position, force-position, and four-channel control architectures using Llewellyn's absolute stability criteria. This helps to reduce the optimization complexity and provides an easy and effective design guideline for selecting control gains amongst the range. Optimization results indicate that trade-offs exist among different control architectures. This paper provides guidelines based on application-dependent selection of control scheme.},
   web_url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5334203},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Fukuoka, Japan},
   event_name = {ICCAS-SICE International Joint Conference},
   language = {en},
   ISBN = {978-4-907764-34-0},
   author = {Son, HI and Bhattacharjee, T and Lee, DY}
}

@Inproceedings { 6462,
   title = {Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment},
   journal = {Proceedings of the 14th International Conference on Advanced Robotics (ICAR 2009)},
   year = {2009},
   month = {6},
   pages = {1-6},
   abstract = {Passivity analysis of any haptic system requires the knowledge of the environment impedance, i.e., parameters of the employed environment model. There have been a few models proposed to describe the viscoelastic behavior of soft tissues, including the popular Maxwell and Voigt models. This paper analyzes passivity of haptic systems interacting with virtual viscoelastic soft tissues. The Kelvin model is employed to represent better the behavior of the soft tissues. This passivity analysis reveals a new criterion for design and control of the haptic interface. Simulation results show that this new criterion increases the range of passive environment.},
   web_url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5174802},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   institution = {Institute of Electrical and Electronics Engineers},
   event_place = {M{\"u}nchen, Germany},
   event_name = {14th International Conference on Advanced Robotics (ICAR 2009)},
   language = {en},
   ISBN = {978-1-4244-4855-5},
   author = {Son, HI and Bhattacharjee, T and Lee, DY}
}

@Inproceedings { 6463,
   title = {Two-Channel Control for Scaled Teleoperation},
   journal = {International Conference on Control, Automation and Systems},
   year = {2008},
   month = {10},
   pages = {1284-1289},
   abstract = {There is a trade-off between stability and performance in haptic control systems. In this paper, a stability and performance analysis is presented for a scaled teleoperation system in an effort to increase the performance of the system while maintaining the stability. The stability is quantitatively defined as a metric using Llewellynpsilas absolute stability criterion. Position tracking and kinesthetic perception are used as the performance indices. The analysis is carried out using various scaling factors and impedances of human and environment. A two-channel position-position (PP) controller and a two-channel force-position (FP) controller are applied for the analysis and simulation.},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4694348},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Seoul, South Korea},
   event_name = {International Conference on Control, Automation and Systems (ICCAS 2008)},
   language = {en},
   ISBN = {978-89-950038-9-3},
   DOI = {10.1109/ICCAS.2008.4694348},
   author = {Son, HI and Lee, DY}
}

@Inproceedings { 6477,
   title = {Enhancement of Kinesthetic Perception for Microsurgical Teleoperation},
   journal = {KSME Conference on Bioengineering},
   year = {2008},
   month = {9},
   pages = {259-260},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/KSME-2008.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_name = {KSME Bioengineering Conference 2008},
   language = {other},
   author = {Son, HI and Lee, DY}
}

@Inproceedings { 6465,
   title = {Enhancement of Kinesthetic Perception for Microsurgical Teleoperation using Impedance-Shaping},
   journal = {International Conference of the IEEE Engineering in Medicine and Biology Society},
   year = {2008},
   month = {8},
   pages = {1939-1942},
   abstract = {A new control scheme is developed in this paper for a bilateral teleoperation system for microsurgical applications. The main objective of the proposed control scheme is to enhance the kinesthetic perception of the operator. First, the kinesthetic perception, based on psychophysics, is classified into three metrics of detection, sensitivity of detection, and discrimination. Additionally, a new performance index is introduced as a combination of these three metrics to quantify the kinesthetic performance. Second, modified macro-micro bilateral control system using an impedance-shaping method is proposed. The proposed controller can increase kinesthetic perception by shaping and magnifying the transmitted impedance to the operator. Finally, the performance of the proposed controller is verified in a comparison with the two-channel position-position (PP) controller, the two-channel force-position (FP) controller, and the four-channel transparency- optimized controller.},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4649567},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Vancouver, BC, Canada},
   event_name = {30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008)},
   language = {en},
   ISBN = {978-1-4244-1814-5},
   DOI = {10.1109/IEMBS.2008.4649567},
   author = {Son, HI and Lee, DY}
}

@Inproceedings { 6464,
   title = {Haptic Control with Environment Estimation for Telesurgery},
   journal = {International Conference of the IEEE Engineering in Medicine and Biology Society},
   year = {2008},
   month = {8},
   pages = {3241-3244},
   abstract = {Success of telesurgical operations depends on better position tracking ability of the slave device. Improved position tracking of the slave device can lead to safer and less strenuous telesurgical operations. The two-channel force-position control architecture is widely used for better position tracking ability. This architecture requires force sensors for direct force feedback. Force sensors may not be a good choice in the telesurgical environment because of the inherent noise, and limitation in the deployable place and space. Hence, environment force estimation is developed using the concept of the robot function parameter matrix and a recursive least squares method. Simulation results show efficacy of the proposed method. The slave device successfully tracks the position of the master device, and the estimation error quickly becomes negligible.},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4649895},
   publisher = {IEEE},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Vancouver, BC, Canada},
   event_name = {30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008)},
   language = {en},
   ISBN = {978-1-4244-1814-5},
   DOI = {10.1109/IEMBS.2008.4649895},
   author = {Bhattacharjee, T and Son, HI and Lee, DY}
}

@Inproceedings { 6466,
   title = {Macro Defect Inspection of TFT-LCD Color Filter Glass: System and Algorithm},
   journal = {European Optical Society Conference on Industrial Imaging and Machine Vision},
   year = {2005},
   month = {6},
   pages = {129-130},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2006-EOS.pdf},
   publisher = {European Optical Society},
   address = {Hannover, Germany},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {M{\"u}nchen, Germany},
   event_name = {EOS Conference on Industrial Imaging and Machine Vision},
   language = {en},
   ISBN = {3-00-016361-1},
   author = {Son, HI and Kim, HW and Lee, HH and Jeong, DH}
}

@Inproceedings { 6467,
   title = {Failure Diagnosis and Recovery based on DES Framework},
   journal = {IEEE International Conference on Mechatronics},
   year = {2004},
   month = {6},
   pages = {255-260},
   abstract = {As many industrial systems become complex, it is very difficult to identify the cause of failures. This paper presents a new failure diagnosis approach based on discrete-event systems (DES) framework. In particular, the approach is a hybrid of event-based and state-based ones leading to a simpler failure diagnoser with supervisory control capability. In our approach, we include the failure recovery events for failures in the system model in order to derive a diagnoser we refer to as a recoverable diagnoser. Further, in order to reduce the state size of the recoverable diagnoser, a procedure to construct a high-level diagnoser is presented.},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=1364448},
   publisher = {IEEE Operations Center},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Istanbul, Turkey},
   event_name = {IEEE International Conference on Mechatronics (ICM '04)},
   language = {en},
   ISBN = {0-7803-8599-3},
   DOI = {10.1109/ICMECH.2004.1364448},
   author = {Son, HI}
}

@Inproceedings { 6468,
   title = {Design and Verification of Supervisory Controller of High-Speed Train},
   journal = {IEEE International Symposium on Industrial Electronics},
   year = {2001},
   pages = {1290-1295},
   abstract = {A high-level controller, supervisory controller, is required to monitor, control, and diagnose the low-level controllers of the high-speed train. The supervisory controller controls low-level controllers by monitoring input and output signals, events, and the high-speed train can be modeled as a discrete event system (DES). The high-speed train is modeled with automata, and the high-level control specification is defined. The supervisory controller is designed using the high-speed train model and the control specification. The designed supervisory controller is verified and evaluated with simulation using a computer-aided software engineering (CASE) tool, Object GEODE},
   web_url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=931666},
   publisher = {IEEE Operations Center},
   address = {Piscataway, NJ, USA},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Pusan , South Korea},
   event_name = {IEEE International Symposium on Industrial Electronics (ISIE 2001)},
   language = {en},
   ISBN = {0-7803-7090-2},
   DOI = {10.1109/ISIE.2001.931666},
   author = {Yoo, SP and Lee, DY and Son, HI}
}

@Inproceedings { 6479,
   title = {DES Approach Failure Diagnosis of Pump-valve System},
   journal = {Korean Society of Precision Engineering (KSPE) Conference},
   year = {2000},
   month = {10},
   pages = {643-646},
   abstract = {As many industrial systems become more complex, it becomes extremely difficult to diagnose the cause of failures.
This paper presents a failure diagnosis approach based on discrete event system theory. In particular, the
approach is a hybrid of event-based and state-based ones leading to a simpler failure diagnoser with supervisory
control capability. The design procedure is presented along with a pump-valve system as an example.},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2000-KSPE-1.pdf.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_name = {Annual Meeting of the Korean Society of Precision Engineering (KSPE 2000)},
   language = {other},
   author = {Son, HI and Kim, KW and Lee, S}
}

@Inproceedings { 6478,
   title = {DES Approach Failure Recovery of Pump-valve System},
   journal = {Korean Society of Precision Engineering (KSPE) Conference},
   year = {2000},
   month = {10},
   pages = {647-650},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2000-KSPE-2.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_name = {Annual Meeting of the Korean Society of Precision Engineering (KSPE 2000)},
   language = {other},
   author = {Son, HI and Kim, KW and Lee, S}
}

@Inproceedings { 6480,
   title = {Implementation of DES Testbed to Investigate Supervisory Control Theory},
   journal = {Korea Automatic Control Conference},
   year = {1999},
   month = {10},
   pages = {D190-D193},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/KACC-1999.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Seoul, South Korea},
   event_name = {14th Korea Automatic Control Conference (KACC 1999)},
   language = {other},
   author = {Son, HI and Lee, S}
}

@Inproceedings { 6481,
   title = {The Design of DES Supervisor for the Control of Manufacturing Cell},
   journal = {Korean Society of Precision Engineering (KSPE) Conference},
   year = {1999},
   pages = {721-724},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/KSPE-1999.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_name = {Annual Meeting of the Korean Society of Precision Engineering (KSPE 1999)},
   language = {other},
   author = {Son, HI and Kim, CS and Lee, S}
}

@Inproceedings { 6482,
   title = {The Modeling of Manufacturing Cell for The Real Time Supervisory Control},
   journal = {Korea Automatic Control Conference},
   year = {1998},
   month = {10},
   pages = {176-179},
   url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/KACC-1998.pdf},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   event_place = {Pusan, South Korea},
   event_name = {13th Korea Automatic Control Conference (KACC 1998)},
   language = {other},
   author = {Shin, JH and Son, HI and Kim, CS and Lee, S}
}

@Conference { Son2012,
   title = {Psychophysical Evaluation of Visual and Haptic Feedback in Teleoperation of Multiple Mobile Robots},
   year = {2012},
   month = {5},
   day = {14},
   abstract = {For teleoperation of (multiple) mobile robot(s), a better situational awareness of remote environments is crucial for good performance. Visual and haptic feedback are the most common ways to perceive the environments accurately using a vision system and a haptic device, respectively. In this talk, I will present benefits and effects of visual and haptic feedback on performance (especially, from human perspective) in teleoperation of multiple mobile robots (e.g., unmanned aerial vehicles (UAVs)). In details, the following three issues will be described with results by several psychophysical studies in the field of bilateral teleoperation of multiple mobile robots: 1) the contribution of force feedback to human performance; 2) the design and evaluation of haptic cueing to increase human operator's performance; and 3) the effect of visual feedback on human's situational awareness in outdoor environment.},
   department = {Department B{\"u}lthoff},
   talk_type = {Invited Lecture},
   web_url = {http://www.arscontrol.org/events/61-icra2012htmr},
   event_place = {St. Paul, MN, USA},
   event_name = {ICRA 2012 - Workshop on Haptic Teleoperation of Mobile Robots: Theory, Applications and Perspectives},
   author = {Son, HI}
}

@Patent { 6469,
   title = {Haptic Device For Cell Manipulation},
   year = {2008},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Lee, DY and Son, HI and Woo, HJ}
}

@Patent { 6471,
   title = {Substrate Inspecting Apparatus and Substrate Inspecting Method using Same},
   year = {2007},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Kim, YI and Yang, JW and Jeon, CJ}
}

@Patent { 6470,
   title = {Substrate Inspection Unit, Substrate Inspection Device including it, and Substrate Inspection Method using it},
   year = {2007},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Kim, YI and Yang, JW and Jeon, CJ}
}

@Patent { 6475,
   title = {Apparatus and Method of Inspecting Display Substrate},
   year = {2006},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Kim, SJ and Son, HI and Kim, YI and Yang, JW and Yang, DY and Jeon, CJ and Kang, SS and Song, SG}
}

@Patent { 6473,
   title = {Apparatus for Inspecting Alignment Film of Liquid Crystal Display and Method Thereof},
   year = {2006},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Park, MW and Son, HI and Kim, SJ and Kim, KI and Yang, JW}
}

@Patent { 6472,
   title = {Apparatus for Inspecting Flat Panel Display and Method Thereof},
   year = {2006},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Yang, JW and Kim, KI and Son, HI}
}

@Patent { 6474,
   title = {Apparatus for Inspecting Substrate and Method of Inspecting Substrate using the Same},
   year = {2006},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Kim, YI and Yang, JW}
}

@Patent { 6476,
   title = {Inspection Unit for Substrate, Inspection Apparatus for Substrate and Method of Substrate Inspection using the Same},
   year = {2006},
   institute = {Biologische Kybernetik},
   organization = {Max-Planck-Gesellschaft},
   language = {other},
   author = {Son, HI and Kim, YI and Jeon, CJ and Yang, JW}
}