Scott R. Ploen, Ph.D.

Guidance and Control Analysis Group
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, California, 91009
Mail Stop: 198-326
Phone: (818) 354-0581
E-Mail: scott.r.ploen@jpl.nasa.gov

Education

  • B.S in Bioengineering, University of California, San Diego, 1991.
  • M.S. in Mechanical and Aerospace Engineering, University of California, Irvine, 1994.
  • Ph.D. in Mechanical and Aerospace Engineering, University of California Irvine, 1997.

    • Research Interests

  • Multibody Dynamics
  • Geometric Methods in Mechanics
  • Robot Dynamics

    • Recent Projects

  • Geometric Algorithms for Multibody Dynamics and Control
  • A Lie Group Formulation of Robot Dynamics

    Publications

  • "A Lie Group Formulation of Lagrangian Robot Dynamics"
    S.R. Ploen
    Master's Thesis, University of California, Irvine, 1994.
  • "A Lie group formulation of Lagrangian robot dynamics"
    F.C. Park and S.R. Ploen
    Proc. 3rd International Workshop on Advanced Motion Control, Berkeley, CA, pp. 13-22, 1994.
  • "A geometric formulation of operational space control"
    S.R. Ploen and F.C. Park
    Proc. Ninth World Conf. Theory of Machines and Mechanisms, Milano, Italy, pp. 1800-1805, 1995.
  • "A Lie group formulation of robot dynamics"
    F.C. Park, J.E. Bobrow, and S.R. Ploen
    Int. J. Robotics Research, Vol. 14, No. 6, pp. 609-618, 1995.
  • "Coordinate invariant algorithms for robot dynamics"
    S.R. Ploen and F.C. Park
    Proc. Critical Issues in Robotics Workshop, National University of Singapore, 1995.
  • "A coordinate invariant formulation of the dynamics of cooperating robot systems"
    S.R. Ploen and F.C. Park
    Proc. 24th ASME Biennial Mechanisms Conference, Irvine, CA, 1996.
  • "A Lie group formulation of the dynamics of cooperating robot systems"
    S.R. Ploen and F.C. Park
    J. Robotics and Autonomous Systems. (To appear)
  • "Geometric algorithms for operational space dynamics and control"
    S.R. Ploen and F.C. Park
    IEEE Int. Conf. Robotics and Automation, Albuquerque, NM, 1997. (To appear)
  • "Coordinate invariant algorithms for robot dynamics"
    S.R. Ploen and F.C. Park
    IEEE. Trans. Robotics and Automation. (To appear)
  • "An O(n) geometric algorithm for manipulator forward dynamics"
    S.R. Ploen and J.E. Bobrow
    Submitted to ICAR97, Monterey, CA, 1997.
  • "Geometric Algorithms for the Dynamics and Control of Multibody Systems"
    S.R. Ploen
    Ph.D. Thesis, University of California, Irvine, 1997.

    • Other Links

    UCI Robotics & Automation Lab
    University of California, Irvine
    New/Used Technical Book Search Engine
    Download a copy of Scott R. Ploen's Thesis, as a Postscript File.
    Download a copy of Scott R. Ploen's Thesis, as a gzipped Postscript File.

    Page maintained by Scott R. Ploen
    sploen@maemaster.eng.uci.edu