Bill Goodwine

Associate Professor
Aerospace and Mechanical Engineering
367 Fitzpatrick Hall
University of Notre Dame
Notre Dame, Indiana 46656
Phone: 574-631-3283
Fax: 574-631-8341
pgp public key

jgoodwin@nd.edu

Teaching

Lecture notes on differential equations (pdf version or wiki version (very preliminary)).
All courses since Fall 2004.
Spring 2007: AME 30315 Differential Equations, Vibrations and Control II.
Fall 2006: AME 30314 Differential Equations, Vibrations and Control I and AME 60611 Mathematical Methods I.
Fall 2005: AME 34314 Differential Equations, Vibrations and Control I (London) and AME 54521, Intermediate Dynamics.
Spring 2005: AME 302 Differential Equations, Vibrations and Control II and AME 698 Introduction to Nonlinear Analysis.
Fall 2004: AME 301 Differential Equations, Vibrations and Control I and AME 550 Advanced Controls.
Spring 2004: AME 302 Differential Equations.
Fall 2003: AME 301 Differential Equations, Vibrations and Control I and AME 654 Introduction to Nonlinear Analysis.
Spring 2003: AME 437 Control System Engineering.
Fall 2001: AME 654 Geometric Nonlinear Control.
Spring 2001: AME 469 Introduction to Robotics.
Spring 2000: AME 437 Control Systems Engineering, AME 469 and AME 499 Mechanical Engineering Applications of Artificial Intelligence.
Spring 1999: AME 469 Introduction to Robotics.
Fall 1999: AME 698 Geometric Nonlinear Control.
Summer 1999: AME 552 Mathematical Theory of Robotic Manipulation.
Spring 1999: AME 469 Introduction to Robotics.
Fall 1998: AME 469 Introduction to Robotics, AME 654 Differential Geometric Control.
Spring 1998: AME 437 Control Systems Engineering.

Papers

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.

Students

Dayu Lv
Alice Nightingale
Jason Nightingale
Baoyang Deng
Neil Petroff, Ph.D. defended, October 6, 2006
M. Brett McMickell (thesis), Ph.D. 2003
Yejun Wei, Ph.D., 2002
Qun (Marc) Ma, M.S., 2000

Miscellany

Microcontroller learning module.
My hypertext Manual of Patent Examining Procedure.
Resources related to my academic interests.
Web navigating resources.
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.

--Steve Prefontaine

Last Modified: Wednesday December 5, 2007, 20:01 EST
Bill Goodwine (jgoodwin@nd.edu)