Douglas Isenberg
- Title
- Associate Professor of Mechanical Engineering
- Douglas.Isenberg@erau.edu Email
- Department
- Mechanical Engineering Department
- College
- College of Engineering
Areas of Expertise
System theory, Robot dynamics and control, Application of unit-quaternions to problems in kinematics, dynamics, and control.
External Links
The views expressed on faculty and external web pages are those of the author and do not necessarily represent those of Embry-Riddle Aeronautical University.
Education
- Ph.D. - Doctor of Philosophy in Electrical Engineering, University of North Carolina at Charlotte
- M.S. - Master of Science in Electrical Engineering, University of North Carolina at Charlotte
- B.S. - Bachelor of Science in Electrical Engineering, University of North Carolina at Charlotte
Courses Taught
AE325/326 - Experimental Space System Engineering Laboratory
AE430 - Control System Analysis and Design
CEC222 - Digital Circuit Laboratory
ECGR3111 - Signals and Systems (UNCC)
EE328 - Feedback Control Systems (USA)
EE334 - Electrical Engineering for Mechanical Engineers
EE372 - Introduction to Communication Systems (USA)
EE526 - Introduction to Robotics (USA)
EGR101 - Introduction to Engineering
EGR115 - Introduction to Computing for Engineers
ME302 - Introduction to Robotics I
ME302L - Introduction to Robotics I Laboratory
ME404 - Mechatronics
ME404L - Mechatronics Laboratory
ME406 - Robotics II
ME406L - Robotics II Laboratory
ME407 - Preliminary Design of Robotic Systems
ME420 - Detailed Design of Robotic Systems
ME495D - Identification and Control of Sampled Data Systems
ME495H - Introduction to Robot Operating System
UNIV101 - College Success
Research Projects
User Publications
D.R. Isenberg, “Transposed Jacobian Control of a Mobile Robot, Proceedings: Florida Conference on Recent Advances in Robotics, Daytona Beach, FL (remote), 2022
D.R. Isenberg, “Analytical Inverse Kinematic Solutions for End-Effector Positioning and Pointing Applied to Revolute Manipulators with Spherical Wrists”, Proceedings: IEEE SoutheasCon, Atlanta, GA (remote), 2021
N. Shawki, G. Lazarous, D.R. Isenberg, “Stability and Performance Analysis of a Payload-Manipulating Robot Without Adaptive Control”, International Journal of Robotics and Automation, Vol. 35, No. 1, 2020
D.R. Isenberg, “Pointing Orientations for Manipulator End-Effectors”, Proceedings: International Conference on Systems Engineering, Las Vegas, NV (remote), pp.71-80, 2020
M. Fusco, D.R. Isenberg, X. Pickard, “Development of a High Altitude Balloon Controlled Ascent System”, Proceedings: IEEE Aerospace Conference, Big Sky, MT, 2020 (Track 5: “Observation Systems and Technologies” Best Paper Award)
A. Worthington, T. Anderson, L. Lucchese, M. Markham, L.M. de Vasconcelos, D.R. Isenberg, “Development and Monte-Carlo Sensitivity Analysis of Identical Planar Space Robots for the Purpose of Validating the Recreation of On-Orbit Motion”, Proceedings: IEEE SoutheastCon, Huntsville, AL, 2019
A. Crammond, C. Boggio, J.C. Delinger, S.I. Jones, A. Katafiasz, D.R. Isenberg, “Commanding an Anthropomorphic Robotic Hand with Motion Capture Data”, Proceedings: IEEE SoutheastCon, Hunstville, AL, 2019
N. Muraleedharan, I. Gentilini, D.R. Isenberg, “Experimental Validation of a Planar Free-Floating Emulator via Model-free Force-Feedback Control”, Proceedings: IEEE International Conference on Mechatronics and Automation, Changchun, China, 2018, pp. 1895-1901
D.R. Isenberg, “A Task Space Control Law for Free-Floating Space Robots”, Proceedings: International
Conference on Systems Engineering, Las Vegas, NV, 2017
D.R. Isenberg, “A Potential Field Inspired Approach to Attitude Motion Planning with Unit-Quaternions”,
Proceedings: IEEE SoutheastCon, Charlotte, NC, 2017
N. Muraleedharan, D. Cohen, D.R. Isenberg, “Omnidirectional Locomotion Control of a Pendulum Driven
Spherical Robot”, Proceedings: IEEE SoutheastCon, Norfolk, VA, 2016
D.R. Isenberg, “Control of Systems with Pfaffian Constraints: Motivation for Kane's Formulation”,
Proceedings: IEEE SoutheastCon, Norfolk, VA, 2016
N. Muraleedharan, D.R. Isenberg, I. Gentilini, “Recreating Planar Free-Floating Environment on Earth via Force-Feedback Control”, Proceedings: IEEE Aerospace Conference, Big Sky, MT, 2016
Professional Experience
Instrumentation and Controls Engineer I, Areva NP, Charlotte, NC, 2006
Visiting Assistant Professor, Department of Electrical and Computer Engineering, University of North Carolina at Charlotte, 2010-2011
Assistant Professor, Department of Aerospace and Mechanical Engineering, Embry-Riddle Aeronautical University, 2011-2016
Assistant Professor, Department of Electrical and Computer Engineering, University of South Alabama, 2016-2017
Assistant Professor, Department of Mechanical Engineering, Embry-Riddle Aeronautical University, 2017-2018
Associate Professor, Department of Mechanical Engineering, Embry-Riddle Aeronautical University, 2018-present