Ou Ma

Ou Ma
University of Cincinnati | UC · Department of Aerospace Engineering and Engineering Mechanics

Ph.D.

About

191
Publications
53,224
Reads
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4,370
Citations
Citations since 2017
52 Research Items
2477 Citations
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Introduction
Ou Ma is the Alan B Shepard Chair Professor at the University of Cincinnati (UC), Cincinnati, Ohio. He is directing the Intelligent Robotics and Autonomous Systems (IRAS) Laboratory at UC. Ou does research in Aerospace Engineering, Mechanical Engineering and Biomechanics Engineering. His current research projects involving system dynamics and intelligent control of robotic systems for aerospace robotics, smart manufacturing, and healthcare.
Additional affiliations
January 2010 - July 2010
German Aerospace Center (DLR)
Position
  • Senior visiting scientist
Description
  • Participated in the development of the European Proximity Operations Simulators, responsible for the contact dynamics capability of the facility.
August 2008 - present
New Mexico State University
Position
  • Professor (Full)
Description
  • Teaching courses in dynamics, controls, robotics, applied math, and systems engineering. Advising M.S. and Ph.D. students.
June 2004 - July 2004
Canadian Space Agency
Position
  • Visiting scientist
Description
  • Participated in the development of the Germany-Canada-Russia joint project TECSAS (Technology Satellites for Demonstration and Verification of Space Systems), responsible for the development of the concept of robotic operations.

Publications

Publications (191)
Article
Full-text available
Visual inspections of aircraft exterior surfaces are required in aircraft maintenance routines for identifying possible defects such as dents, cracks, leaking, broken or missing parts, etc. This process is time-consuming and is also prone to error if performed manually. Therefore, it has become a trend to use mobile robots equipped with visual sens...
Conference Paper
View Video Presentation: https://doi.org/10.2514/6.2022-1728.vid Genetic algorithms provide the adaptability necessary to construct complex interactions between inputs and outputs in fuzzy logic controllers. Fuzzy Logic provides visually interpretable correlations which for low-dimensionality feature spaces can be directly observed for flaws. By ca...
Preprint
Full-text available
Visual inspections of aircraft exterior surface are usually required in aircraft maintenance routine. It becomes a trend to use mobile robots equipped with sensors to perform automatic inspections as a replacement of manual inspections which are time-consuming and error-prone. The sensed data such as images and point cloud can be used for further d...
Article
Full-text available
When two skilled human workers cooperate on a task, such as moving a sofa through a tight doorway, they often infer what needs to be done without explicit communication because they have learned cooperation skills from their prior work or training. This paper extends that concept to a two-robot team. The robots are given the task to carry a large p...
Article
Full-text available
Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of man...
Article
The integration of drones, IoT, and AI domains can produce exceptional solutions to today's complex problems in smart cities. A drone, which essentially is a data-gathering robot, can access geographical areas that are difficult, unsafe, or even impossible for humans to reach. In this paper, an intelligent technique is proposed to predict the signa...
Article
Full-text available
This paper introduces a new genetic fuzzy based paradigm for developing scalable set of decentralized homogenous robots for a collaborative task. In this work, the number of robots in the team can be changed without any additional training. The dynamic problem considered in this work involves multiple stationary robots that are assigned with the go...
Conference Paper
Full-text available
Fulfilling the goal of NASA’s Artemis program to establish a sustainable presence on the Moon will require a fleet of robotic vehicles performing exploration, resource extraction, and science missions. The challenge of distributing power to each of these assets will be vital to mission success. The CableCat design concept addresses this challenge b...
Conference Paper
Full-text available
Most aircraft exterior inspections require human workers to visually detect defects such as dents, cracks, leaking, broken or missing parts, etc., and manually measure the parameters of the identified defects, which is a time-consuming process and it is also error-prone if the human inspector is not fully focused. This situation can be alleviated b...
Conference Paper
The work discussed in this paper is a part of the project to build an automated robotic cell for removing two tabs from a Jet Engine Turbine Blade using a 3-axis CNC milling machine and for laser marking several lines of part information onto the blade body. The two tabs are extensions of the Turbine Blade, in which the necessary part information i...
Article
Full-text available
This paper investigates the potential of a tethered balloon network architecture deployed as part of public safety networks and emergency communications. Tethered balloon technology has been evolving as a powerful and promising technology for improving public safety and for saving people’s lives. As such, it enables accomplishment of unique and spe...
Article
Full-text available
Traditional physics-based contact models have been widely used for describing various contact phenomena such as robotic grasping and assembly. However, difficulties in carrying out contact parameter identification as well as the relatively low measurement accuracy due to complex contact geometry and surface uncertainties are the limiting factors of...
Preprint
Full-text available
A comparison between two machine learning approaches viz., Genetic Fuzzy Methodology and Q-learning, is presented in this paper. The approaches are used to model controllers for a set of collaborative robots that need to work together to bring an object to a target position. The robots are fixed and are attached to the object through elastic cables...
Preprint
Prediction of the action outcome is a new challenge for a robot collaboratively working with humans. With the impressive progress in video action recognition in recent years, fine-grained action recognition from video data turns into a new concern. Fine-grained action recognition detects subtle differences of actions in more specific granularity an...
Article
Full-text available
An autonomous assistive robot needs to recognize the body-limb posture of the person being assisted while he/she is lying in a bed to provide care services such as helping change the posture of the person or carrying him/her from the bed to a wheelchair. This paper presents a data-efficient classification of human postures when lying in a bed using...
Article
Full-text available
Collaborative assemblies of robots are promising the next generation of robot applications by ensuring that safe and reliable robots work collectively toward a common goal. To maintain this collaboration and harmony, effective wireless communication technologies are required in order to enable the robots share data and control signals amongst thems...
Article
Full-text available
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a problem. However, an increased number of individuals also changed the dynamics of the system which makes control...
Article
This paper investigates the potential of a tethered balloon network architecture deployed as part of public safety networks and emergency communications. Tethered balloon technology has been evolving as a powerful and promising technology for improving public safety and for saving people's lives. As such, it enables accomplishment of unique and spe...
Article
Full-text available
Tremendous technological developments in the field of internet of things (IoT) have changed the way we live and work. Although the numerous advantages of IoT are enriching our society, it should be reminded that the IoT also contributes to toxic pollution, consumes energy and generates e-waste. These persistent issues place new stress on the smart...
Article
Full-text available
This paper reviews the current development of artificial intelligence (AI) techniques for the application area of robot communication. The research of the control and operation of multiple robots collaboratively toward a common goal is fast growing. Communication among members of a robot team and even including humans is becoming essential in many...
Article
Full-text available
The original version of this article was published with an error in one of the co-author name and e-mail address.
Conference Paper
Accurately modeling of many practical contact scenarios such as robotic grasping and assembly is a challenging problem because of complex contact geometry and surface uncertainties. This paper presents a new hybrid contact model (HCM), which combines a traditional physical model and a data-driven model to make a more accurate description of a conta...
Article
Full-text available
The detection of cyanobacterial harmful algal blooms (CHABs) in freshwater lakes and reservoirs via satellite remote sensing remains a challenge. This is partially due to the spectral, spatial, and temporal configurations of most satellite imagers, which are designed for large terrestrial applications.This research evaluated the prelaunched perform...
Article
Full-text available
Knowing the dynamic properties of a non-cooperative spacecraft is critical for robotic capture and service in orbit. However, using visual observation alone is not sufficient to identify all the inertial parameters (the mass, mass center location, and inertia matrix) of an unknown target object. This paper presents a method to fully identify all th...
Article
Full-text available
This paper introduces an approach of collaborative control for individual robots to collaboratively perform a common task, without the need for a centralized controller to coordinate the group. The approach is illustrated by an application example involving multiple robots performing a collaborative task to achieve a common goal. The objective of t...
Article
A comparison between two machine learning approaches viz., Genetic Fuzzy Methodology and Q-learning, is presented in this paper. The approaches are used to model controllers for a set of collaborative robots that need to work together to bring an object to a target position. The robots are fixed and are attached to the object through elastic cables...
Article
Full-text available
This paper studies the network performance of collaboration between the Internet of public safety things (IoPST) and drones. Drones play a vital role in delivering timely and essential wireless communication services for the recovery of services right after a disaster by increasing surge capacity for the purposes of public safety, exploring areas t...
Conference Paper
Full-text available
This paper introduces a decentralized approach of collaborative control between multiple robots. A dynamic problem is considered to illustrate the effectiveness of this approach. The objective of this problem is to control three robots that are connected to a ball through elastic strings to bring the ball to a pre-defined target position. Since the...
Conference Paper
HABsat-1 is designed to improve our understanding of algal bloom dynamics and their causes on land by addressing several current limiting factors for this application using existing satellites. For example, there is suboptimal imager design for water, insufficient spatial resolution for precise co-registration of surface observations, and too few s...
Conference Paper
Full-text available
A decentralized approach to collaborative control is introduced in this paper. In order to illustrate this approach, a dynamic problem involving five decentralized robots is considered. The robots are fixed and are attached to an object through elastic cables. The objective of this problem is to control the position of the object using the robots....
Article
A space manipulator can easily handle a large payload having a much larger mass than its own mass. However, physical test of such a manipulator handling a large-mass payload in 3D space on the ground is almost impossible due to gravity effect. A commonly used test method is to support the manipulator with air-bearing pads on a horizontal granite su...
Article
Full-text available
The actions taken at the initial times of a disaster are critical. Catastrophe occurs because of terrorist acts or natural hazards which have the potential to disrupt the infrastructure of wireless communication networks. Therefore, essential emergency functions such as search, rescue, and recovery operations during a catastrophic event will be dis...
Preprint
Full-text available
This paper proposes an intelligent technique for maximizing the network connectivity and provisioning desired quality of service (QoS) of integration of internet of things (IoT) and unmanned aerial vehicle (UAV). Prediction of the signal strength and fading channel conditions enable adaptive data transmission which turn enhances the QoS for the end...
Preprint
Full-text available
Tremendous technology development in the field of Internet of Things (IoT) has changed the way we work and live. Although the numerous advantages of IoT are enriching our society, it should be reminded that the IoT also consumes energy, embraces toxic pollution and E-waste. These place new stress on the environments and smart world. In order to inc...
Preprint
Full-text available
This paper reviews the current development of artificial intelligence (AI) techniques for the application area of robot communication. The study of the control and operation of multiple robots collaboratively toward a common goal is fast growing. Communication among members of a robot team and even including humans is becoming essential in many rea...
Article
Full-text available
This paper introduces an optimal capture strategy for a manipulator based on a servicing spacecraft to approach an arbitrarily rotating object, such as a malfunctioning satellite or a piece of orbital debris, for capturing with minimal impact to the robot’s base spacecraft. The method consists of two steps. The first step is to determine an optimal...
Article
Full-text available
Physical modeling, simulation and analysis of an individual human body require inertia properties of the body segments of the human. Such subject-specific inertia data can be obtained only by measuring the individual human body as opposed to be derived from statistically generated anthropometric database. This paper presents experimental validation...
Article
Full-text available
This paper describes the development of a small unmanned aerial vehicle (UAV) with autonomous flight capability. It is the result of integrating a commercial off-the-shelf autopilot system with a low-cost gas-powered RC helicopter. Researchers face several challenges when developing UAVs using gas-powered RC helicopters. To avoid the corruption of...
Conference Paper
Falling is a serious problem in an aged society such that assessment of the risk of falls for individuals is imperative for the research and practice of falls prevention. This paper introduces an application of several machine learning methods for training a classifier which is capable of classifying individual older adults into a high risk group a...
Article
Full-text available
Astronauts must go through extensive training of their tasks in a simulated microgravity or reduced-gravity environment before they can perform the same tasks in space. Scientists and engineers also need simulated reduced-gravity facilities to study human performance and factors in space. This paper presents a novel design and prototype test of a m...
Article
Full-text available
This paper offers a bio-inspired trajectory generation method for UAV/MAV perching (i.e., the final approach to, and landing on, a target). The method is based on tau theory, which was established based on the study of the natural motion patterns of animals (including humans) when they approach a fixed or moving object for perching or capturing pre...
Article
Full-text available
Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed...
Article
Full-text available
Robotic capture and servicing of a cooperative satellite in orbit for on-orbit servicing (OOS) has been demonstrated by several past missions, such as the Engineering Test Satellite Number 7 and Orbital Express missions. The first step of the proposed methodology is to find an optimal time and final pose of the tumbling target object for the robot...
Article
A bioinspired trajectory generation approach for Unmanned Aerial System (UAS) rapid Point-to-Point (PTP) movement was presented. The approach was based on general tau theory developed by biologists from observing and studying the behavior of birds and some other animals. We applied the bioinspired approach to the rapid PTP movement problem of a rot...
Conference Paper
This paper presents the grasping analysis of a bio-inspired UAV/MAV perching mechanism designed at New Mexico State University. The mechanism is composed of a cable-driven leg mechanism and two cable-driven underactuated three-digit feet. The mechanical design was based on the analysis of the anatomy of bird legs and feet. In this paper, the graspi...
Conference Paper
Statically-balanced mechanisms have been widely used for passive compensation of gravity loads in many applications including neurological rehabilitation and micro-/reduced-gravity simulation. For these applications, it is desirable that the used mechanism has minimal impedance the interacting human can feel. Impedance of a statically-balanced mech...
Conference Paper
This paper describes a bio-inspired flight trajectory planning method for a UAV to approach to a target for landing and perching. It also presents the control strategy for a quadrotor UAV to track the desired flight trajectory. The desired flight trajectory is developed based on the bio-behavioral Tau theory which was established from studying the...
Conference Paper
Full-text available
This paper presents an optimal control strategy for a space robot to approach a tumbling object, such as an out-of-control satellite or a piece of space debris, for capture with minimal impact to the base satellite (also called servicing satellite or chaser satellite) with consideration of random uncertainties in the initial and final boundary cond...