# Difference between revisions of "Main Page"

 Bill Goodwine Department of Aerospace and Mechanical Engineering University of Notre Dame Notre Dame, IN 46556 bill@controls.ame.nd.edu

# Publications

## Papers

1. Bill Goodwine, Fractional-Order Modeling of Complex, Networked Cyber-Physical Systems, submitted to the 2014 International Conference on Control, Automation, Robotics and Vision
2. Bill Goodwine, Nonlinear Stability of Approximately Symmetric Large-Scale Systems, Accepted for 2014 IFAC World Congress, Cape Town, South Africa
3. Ashley Nettleman and Bill Goodwine, Formation Stability for Multiagent Systems with Continuous and Discrete Symmetries, extended abstract accepted at the 2014 International Symposium on Mathematical Theory of Networks and Systems (MTNS 14)
4. Bill Goodwine, Compositional Boundedness of Solutions for Symmetric Nonautonomous Control Systems, submitted to the 2014 Mediterranean Conference on Control and Automation
5. Bill Goodwine, Modeling a Multi-Robot System with Fractional-Order Differential Equations, accepted and to appear in the proceedings of the 2014 IEEE International Conference on Robotics and Automation, Hong Kong
6. Bill Goodwine and Panos Antsaklis, Multi-agent compositional stability exploiting system symmetries, Automatica 49(11): 3158-3166, 2013
7. Panos J Antsaklis,Bill Goodwine, Vijay Gupta, Michael J. McCourt, Yue Wang, Po Wu, Meng Xia, Han Yu, and Feng Zhu, Control of cyberphysical systems using passivity and dissipativity based methods, European Journal of Control 19, no. 5 (2013): 379-388
8. Bill Goodwine Compositional stability of approximately symmetric systems: Initial results, Proceedings of the 21st Mediterranean Conference on Control & Automation (MED), pp. 1470-1476 IEEE, 2013
9. Jason Nightingale and Bill Goodwine, An algorithm for stopping a class of underactuated nonlinear mechanical robotic systems, Proceedings of the 21st Mediterranean Conference on Control & Automation (MED) pp. 531-536, 2013
10. Alice M. Nightingale, Bill Goodwine, Michael Lemmon and Eric Jumper Phase-Locked-Loop Adaptive-Optic Controller and Simulated Shear Layer Correction, AIAA journal, 51(11), 2714-2726, 2013
11. John Gallagher and Bill Goodwine, CDIO-Oriented Inverted Pendulum Control Project for Undergraduate Engineering Students, 2012 CDIO International Conference, Brisbane, Australia, 2012
12. Michael O'Connor and Bill Goodwine, Symmetry-Breaking in Bifurcations of Optimal Solutions for Coordinated Nonholonomic Robotic Control, Proceedings of the 2012 Mediterranean Conference on Control & Automation (MED), pp. 1554-1559, 2012
13. Janos Sztipanovits, Xenofon Koutsoukos, Gabor Karsai, Nicholas Kottenstette, Panos Antsaklis, Vijay Gupta, Bill Goodwine, John Baras, and Shige Wang, Toward a science of cyber–physical system integration, Proceedings of the IEEE 100, no. 1 (2012): 29-44
14. Bill Goodwine and Panos Antsaklis, Fault-Tolerant Multiagent Robotic Formation Control Exploiting System Symmetries, Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 2872-2877
15. Joel Jimenez-Lozano and Bill Goodwine, Nonlinear Disturbance Decoupling for a Mobile Robotic Manipulator over Uneven Terrain, Proceedings of the 2011 International Federation of Automatic Control World Congress, Milan, Italy, Vol. 18, No. 1, pp. 6930-6936
16. Dayu Lv and Bill Goodwine, "Pancreas Modeling by a Deterministic Optimization Method" 'International Journal of Data Mining and Bioinformatics,' Volume 5, Number 3, Pages 308-320 (2011).
17. Goodwine, Bill, and Panos Antsaklis, Multiagent coordination exploiting system symmetries, American Control Conference (ACC), 2010, pp. 830-835
18. Baoyang Deng, Mihir Sen, and Bill Goodwine, Bifurcations and symmetries of optimal solutions for distributed robotic systems, Proceedings of the 2009 American Control Conference, St. Louis, MO, pp. 4127-4133
19. Joel Jimenez-Lozano and Bill Goodwine, Nonlinear Disturbance Decoupling for a Nonholonomic Mobile Robotic Manipulation Platform, Proceedings of the Eleventh International Conference on Control, Automation, Robotics and Vision (ICARCV 2010), Singapore, pp. 1530-1535
20. Neil Petroff and Bill Goodwine, Nonholonomic and Stratified Robotic Manipulation Supplemented with Fuzzy Control: Theory and Experiment, Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, pp. 1202-1208
21. Bill Goodwine and Panos Antsaklis, Multiagent Coordination Exploiting System Symmetries, Proceedings of the 2010 American Controls Conference, pp. 830-835
22. Baoyang Deng, Andreas K. Valenzuela and Bill Goodwine, Bifurcations of Optimal Solutions for Coordinated Robotic Systems: Numerical and Homotopy Methods, Proceedings of the 2010 IEEE International Conference on Robotics and Automation, (41.6% acceptance rate) Anchorage, AK, pp. 4475-4480
23. Bill Goodwine and Jason Nightingale, The Effect of Dynamic Singularities on Robotic Control and Design, Proceedings of the 2010 IEEE International Conference on Robotics and Automation, (41.6% acceptance rate) Anchorage, AK, pp. 5213-5218
24. Dayu Lv and Bill Goodwine, "Pancreas Modeling from IVGTT Data Using a Deterministic Optimal Search," Proceedings of the 2009 IEEE International Conference on Bioinformatics & Biomedicine, (35% acceptance rate) Washington, D.C. (pdf)
25. Jason Nightingale, Richard Hind and Bill Goodwine, A Stopping Algorithm for Mechanical Systems, Algorithmic Foundations of Robotics VIII, Gregory S. Chirikjian, et al., editors, Eighth International Workshop on the Algorithmic Foundations of Robotics, Guanajuato, Mexico, 2009, pp. 167-180
26. Jason Nightingale, Richard Hind and Bill Goodwine, "Geometric analysis of a class of constrained mechanical control systems in the nonzero velocity setting," Proceedings of the 17th International Federation of Automatic Control (IFAC) World Congress, Seoul, Korea July, 2008.
27. Jason Nightingale, Richard Hind and Bill Goodwine, "Intrinsic Vector-Valued Symmetric Form for Simple Mechanical Control Systems in the Nonzero Velocity Setting," Proceedings of the 2008 IEEE International Conference on Robotics and Automation, (43.4% acceptance rate) Pasadena, CA, May, 2008 (pdf)
28. Dayu Lv and Bill Goodwine, "A New Metabolism Model for Human Skeletal Muscle," Proceedings of the IEEE International Conference on Biomedical Electronics and Devices, January, 2008, Maderia, Portugal (pdf)
29. M. Brett McMickell and Bill Goodwine, "Motion Planning for Nonlinear Symmetric Distributed Robotic Formation," International Journal of Robotics Research, 2007,26:10, pp. 1025-1042 (pdf)
30. Alice Nightingale, Bill Goodwine, Michael Lemmon, and Eric Jumper, 2007, "Feedforward Adaptive-Optic System Identification Analysis for Mitigating Aero-Optic Disturbances," Proceedings of the AIAA 2007 Plasmadynamics and Lasers Conference.
31. Alice Nightingale, Daniel D. Duffin, Michael Lemmon, Bill Goodwine and Eric Jumper, 2005, "Adaptive-Optic Correction of a Regularized Compressible Shear Layer," Proceedings of the 37th AIAA Plasmadynamics and Lasers Conference, San Francisco, CA, June, 2006.
32. 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.
33. Yejun Wei and Bill Goodwine. "Stratified motion planning on nonsmooth domains with robotic applications." IEEE Transactions on Robotics and Automation 20.1 (2004): 128-132 (pdf)
34. 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.
35. 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.
36. M. Brett McMickell and Bill Goodwine, 2003, "Reduction and Controllability of Nonlinear Symmetric Distributed Systems," International Journal of Control, 76:18, pp. 1809-1822 (2003).
37. M. Brett McMickell and Bill Goodwine, 2003, "Reduced Order Motion Planning for Nonlinear Symmetric Distributed Robotic Systems," Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan. Full paper review (pdf)
38. 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.
39. 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.
40. 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.
41. 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.
42. 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.
43. 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 (pdf)
44. 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.
45. 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.
46. 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.
47. 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. (pdf)
48. 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. (pdf)
49. 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.
50. 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 (pdf)
51. 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.
52. 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.
53. 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.
54. Bill Goodwine and Gabor Stepan, 2000, "Controlling unstable Rolling Phenomena, Journal of Vibration and Control, 6: 1, pp. 137-158, January 2000.
55. 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.
56. 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 (pdf)
57. 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.
58. 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. (pdf)
59. Gabor Stepan and Bill Goodwine, "Analysis and Control of Unstable Rolling Wheel Dynamics," 1999 SIAM Conference on Applications of Dynamical Systems, Showbird, UT, 1999, abstract submission (pdf)
60. B. Goodwine, Michael Seelinger, John-David Yoder, Qun Ma and Steven Skaar, “Applications of mobile camera-space manipulation,” Proceedings of FSR'99: Field and Service Robotics, pages 102-113, Pittsburg, 1999 (pdf)
61. Bill Goodwine, 1999, "Stratified Motion Planning with Application to Robotic Finger Gaiting," Proceedings of the 1999 IFToMM 10th World Congress, Oulu, Finland. Abstract review.
62. Bill Goodwine and Gabor Stepan, 1998, "Stabilizing Switching Controllers," Proceedings of the 1998 Conference on Numerical Mathematics and Computational Mechanics, Miskolc, Hungary. Abstract review (pdf)
63. 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 (pdf)
64. 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. (pdf)
65. Bill Goodwine, Control of Stratified Systems with Robotic Applications, Ph.D Thesis, California Institute of Technology, 1997
66. 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
67. Shuuji Kajita, Bill Goodwine and Joel Burdick, "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. 1997 (in Japanese).
68. Bill Goodwine and Joel Burdick, Controllability of Kinematic Control Systems on Stratified Configuration Spaces, Mathematical Theory of Networks and Systems, 1996, St. Louis
69. 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, 1996, (Vol. 3, pp. 3394-3399
70. Bill Goodwine and Gabor Stepan, Stabilization of the Classical Shimmying Wheel, Proceedings of the 2nd European Nonlinear Oscillations Conference, Prague, Czech Republic, 1996
71. 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.

# Research Summary

### Cyber Physical Systems

My research focuses primarily on theoretical nonlinear control with recent emphasis on Cyber Physical Systems. Cyber physical systems are systems with highly integrated physical and computational components (often involving the complication of networked communication). They tend to be very large and complex in scale. While many CPS systems exist in the real world, to date there are few general theoretical results available to guide both the design of such systems and the control of such systems. Most existing CPS systems are designed and controlled based upon accumulated real-world industrial knowledge that tends to be industry- or application-specific. My recent work has focused particularly on so-called symmetric systems. A symmetric system is comprised of many components with the restriction that the components be very closely related and connected together in a "regular" manner. With such restrictions, it is possible to formulate general models and then consider what types of properties remain invariant as components are added to or removed from the system. A related question is how the system behaves as components fail, which is a question of robustness.

### Stratified Systems

Many interesting and important control systems evolve on stratified configuration spaces. Roughly speaking, we will call a configuration manifold stratified if it contains submanifolds upon which the system is subjected to additional constraints or has different equations of state. For such systems, the equations of motion on each submanifold may change in a non-smooth, or even discontinuous manner, when the system moves from one submanifold to another. In such cases, traditional nonlinear control methodologies are inapplicable because they generally rely upon differentiation in one form or another. Yet it is the discontinuous nature of such systems that is often their most important characteristic because the system must cycle through different submanifolds to effectively be controlled. Therefore, it is necessary to incorporate explicitly into control methodologies the non-smooth or discontinuous nature of these systems.

Robotic systems, in particular, are of this nature. A legged robot has discontinuous equations of motion near points in the configuration space where each of its feet come into contact with the ground, and it is precisely the ability of the robot to lift its feet off of the ground that enables it to move about. Similarly, a robotic hand grasping an object often cannot reorient the object without lifting its fingers off of the object. Despite the obvious utility of such systems, however, a comprehensive framework in which to consider control issues for such systems does not exist.

The fundamental approach of this work has been to exploit the physical geometric structure present in such problems to address control issues such as nonlinear controllability, trajectory generation and stabilization. The fundamental philosophy is to generate general results, i.e., results independent of a particular robot's number of legs, fingers or morphology.

### Control of Mechanical Systems

Most theoretical control results are based upon very generic dynamical systems formulations, such as ${\displaystyle {\dot {x}}=Ax+Bu}$ for linear systems or ${\displaystyle {\dot {x}}=f(x)+g(x)u}$ for a nonlinear system. Of course this leads to the question of whether a more restrictive starting point can lead to valuable results. An important area of research along these lines is so-called control of mechanical systems where the equations of motion are not as general, but are assumed from the beginning to come from some first principle of mechanics. We have focused specifically on control of Lagrangian systems that are underactuated. Specifically, it is possible in such a framework to write general expressions for the relationship of the coupling between the controlled degree of freedoms and uncontrolled degrees of freedom, and given such expressions it is possible to know when there is close coupling between them and total decoupling between them. Furthermore, it is often the case that the coupling between the controlled and uncontrolled degrees of freedom is such that it may be only of one sign, i.e., no matter what is done with the control inputs, the uncontrolled degrees of freedom may only increase (or decrease) in magnitude. Such results have obvious important implications for control algorithms.

### Other Projects

Other smaller projects include:

• control of aero-optic systems
• predictive biosimulation for human metabolism
• fuzzy logic-based robust control for stratified systems
• model-predictive control for marine navigation.

# Biographical Sketch

• MS and PhD degrees in Applied Mechanics from the California Institute of Technology in 1993 and 1998, respectively.
• JD degree from Harvard Law School, 1991, cum laude
• Instructor, Assistant Professor, Associate Professor, Department of Aerospace and Mechanical Engineering, University of Notre Dame, 1998 - present.
• Associate Department Chair, Department of Aerospace and Mechanical Engineering, University of Notre Dame, August 2008 - August 2012.
• Member of the Illinois Bar Association, 1991 - present.
• Registered Patent Attorney, 1998 - 2004 (not maintained).
• NSF CAREER Award Recipient.
• Boeing Welliver Faculty Fellow.
• BP Foundation Outstanding Teacher of the Year, College of Engineering, Spring, 2008.
• Joyce Award (teaching), Spring, 2008.
• University of Notre Dame Kaneb teaching award, Spring, 2005.
• Department of Aerospace and Mechanical Engineering Ruth and Joel Spira Award for Excellence in Teaching, 2003 - 2004 and 2007 - 2008.
• American Society of Engineering Education Illinois/Indiana Section Outstanding Teaching Award, April, 2003.
• Department of Aerospace and Mechanical Engineering Faculty Award (teaching), 1998 - 1999.

# Courses

### Course Blog

In order to be able to interactively answer questions online, I've maintained a course blog for all courses since 2002.