Ou Ma

Ou Ma

Alan B. Shepard Chair Professor

720 Rhodes Hall
P.O. Box 210070, Cincinnati, OH 45221-0070

Phone: (513)556-3747
Fax: (513)556-5038
E-mail: ou.ma@uc.edu

ResearchGate Profile
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Research Interests

  • Dynamics and control of robotic systems
  • Space robotics and automation
  • Intelligent and autonomous systems
  • Biomechanics and biomimetics
  • Verification of spacecraft and robotic systems

Education

  • Ph.D., 1991, McGill University, Mechanical Engineering and Center of Intelligent Machines (CIM)
  • M.Sc, 1987, McGill University, Mechanical Engineering and Center of Intelligent Machines (CIM)
  • B.S., 1982, Zhejiang University, Mechanical Engineering

Journal Publications

Flores-Abad, A., Zhang, L., Zheng, W., and Ma, O., “Optimal Capture of a Tumbling Object in Orbit Using a Space Manipulator”, Journal of Intelligent and Robotic Systems, 2016. DOI: 10.1007/s10846-016-0417-1.

Xiu, W., Zhang, L. and Ma, O., “Experimental Study of a Momentum-based Method for Identifying the Inertia Barycentric Parameters of a Human Body”, Multibody System Dynamics, 2016, Vol. 36(3), pp.237-255.

Ma, O. and Ruble K., “Six degrees of freedom free-motion test apparatus”, US Patent #9,228,917, January 2016.

Zhang, L., Ma, O., Fabre, J., and Wood, R., “The Motion of Center of Mass during Walking Reveals Difference between older Adults with and without a Fall History”, The International Journal of Aging and Society, Vol. 5, No. 3, 2015, pp.1-14.

Xie, P., Ma, O., and Flores-Abad, A., “Development of an autonomous unmanned aerial vehicle using gas-powered RC helicopter”, Journal of Aerospace Engineering, 2015, doi: 10.1177/0954410014563361.

Flores-Abad, A., Ma, O., Zheng, W., Pham, K., “Optimal Controller for a Space Robot with Uncertainties in the Boundary Conditions”, AIAA Journal of Guidance, Control and Dynamics, Vol. 37, No. 6, 2014, pp. 2014-2017.

Zhang, Z., Xie, P., and Ma, O., “Bio-inspired Trajectory Generation for UAV Perching Movement Based on Tau Theory”, International Journal of Advanced Robotic Systems", Vol. 11, 2014.

Flores-Abad, A., Ma, O., Pham, K., and Ulrich, S., “A Review of Robotics Technologies for On-Orbit Services”, Progress in Aerospace Science, Vol.68, 2014, pp.1-26.

Flores-Abad, A., Xie, P., Martinez-Arredondo, G., and Ma, O., “Verification of a Special Inertial Measurement Unit using a Quadrotor Aircraft”, International Journal of Intelligent Unmanned Systems, Vol. 2(1): pp.40-55, 2014.

Zhang, Z., Zhang, S., Xie, P., and Ma, O., “Bioinspired 4D Trajectory Generation for a UAS Rapid Point-to-Point Movement”. Journal of Bionic Engineering. Vol.11, No.1, pp.72–81, 2014

Lu, Q., Liang, J., Qiao, B. and Ma, O., "A new active body-weight support system capable of virtually offloading partial body mass", IEEE/ASME Transactions on Mechatronics, Vol. 18, Issue 1, 2013, pp.11-20.

Hatamleh, K, Ma, O., Flores-Abad, A., and Xie, P., "Development of a special inertial measurement unit for UAV applications", ASME Journal of Dyn. Syst., Meas. and Ctrl, Vol. 135, Issue 1, 2013.

Ma, O., Ortega, C., Ruble, K., Lu, Q., “Multi-degree-of-freedom test stand for unmanned air vehicles”, US Patent #8,353,199, January 2013.

Lu, Q. and Ma, O., “Identification of Human Inertia Properties using A Momentum-based Approach”, ASME Journal of Biomechanical Engineering, Vol. 134, No. 10, 2012.

Ma, O., Flores-Abad, A. and Boge, T., “Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking”, Acta Astronautica, Vol. 81(1), 2012, pp.335-347.

Liang, J., Fillmore, S., and Ma, O., “An extended bristle friction force model with experimental validation”, Mechanism and Machine Theory, Vol.56, 2012, pp.123-137.

Ma, O. and Wang, J., “Apparatus and method for reduced-gravity simulation”, US Patent #8,152,699, April 2012.

Conference Publications

Xiao, X., Ma, O., “Control Walking Speed by Approximate-kinetic-model-based Self-adaptive Control on Underactuated Compass-like Bipedal Walker”, Proc. of IEEE International Conference on Robotics and Automation (ICRA 2017), May 29 – June 3, Singapore.

Wu, S., Mou, F.L., and Ma, O., “Contact Dynamics and Control of a Space Manipulator Capturing a Rotating Object”, Proc. of the AIAA Guidance, Navigation, and Control Conference, SciTech 2017, Grapevine, TX, January 9-13, 2017.

Martinez, G., Ma, O., and Taylor, G., “Development of a Suborbital Flight Experiment for Validating a Satellite Inertia Identification Method”, Proc. of the AIAA Space and Exposition 2016, Long Beach, CA, Sept. 12-16, 2016.

Wu, S., Mou, F.L., and Ma, O., “Study of a Space Robot Capturing a Fast Rotating Object from a Floating Spacecraft”, Proc. of The 2016 International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, China, June 20-22, 2016.

Zhang, X., Han, D.P., and Ma, O., “Using Modified Industrial Robots to Emulate the Contact Dynamics Behavior of A Space Manipulator”, Proc. of The 2016 International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, China, June 20-22, 2016.

Ma, O., Chen, T., Zhao, Z., “Understanding the Dynamics of a Space Manipulator from Its Testing with Air-Bearing based Support Equipment”, Proc. of AIAA Space and Exposition, Pasadena, CA, Aug. 31-Sept .3, 2015.

Xie, P., Ma, O., Zhang, L., Zhao, Z., “A Bio-inspired UAV Leg-Foot Mechanism for Landing, Grasping and Perching Tasks”, Proc. of AIAA Atmospheric Flight Mechanics Conference, AIAA Science and Technology Forum, Kissimmee, FL, Jan. 5-9, 2015.

Zhang, L., Ma, O., Fabre, J. M., Wood, R. H., Garcia, S., Ivey, K., McCann, E., “Classification of older adults with/without a fall history using machine learning methods”, IEEE International Conference of Engineering in Medicine and Biology Society (EMBC), Milan, Italy, August 25-29, 2015

Xiu, W., Ruble, K. and Ma O., “A Reduced-Gravity Simulator for Physically Simulating Human Walking in Microgravity or Reduced-Gravity Environment”, Proc. of 2014 Intl. Conf. on Robotics and Auto. (ICRA), Hong Kong, China, May 31-June 5, 2014.

Xie, P., and Ma, O., “Grasping analysis of a bio-inspired UAV/MAV perching mechanism”, Proc. of the ASME 2013 International Mechanical Engineering Congress & Exposition Conference (IMECE), Nov. 15-21, 2013, San Diego, CA. Paper # IMECE2013-66526.

Zhang, Z., Xie, P., and Ma, O., “Bio-inspired trajectory generation for UAV perching”, Proc. 2013 IEEE/ASME Intl. Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, July 9-12, 2013.

Paz, R.A., Barajas, J.C., Ma, O., “Autobalancing Control for a Reduced Gravity Simulator”, Proc. 2013 IEEE/ASME Intl. Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, July 9-12, 2013.

Xiu, W. and Ma, O., “Relation between End-Effector Impedance and Joint Friction of Statically-Balanced Mechanisms”, Proc. of 2013 ASME Dynamic Systems & Control Conference (DSCC), October 21-23, 2013, Palo Alto, CA, Paper No. DSCC2013-4095.

Flores-Abad, A., Wei, Z., Ma, O., and Pham, K., “Optimal Control of a Space Robot to Approach a Tumbling Object for Capture with Uncertainties in the Boundary Conditions”, Proc. AIAA Guidance, Navigation and Control Conference, Aug.19-22, 2013, Boston, MA; Paper #AIAA-2013-4522.

Pu, X., Ma, O., and Zhang, Z., “A Bio-inspired Approach for UAV Landing and Perching”, Proc. AIAA Guidance, Navigation and Control (GNC) Conference, Aug.19-22, 2013, Boston, MA; Paper #AIAA-2013-5108.

Ma, O., Ruble, K., Tessier, R., and Krech, E., “A New Technology for Physically Simulating 3D Free Floating and Rotating of an Object in Zero-Gravity Environment”, Proc. AIAA Modeling and Simulation Technologies Conference, Aug.19-22, 2013, Boston, MA; Paper #AIAA-2013-4677.

Ma, O.; Flores-Abad, A.; and Pham, K.; "Control of a Robot for Minimal Impact to the Base Satellite for Capturing a Moving Object", Proc. 12th Intl. Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Sept.3-7, 2012, Turin, Italy.

Flores-Abad A., Xie P., and Ma O., “Test of a Special Inertial Measurement Unit using a Quadrotor Aircraft”, Proc. of 2012 AIAA Guidance, Navigation and Control Conferences, August 13-16, Minneapolis, Minnesota.

Zhang, L., Ma, O., and Wood, R., “A Pilot Study of Dynamic Stability Indices for Potential Application of Identifying Older Adult Fallers”, Proc. of ASME Annual Dynamic Systems and Control Conference (DSCC), Fort Lauderdale, Florida, USA, October 17–19, 2012.

Ma, O., Flores-Abad, A., and Boge, “Using Industrial Robots for Hardware-in-the-Loop Simulation of Spacecraft Rendezvous and Docking”, Proc. 2012 ASME International Design Engineering Technical Conferences (IDETC), Aug.12-15, 2012, Chicago, IL.

Liang J., Ma O., and Liu C., “Relative Contact Dynamics and Its Application on Manipulator’s Contact Stability Problem”, Proc. 2012 ASME International Design Engineering Technical Conferences (IDETC), Aug.12-15, 2012, Chicago, IL.

Xiu W., Lu Q. and Ma O., “Trajectory Estimation of Human Mass Center based on an Inertia Identification Approach”, Proc. 2012 ASME International Design Engineering Technical Conferences (IDETC), Aug.12-15, 2012, Chicago, IL.