Publications

Journal Papers

1. D. Song, C.-Y. Kim, and J. Yi, (2009). Simultaneous localization of multiple unknown CSMA-based wireless sensor network nodes using a mobile robot with a directional antenna. Journal Intelligent Service Robotics, vol. 2, no. 4, pp 219-231. [pdf 710K]
2. J. Yi, S. Chang, and Y. Shen, (2009). Disturbance observer-based hysteresis compensation for piezoelectric actuators. IEEE/ASME Trans. on Mechatronics, vol. 14, no. 4, pp 456-464. [pdf 1.28M]
3. J. Yi, H. Wang, J. Zhang, D. Song, S. Jayasuriya, and J. Liu, (2009). Modeling and analysis of skid-steered mobile robots with applications to low-cost inertial measurement unit-based motion estimation. IEEE Trans. on Robotics, vol. 25, no. 5, pp 1087-1097. [pdf 1.26M]
   
4. A. Mathers, K.S. Moon, and J. Yi (2009). A vibration-based PMN-PT energy harvester. IEEE Sensors Journal, vol. 9, no. 7, pp 731-739. [pdf 1.14M]
5. J. Yi (2008). Friction modeling in chemical-mechanical planarization processes. IEEE Control Systems Magazine, vol. 28, no. 5, pp 59-78 . [pdf 5.1M]
6. J. Yi (2008). A piezo-sensor based "smart tire" system for mobile robots and vehicles. IEEE/ASME Trans. on Mechatronics, vol. 13, no. 1, pp 95-104. [pdf 1.01M]
7. J. Yi, and H. Liang, (2008). A PVDF-based deformation and motion sensor: Modeling and experiments. IEEE Sensors Journal, vol. 8, no. 4, pp 384-391. [pdf 981K]
8. J. Yi, S. Ding and D. Song, M. Zhang (2008). Steady-state throughput and scheduling analysis of multi-cluster tools: a decomposition approach. IEEE Trans. on Automation Science and Engineering, vol. 5, no. 2 , pp 321-336. [pdf 1.84M]
9. D. Song, H.N. Lee, J. Yi, and A. Levandowski (2007). Vision-based motion planning for an autonomous motorcycle on ill-structured roads. Autonomous Robots, vol. 23, no. 3, pp 197-212. [pdf 1.43M]
10. Y. Song, M. Zhang, J. Yi, L. Zhang, and L. Zheng (2007). Bottleneck station scheduling in semiconductor assembly manufacturing using ant colony opti-mization. IEEE Trans. on Automation Science and Engineering, vol. 4, no. 4, pp 569-578. [pdf 1.14M]
11. S. Ding, J. Yi and M. Zhang, (2006). Scheduling multi-cluster tools: an integrated event graph and network model approach. IEEE Trans. on Semiconductor Manufacturing, vol. 19, no. 3, pp 339-351 [pdf 781k].
12. J. Yi and R. Horowitz, (2006). Macroscopic traffic flow propagation stability for adaptive cruise controlled vehicles. Transportation Research, Part C, vol. 14, no. 2, pp 71-85. [pdf 319k].
13. J. Yi, (2005). On the wafer/pad friction for chemical-mechanical planarization (CMP) processes, Part I: modeling and analysis. IEEE Trans. on Semiconductor Manufacturing, vol. 18, no. 3, pp 359-370. [pdf 1.37M].
14. J. Yi, (2005). On the wafer/pad friction for chemical-mechanical planarization (CMP) processes, Part II: experiments and applications. IEEE Trans. on Semiconductor Manufacturing, vol. 18, no. 3, pp 371-383. [pdf 1.46M].
15. J. Yi and C. Xu, (2005). Broad-band optical end-point detection for linear chemical-mechanical planarization (CMP) processes using an image matching technique. Journal Mechatronics, vol. 15, no. 3, pp 271-290. [pdf 470k].
16. L. Alvarez, J. Yi, R. Horowitz and L. Olmos, (2005). Adaptive emergency braking control with observer-based dynamic tire/road friction model and underestimation of friction coefficient. ASME Journal of Dynamic Systems, Measurement and Control, vol. 127, no. 1, pp 22-32. [pdf 203k].
17. J. Yi, Y. Sheng and C. Xu, (2003). Neural network based uniformity profile control of linear chemical-mechanical planarization (CMP). IEEE Trans. on Semiconductor Manufacturing, vol. 16, no. 4, pp 609-620. [pdf 1.07M]
18. J. Yi, H. Lin, L. Alvarez and R. Horowitz, (2003). Stability of macroscopic traffic flow modeling through wavefront expansion. Transportation Research, Part B, vol. 37, no. 7, pp 661-679. [pdf 717k]
19. J. Yi, L. Alvarez X. Claeys and R. Horowitz, (2003). Tire/road friction estimation and emergency braking control using a dynamic friction model. Vehicle System Dynamics, vol. 39, no. 2, pp 81-97. [pdf 156k]
20. J. Yi, L. Alvarez and R. Horowitz, (2002). Adaptive emergency brake control with underestimation of friction coefficient. IEEE Trans. on Control Systems Technology, vol. 10, no. 3, pp 381-392. [pdf 411k]

Referred conference papers

1. J. Yi, Y. Zhang, and D. Song, (2009). Autonomous motorcycles for agile maneuvers, Part I: Dynamic modeling. To be presented at 48th IEEE International Conference on Decision and Control/28th Chinese Control Conference.
2. J. Yi, Y. Zhang, and D. Song, (2009). Autonomous motorcycles for agile maneuvers, Part II: Control systems design. To be presented at 48th IEEE International Conference on Decision and Control/28th Chinese Control Conference.
   
3. J. Yi, (2009). On the hybrid physical/dynamic tire-road friction model. In Proceedings of 2009 ASME Dynamic Systems and Control Conference, Paper DSCC2009-2548, Hollywood, CA.
4. J. Yi and E. H. Tseng, (2009). Nonlinear analysis of vehicle lateral motions with a hybrid physical/dynamic tire-road friction model. In Proceedings of 2009 ASME Dynamic Systems and Control Conference, Paper DSCC2009-2717, Hollywood, CA.
5. M.S. Fadali, Y. Shen, S. Jafarzadeh, and J. Yi, (2009). Electro-tactile preference identification using fuzzy logic. In Proceedings of31st IEEE Engineering in Medicine and Biology Conference, Minneapolis, MN.
6. S. Chang, J. Yi, and Y. Shen, (2009). Disturbance observer-based hysteresis compensation for piezoelectric micro-actuators. In Proceedings of 2009 American Control Conference, St. Lious, MO, pp 4196-4201.
7. D. Song, C.-Y. Kim, and J. Yi, (2009). Simultaneous localization of multiple unknown transient radio sources using a mobile robot with a directional antenna. In Proceedings of 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp 3154 - 3159.
8. H. Wang, J. Zhang, J. Yi, D. Song, S. Jayasuriya, and J. Liu, (2009). Modeling and analysis of skid-steered mobile robots. In Proceedings of 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp 4112-4117.
9. D. Song, H. Lee, and J. Yi, (2008). On the analysis of the depth error on the road plane for monocular vision-based robot navigation. In Proceedings of the Eighth International Workshop on the Algorithmic Foundations of Robotics, Guanajuato, Mexico.
10. K.S. Moon, A. Mathers, and J. Yi, (2008). Development of a PMN-PT/PDMS vibrational energy harvester. In Proceedings of SPIE International Symposium on Optomechatronic Technologies, San Diego, CA, Paper 7266B-210.
11. J. Cozen, R. Zhang, Y. Shen, N. Xi, and J. Yi (2008). Quantitative biomechanical analysis of Drosophila through the stages of embryogenesis using a sensorized human/robot cooperative interface. In Proceedings of 2008 IEEE Biomedical Circuits and Systems Conference, Baltimore, MD, pp 69-72.
12. D. Song, H. Lee, and J. Yi (2008). On the analysis of the depth error on the road plane for monocular vision-based robot navigation. In Proceedings of Eighth International Workshop on the Algorithmic Foundations of Robotics, Guanajuato, Mexico.
13. A. Mathers, K.S. Moon, and J. Yi (2008). A PMN-PT/PDMS vibrational energy harvester: Design, modeling and experiments. In Proceedings of 1st ASME Dynamic Systems and Control Conference, , Ann Arbor, MI, Paper DSCC2008-2115. (Best Student Paper Award Finalist.)
14. J. Yi and E.H. Tseng (2008). A "smart tire" system for tire/road friction estimation. In Proceedings of 1st ASME 2008 Dynamic Systems and Control Conference, , Ann Arbor, MI, Paper DSCC2008-2279.
15. J. Yi, H. Wang, J. Liu, and D. Song (2008). LMST-based consensus control of multi-robot systems with kinodynamic constraints. In Proceedings of 1st ASME 2008 Dynamic Systems and Control Conference, , Ann Arbor, MI, Paper DSCC2008-2216.
16. J. Zhang, J. Yi, and S. Jayasuriya (2008). A framework for multi-task formation control of nonholonomic robot systems. In Proceedings of 1st ASME 2008 Dynamic Systems and Control Conference, Ann Arbor, MI, DSCC2008-2244.
17. W.J. Chan, J. Yi, S. Ding, and D. Song (2008). Optimal scheduling of k-unit production of multi-cluster tools with single-blade robots. In Proceedings of 2008 IEEE International Conference on Automation Science and Engineering, Arlington, VA, pp 335-340. (Spansion Best Conference Paper Award Finalist.)
18. J. Yi, S. Chang, K. Moon, and Y. Shi (2008). Dynamic modeling of an L-shape PMN-PT piezo-based manipulator. In Proceedings of 2008 American Control Conference, Seattle, WA, pp 3755-3760.
19. H. Fang, Y. Shi, and J. Yi (2008). Simultaneous input and state estimation with a minimum mean square error and minimum variance. In Proceedings of 2008 American Control Conference, Seattle, WA, pp 2421-2426.
20. Y. Xu, D. Song, J. Yi, and A. F. van der Stappen (2008). An approximation algorithm for the least overlapping p-frame problem with non-partial coverage for networked robotic cameras. In Proceedings of 2008 IEEE International Conference on Robotics and Automation, Padadena, CA, pp 1011-1016.
21. S. Shahruz and J. Yi (2007). Design of Disturbance Observers for Multi-Input Multi-Output Systems. In Proceedings of 2007 ASME International Mechanical Engineering Congress & Exposition, IMECE2007-43117, Seattle, WA.
22. S. Shahruz and J. Yi (2007). Suppression of Vibration Localization in Non-Axisymmetric Periodic Structures. In Proceedings of 2007 ASME International Mechanical Engineering Congress & Exposition, IMECE2007-43118, Seattle, WA.
23. S. Shahruz and J. Yi (2007). Efficient and Robust Synchronization of Twin-Gyro Systems. In Proceedings of 2007 ASME International Mechanical Engineering Congress & Exposition, IMECE2007-43119, Seattle, WA.
24. S. Shahruz and J. Yi (2007). Performance of Mechanical Band-Pass Filters Used in Energy Scavenging in the Presence of Fabrication Errors and Coupling. In Proceedings of 2007 ASME International Mechanical Engineering Congress & Exposition, IMECE2007-43123, Seattle, WA.
25. W.J. Chan, J. Yi, and S. Ding (2007). On the Optimality of One-Unit Cycle Scheduling of Multi-Cluster Tools with Single-Blade Robots. In Proceedings of 2007 IEEE International Conference on Automation Science and Engineering. Scottsdale, AZ, pp 392-397. (Spansion Best Conference Paper Award Finalist.)
26. J. Yi, M. Zhang, S. Ding, and P. van der Meulen (2007). Throughput Analysis of Linear Cluster Tools. In Proceedings of 2007 IEEE International Conference on Automation Science and Engineering. Scottsdale, AZ, pp 1063-1068.
27. J. Yi, J. Zhang, D. Song, and S. Jayasuriya (2007). IMU-based localization and slip estimation for skid-steered mobile robots. In Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, pp 2845-2850.
28. D. Song, J. Yi, and Z. Goodwin (2007). Localization of unknown networked radio sources using a mobile robot with a directional antenna. In Proceedings of the American Control Conference. New York, NY, pp 5952-5957.
29. J. Yi, D. Song, J. Zhang, and Z. Goodwin (2007). Adaptive trajectory tracking control of skid-steered mobile robots. In Proceedings of 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, pp 2605-2610.
30. J. Yi, S. Ding, D. Song, and M. Zhang (2007). Multi-robot scheduling in cluster tools with buffer/process modules. In Proceedings of 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, pp 985-990.
31. S. Ding, J. Yi, M. Zhang, and R. Akhavan-Tabatabaei (2006). Performance evaluation and schedule optimization of multi-cluster tools with stochastic process times. In Proceedings of 2006 IEEE International Conference on Automation Science and Engineering, Shanghai, China.
32. D. Song, H.-L. Lee, J. Yi, and A. Levandowski (2006). V²-space: vision-based navigation for an autonomous motorcycle on ill-structured road. In Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp 3279-3286.
33. J. Yi, D. Song, A. Levandowski, and S. Jayasuriya (2006). Trajectory tracking and balance stabilization control of autonomous motorcycles. In Proceedings of 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, pp 2583-2589.
34. J. Yi, W. Sang and E. Zhao (2005). A run-to-run film thickness control for chemical-mechanical planarization (CMP) processes. In Proceedings of the American Control Conference, Portland, OR, pp 4231-4236.
35. J. Yi, S. Ding and D. Song (2005). Steady-state throughput and scheduling analysis of multi-cluster tools for semiconductor manufacturing: a decomposition approach. In Proceedings of 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp 293-299. (Kayamori Best Paper Award.)
36. J. Yi and C. Xu, (2004). Broad-band optical end-point detection for linear chemical-mechanical planarization (CMP) processes using an image matching technique. In Proceedings of the 2004 ASME International Mechanical Engineering Congress & Exposition, Vol. II, Anaheim, CA.
37. S. Ding and J. Yi, (2004). An event-graph based simulation and analysis of multi-cluster tools. In Proceedings of the 2004 Winter Simulation Conference, Washington DC, pp 1915-1924.
38. J. Yi, (2004). On the wafer/pad friction for linear chemical-mechanical planarization: modeling, analysis and experiments. In Proceedings of the American Control Conference, Boston, MA, pp 4873-4878.
39. J. Yi, Y. Sheng and S. Xu, (2003). Neural network based uniformity profile control of linear chemical-mechanical planarization (CMP). In Proceedings of the 42nd IEEE Conference on Decision and Control, Maui, HI, pp 5955-5960.
40. J. Yi and R. Horowitz, (2002). Macroscopic traffic flow stability for adaptive cruise controlled (ACC) vehicles. In Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, NV, pp 893-899.
41. J. Yi, H. Lin, L. Alvarez and R. Horowitz, (2002). Stability of macroscopic traffic flow modeling through wavefront expansion. In Proceedings of the American Control Conference, Anchorage, AK, pp 1484-1490.
42. L. Alvarez, J. Yi, and R. Horowitz, (2002). Adaptive emergency braking control with observer-based dynamic tire/road friction model and underestimation of friction coefficient. In Proceedings of the 15th IFAC World Congress on Automatic Control, Barcelona, Spain.
43. J. Yi, L. Alvarez, X. Claeys, R. Horowitz and C. Canudas de Wit, (2001). Emergency braking control with an observer-based dynamic tire/road friction model and wheel angular velocity information. In Proceedings of the American Control Conference, Arlington, VA, pp 19-24.
44. X. Claeys, J. Yi, L. Alvarez, R. Horowitz, C. Canudas de Wit, and L. Richard (2001). Tire friction modeling under wet road conditions. In Proceedings of the American Control Conference, Arlington, VA, pp 1794-1799.
45. L. Alvarez, J. Yi and R. Horowitz, (2001). Observer based emergency braking control in automated highway systems. In Proceedings of the American Control Conference, Arlington, VA, pp 2093-2098.
46. G. Gomes, L. Munoz, J. Yi, C. Toy, S. Cinnamon, R. Horowitz and L. Alvarez, (2001). Meso-microscale traffic simulation of an AHS control architecture. In Proceedings of the American Control Conference, Arlington, VA, pp 1806-1811.
47. X. Claeys, J. Yi, L. Alvarez, R. Horowitz and C. Canudas de Wit, (2001). A simple 3D parametric tire/road friction model for vehicle simulation and control. In Proceedings of the 4th IEEE Conference on Intelligent Transportation Systems (ITS), Oakland, CA, pp 485-490.
48. X. Claeys, J. Yi, L. Alvarez, R. Horowitz, and C. Canudas de Wit, (2001). A new 3D dynamic tire/road friction model for vehicle control and simulation. In Proceedings of the 2001 ASME International Mechanical Engineering Congress & Exposition, Vol. II, New York, NY.
49. L. Munoz, G. Gomes, J. Yi, C. Toy, R. Horowitz and L. Alvarez, (2001). Integrated meso-microscopic traffic simulation of automated highway systems. In Proceedings of the 4th IEEE Conference on Intelligent Transportation Systems (ITS), Oakland, CA, pp 84-89.
50. J. Yi, L. Alvarez, R. Horowitz and C. Canudas de Wit, (2000). Adaptive emergency brake control using a dynamic friction model. In Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, pp 456-461.
51. L. Alvarez, J. Yi and R. Horowitz, (2000). Emergency braking control in automated highway systems with underestimation of friction coefficient . In Proceedings of the American Control Conference, Chicago, IL, pp 574-579.
52. J. Yi, L. Alvarez, A. Howell, R. Horowitz, K. Hedrick, (2000). A fault management system for longitudinal vehicle control in AHS. In Proceedings of the American Control Conference, Chicago, IL, pp 1514-1518.
53. L. Alvarez and J. Yi, (1999). Adaptive emergency braking control in automated highway systems. In Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, AZ, pp 3740-3745.

Video

1. A. Levandowski, A. Schultz, C. Smart, A. Krasnov, H. Chau, B. Majusiak, F. Wang, D. Song, J.Yi., H. Lee, and A. Parish Autonomous Motorcycles, IEEE International Conference on Robotics and Automation (ICRA), 2005, May. 2006, Orlando, Florida,

Book and Book Chapters

1. C. Canudas de Wit, P. Tsiotras, X. Claeys, J. Yi and R. Horowitz, (2003). Tire/road friction modeling, estimation and optimal braking control. In Nonlinear and Hybrid Systems for Automotive Control, R. Johansson and A. Rantzer (Eds.), Springer-Varleg, London.

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Technical Reports

1. J. Yi, S. Suryanarayanan, A. Howell, R. Horowitz, M. Tomizuka, and K. Hedrick, (2002). Development and implementation of a vehicle-centered fault diagnostic and management system for the extended PATH-AHS architecture: Part I. California PATH Research Report UCB-ITS-RR-2002-34 , Institute of Transportation Studies, University of California at Berkeley.
2. J. Yi, S. Suryanarayanan, A. Howell, R. Horowitz, M. Tomizuka, and K. Hedrick, (2002). Development and implementation of a vehicle-centered fault diagnostic and management system for the extended PATH-AHS architecture: Part II. California PATH Research Report UCB-ITS-RR-2002-35 , Institute of Transportation Studies, University of California at Berkeley.
3. J. Yi, A. Howell, R. Horowitz, K. Hedrick and L. Alvarez, (2001). Fault detection and handling for longitudinal control of automated highway systems (AHS). California PATH Research Report UCB-ITS-PRR-2001-21, Institute of Transportation Studies, University of California at Berkeley.
4. J. Yi, L. Alvarez and R. Horowitz, (1998). An interface between fault handling and detection modules. California PATH Research Report UCB-ITS-PRR-1998-16, Institute of Transportation Studies, University of California at Berkeley.

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Patents

1. T. Taylor, J. Yi and P. Norton, System and method for in-situ characterization and maintenance of polishing pad smoothness in chemical-mechanical polishing, US Patent 7,153,182, December 26, 2006.
2. J. Yi and C. Xu, Neural network control of chemical mechanical planarization, US Patent 7,001,243, February 21, 2006.
3. J. Yi and C. Xu, Methods for monitoring and controlling chemical mechanical planarization, US Patent 6,931,330, August 16, 2005.
4. J. Yi and C. Xu, End-point detection with image matching in semiconductor manufacturing, US Patent 6,930,782, August 16, 2005.
5. G. Lee, C. Xu, E. Zhao and J. Yi, Application of heated slurry for oxide CMP, US Patent Application 20040266192, December 30, 2004.

Thesis