cable Adrian Rodriguez, Ph.D.
Mechanical Engineer
Clovis Research, LC

Email: adrian.rodz@utexas.edu


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  About Me

  Background
    Born: April 12, 1987
    Hometown: Eagle Pass, Texas

  Education
    ♦   Ph.D. in Mechanical Engineering, Department of Mechanical and Aerospace Engineering, University of Texas at Arlington, 2011 - 2014.
    ♦   M.S. in Mechanical Engineering, Department of Mechanical and Aerospace Engineering, University of Texas at Arlington, 2009 - 2010.
    ♦   B.S. in Mechanical Engineering, Department of Mechanical Engineering, University of Texas at Austin, 2005 - 2009.

  Qualifications
    ♦   Curriculum vitae (PDF)
    ♦   Google Scholar


  Publications

    2015
   Rodriguez, A., Chatterjee, A., and Bowling, A. "Solution to three-dimensional indeterminate contact and impact with friction using rigid body constraints." Multibody System Dynamics. (under review)

Rodriguez, A. and Bowling, A. "Study of Newton's Cradle using a new discrete approach." Multibody System Dynamics. 33 (1) January, pp. 61-92.

    2014
   Rodriguez, A. "Dynamic simulation of multibody systems in simultaneous, indeterminate contact and impact with friction," University of Texas at Arlington, April 7, 2014. Ph.D. Dissertation. (PDF)

Rodriguez, A. and Bowling, A. "Analytic solution for planar indeterminate impact problems using Stronge's hypothesis." Multibody System Dynamics. (under review)

Rodriguez, A. and Bowling, A. "Analytic solution for planar indeterminate multiple point impact problems with Coulomb friction," ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Buffalo, New York, August 17-20, 2014.

    2013
   Rodriguez, A. and Bowling, A. "Study of the stick-slip transition of Newton's Cradle with friction," ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Portland, Oregon, August 4-7, 2013.

Rodriguez, A. and Bowling, A. "Analytic treatment of Newton's Cradle using constraints," European Community on Computational Methods in Applied Sciences (ECCOMAS) Thematic Conference on Multibody Dynamics, Zagreb, Croatia, July 1-4, 2013.

    2012
   Rodriguez, A. and Bowling, A. "Analytic solution to 3-dimensional, single point collision problems using Stronge's hypothesis," 2nd Joint International Conference on Multibody System Dynamics (IMSD), Stuttgart, Germany, May 29-June 1, 2012. Conference Proceedings. (PDF)

Rodriguez, A. and Bowling, A. "Solution to indeterminate impact with frictional contact using constraints." Multibody System Dynamics. 28 (4) November, pp. 313-330. (PDF)

    2011
   Rodriguez, A. and Bowling, A. "Indeterminate multipoint impact with friction of agile legged robots," IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), Phuket Island, Thailand, December 7-11, 2011. Conference Proceedings. (PDF)

Rodriguez, A. and Bowling, A. "Simulation of indeterminate multipoint impact and contact with friction," European Community on Computational Methods in Applied Sciences (ECCOMAS) Thematic Conference on Multibody Dynamics, Brussels, Belgium, July 4-7, 2011. Conference Proceedings. (PDF)

    2010
   Rodriguez, A. "Simulation of indeterminate multipoint impact and contact with friction," University of Texas at Arlington, November 24, 2010. Master's Thesis. (PDF)


  Research Experience

    § Interests/Expertise: Multibody Dynamics, Impact/Contact Modeling, Robotics

  Past Work
cable
VIDEOS
Analysis of Simultaneous, Multiple Point Contact/Impact with Friction
The basis of this work is to address the indeterminacy in the equations of motion with respect to the impact forces. This problem is often encountered in simultaneous impact problems but not necessarily when friction is included. The examples studied are single and multibody systems and treated using classical rigid body impact theory.

I extended an analytic approach to consider three-dimensional, multiple point impact problems. The advantages of this approach include: eliminates use of iterative/optimization techniques, faster computation time, and an energetically consistent solution. This method has proven to work well for planar, multiple point impact and three-dimensional single point problems. Some examples analyzed include: solid disk, rocking block, double pendulum, Newton's cradle, and solid sphere. The ultimate goal of this research was to apply it to the dynamic modeling of complex systems, such as an exploration rover or legged systems.

cable Quadruped Leg and Chassis Redesign
I was part of the Mechanical Design Team whose main objective was to redesign the leg and chassis of a quadruped robot. The leg, housing the motors and gear boxes, was redesigned by employing 90-degree pulleys while maintaining the original cable-driven system to move the coxa, femur, and tibia. The improved design addressed the material failure issues, increased reliability, and reduced weight. In addition, a chassis was designed to hold motor controllers, batteries, electronics, cooling fan and mounting connections of all four legs.

cable Multibody Systems with Joint Limit Impacts and Contacts
The focus of this project was to study the presence of joint limits/constraints in multibody systems. I analyzed the effect of impact and contact forces on the entire system as a result from a body reaching its joint limit. I began my analysis with a simple 2-DOF, planar manipulator and extended this work to a 3-dimensional system.


  Other Projects

cable
VIDEO
DARPA Robotics Challenge 2012 - 2013
Our team was composed of a collaboration between RE2, UTA and SoarTech. We were in Track B: Software Development and competed in the Virtual Robotics Challenge (VRC) on June 18-20. "The DARPA Robotic Challenge [DRC] will focus on developing robots that can operate in rough terrain and austere conditions, using aids (vehicles and hand tools) commonly available in populated areas," via DRC website .

My role in the project was to implement contact modeling and control methods for the walking task of the competition. The task of walking on uneven terrain (i.e. steps, slopes, etc.) with varying conditions (i.e. restitution, friction, etc.) presented the most challenging aspect of the competition.
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NASA RASC-AL ERO Competition 2012
Our team's proposal was accepted again and our team constructed a new rover design. The competition was held at NASA's Rockyard at Johnson Space Center in Houston, Texas on May 29-June 1, 2012. Among the seven other university teams in attendance, our team placed 3rd in the rock collection part of the competition and 4th overall. Team scores were based on rock collection performance, external public outreach activities, and project report/presentation.

My role this year was focused on the design of the chassis and suspension system. Rather than a tracked vehicle, our team constructed a four-wheeled rover with a double wishbone suspension. I also serve as the co-team lead for the project.
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NASA RASC-AL ERO Competition 2011
I was part of the team representing UTA at this NASA-sponsored rover design competition which was held at NASA's Rockyard at Johnson Space Center in Houston, Texas on May 23-25, 2011. My role focused on the design of the manipulator arm; primarily, the design of the base, or coxal joint, and the end-effector link on which the gripper was mounted on. Other contributions include the dynamic analysis of the arm and rover design for the purpose of selecting the proper motors for each respective component.

For more information about our team and background information on the competition, please refer to the following links:
Team Website: rover.uta.edu
Competition Website: nianet.org/RASCAL/RoboOps
Facebook page: RASC-AL Robo Ops


  Teaching/Work Experience

    ♦   Mechanical Engineer, Clovis Research, L.C., July 2013 - Present.
    ♦   Adjunct Professor, Solid Mechanics, Mechanical and Aerospace Engineering Department, University of Texas at Arlington, August 2014 - Present.
    ♦   Graduate Research Assistant/Intern, Robotics Division, University of Texas at Arlington Research Institute, January - May 2014.
    ♦   Adjunct Professor, Thermodynamics II, Mechanical and Aerospace Engineering Department, University of Texas at Arlington, January - May 2014.
    ♦   Graduate Teaching Assistant, Measurements II Laboratory, Mechanical and Aerospace Engineering Department, University of Texas at Arlington, January - May 2010.
    ♦   Graduate Research Assistant, Supervisor: Dr. Alan Bowling, Mechanical and Aerospace Engineering Department, University of Texas at Arlington, June - August 2010.
    ♦   Graduate Teaching Assistant, Introduction to Robotics, Mechanical and Aerospace Engineering Department, University of Texas at Arlington, September - December 2010.


  Awards

    ♦   Travel Award of the Graduate Student Senate (TAGSS), July and December 2011, August 2013
    ♦   Louis Stokes Alliance for Minority Participation-Bridge to the Doctorate Fellowship (LSAMP-BD), University of Texas at Arlington, 2010-2012
    ♦   Golden Key Officer Scholarship, Golden Key International Honour Society, 2011
    ♦   Outstanding Service Award, UTA Volunteers, 2011
    ♦   Academic Excellence Award, University of Texas at Arlington, 2010


  Synergistic Activities

    ♦   American Society of Mechanical Engineers
          ◊   Member, September 2007 - Present
    ♦   Golden Key International Honour Society
          ◊   Member, March 2010 - Present
          ◊   Social Director, September 2010 - May 2011
    ♦   Arbrook Retirement Living Community
          ◊   Volunteer Computer Teacher, September 2011 - Present
    ♦   Graduate Student Senate (GSS)
          ◊   Member, January 2011 - May 2014
          ◊   Vice-President, September 2013 - May 2014
          ◊   Secretary, January 2012 - May 2013
    ♦   UTA-Helping Other Students to Succeed (UTA-HOSTS)
          ◊   Mentor, September 2011 - December 2013
    ♦   UTA Volunteers
          ◊   Member, September 2009 - December 2013
          ◊   Membership Director, September 2010 - May 2011; January - May 2012
    ♦   Latin American Student Organization
          ◊   Member, January 2012 - December 2013
          ◊   Community Service chair, August 2012 - May 2013


  Where's Adrian?

    This section is intended to catalog the places I've traveled to or visited. Link to track Adrian!






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