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Jaeyun Sim

Ph.D. Candidate in Robot Control | South Korea

Email: [[email protected]]

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Summary

Ph.D. candidate specializing in RL-based adaptive force control to adapt unconstructed dynamic environments with a strong focus on reinforcement learning, nonlinear control approaches and signal processing in various domains.

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Education

Ph.D. in Mechanical Engineering (Robot Force Control)

[Sungkyunkwan University], South Korea

(Expected Graduation: [Feb. , 2026])

• Research Focus: Energy tank based force control algorithm for high qualified post-processing in various unstructured environments

M.S. in Mechanical Engineering

[Gwangju Institute of Science and Technology], South Korea

(Graduated: [Aug. , 2020])

• Thesis: [Tool path generation of lapping wheel considering wheel compliance]

B.S. in Mechanical Engineering

[Chungnam National University], South Korea

(Graduated: [Feb. , 2019])

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Research Experience

Graduate Research Assistant

[Robotics Innovatory], [Sungkyunkwan University], South Korea

[Dec. , 2020] – Present

• Development of a Fuzzy-Based Adaptive Force Control Algorithm Using a Dynamical System [Used Algorithms: Fuzzy based adaptive admittance control, Dynamical system based control, Energy tank, Used Devices & Environments: UR10(Manipulator), F/T sensor, Linux, Preempt RT(RTOS), ROS, C++]
• Development of a Multi-Channel Weighted Band Stop Filter [Used Algorithms: Energy tank based adaptive admittance control, Multi-channel band stop filter, FFT, Used Devices & Environments: Indy7(Manipulator), F/T sensor, Linux, Xenomai(RTOS), ROS, C++]
• Development of a Control System for Calibration of an Ultra-Thin Torque Sensor [Used Algorithms: Direct force control, Trajectory generation for sensor calibration, ANN for sensor calibration, Used Devices & Environments: 4-axis calibrator, Torque sensor, Linux, Xenomai(RTOS), ROS, C++]

[Ultraprecision Machine System Lab], [Gwangju Institute of Science and Technology], South Korea

[Mar. , 2019 - Oct. , 2020]

• Optimal Tool Path Generation to Prevent the Over-Machined Surface Based on the Identified Model of Compliant Lapping Wheel
• Controller Design of Gantry-type 5-Axis Manipulator for Surface Lapping

Undergraduate Research Assistant

[Manufacturing System Control Lab], [Chungnam National University], South Korea

• Tool Path Planning for Post-Processing of 3D-Printed Products
• Design and Control of 5-Axis Manipulator for Post-Processing of 3D-Printed Products

Research Intern

[Ultra Precision Equipment Lab], [Korea Institute of Machinery and Materials], South Korea

[Jan. , 2018] – [Feb. , 2018]

• Tilting Head Design & Control of Mobile Machine Tool

Visiting Researcher

[Manipulation and Mobility Systems Group], [National Institute of Standards and Technology]

[Jun. , 2025] – [Act. , 2025]

• RL-based Force Control for Stable and High Adaptation in Uncertain Environments
• Development of Standard for Force Control Performance Evaluation in Various Stiffness Environments </aside>

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Technical Skills

• Programming Languages: C++, Python, MATLAB, ROS2
• Simulation Software: Simulink, Gazebo
• Control & Automation: RL-Based Force Control, Passivity-based control, Admittance/Impedance control, Fuzzy based control, MPC
• Signal analysis & Processing: FFT, Frequency filters, Kalman filter
• Machine Learning: Reinforcement Learning (Force Control), ANN (For Force/torque sensor calibration)
• Hardware Proficiency: IMU sensors, Force/Torque sensor, robotic arms(UR10, UR10e, Indy7-Korean company) </aside>

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Selected Publications

[Publication, SCI]

• Moon, S. J., Yim, H., Kang, H., Shim, J. Y., Jung, D., & Choi, H. R. (2025). Safety-Critical Reactive Motion Using Constrained Variable Admittance Control With Dual-Type Proximity Sensors. IEEE Robotics and Automation Letters.
• Lee, S. Y., Sim, J. Y., Kim, Y. B., Seok, D., Shim, J., & Choi, H. R. (2025). Design Analysis and Isotropic Optimization for Miniature Capacitive Force/Torque Sensor. Sensors, 25(3), 940.
• Park, S., Koh, D., Shim, J., Kim, J. J., & Lee, S. K. (2021). Gantry type lapping manipulator toward unmanned lapping process for a large work surface. International Journal of Precision Engineering and Manufacturing-Green Technology, 8, 1723-1737.
• Song, J. Shim, N. Kim, G. B. Chae, W. Lee, “Friction Compensation Control of Feed Drive System Operated in Vacuum”, Journal of Mechanical Science and Technology, Vol. 33, No. 11, pp. 5353-5360, 201911. (2019)

[Publication, Non-SCI]

• J. Shim, N. Kim, D. Oh, S. Hong, W. Lee, “Design of A Robot Machining System and Tool Path Generation for Post-process Machining of 3D Printed Product”, Korean Society of Mechanical Engineers-A, Vol. 43, No. 5, pp. 359-364, 201905. (2019)

[Conference, International]

• J. Shim, S. K. Park, D.G. Koh, J. Kim ,S. K. Lee, “Design and Control of a 5-axis Manipulator for the Automatic Lapping Process”, ASPEN 2019, Matsue, Japan (2019) – oral.

[Conference, Domestic]

• J. Shim, S. K. Lee, “Investigation of Optimum Machining Conditions Considering Compliance of Lapping Wheel”, Korean Society for Precision Engineering, 2020 Combined Conference, Online, Korea (2020) – Oral (Best Paper Award).
• J. Shim, S. K. Lee, “Automatic Lapping System Tool Path Generation Using Direct Scanning and Bi-Cubic Spline”, Korean Society for Precision Engineering, 2019 Autumn Conference, Changwon, Korea (2019) – poster.
• J. Shim, S. K. Park, D. G. Koh, S. K. Lee, “Analysis of a 5-Axis Manipulator for the Finishing Application Considering Robot Dynamic Model”, Korean Society for Precision Engineering, 2019 Spring Conference, Jeju, Korea (2019) – poster.
• J. Shim, S. Hong, M. S. Seo, J. Kwak, W. Lee, “Robot machine tool based post-processing for 3D printing”, Korean Society of Manufacturing Technology Engineering, 2018 Spring Conference, Daejeon, Korea (2018) – poster (Excellent Paper Award).
• J. Shim, N. Kim, C. J. Kim, S. -K. Ro, W. Lee, “Control technique for tilting head of mobile machine tool”, Korean Society of Manufacturing Technology Engineering, 2018 Special Section of Spring Conference, Daejeon, Korea (2018) – oral.
• J. Shim, N. Kim, S. Hong, M. S. Seo, J. Kwak, W. Lee, “5-DOF Robotic Machining System for Complex Shape Machining”, Korean Society for Precision Engineering, 2017 Autumn Conference, Gwangju, Korea (2017) – poster
• Song, J. Shim, N. Kim, G. B. Chae, W. Lee, “Friction Characteristic of Feed Drive System Operated in Vacuum”, Korean Society for Precision Engineering, 2017 Spring Conference, Jeju, Korea (2017) – poster. </aside>

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Awards & Honors

• [Best Paper Award], [Korean Society of Precision Engineering], [2020]
• [Excellent Paper Award], [Korean Society of Precision Engineering], [2018]
• [Excellent Award], [Industry-Linked X-Corps Contest], [2018]
• [Excellent Prize], [CNU Engineering Fair Creative Engineering Capstone Design . Graduation Competition], [2018] </aside>

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Exhibition

• 2024 Robot World (KINTEX ,October 23 - 26, 2024 )

  • AIDIN Robotics Force Control Solution for Production Automation Demonstration

    → Vision, Remote Tracker & Force Control Integrated Automatic Polishing Solution for Complex Surface

  • Host : the Ministry of Trade, Industry and Energy

  Robotic Finishing Solution for Manufacturing (Polishing / Sanding / Grinding)

• 2024 SFAW (COEX, March 12 - 14, 2024)

• 2023 Robot World (KINTEX ,October 11 - 14, 2023 )

• 2022 Robot World (KINTEX ,October 26 - 29, 2022 )

• 2021 Robot World (KINTEX ,October 27 - 30, 2021 ) </aside>

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