Ou Ma

Ou Ma

Alan B Shepard Chair Professor

Rhodes Hall

720

CEAS - Aerospace Eng - 0070

Professional Summary

Research Interests  (Research Overview)
  • Multibody dynamics and control, impact-contact dynamics
  • Intelligent control of robotic and autonomous systems
  • Human-robot interaction and collaboration
  • Smart manufacturing

Education

B.Sc., Zhejiang University Hangzhou, China, (Mechanical Engineering)

M.Eng, McGill University Montreal, Canada, (Mechanical Engineering and Center of Intelligent Machines)

Ph.D., McGill University Montreal, Canada, (Mechanical Engineering and Center of Intelligent Machines)

Positions and Work Experience

05-01-1991 -07-31-2002 Senior project engineer and R&D lead, MDA Space Systems (MD Robotics), Brampton, Ontario, Canada

08-15-2002 -08-14-2008 Associate professor, New Mexico State University, Las Cruces, NM 88003

08-15-2008 -08-14-2012 Professor, New Mexico State University, Las Cruces, NM 88003

08-15-2012 -08-14-2017 John Nakayama and Tome Nakayama Professor, New Mexico State University, Las Cruces, NM 88003

01-01-2010 -08-14-2010 Senior Visiting Scientist, German Aeropsace Center (DLR), Wessling, Germany

05-01-2004 -08-01-2004 Visiting Professor, Canadian Space Agency, St-Hubert, Quebec, Canada

08-15-2017 -To Present Alan B Shepard Chair Professor, University of Cincinnati, Cincinnati, OH 45221

05-15-2015 -08-14-2016 Visiting Professor, Tsinghua University, Beijing, China

Research Support

Grant: #OSU 60064677 sub ODHE HABSat-1 Investigators:Beck, Richard; Black, George; Liu, Hongxing; Ma, Ou; McGhan, Catharine 04-04-2018 -06-30-2019 Ohio Department of Higher Education HABsat-1 (Harmful Algal Bloom Satellite-1) Role:Collaborator Active

Grant: #N00014-18-1-2851 Investigators:Beck, Richard; Black, George; Liu, Hongxing; Ma, Ou; McGhan, Catharine 08-15-2018 -08-14-2020 Office of Naval Research HABsat-2 - Multi-resolution, radiation resistant, VNIR hyperspectral imaging 6U CubeSat Constellation for littoral ocean, Great Lakes and tributary inland water studies. Role:Collaborator Active

Grant: #OSGC SICHOP 2017 (CubeCats Heimholtz Cage) Investigators:Black, George; Ma, Ou; McGhan, Catharine 05-08-2017 -12-31-2018 NASA Headquarters UC CubeCats Helmholtz Cage (Jason Roll) Role:PI Active

Grant: #OSGC SICHOP 2017 (CubeCats CubSat Groundstation) Investigators:Black, George; Ma, Ou; McGhan, Catharine 05-08-2017 -12-31-2018 NASA Headquarters UC CubeCats CubSat Groundstation (Reeve Lambert) Role:PI Active

Grant: #R40538 Investigators:Dong, Janet; Emmert, John; Ma, Ou 10-01-2019 -03-31-2020 UC "Intelligent Robotics and Autonomous Systems (IRAS) - Combined team of the Pitch Day ""Intelligent Robotics"" team and ""Artificial Intelligence"" team" Role:PI Active

Grant: #SLI 2019-11-020 / N00014-19-C-2060 Investigators:Cohen, Kelly; Ma, Ou 09-30-2019 -07-01-2020 Office of Naval Research Topic 1: CubeSat Sensors for Investigating Littoral Ocean and Atmospheric Dynamics Role:PI $40,000.00 Awarded Level:Federal

Grant: #RAPIDS Equipment Grant Investigators:Cahay, Marc; Emmert, John; Fuchs, Zachariah; Goodman, Christopher; Kim, Donghoon; Kim, J.; Kumar, Manish; Ma, Ou; McGhan, Catharine 04-01-2020 -06-30-2022 Ohio Department of Higher Education Post-Secondary Workforce Development for Advanced Manufacturing and Robotics in the Cyber Age Role:Collaborator $325,054.00 Awarded Level:State of Ohio

Publications

Peer Reviewed Publications

Angeles J.; Ma O. (01-01-1988. ) Dynamic simulation of n-axis serial robotic manipulators using a natural orthogonal complement.International Journal of Robotics Research, , 7 (5 ) ,32-47

Angeles J.; Ma O.; Rojas A. (01-01-1989. ) An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations.Computers and Mathematics with Applications, , 17 (12 ) ,1545-1561

Ma O.; Angeles J. (01-01-1993. ) Optimum design of manipulators under dynamic isotropy conditions .Proceedings - IEEE International Conference on Robotics and Automation, , 1 ,470-475

Ma O. (01-01-1995. ) Contact dynamics modelling for the simulation of the space station manipulators handling payloads .Proceedings - IEEE International Conference on Robotics and Automation, , 2 ,1252-1258

Ma O.; Buhariwala K.; Roger N.; MacLean J.; Carr R. (01-01-1997. ) MDSF - A generic development and simulation facility for flexible, complex robotic systems.Robotica, , 15 (1 ) ,49-62

Van Vliet J.; Sharf I.; Ma O. (01-01-2000. ) Experimental validation of contact dynamics simulation of constrained robotic tasks.International Journal of Robotics Research, , 19 (12 ) ,1203-1217

Ma O.; Wang J.; Misra S.; Liu M. (05-01-2004. ) On the validation of SPDM task verification facility.Journal of Robotic Systems, , 21 (5 ) ,219-235

Ma O.; Horan S. (12-15-2005. ) NMSU nanosatellite with robotics capabilities .European Space Agency, (Special Publication) ESA SP, , (603 ) ,145-148

Ma O. (01-01-2004. ) Model order reduction for contact dynamics simulations of manipulator systems.Proceedings - IEEE International Conference on Robotics and Automation, , 2004 (2 ) ,1814-1819

Weber M.; Patel K.; Ma O.; Sharf I. (06-01-2006. ) Identification of contact dynamics model parameters from constrained robotic operations.Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, , 128 (2 ) ,307-318

Ma Z.; Ma O.; Shashikanth B.N. (12-01-2006. ) Optimal control for spacecraft to rendezvous with a tumbling satellite in a close range.IEEE International Conference on Intelligent Robots and Systems, , 4109-4114

Tao W.; Zhang M.; Ma O.; Yun X. (06-29-2007. ) Industrial robot track modeling and vibration suppression.Industrial Robot, , 34 (4 ) ,317-325

Diao X.; Ma O. (12-01-2007. ) A method of verifying force-closure condition for general cable manipulators with seven cables.Mechanism and Machine Theory, , 42 (12 ) ,1563-1576

Diao X.; Ma O. (03-01-2008. ) Workspace determination of general 6-d.o.f. cable manipulators.Advanced Robotics, , 22 (2-3 ) ,261-278

Ma Z.; Ma O.; Shashikanth B.N. (01-01-2007. ) Optimal approach to and alignment with a rotating rigid body for capture.Journal of the Astronautical Sciences, , 55 (4 ) ,407-419

Ma O.; Dang H.; Pham K. (01-01-2008. ) On-orbit identification of inertia properties of spacecraft using a robotic arm.Journal of Guidance, Control, and Dynamics, , 31 (6 ) ,1761-1771

Diao X.; Ma O.; Lu Q. (12-31-2008. ) Singularity analysis of planar cable-driven parallel robots.2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008, , 272-277

Diao X.; Ma O. (05-01-2009. ) Vibration analysis of cable-driven parallel manipulators.Multibody System Dynamics, , 21 (4 ) ,347-360

Diao X.; Ma O. (03-01-2009. ) Force-closure analysis of 6-DOF cable manipulators with seven or more cables.Robotica, , 27 (2 ) ,209-215

Doush I.A.; Pontelli E.; Son T.C.; Simon D.; Ma O. (11-01-2010. ) Multimodal presentation of two-dimensional charts: An investigation using open office XML and micros.ACM Transactions on Accessible Computing, , 3 (2 ) ,

Lu Q.; Ortega C.; Ma O. (01-01-2011. ) Passive gravity compensation mechanisms: Technologies and applications.Recent Patents on Engineering, , 5 (1 ) ,32-44

Qiao B.; Liang J.X.; Ma O. (12-01-2010. ) Experimental study of an active body-weight support system for low limbs rehabilitation training .Journal of Beijing Institute of Technology (English Edition), , 19 (4 ) ,432-438

Hatamleh K.S.; Flores-Abad A.; Xie P.; Martinez G.; Herrera B.; Ma O. (02-01-2011. ) Development of an inertial measurement unit for unmanned aerial vehicles .Jordan Journal of Mechanical and Industrial Engineering, , 5 (1 ) ,53-60

Liang J.; Ma O. (12-01-2011. ) Angular velocity tracking for satellite rendezvous and docking.Acta Astronautica, , 69 (11-12 ) ,1019-1028

Liang J.; Ma O.; Liu C. (12-01-2011. ) Model reduction of contact dynamics simulation using a modified Lyapunov balancing method.Frontiers of Mechanical Engineering, , 6 (4 ) ,383-391

Liang J.; Fillmore S.; Ma O. (10-01-2012. ) An extended bristle friction force model with experimental validation.Mechanism and Machine Theory, , 56 ,123-137

Lu Q.; Liang J.; Qiao B.; Ma O. (01-01-2013. ) A new active body weight support system capable of virtually offloading partial body mass.IEEE/ASME Transactions on Mechatronics, , 18 (1 ) ,11-20

Lu Q.; Ma O. (10-16-2012. ) Identification of human inertia properties using a momentum-based approach.Journal of Biomechanical Engineering, , 134 (10 ) ,

Hatamleh K.S.; Ma O.; Flores-Abad A.; Xie P. (01-30-2013. ) Development of a special inertial measurement unit for UAV applications.Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, , 135 (1 ) ,

Zhang Z.; Zhang S.; Xie P.; Ma O. (01-01-2014. ) Bioinspired 4D trajectory generation for a UAS rapid point-to-point movement.Journal of Bionic Engineering, , 11 (1 ) ,72-81

Flores-Abad A.; Ma O.; Pham K.; Ulrich S. (01-01-2014. ) A review of space robotics technologies for on-orbit servicing.Progress in Aerospace Sciences, , 68 ,1-26

Flores-Abad A.; Wei Z.; Ma O.; Pham K. (11-01-2014. ) Optimal control of space robots for capturing a tumbling object with uncertainties.Journal of Guidance, Control, and Dynamics, , 37 (6 ) ,2014-2017

Zhang Z.; Xie P.; Ma O. (09-05-2014. ) Bio-inspired trajectory generation for UAV perching movement based on tau theory.International Journal of Advanced Robotic Systems, , 11 ,

Abad A.F.; Xie P.; Arredondo G.M.; Ma O. (02-04-2014. ) Verification of a special inertial measurement unit using a quadrotor aircraft.International Journal of Intelligent Unmanned Systems, , 2 (1 ) ,40-55

Xiu W.; Ruble K.; Ma O. (01-01-2014. ) A reduced-gravity simulator for physically simulating human walking in microgravity or reduced-gravi.Proceedings - IEEE International Conference on Robotics and Automation, , 4837-4843

Xie P.; Ma O.; Flores-Abad A. (01-01-2015. ) Development of an autonomous unmanned aerial vehicle using gas-powered RC helicopter.Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, , 229 (11 ) ,1987-2005

Xiu W.; Zhang L.; Ma O. (03-01-2016. ) Experimental study of a momentum-based method for identifying the inertia barycentric parameters of .Multibody System Dynamics, , 36 (3 ) ,237-255

Flores-Abad A.; Zhang L.; Wei Z.; Ma O. (05-01-2017. ) Erratum to: Optimal Capture of a Tumbling Object in Orbit Using a Space Manipulator (Journal of Inte.Journal of Intelligent and Robotic Systems: Theory and Applications, , 86 (2 ) ,213

Flores-Abad A.; Zhang L.; Wei Z.; Ma O. (01-01-2017. ) Optimal capture of a tumbling object in orbit using a space manipulator.Journal of Intelligent and Robotic Systems: Theory and Applications, , 86 (2 ) ,199-211

Yao H.; Ren W.; Ma O.; Chen T.; Zhao Z. (01-01-2018. ) Understanding the true dynamics of space manipulators from air-bearing based ground testing.Journal of Guidance, Control, and Dynamics, , 41 (11 ) ,2425-2434

Alsamhi S.H.; Ma O.; Ansari M.S. (11-01-2019. ) Survey on artificial intelligence based techniques for emerging robotic communication.Telecommunication Systems, , 72 (3 ) ,483-503

Sathyan A.; Ma O. (11-01-2019. ) Collaborative Control of Multiple Robots Using Genetic Fuzzy Systems.Robotica, , 37 (11 ) ,1922-1936

Alsamhi S.H.; Ma O.; Samar Ansari M.; Gupta S.K. (03-01-2019. ) Collaboration of drone and internet of public safety things in smart cities: An overview of qos and .Drones, , 3 (1 ) ,1-18

Meng Q.; Liang J.; Ma O. (08-01-2019. ) Identification of all the inertial parameters of a non-cooperative object in orbit.Aerospace Science and Technology, , 91 ,571-582

Alsamhi S.H.; Almalki F.A.; Ma O.; Ansari M.S.; Angelides M.C. (10-01-2020. ) Performance optimization of tethered balloon technology for public safety and emergency communicatio.Telecommunication Systems, , 75 (2 ) ,235-244

Johansen R.A.; Beck R.; Stumpf R.; Lekki J.; Tokars R.; Tolbert C.; McGhan C.; Black T.; Ma O.; Xu M.; Liu H.; Reif M.; Emery E. (04-03-2019. ) HABSat-1: assessing the feasibility of using CubeSats for the detection of cyanobacterial harmful al.Lake and Reservoir Management, , 35 (2 ) ,193-207

Alsamhi S.; Almalki F.; Ma O.; Ansari M.; Angelides M. (09-15-2019. ) Correction to: Performance optimization of tethered balloon technology for public safety and emergen.Telecommunication Systems, , 72 (1 ) ,155

Alsamhi S.H.; Ma O.; Ansari M.S. (06-01-2020. ) Convergence of Machine Learning and Robotics Communication in Collaborative Assembly: Mobility, Conn.Journal of Intelligent and Robotic Systems: Theory and Applications, , 98 (3-4 ) ,541-566

Alsamhi S.H.; Ma O.; Ansari M.S.; Meng Q. (12-01-2019. ) Greening internet of things for greener and smarter cities: a survey and future prospects.Telecommunication Systems, , 72 (4 ) ,609-632

Alsamhi S.H.; Ma O.; Ansari M.S.; Almalki F.A. (01-01-2019. ) Survey on collaborative smart drones and internet of things for improving smartness of smart cities.IEEE Access, , 7 ,128125-128152

Liu Q.; Liang J.; Ma O. (09-01-2020. ) A physics-based and data-driven hybrid modeling method for accurately simulating complex contact phe.Multibody System Dynamics, , 50 (1 ) ,97-117

Ren W.; Ma O.; Ji H.; Liu X. (01-01-2020. ) Human Posture Recognition Using a Hybrid of Fuzzy Logic and Machine Learning Approaches.IEEE Access, , 8 ,135628-135639

Sun Y.; Zhang L.; Ma O. (01-01-2020. ) Robotics-assisted 3D scanning of aircraft.AIAA AVIATION 2020 FORUM, , 1 PartF ,

Zhang, L.; Barth, A.; Sun, Y.; and Ma, O. (2020. ) Decentralized Control of Multi-Robot System in Cooperative Object Transportation using Deep Reinforcement Learning .IEEE Access, , 8 ,

Other Publications

Yufeng Sun, Andrew Barth and Ou Ma (2020. ) "An Intelligent Approach for a Two-robot Team to Perform a Cooperative Task" .Proceedings of the 2020 AIAA SciTech Forum, AIAA

Caleb Bisig, Jorge Benito Montejo, Matthew R. Verbryke, Anoop Sathyan, and Ou Ma (2020. ) "Intelligent Control of A Team of Drones Collaboratively Transporting A Payload" .Proceedings of the 2020 AIAA SciTech Forum, AIAA

Zhang, L., Li, S., Xiong, H., Diao, X., Ma, O. and Wang, Z (2019. ) "Prediction of Intention Behind a Single Human Action: An Application of Convolutional Neural Network" .Proc. of 9th IEEE Intl. Conf. on Cyber Tech. in Auto., Control, and Intelligent Systems, IEEE

Sathyan, A. and Ma, O (2019. ) “Collaborative Control of Multiple Robots using Genetic Fuzzy Systems Approach” .Proc. of Dynamic Systems and Control Conference (DSCC 2018), ASME

Sathyan, Ma, O., and Cohen K. (2018. ) “Intelligent Approach for Individual Space Robots Performing Collaborative Tasks” .Proc. of AIAA Space Forum, AIAA

Meng,Q. and Ma, O (2018. ) “Estimate of All the Inertial Parameters of a Free-Floating Object in Orbit” .Proc. of the 2018 AIAA SciTech Forum, AIAA

Zhang, L., Diao, X., and Ma, O (2017. ) “A Preliminary Study on a Robot’s Prediction of Human Intention” .Proc. of the 7th IEEE Int. Conf. on Cyber Tech. in Auto., Ctrl., and Intel. Syst., IEEE

Xiao, X. and Ma, O. (2017. ) “Control Walking Speed by Approximate-kinetic-model-based Self-adaptive Control on Underactuated Compass-like Bipedal Walker” .Proc. of the IEEE International Conference on Robotics and Automation (ICRA 2017), IEEE

Wu, S., Mou, F.L., and Ma, O (2017. ) “Contact Dynamics and Control of a Space Manipulator Capturing a Rotating Object” .Proceedings of the 2017 AIAA SciTech Forum, AIAA

Martinez, G., Ma, O., and Taylor, G. (2016. ) “Suborbital Flight Experiment of A Flight-in-Flight Payload for Testing A Robotics-Based Satellite Inertia Estimate Method” .Proc. of the AIAA Space and Exposition 2016, AIAA

Xiao, X., Asano, F. and Ma, O (2016. ) “Analytical solution of target walking speed generation by underactuated compass-like bipedal walker” .Proc. of the 2016 IEEE International Conference on Robots and Biomimetics (ROBIO), IEEE

Liu, Jian; Ma, O.; and Li, Haiquan (2019. ) “A Novel Hybrid Modeling Method for Contact Problems” .Proc. of the ASME Int. Design Eng. Tech. Conf. and Comp. and Info. in Eng. Conf. (IDETC/CIE2019), ASME

Book Chapter

Ma, O. and Xie, P. (2019 ) Unmanned Vehicle Systems and Technologies for Geomatics Applications Unmanned Aerial Vehicle Systems for Geomatics .Whittles Publishing

Ma, O. and Zhang, M. (2007 ) Modeling and control of electroporation-mediated gene delivery process for gene therapy Life Science Automation: Fundamentals and Applications .Artech House

Diao, X., Ma, O. and Zhang, M (2008 ) Contact Dynamic Simulation of Micro-/Nano-scale Manipulation for Medical Applications Artech House Publishers

Honors and Awards

2014 -2018 Adjunct professor Tsinghua University

2012 John Nakayama and Tome Nakayama Professor in Research Excellence New Mexico State University

2012 Dean’s Recognition Award New Mexico State University

2010 DAAD (German Academic Exchange Fellowship) award for senior visiting scientist

2010 “Millionaire” Research Achievement Award New Mexico State University

2008 Outstanding professor Mechanical Engineering Academy, NMSU

2005 Summer Faculty Fellowship award National Research Council of National Academy of Engineering

2000 Technical Innovation Award Contact Dynamics Toolkit (CDT), MDA Space Missions

1996 Technical Innovation Award Contact Dynamics Toolkit (CDT), MDA Space Missions

1987 -1990 FCAR Graduate Fellowship McGill University

1985 -1986 David Stewart Memorial Fellowship award McGill University

1978 -1982 Honor student and merit-based scholarships Zhejiang University

2017 Alan B Shepard Chair Professor University of Cincinnati

Service

Mechanical System and Signal Processing; ( Editorial board ) Associate Editor Type:Editorial Service 2016 -To Present

ASME Journal of Dynamic Systems, Measurement and Control; Associate Editor Type:Editorial Service 2019 -To Present

International Journal of Mechanisms and Robotic Systems; Editorial Board Member Type:Editorial Service 2013 -To Present

International Journal of Space Science and Engineering; Editorial Board Member Type:Editorial Service 2013 -To Present

Professional Affiliation

1991 -2002: Leading engineer - Development and validation of the multibody dynamics and contact dynamics simulation models and software for the simulation-based verification of the two International Space Station robotic systems SSRMS (Canadarm2) and SPDM (Dextre) for Canadian Space Agency. MDA Space Missions, Brampton, Canada

2010 -2011: Senior visiting scientist - Development of the European Proximity Operation Facility (EPOS) for experimental test and verification of satellite rendezvous and docking operations. German Aerospace Center (DLR), Wessling, Germany