Motoman Robotics Laboratory, Department of Electrical and Computer Engineering
Robotics Laboratory

With a generous donation from Motoman, Inc. and SAS Automation contributing the robots' end-of-arm tools, the Motoman Robotics Laboratory was established at the University of Dayton Department of Electrical and Computer Engineering in August 2008.

Located in the Eugene W. Kettering Laboratories building, room 232, the lab houses six state-of-the-art industrial robots, including a seven-axis, actuator-driven IA20 robot; a 15-axis, actuator-driven and human-like dual-arm DIA10 robot; a four-axis YS450 high-speed SCARA robot; two six-axis HP3 articulated robots and one HP3C six-axis, articulated robot with a compact controller. The lab’s research focuses on visual servoing, metrology and calibration, real-time control, and other topics relevant to industrial robotics and functions as the centerpiece of the new Robotics Concentration in the electrical and computer engineering curriculum.

UD Motoman Robotics Lab Robots

DIA-10     

15-axis, actuator-driven and human-like dual-arm    

DIA-10

DIA-10 Robot Image

IA-20

Seven-axis, actuator-driven, very flexible “snake-like” IA20 robot

IA-20 Robot Image

Robotics Lab, Seven-axis robot

YS-450

Four-axis, high-speed SCARA YS450 robot

YS-450

YS-450 Robot Image

HP-3 and HP-3C

Two six-axis HP3 articulated robots and one HP3C six-axis, articulated robot with a compact controller

HP-3      

HP-3

Nonlinear Control Lab

UDMRL Research Projects

  • Calibration and kinematic parameter estimation of industrial manipulators using neural networks
  • Real-time inverse kinematics of redundant manipulators

2013  ¦  2012  ¦  2011  ¦  2010  ¦  2009  ¦  2008  ¦  2007  ¦  2006  ¦  2005  ¦  2004  ¦  2003  ¦  2002  ¦  2001  ¦  2000  ¦  1999  ¦  1998  ¦  1997  ¦  1996

2013

A. Jennings, R. Ordonez, “Unbounded Motion Optimization by Developmental Learning,” IEEE Trans. Cybernetics, Vol. 43, No. 4, pp. 1178-1188, Aug. 2013.

2012

I. Koskal, V. Gazi, B. Fidan, R. Ordonez, “A Target Tracking Approach for Non-Holonomic Agents Based on Artificial Potentials and Sliding Mode Control,” ASME J. Dyn. Sys., Meas., Control  -- November 2012 --  Volume 134,  Issue 6.

H. Al Issa, R. Ordonez, “Robust multiplatform RF emitter localization,” SPIE Defense, Security, and Sensing, Baltimore, Maryland, 23-27 April 2012.

M. Gates, R. Selmic, C. Barber, R. Ordonez, “Cooperative Control of MAVs for a Hidden Emitter Localization,” SPIE Defense, Security, and Sensing, Baltimore, Maryland, 23-27 April 2012.

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2011

C. Zhang, Ordóñez R., “Extremum Seeking Control and Applications - A Numerical Optimization Approach,” Springer, Oct. 2011.

R. C. Hardie, K. J. Barnard, R. Ordonez, “Fast super-resolution with affine motion using an adaptive Wiener filter and its application to airborne imaging,” Optics Express Vol. 19, Iss. 27, pp. 26208–26231 (2011).

A. Jennings. R Ordonez, “Population Based Optimization for Variable Operating Points,” IEEE Congress on Evolutionary Computation, New Orleans, June 2011.

C. Barber, M. Gates, R. Selmic, H. Al Issa, R. Ordonez, A. Mitra, “PADF RF Localization Experiments with Multi-Agent Caged-MAV Platforms,” 2011 SPIE DSS.

M. Gates, C. Barber, R. Selmic, H. Al Issa, R. Ordonez, A. Mitra, “PADF RF Localization Criteria for Multi-Model Scattering Environments,” 2011 SPIE DSS.

A. Jennings, R. Ordonez, “Population-based optimization for variable operating points,” IEEE-CIS, Jul 2011.

A. Jennings, R. Ordonez, “Memory-Based Motion Optimization for Unbounded Resolution,” IASTED International Conference on Computational Intelligence and Bioinformatics, Pittsburgh, PA, Nov. 2011.

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2010

H. Jiang, R. Ordonez, R. Penno, “Analysis of Synchronized Coupled Oscillators with Application to Radar Beam Scanning,” Control Engineering Practice, Vol. 18, pp. 1379–1385, 2010.

A. Jennings, R. Ordonez, F. G. Harmon, “Constrained Near-Optimal Control Using a Numerical Kinetic Solver,” Robotics and Applications, IASTED, 706-21, Nov 2010.

A. Jennings, R. Ordonez, N. Ceccarelli, “Waypoint Navigation Heuristic for a Small UAV with Non-uniform Settling Lengths,” AIAA GNC, Aug. 2010.

Z. Jiang, R. Ordonez, J. Zhu, “High-level control methods for autonomous systems,” IEEE NAECON 2010.

A. Jennings, R. Ordonez, “Biomimetic learning, not learning biomimetics: A survey of developmental learning,” IEEE NAECON 2010.

R. Ordonez, M. Gates, K. Moma, A. Mitra, R. Selmic, P. Detweiler, C. Cox, G. Parker, Z. Goff, “RF Emitter Localization with Position-Adaptive MAV Platforms,”  IEEE NAECON 2010.

A. K. Mitra, M.Gates, C. Barber, T. Goodwin, R. Selmic, R. Ordonez, A. Sekman, M. Malkani, “Sensor Agnostics for Networked MAV Applications,” Evolutionary and Bio-Inspired Computation: Theory and Applications IV, Proc. of SPIE Vol. 7704, 77040R, April 2010.

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2009

C. Zhang, R. Ordóñez, Robust and Adaptive Design of Numerical Optimization-based Extremum Seeking Control, Automatica, Vol. 45, Issue 3, pp. 634-646, March 2009.

Z. Jiang, R. Ordonez, On-line Robust Trajectory Generation on Approach and Landing for Reusable Launch Vehicles, Automatica, Vol. 45, Issue 7, pp. 1668-1678, July 2009.

S. Young, A. K. Mitra, T. Morton, R. Ordóñez, “Position-adaptive scatterer localization for radar imaging applications,” Proc. SPIE, Vol. 7308, Orlando, FL, April 2009.

Z. Jiang, R. Ordóñez, Extension of Motion Primitives and Neighboring Optimal Control Used in Trajectory Generation for RLVs, 2009 IEEE National Aerospace and Electronics Conference, Dayton, OH, July 2009.

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2008

K. Jahan, R. Ordóñez, R. Ramachandran, S. Balzer, M. Stern, Modeling Biodegradation of Nonylphenol, Water, Air and Soil Pollution, Volume 8, Numbers 3-4, August, 2008.

A. L. Jennings, R. Ordóñez, N. Ceccarelli, “An Ant Colony Optimization Using Training Data Applied to UAV Way Point Path Planning in Wind,” IEEE Swarm Intelligence Symposium, Sep. 21-23, St. Louis, 2008.

Z. Jiang, R. Ordóñez, Disturbance Rejection in Approach and Landing Trajectory Generation for RLVs, 2008 IEEE National Aerospace and Electronics Conference, Dayton, OH, July 2008

Z. Jiang, R. Ordóñez, Robust Approach and Landing Trajectory Generation for Reusable Launch Vehicles in Winds, IEEE Multi-conference on Systems and Control (CCA section), Sept. 2008, San Antonio, TX

A. L. Jennings, R. Ordóñez, N. Ceccarelli, Dynamic Programming Applied to UAV Way Point Path Planning in Wind, IEEE Multi-conference on Systems and Control (CACSD section), Sept. 2008, San Antonio, TX

l. Koksal, V. Gazi, B. Fidan, R. Ordóñez, Tracking a Maneuvering Target with a Non-holonomic Agent Using Artificial Potentials and Sliding Mode Control, 16th Mediterranean Conference on Control and Automation, June 2008.

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2007

V. Gazi, R. Ordóñez, Target Tracking Using Artificial Potentials and Sliding Mode Control, International Journal of Control, Oct. 2007, 80:10, 1626 - 1635.

J. Yao, Ordóñez R., V. Gazi, Swarm Tracking Using Artificial Potentials and Sliding Mode Control, ASME J. Dyn. Sys., Meas., Control, Vol. 129, Sept. 2007, Issue 5, pp. 749-754.

Zhang C., Ordóñez R., Numerical Optimization-Based Extremum Seeking Control with Application to ABS Design, IEEE Transactions on Automatic Control, Vol. 52, No. 3, pp. 454-467, 2007.

M. I. Koksal, V. Gazi, B. Fidan, and R. Ordóñez, Hareketli Bir Hedefin Hiz-Kisitlamali Erkinlerden Olusan bir Robot Surusu ile Yapay Potansiyel Fonksiyonlar ve Kayan Kip Yontemini Kullanarak Takibi, Turkish National Conference on Automatic Control (TOK07), pp. 329-334, Istanbul, Turkey, September 2007 (in Turkish).

Jiang Z., Ordóñez R., On-Line Approach/Landing Trajectory Generation with Input Deviation Bound Uncertainty for Reusable Launch Vehicles, 2007 IEEE Conference on Decision and Control.

Jiang Z., Ordóñez R., Trajectory Generation on Approach and Landing for RLVs Using Motion Primitives and Neighboring Optimal Control, 2007 American Control Conference.

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2006

Ordóñez R., Spooner J. T., Passino K.M., Experimental Studies in Nonlinear Discrete-Time Adaptive prediction and Control, IEEE Transactions on Fuzzy Systems, Vol. 14, No. 2, pp. 275-286, 2006.

S. Kanchanavally, R. Ordóñez, C. J. Schumacher, Path Planning in Three Dimensional Environment using Feedback Linearization, 2006 American Control Conference.

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2005

A. Gonzalez, R. Ordóñez, Adaptive Control Scheme for Plants with Time-varying Structure Using On-line Parameter Estimation, IEEE Conference on Decision and Control, Barcelona, Dec. 2005.

C. Zhang, R. Ordóñez, Numerical Optimization-based Extremum Seeking Control of LTI Systems, IEEE Conference on Decision and Control, Barcelona, Dec. 2005.

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2004

Ordóñez R., Passino K.M., "Intelligent Control of Nonlinear Systems with Time-Varying Structure," in the Electrical Engineering Handbook, W. K. Chen, M. Sain, eds., Academic Press, 2004.

S. Kanchanavally, C. Zhang, R. Ordonez, J. Layne, Mobile Target Tracking With Communication Delays, invited paper, 2004 IEEE CDC.

C. Zhang, Q. Sheng and R. Ordonez, Notes On The Convergence And Applications Of Surrogate Optimization, Proceedings Of The Fifth International Conference On Dynamical Systems And Differential Equations, June 16 – 19, 2004, Pomona, CA, USA.

C. Zhang, R. Ordonez, C. Schumacher, Multi-vehicle Cooperative Search with Uncertain Prior Information, 2004 AIAA GNC.

Gazi V., Ordonez R., Target Tracking Using Artificial Potentials and Sliding Mode Control, 2004 ACC.

Kanchanavally S., Ordonez R., J. Layne, Mobile Target Tracking by Networked Uninhabited Autonomous Vehicles via Hospitabiliy Maps, 2004 ACC.

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2003

Maggiore M., Ordóñez R., Passino K. M., Adibhatla S., Estimator design in jet engine applications, Engineering Applications of Artificial Intelligence Vo. 16, pp. 579–593, 2003.

Ordóñez R., Passino K.M., Control of Discrete Time Nonlinear Systems with a Time-Varying Structure, Automatica, Vol. 39, No. 3, pp. 463-470, 2003.

Pagès O., El Hajjaji A., Ordóñez R., Hinf Tracking for Fuzzy Systems with an Application to Four Wheel Steering of Vehicles, 2003 IEEE International Conference on Systems, Man & Cybernetics, Oct. 5–8, Washington, D.C.

V. Shah , A. Chaubal , R. P. Ramachandran, R. Ordóñez, K. Jahan, System Observability and Nonlinear Parameter Identification of Nonylphenol Biodegradation Kinetics, IEEE International Symposium on Circuits and Systems, Bangkok, Thailand, pp. III-24--III-27, May 25--28, 2003.

C. Zhang, R. Ordóñez, Decentralized adaptive coordination and control of uninhabited autonomous vehicles via surrogate optimization, 2003 American Control Conference, Denver, Colorado, June 4-6, 2003.Ramachandran R.P., Marchese A., Ordóñez R., et al., Integration of Multidisciplinary Design and Technical Communication: An Inexorable Link, Int. J. Eng. Ed., Vol. 18, No. 1, pp. 32-38, 2002.

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2003

Spooner J.T., Maggiore M., Ordóñez R., Passino K.M., "Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques," John Wiley and Sons, 2002.  

Pagès O., Caron B., Ordóñez R., Mouille P., Control System Design by Using a Multi-Controller Approach with a Real-Time Experimentation for a Robot Wrist, in a special issue entitled Switched, Polytopic and Piecewise Linear Systems of the International Journal of Control, Vol. 75 Nos. 16/17, pp. 1321 to 1334, Nov 2002.

Ordóñez R., Direct Adaptive Regulation of Discrete Time Nonlinear Systems with Arbitrary Nonlinearities by Backstepping, IEEE Conf. Decision and Control 2002.

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2001

Ordóñez R., Passino K.M., Indirect Adaptive Control for a Class of Nonlinear Systems with a Time-Varying Structure, International Journal of Control, Vol. 74, No. 7, 701-717, 2001.

Ordóñez R., Passino K.M., Adaptive Control for a Class of Nonlinear Systems with a Time-Varying Structure, IEEE Transactions on Automatic Control, Vol. 46, No. 1, 152-155, 2001.

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2000

Ordóñez R., Passino K.M., "Wing Rock Regulation with a Time-Varying Angle of Attack," Proceedings of the Int. Symp. Intelligent Control/IEEE Mediterranean Conf. Automation and Control, pp. 49-54, Patras, Greece, July 17-19, 2000.

Marchese A. J., Newell J. A., Ordóñez R., Schmalzel J. L., Sukumaran B., Benavidez H., Haynes J., "A Pedagogical Concept of Integrating Multidisciplinary Design and Technical Communication," ASEE Annual Conference and Exhibition, St. Louis, Missouri, Session 2325, June 18-21, 2000.

Ordóñez R., Passino K.M., "Indirect Adaptive Control for a Class of Time-Varying Nonlinear Systems," Proc. of the American Control Conference, pp. 3128-3132, Chicago, IL, June 2000.

Ordóñez R., Passino K.M., "Adaptive Control for a Class of Time-Varying Nonlinear Systems," Proc. of the American Control Conference, pp. 3133-3137, Chicago, IL, June 2000.

Ordóñez R., Passino K.M., "Control of Continuous Time Nonlinear Systems with a Time-Varying Structure," Proc. of the American Control Conference, pp. 164-168, Chicago, IL, June 2000.

Bobcowski C., Costa J., Shaw S., Zucal R., Schmalzel J. L., Ordóñez R., Chen J., "Preliminary Design of an Electrodynamic Balance for Single Particle Analysis," IEEE Instrumentation and Measurement Technology Conference, pp. 415-420, Baltimore, MD, May 1-4, 2000.

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1999

Ordóñez R., Passino K.M., Stable Multi-Input Multi-Output Adaptive Fuzzy/Neural Control, IEEE Transactions on Fuzzy Systems, Vol. 7, No. 3, 345-353, 1999.

Ordóñez R., Passino K.M., "Stable Multi-Input Multi-Output Adaptive Fuzzy/Neural Control," in "Adaptive Control Systems," G. Feng and R. Lozano, eds., Butterworth-Heinemann Pub., Oxford, UK, 1999.

Maggiore M., Ordóñez R., Passino K.M., Adibhatla S., "Estimator Design in Jet Engine Applications," IEEE Conference on Decision and Control, Phoenix, Arizona, Dec. 1999.

Ordóñez R., Passino K.M., "Control of a Class of Discrete Time Nonlinear Systems with a Time-Varying Structure," IEEE Conference on Decision and Control, Phoenix, AZ, Dec. 1999.

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1998

Ordóñez R., Passino K.M., "Experimental Studies in Nonlinear Discrete-Time Adaptive Prediction and Control." IEEE Conference on Decision and Control., pp. 2289-2293, Tampa, FL, Dec. 16-18, 1998.

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1997

Ordóñez R., Zumberge J., Spooner J.T., Passino K.M., Adaptive Fuzzy Control: Experiments and Comparative Analyses, IEEE Trans. on Fuzzy Systems, Vol. 5, No. 2, 167-188, 1997.

Ordóñez R., Passino K.M., "Stable Multi-Input Multi-Output Direct Adaptive Fuzzy Control," Proc. of the American Control Conf., pp. 1272-1273, Albuquerque, NM, June 4-6, 1997.

Spooner J.T., Ordóñez R., Passino K.M., "Direct Adaptive Fuzzy Control for a Class of Discrete Time Systems," Proc. of the American Control Conf., pp. 1814-1818, Albuquerque, NM, June 4-6, 1997.

Spooner J.T., Ordóñez R., Passino K.M., "Indirect Adaptive Fuzzy Control for a Class of Discrete Time Systems," Proc. of the American Control Conf., pp. 3311-3315, Albuquerque, NM, June 4-6, 1997.

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1996

Spooner J.T., Ordóñez R., Passino K.M., "Stable direct adaptive control of a class of discrete time nonlinear systems," Proc. IFAC World Congress, San Francisco, Vol. K, pp. 343-348, July 1996.

Ordóñez R., Spooner J.T., Passino K.M., "Stable Multiple Input Multiple Output Adaptive Fuzzy Control," IEEE Conf. on Decision and Control, pp. 610-615, Kobe, Japan, 1996.

Ordóñez R., Spooner J.T., Passino K.M., "Experiments and Comparative Analysis in Adaptive Fuzzy Control," Proc. of the IEEE Int. Symp. on Intelligent Control, pp. 31-36, Dearborn, MI, 1996.

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Lab Director

Raul Ordonez

Prof. Raúl Ordóñez

  • Robot Control
  • Trajectory Generation
  • Trajectory Tracking
  • Non-Linear Controls

Researchers

rh

Prof. Russell Hardie

  • Image Processing
  • Super Resolution
  • Visual Feedback

va

Prof. Vijayan K. Asari

  • Image Processing
  • 3D Computer Vision
  • Machine Learning

jl

Prof. John Loomis

  • 3D Vision
  • Calibration and Metrology

tt

Prof. Tarek Taha

  • Accelerated Image Processing
  • Neuromorphic Computing

Ph.D. Students

Tem Messay Department of Electrical and Computer Engineering Robotics and Controls Lab

Temesguen Messay

Hariharan Ananthanarayanan Department of Electrical and Computer Engineering Robotics and Controls Lab

Hariharan Ananthanarayanan

Xinsheng Xu Department of Electrical and Computer Engineering Robotics and Controls Lab

Xingsheng Xu

Research Movies

After Hours Robots

UD Motoman Robotics Lab: Robots dance to Christmas music.       

           

Star Wars Robots

UD Motoman Robotics Lab: Robots dance to the Star Wars theme.

Motoman Robotics Laboratory

Department of Electrical and Computer Engineering
School of Engineering
300 College Park
Dayton, OH 45469-0232

Phone: 937-229-3183
 http://homepages.udayton.edu/~Ordonere/