M. Brett McMickell and Bill Goodwine, "Rigid Body Motion
Planning for Nonlinear Symmetric Distributed Robotic Formation,"
International Journal of Robotics Research, under review.
Yejun Wei, Steven B. Skaar and Bill Goodwine, "Vision-Based
Stratified Robotic Manipulation," Advanced Robotics, under revision.
Sorour Alotaibi, Mihir Sen, Bill Goodwine and K.T. Yang,
"Flow-based control of temperature in long ducts," 2004,
International Journal of Heat and Mass Transfer, 47,
pp. 4995--5009.
M. Brett McMickell and Bill Goodwine, 2003, "Reduction and
Controllability of Nonlinear Symmetric Distributed Systems,"
International Journal of Control, 76:18, pp. 1809--1822.
Yejun Wei and Bill Goodwine, "Stratified Manipulation on
Non-Smooth Domains," 2004, IEEE
Transaction on Robotics and Automation, 20: 1, pp. 128--132.
Sorour Alotaibi, Mihir Sen, Bill Goodwine and K.T. Yang, 2003,
"Controllability of Cross-Flow Heat Exchangers,"
International Journal of Heat and Mass Transfer, 47, pp. 913--924.
Antonio Cardenas, Bill Goodwine, Steven B. Skaar and Michael
Seelinger, 2003, "Vision-Based Control of a Mobile Base and On-Board
Arm," The International Journal of Robotic Research, 22:
9, pp. 677-698.
S. Alotaibi, Mihir Sen, B. Goodwine, and K.T. Yang, 2002,
"Numerical Simulation of Thermal Control of Heat Exchangers,"
Numerical Heat Transfer Journal, Part A: Applications, 41: 3,
pp. 229-244.
Bill Goodwine and Milos Zefran, 2002, "Feedback
Stabilization of a Class of Unstable Nonholonomic Systems,"
Transactions of the ASME, Journal of Dynamics Systems, Measurement, &
Control, 124, pp. 221-230.
Bill Goodwine and Joel Burdick, 2002, "A General Method for
Motion Planning for Quasi--Static Legged Robotic Locomotion,"
IEEE International Journal of Robotics and Automation,18: 2,
pp. 209-222.
Bill Goodwine and Joel Burdick, 2001, "Controllability of
Kinematic Control Systems on Stratified Configuration Spaces,? IEEE
Transactions on Automatic Control, 46: 3, pp. 358-368.
Bill Goodwine and Gabor Stepan, 2000, "Controlling
Unstable Rolling Phenomena, Journal of Vibration and Control,
6: 1, pp. 137--158, January 2000.
Bill Goodwine, 1991, "Abortion Parental Notification Statutes:
Hodgson v. Minnesota, 110 S. Ct. 2926 (1990) and Ohio
v. Akron Center for Reproductive Health, 110 S. Ct. 2972 (1990),"
Harvard Journal of Law & Public Policy,
14: 1, pp. 237--247.
Alice Nightingale, Bill Goodwine and Eric Jumper, 2005, "Regularizing
Shear Layer for Adaptive Optics Control Application," accepted for
presentation at the 36th AIAA Plasmadynamics and Lasers Conference.
Yejun Wei, Bill Goodwine and Steven B. Skaar, 2004, "Kinematics of
Vision-Based Stratified Robotic Manipulation," Proceedings of
the 11th IFToMM World Congress, Tianjin, China. Abstract review.
M. Brett McMickell and Bill Goodwine, 2003, "Reduction and
Motion Planning for Symmetric Distributed Robotic Systems,"
Proceedings of the 2003 IEEE International Conference on Robotics and
Automation, Taipei, Taiwan. Full paper review.
M. Brett McMickell and Bill Goodwine, 2003, "MICAbot: A
Platform for Large Scale Coordinated Distributed Mobile Robot
Control," Proceedings of the 2003 IEEE International Conference
on Robotics and Automation, Taipei, Taiwan. Full paper review.
S. Alotaibi, J.W. Goodwine, M. Sen and K.T. Yang, 2003,
"Controllability of conductive-convective systems," Proceedings
of the 6th ASME-JSME Thermal Engineering Joint Conference, Hawaii,
Paper No. TED-AJ03-247, pp. 1--6.
Yejun Wei and Bill
Goodwine, 2002, "Vision-Based Non-Smooth Kinematic Stratified Object
Manipulation," Proceedings of the 2002 Seventh Annual Conference
on Control, Automation, Robotics and Vision, Singapore.
Yejun Wei, S.B. Skaar and Bill Goodwine, 2002, "Vision-Based
Stratified Robotic Manipulation," Proceedings of the 2002
IEEE/RSJ International Conference on Intelligent Robots and Systems,
Lausanne, Switzerland.
S. Batill, S. Skaar, R. Nelson, B. Goodwine, J. Mason, and
M. Sen, 2002, "Development of a Curriculum for Mechanical Engineering
Based Upon Intelligent Systems and Automation" Session 1526,
Proceedings of the 2002 American Society for Engineering Education
Annual Conference and Exposition.
M. Brett McMickell and Bill Goodwine, 2002, "Reduction and
Controllability of Symmetric Distributed Systems with Drift,"
Proceedings of the 2002 IEEE International Conference on Robotics and
Automation, Washington, D.C., pp. 3454--3460. Full paper review.
Yejun Wei and Bill Goodwine, 2002, "Stratified Motion Planning
on Non-Smooth Domains with Application to Robotic Legged Locomotion
and Manipulation," Proceedings of the 2002 IEEE International
Conference on Robotics and Automation, Washington, D.C.,
pp. 3546--3552. Full paper review.
M. Brett McMickell and Bill Goodwine, "Reduction and
Controllability of Symmetric Distributed Systems with Robotic
Applications," Proceedings of the 2001 IEEE/RSJ International
Conference on Intelligent Robots and Systems, Maui, Hawaii,
pp. 1232-1237. Full paper review.
S. Alotaibi, M. Sen, Bill Goodwine, and K.T. Yang, 2001,
"Thermal Control of Heat Exchangers," Proceedings of the 35th
National Heat Transfer Conference, NHTC01-12517, Anaheim, CA.
Yejun Wei and Bill Goodwine,, 2001, "Theoretical and
Experimental Investigation of Stratified Robotic Manipulation,"
Proceedings of the 2001 IEEE International Conference on Robotics and
Automation, Seoul, Korea. Full paper review.
Qun Ma, Antonio Cardenas, Mike Seelinger, Bill Goodwine and
Steven Skaar, 2000, "Supervisory Control of a Mobile Robot Using
Point-and-Click Mobile Camera-Space Manipulation," Proceedings
of the 4th World Multiconference on Systemics, Cybernetics and
Informatics SCI 2000 and The 6th International Conference on
Information Systems, Analysis and Synthesis ISAS 2000, Orlando,
Florida.
Bill Goodwine and Yejun Wei, 2000, "Theoretical and Experimental Investigation of Stratified
Robotic Finger Gaiting and Manipulation," Proceedings of the 38th Annual Allerton
Conference on Communication, Control and
Computing, Allerton, Illinois.
Bill Goodwine and Joel Burdick, 2000, "Motion Planning for
Kinematic Stratified Systems with application to Quasi--Static Legged
Locomotion and Finger Gaiting," Proceedings of the Workshop
Algorithmic Foundations of Robotics.
Bill Goodwine, 1999, "Stratified Motion Planning with
Application to Robotic Finger Gaiting," Proceedings of the 1999
International Federation of Automatic Control, IFAC'99: 14th World
Congress, Beijing, China. Full paper review.
Bill Goodwine, 1999, "Stratified Motion Planning with
Application to Robotic Finger Gaiting," Proceedings of the 1999
IFToMM 10th World Congress, Oulu, Finland. Abstract review.
Bill Goodwine and Gabor Stepan, 1998, "Stabilizing
Switching Controllers," Proceedings of the 1998 Conference on
Numerical Mathematics and Computational Mechanics, Miskolc,
Hungary. Abstract review.
Bill Goodwine, Michael Seelinger, Steven
B. Skaar and Qun Ma, 1998, "Nonholonomic Camera Space Manipulation using Cameras Mounted
on a Mobile Base," Proceedings of the 1998 SPIE
conference on Sensor Fusion and Decentralized Control in Robotic
Systems, Boston, Massachusetts. Abstract review.
Bill Goodwine and Joel Burdick, 1998, "Gait Controllability for
Legged Robots," Proceedings of the 1998 IEEE Conference on
Robotics and Automation, Leuven, Belgium. Full paper review.
Bill Goodwine and Joel Burdick, 1997, "Trajectory Generation
for Legged Robotic Systems," Proceedings of the 1997 IEEE
Conference on Robotics and Automation, Albuquerque, New Mexico. Full
paper review.
Shuuji Kajita, Bill Goodwine and Joel Burdick, 1997, "Walking
Direction Control of a Biped Robot with Point Feet Using Dynamic
Effects in 3-D Space," Proceedings of the 1997 Robotics Society
of Japan Conference, Tokyo, Japan. (in Japanese).
Bill Goodwine and Joel Burdick, 1996, "Controllability with Unilateral Control
Inputs," Proceedings of the 35th IEEE Conference on Decision and
Control, Kobe, Japan. Full paper review.
Bill Goodwine and Gabor Stepan, 1996, "Stabilization
of the Classical Shimmying Wheel," Proceedings of the 2nd
European Nonlinear Oscillations Conference, Prague, Czech Republic.
Bill Goodwine, "Control of Stratified Systems with Robotic Applications," Ph.D Thesis, California Institute of Technology, 1997. (pdf)
Books and Chapters in Books
Bill Goodwine, "Engineering Differential Equations: Theory and Applications" (under development). A pdf version is available as well as a very rough wiki version.
Bill Goodwine, "Fundamentals of Control Theory,"
The MEMS Handbook, 2nd Edition, M. Gad-el-Hak, editor, CRC Press, pp. 12-1 -- 12-34, 2005.
Bill Goodwine and Mihir Sen, "Soft Computing,"
The MEMS Handbook, 2nd Edition, M. Gad-el-Hak, editor, CRC Press, pp 14-1 -- 14-37, 2005.
Bill Goodwine, "Inverse Kinematics," Robotics and Automation
Handbook, Thomas R. Kurfess, editor, CRC Press, pp. 3-1 --
3-30, 2005.
Bill Goodwine, "Fundamentals of Control Theory,"
The MEMS Handbook, M. Gad-el-Hak, editor, CRC Press, pp. 12-1 -- 12-34, 2002.
Bill Goodwine and Mihir Sen, "Soft Computing,"
The MEMS Handbook, M. Gad-el-Hak, editor, CRC Press, pp 14-1 -- 14--37, 2002.
Research
My research interests include
nonlinear control,
dynamics,
robotics and biosimulation.
For the time being, my old caltech homepage is still in existence.
A random running quote:
You have to wonder at times what you're doing out there. Over the years, I've given myself a thousand reasons to keep running, but it always comes back to where it started. It comes down to self-satisfaction and a sense of achievement.