Dr. Chan Ham

EDUCATION

B.E., Department of Electronic Engineering, Dongguk University, Korea, 1982
M.S.E.E., Dept. of Electrical & Computer Eng., University of Central Florida, 1991
Ph.D., Dept. of Electrical & Computer Engineering, University of Central Florida, 1995

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PROFESSIONAL EMPLOYMENT

Florida Space Institute / Univ. of Central Florida (UCF), Assistant Research Professor, 2002 to Present
Dept. of Mechanical, Materials and Aerospace Engineering, UCF, Assistant Professor, 2000 to Present (Miniature Engineering Systems)
Florida Space Institute / UCF, Visiting Scholar, 1998 to 2000
Hyundai Electronics, Satellite R & D Center, Chief R&D engineer, 1996 to 1998
LG Electronics Company, R & D Center, Senior R&D Engineer, 1983 to 1990  
Agency for Defense Development, Surveillance System, Korea, Research Engineer, 1982

Field of Specialization:

Advanced Nonlinear Control and Its Application to Space Systems and Mechatronics.
Theory:  nonlinear learning/robust/fuzzy controls and optimal estimation
Application study: Maglev, satellite control, miniaturized super-high speed motor, and space robotic systems

Professional Training

Interplanetary School, JPL/Cal Tech, August 2000
Satellite Engineering, Space Systems Loral, August 1996 – March 1997
Development of a micro floppy disk drive, Sharp-Hirosige Company, Japan, April 1986 to June 1986.

Professional Activity

Member of:
The Institute of Electrical and Electronics Engineers (IEEE)
The American Institute of Aeronautics and Astronautics (AIAA)
US Electro Magnetic Launch Assist (EMLA) Group

Referee of:
IEEE Transaction on Automatic Control / Robotics and Automation / Control Systems Technology / Systems, Man, and Cybernetics Automatica
International Journal of Robust and Nonlinear Control
International Journal of Control

Professional Licenses

Engineer Intern, Department of Professional Regulation, State of Florida, 1991
Engineer for Wireless Communication Instruments, Korea, 1981
Engineer for Wire Communication Instruments, Korea, 1981

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ACADEMIC EXPERIENCE

Teaching:

Guiding Students as Chair:

Doctor dissertation: 1 completed and 2 in progress
Master thesis: 5 completed and 1 in progress
Undergraduate honor students: 1 RAMP & 1 SMART

Mentoring Student: Paper/Design Competition & Research Project

2002 NASA Mars Port Design Competition: finalist
2000 AIAA/USU Conference International Student Paper Competition: Honorable mention
1999 AIAA/USU Conference International Student Paper Competition: Third place & Honorable mention
Mentoring Undergraduate Student Research Program Funded by Florida Space Grant Consortium: 8 projects for total $24K
Mentoring Senior Design Class: 5 projects

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RESEARCH & PROJECT

Ongoing Research Projects:

Maglev Space Launch Assist

• Space Act Agreement with NASA/KSC
• Test track: $1M developed by the Lawrence Livermore National Lab

Design Competition of FUNSAT for NASA Workforce Development Program, NASA,  $70K
Development of the Pico Satellite curriculum, FSGC, $12K
KNIGHTSAT- Intelligent Nanosatellite Health Management and Laser-based Formation Flying, CoPI, AFOSR, $95K
SPACEHAB`s Lunar Exploration System (LES) Architecture Study, Spacehab/NASA, $50K
A Reliable, Effective and Compact Riverse Turbo Bryaton Cryocoolor (RTBC) for Storage and Transport of Hydrogen in Spaceport and Space Vehicle Application, FSEC/NASA, $695K  

Major Research Project Experience:   

Mars Surface Support Equipment: Development of design guides for Mars support equipment and design of a deployable modular truss structure for space platforms, $129K, NASA/Dynacs
Advanced Life Support Automated Remote Manipulator and the End Effector: Development of a 7 DOF robotic system to support a biomass chamber at the Kennedy Space Center, $41K, NASA
Photon Satellite: Satellite systems engineering and design of the bus subsystem, $500K, Ballistic Missile Defense Organization
Health Monitoring System of a Launch Vehicle: Developed a real-time automatic detection / diagnosis methodology for Automated Ground Health Monitoring, $285K, Lockheed Martin/FSGC

Maglev

Maglev launch assist is the concept of using both magnetic levitation and magnetic propulsion to provide an initial velocity to the vehicle by using electrical power form ground sources. Maglev launch assist is viewed, by many people, as the first stage of the third generation space launch system. A Maglev space launch system would use magnetic fields to levitate and accelerate a vehicle along a track at speeds up to 600 mph. When the 600 mph speed is meet, the vehicle would then shift to rocket engines for launch to orbit. Maglev space launch systems could dramatically reduce the cost of getting to space because they're powered by electricity, an inexpensive energy source that stays on the ground, unlike rocket fuel that adds weight and cost to a launch vehicle. Maglev technology has been around for a longtime and several Maglev trains have been developed. Where using Maglev as a launch assist diverges from the Maglev train, is in the immense amount of power, speed and control needed by the Maglev system to propel the vehicle down the track in a very short period of time.
There are a total of three tracks that are working Maglev assisted launch concept demonstrators in the world. Florida Space Institute has the possession of two of those tracks; the Foster Miller Track and in early 2003 will have the Lawrence Livermore National Laboratory Inductrack. The two passive Maglev tracks are essentially toys that just demonstrate two different concepts of Maglev. Basically the power is turn on and the carriage is pushed for an initial velocity and the magnetic forces levitate and propel the carriage down the track, all without control and knowledge on the vehicle dynamics. All that is known from the tracks are that the concept of Maglev works. Extensive research will still need to be made before Maglev can be viewed as a launch assist.

Autonomous Biomass Production System

This research focuses on the identification/demonstration of the relationship between plant growth outcomes (size of fruit, color, quality, and etc) and control elements (nutrient content and flow rate, light levels, air circulation, CO2 partial pressure, and etc.). These relationships (or functions) are known to be highly non-linear and certainly time dependant. Determination of controlled element is necessary. With this in hand, software algorithms will be mechanized into an embedded computer so that measurements (temperature, humidity, leaf moisture, leaf texture, air flow rate, etc) can be processed in real-time to generate the control elements to maintain optimal growth.
Reliable technology for biomass production in space that will provide food has not yet been developed. This system, in order to be effective, will need an intelligent computer for the adjustment of controlled elements and robotics for the collection of plant growth measurements in the biomass production volume. These mechanizations will replace human labor in space missions or applications for other planets; an autonomous controlled environment using ABS will be required to successfully grow plants autonomously in support of manned space missions.

Super-high Speed Motor Control

The project goal is to design a meso-scale refrigerator, which will be implemented in an integrated heat removal system for microelectronics, cooling jackets, etc. In the refrigerator, a permanent magnet synchronous motor (PMSM) will perform the critical function of acting as the cooling systems compressor. For designing a high-efficient and compact motor driver, sensorless control techniques will be used to maintain constant speed at 200,000 rpm. In addition, the size of the control electronics must be small and proportional to the motor.  

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PUBLICATIONS / PRESENTATIONS

Referred Journal:

1. C. Ham, W. Ko, and Q. Han, “Analysis and Optimization of a Maglev System based on the Halbach Magnet Arrays,” Journal of Applied Physics, submitted, Aug. 2005.
2. L. Zhao, Q. Han, C. Ham, T. Wu, L. Zheng, K. Sundaram, J. Kapat, and L. Chow, “New Design of Optimal V/f Controller for A Stable Super High-Speed Permanent Magnet Synchronous Motor,” IEE Proc. Electric Power Applications, accepted, June 2005
3. L. Zheng, T. Wu, D. Acharya, K. Sundaram, J. Vaidya, L. Zhao, L. Zhou, C. Ham, N. Arakere, J. Kapat, and L. Chow, “Design of a Super-High Speed Cryogenic Permanent Magnet Synchronous Motor, IEEE Trans. on Magnetics, Oct. 2005 (in press).
4. Q. Han, C. Ham, and R. Phillips, “Four and Eight piece Halbach Array Analysis and Geometry Optimization for Maglev,” IEE: Electric Power Applications, Vol.152, No.3, p535- p542, May 2005.
5. L. Zheng, T. Wu, M. Sarwar, K. Sundaram, C. Ham, H. Seigneur, L. Zhao, N. Vanasse, A. Canale, J. Kapat, and L. Chow, “Design of a super-high speed axial flux PMSM”, Electromotion, May 2005.
6. Q Han and C. Ham, “Dynamic Analysis and Control of the Repulsive Force Maglev Based on the Halbach Array,“ Journal of Dynamic Systems, Measurement and Control, submitted, March 2005
7. J. Kaloust, C. Ham, J. Siehling, E. Jongekryg, and Q. Han, “Nonlinear Robust Control Design for Levitation and Propulsion of a MagLev System in the Presence of Uncertain System Dynamics, ” IEE: Control Theory and Applications, Vol. 151, No.4, p 460- 464, July 2004.
8. J. Kaloust, C. Ham, Z. Qu, and R. Johnson, “Generalized Nonlinear Robust Control Design: The Beam and Ball Example”, Journal of Control and Intelligent Systems, Vol. 30, No.3, p119-125, 2002.
9. C. Ham, Z. Qu, and J. Kaloust, “Nonlinear Learning Control for a Class of Nonlinear Systems”, Automatica, Vol.37, No.3, pp419-428, 2001.
10. C. Ham, Z. Qu, and R. Johnson, “A Nonlinear Iterative Learning Control for Robot Manipulators in the presence of Actuator Dynamics”, International Journal of Robotics and Automation. Vol.15, No.3, pp.119-130, 2000.
11. C. Ham, Z. Qu, and R. Johnson, “Nonlinear Robust Fuzzy Control for Robot Manipulators”, IEE: Control Theory and Applications. Vol.147, No.1, January 2000
12. C. Ham, J. Kaloust, and R. Johnson, “A nonlinear robust controller for a class of nonlinear uncertain systems”, IEE: Control Theory and Applications, p405-410, September 1998.
13. C. Ham and Z. Qu, “A New Nonlinear Learning Control for Robot Manipulators”, Advanced Robotics, p1-p15, Vol.11, No.1, 1997.
14. J. Kaloust, C. Ham, and Z. Qu, “A nonlinear autopilot control design for a 2DOF helicopter model”, IEE: Control Theory and Applications, p612-616, Vol.144, No.6, November 1997.
15. C. Ham, Z. Qu, and J. Kaloust, “Design of Globally Stabilizing Robust Fuzzy Control for a Class of Nonlinear Systems”, Int’l Journal of Intelligent Control and Systems, p261 - p271, June 1996.
16. J. Kaloust, Z. Qu, and C. Ham, “Nonlinear Robust Control Design for Robotic Manipulators with Unmodelled Actuator Dynamics”, Advanced Robotics, p453 - p467, Vol.10, No.5, 1996.

Conference:

1. C. Ham, W. Ko, and Q. Han, “Analysis and Optimization of a Maglev System based on the Halbach Magnet Arrays,” IEEE 50th MMM Conference, accepted, Oct. 2005, San Jose
2. W. Ko, Q. Han, and C. Ham, “Dynamics and Control of a Maglev Vehicle”, The 9th World Multi-Conference on Systemics, Cybernetics and Informatics, July 2005, Orlando.
3. L. Zheng, T. Wu, D. Acharya, K. Sundaram, J. Vaidya, L. Zhao, L. Zhou, K. Murty, C. Ham, N. Arakere, J. Kapat, and L. Chow, “Design of a Super-High Speed Permanent Magnet Synchronous Motor for Cryogenic Applications” IEEE IEMDC ’05, May 2005, San Antonio, TX
4. L. Zheng, T. Wu, D. Acharya, K. Sundaram, J. Vaidya, L. Zhao, L. Zhou, C. Ham, N. Arakere, J. Kapat, and L. Chow, “Design of a Super-High Speed Cryogenic Permanent Magnet Synchronous Motor, IEEE InterMag 2005, Apr. 2005, Japan
5. L. Zhao, C. Ham, Q. Han, T. Wu, L. Zheng, K. Sundaram, J. Kapat, and L. Chow, “A New Design Approach of A Super High-Speed Permanent Magnet Synchronous Motor,” 49th MMM conference, Jacksonville, Nov. 2004.
6. R. Kluka, W. Ko, Q. Han, and C. Ham, “Design of A Control Mechanism of A Maglev Carriage for Space Launch and Its Dynamic Stability,” Maglev 2004, p. 843, Shanghai, October, 2004.
7. L. Zhao, C. Ham, Q. Han, T. Wu, L. Zheng, K. Sundaram, J. Kapat, and L. Chow, “Design of An Optimal V/f Control for A Super High Speed Permanent Magnet Synchronous Motor ”, IEEE IECON 2004, Korea, Oct. 2004
8. J. Kaloust, C. Ham, E. Jongekryg, J. Siehling, and Q. Han,  “Nonlinear Control Design for a 2-Degrees-Of-Freedom (DOF) Magnetic Levitation system” AIAA Guidance, Navigation, and Control Conference, P4756, Providence, August 2004
9. L. Zhao, C. Ham, T. Wu, L. Zheng, K. Sundaram, J. Kapat, and L. Chow, “ “A DSP-Based Super High Speed PMSM Controller Development and Optimization”, IEEE DSP2004, p187-190, New Mexico, August 2004
10. C. Ham, L. Zhao, Q. Han, L. Zheng, T. Wu, B. Sundaram, J. Kapat, and L. Chow, “Development of a New V/f Control for a Super High Speed Permanent Magnet Synchronous Motor (PMSM),” The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. VIII, p312, Orlando, July 2004.
11. H. Choi, W. Ko, and C. Ham, “Nonlinear Robust Control of an Inverted Pendulum in the Presence of Uncertain Perturbations”, The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. VIII, p307, Orlando, July 2004.
12. Rahul Patil, Chan Ham, and Roger Johnson “Mechanism and Dynamic Modeling of Robotic System for Biomass Production Chamber”, The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. XV, p119, Orlando, July 2004.
13. Sudhir Kora, Chan Ham, and R. Phillips, “An Innovative Parking Management System Using Wireless Sensor Networks,” The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. III, p431, Orlando, July 2004.
14. J. Kaloust, C. Ham, J. Siehling, E. Jongekryg, and Q. Han,  “Nonlinear Control Design for a 6-DOF Maglev system in the Presence of Uncertain System Dynamics,” The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. VIII, p218, Orlando, July 2004.
15. L. Zhao, C. Ham, T. Wu, L. Zheng, H. Seigneur, B. Sundaram, J. Kapat, J. Vaidya, and L. Chow, “Development of A Super High Speed Permanent Magnet Synchronous Motor (PMSM) Controller and Analysis of The Experimental Results,” The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. VIII, p268, Orlando, July 2004.
16. M. Schreiber, G. Sellar, and C. Ham, “Techniques in Aligning Optics in a Sagnac Interferometer for Hyperspectral Imaging Spectrometer,” The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. VI, p389, Orlando, July 2004.
17. R. Kluka, W. Ko, Q. Han, K. Navale, and C. Ham, “Development of a Maglev Vehicle’s Control Mechanism for Space Launch,” The 8th World Multi-Conference on Systemics, Cybernetics and Informatics, Vol. VIII, p230, Orlando, July 2004.
18. Q. Han, C. Ham, and R. Phillips, “A Novel Maglev System,” 36th IEEE Southeastern Symposium on System Theory (SSST), Atlanta, March 2004.
19. Q. Han, C. Ham, and R. Phillips, “PMSM Nonlinear Robust Control For Temperature Compensation,” 36th IEEE Southeastern Symposium on System Theory (SSST), Atlanta, March 2004.
20. L. Zheng, T. Wu, J. Vaidya, K. Murty, L. Zhao, C. Ham, K. Sundaram,  J. Kapat,  and L. Chow, “ Design of A Super-High Speed PMSM for Cryocooler Application,” The 20th Space Cryogenics Workshop, Alaska, USA, September 2003.
21. L. An, Q. Chen, J. Cho, L. Chow, N. Dhere, C. Ham, J. Kapat, K. Sundaram, T. Wu, K. Finney, G. Haddad, X. Li, K. Krishna-Murty, W. Notardonato, A. Pai, H. Seigneur, J. Vaidya, L. Zhao, L. Zheng, L. Zhou. “Two-Stage Cryocooler Development for Liquid Hydrogen Systems”. Space Cryogenics Workshop, Anchorage, AK, September 18-19, 2003.
22. C. Ham, J. Flores, Robert Kluka, and R. Crabbs, “Maglifter: A Ground-Based Next Generation Reusable Launch Assist for a Low-Cost and Highly Reliable Space Access”, 17th AIAA/USU Conference on Small Satellite, Utah, August 2003.
23. H. Choi, C. Ham, and R. Johnson, "Hands-off Farming in Space: Development of an Autonomous Biomass Production System for Supporting Human Exploration in Space", The 40th Space Congress, accepted, Cape Canaveral, April 2003.
24. L. An, Q. Chen, J. Cho, L. Chow, N. Dhere, C. Ham, J. Kapat, K. Sundaram, T. Wu, K. Finney, X. Li, K. Krishna-Murty, A. Pai, H. Seigneur, L. Zhao, L. Zheng, L. Zhou. “Two-Stage Cryocooler Development for Liquid Hydrogen Systems,” Annual Joint Symposium of the Florida Society of Microscopy and the Florida Chapter of the American Vacuum Society, Orlando, FL, March 17-20, 2003.
25. C. Ham, J. Flores, and R. Johnson, “Development of a Maglev Space Launch Assist System for the Super-Loki Sounding Rocket”, Maglev 2002, September 2002.
26. C. Ham, L. Retamozo, R. Patil, H. Choi, R. Johnson, and J. Brandenburg, “Design of an autonomous harvest robotic system and a greenhouse on Mars”, Fifth Int’l Mars Society convention, August 2002
27. P. Zanwar, A. Elshennawy, C. Ham, and R. Johnson, “Design of End Effector using QFD”, IEMS International Conference 2002, March 2002.
28. R. Johnson, C. Ham, Z. Qu, and P. Zanwar, and G. Ballman, “Development of the ALSARM-EE for Biomass Production Chamber at the kennedy Space Center”, IASTED International Conference on Robotics and Applications, p83-p88, November 2001.
29. R. Johnson, S. Jayaram, L. Sun, and C. Ham “Real-Time Attitude and Orbit Control of a Small LEO Satellite with Parallel-Processing Approach in Ground Station”, AIAA/USU Conference on Small Satellite, Utah, 2000.
30. R. Hull , C. Ham, and R. Johnson, “Systematic Design of Attitude Control Systems for a Satellite in a Circular Orbit with Guaranteed Performance and Stability”, AIAA/USU Conference on Small Satellite, Utah, 2000.
31. C. Ham and Z. Qu, “Globally Stabilized Robust Fuzzy Control for Robot Manipulators”, Dynamics, Acoustics & Simulation Symposium, pp.107-112, December 1999.
32. C. Ham and R. Johnson, “A Magnetic Control of a Low Earth Orbit Spacecraft with Uncertain Dynamics”, IASTED International Conference on Control and Applications, p393 - p396, July 1999.
33. J. Kaloust and C. Ham, “A Nonlinear Robust Controller for a Class of Nonlinear Uncertain Systems”, American Control Conference, pp.4071-4072, July 1999.
34. J. Kaloust, C. Ham, Z. Qu, and R. Johnson, “Nonlinear Robust Control Design for the Beam and Ball System”, IASTED Int’l Conference on Control and Applications, p357-p360, May 1997.
35. C. Ham, Z. Qu, and J. Kaloust, “A New Robust Fuzzy Control Design for a Class of Nonlinear Systems”, IEEE Int’l Conference on Systems, Man, and Cybernetics, p2619-p2624, October 1996.
36. J. Kaloust, C. Ham, Z. Qu, and R. Johnson, “Nonlinear Robust Control Design for a Helicopter Model in Vertical Flight”, IASTED Int’l Conference on Control and Applications, p133-p136, January 1996.
37. J. Kaloust, Z. Qu, and C. Ham, “Nonlinear Robust Control Design for Robot Manipulators With Unmodelled Actuator Dynamics”, 4th IEEE Conf. on Control Applications, p1148-p1153, Sep. 1995.
38. C. Ham, Z. Qu, and J. Kaloust, “A New Framework of Learning Control for a Class of Nonlinear Systems”, American Control Conference, p3024-p3028, June 1995.
39. C. Ham, Z. Qu, J. Kaloust, and R. Johnson, “A New Learning Control of Robot Manipulators in the Presence of Actuator Dynamics”, IEEE International Conference on Robotics and Automation, p2144-p2149, May 1995.
40. C. Ham, Z. Qu, and M. Park, “A New Learning Control of Robot Manipulators”, Korean Automatic Control Conference, p697-p702, October 1994.
41. C. Ham and Z. Qu, “A New Learning Control Based on Lyapunov Direct Method”, Southcon, p121-p125, March 1994.

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PATENTS:

1. C. Ham, "A Compact Drive Circuit of a 3.5 inch Floppy Disk Drive", Code No. G11B 19/02, No. 1987011602, Korea, December 1987.
2. C. Ham, "A Interface Drive Circuit between the IBMTM-PC Floppy Disk Drive and the AppleTM Floppy Disk Drive", Code No. G06F 13/20, No. 1986009350, Korea, December 1986.
3. C. Ham, "A Drive Circuit of a 5.25 inch Floppy Disk Drive", Code No. G11B 19/20, 1986009405, Korea, December 1986.

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