## Bill GoodwineAerospace and Mechanical Engineering 375 Fitzpatrick Hall University of Notre Dame Notre Dame, Indiana 46656 Phone: 574-631-3283 Fax: 574-631-8341 pgp public key jgoodwin@nd.edu |

- New Book, Engineering Differential Equations: Theory and Applications, Springer-Verlag.
- Almost all courses since Fall 2004.
- Spring 2011: AME 30325, Differential Equations, Vibrations and Control II and AME 40590, Intellectual Property for Engineers.
- Fall 2010: AME 30314, Differential Equations, Vibrations and Control I and AME 20214, Introduction to Engineering Computing.
- Spring 2010: AME 30315, Differential Equations, Vibrations and Control II, AME 60799, Special Studies, Intellectual Property for Engineers (ESTEEM course) and AME 60652, Advanced Controls.
- Fall 2009: AME 30314, Differential Equations, Vibrations and Control I.
- Spring 2009: AME 30315, Differential Equations, Vibrations and Control II and AME 50650, Applied Nonlinear Analysis and Control.
- Fall 2008: AME 20214, Fundamentals of Engineering Computing and AME 30314, Differential Equations, Vibrations and Controls I.
- Spring 2008: AME 30315, Differential Equations, Vibrations and Controls II.
- Fall 2007: AME 60652, Math I and AME 30314, Differential Equations, Vibrations and Controls I.
- 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: ME 437 Control Systems Engineering, AME 469 and ME 499 Mechanical Engineering Applications of Artificial Intelligence. 469 Introduction to Robotics.
- Fall 1999: AME 698 Geometric Nonlinear Control.
- Summer 1999: AME 552 Mathematical Theory of Robotic Manipulation.
- Spring 1999: ME 469 Introduction to Robotics.
- Fall 1998: ME 469 Introduction to Robotics, ME 654 Differential Geometric Control.
- Spring 1998: ME 437 Control Systems Engineering.

- Dayu Lv and Bill Goodwine, "Pancreas Modeling by a Deterministic Optimization Method," 2010,
*International Journal of Data Mining and Bioinformatics*, in print. - M. Brett McMickell and Bill Goodwine, "Rigid Body Motion
Planning for Nonlinear Symmetric Distributed Robotic Formation,"
*International Journal of Robotics Research,*2007,**26**:10, pp. 1025-1042. - 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. - Joel Jimenez-Lozano and Bill Goodwine, "Nonlinear Disturbance Decoupling for a Nonholonomic Mobile Robotic Manipulation Platform," accepted for presentation at the Eleventh International Conference on Control, Automation, Robotics and Vision (ICARCV 2010), Singapore.
- Neil Petroff and Bill Goodwine, "Nonholonomic and Stratified Robotic Manipulation Supplemented with Fuzzy Control: Theory and Experiment", accepted for presentation at the 2010 IEEE/RSJ InternationalConference on Intelligent Robots and Systems, Taipei, Taiwan.
- Bill Goodwine and Panos Antsaklis, "Multiagent Coordination Exploiting System Symmetries,"
*Proceedings of the 2010 American Controls Conference.* - 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. - 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. - 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. - Baoyang Deng, Mihir Sen and Bill Goodwine, "Bifurcations and Symmetries of Optimal Solutions for
Distributed Robotic Systems,"
*Proceedings of the 2009 American Controls Conference.* - 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. - 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. - 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. - 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. - Alice Nightingale, Bill Goodwine, Michael Lemmon, and Eric Jumper, 2007, "Feedforward\u2019 Adaptive-
Optic System Identification Analysis for Mitigating Aero-Optic Disturbances,"
*Proceedings of the AIAA 2007 Plasmadynamics and Lasers Conference.* - 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. - 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)

- 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.

- Ashley Nettleman
- Dayu Lv, Ph.D. defended March 17, 2011.
- Alice Nightingale, Ph.D. defended November 3, 2010.
- Jason Nightingale, Ph.D. defended 8:00 am, June 4, 2012.
- Baoyang Deng, March 11, 2011.
- 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

- 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.

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Bill Goodwine (