People/Stephen C Martin
I am post-doctoral scholar in the Department of Mechanical Engineering at The Johns Hopkins University. My research interests presently are in modeling and control of autonomous systems.
Education & Employment
Post-Doctoral Scholar, The Johns Hopkins University, 2008-Present
Ph.D Mechanical Engineering, The Johns Hopkins University, 2008
M.S. Mechanical Engineering, The Johns Hopkins University, 2004
B.S. Mechanical Engineering, University Maryland College Park, 2002
A.S. Engineering Science, Community Colleges of Baltimore County, 1999
To develop the engineering science to enable Autonomous Vehicles to expand and optimize the tasks and maneuvers they perform through the development of new control algorithms, and in-situ data analysis for visualization and mission adaptation.
- Plant Parameter Estimation of Underwater Vehicle Plants: Identification of the unknown 6-degrees-of-freedom plant parameters of the an underwater vehicle plant for use in the development of model-based controllers and accurate numerical simulations.
- Fully-Actuated Control of Underwater Vehicles: Development of a new controller for simultaneous closed-loop control of all 6-degrees-of-freedom of an underwater vehicle.
- Under-Actuated Control of Underwater Vehicles: Development of a new controller for under-actuated control of all 6-DOF of the X-Y and Heading degrees-of-freedom of an underwater vehicle.
- A New Mission Controller for High-Level Control of Underwater Vehicles: A new mission controller for high-level control of autonomous and semi-autonomous underwater vehicles.
- Nereus Hybrid Remotely Operated Vehicle: Nereus is a new underwater vehicle capable of full ocean depth operations.
- S. Martin, L. L. Whitcomb, R. Arsenault, C. Ware, M. Plumlee. “Advances in Real-Time Spatio-Temporal 3-D Data Visualization for Underwater Robotic Exploration”. Advances in Unmanned Underwater Vehicles. Ed. Roberts, G. and R.Sutton. IEE Publishing Stevenage UK, 2005. 293-298. Invited Book Chapter. PDF
Refereed Conference Publications
- S. Martin, L. L. Whitcomb, R. Arsenault, C. Ware, M. Plumlee. A System for Real-Time Spatio-Temporal 3-D Data Visualization in Underwater Robotic Exploration. In Proceedings of IEEE/MTS ICRA’2005, Barcelona, Spain, 2005. PDF
Non-Refereed Conference Publications
- S. Martin, L. Whitcomb, D. Yoerger, H. Singh. “Mission Controller for High Level Control of Autonomous and Semi-Autonomous Vehicle Operation.” In Proceedings of IEEE Oceans 06, Boston, MA, September 2006. PDF
- S. Martin, L. Whitcomb. “Preliminary Results in Experimental Identification of 3-DOF Coupled Dynamical Plant for Underwater Vehicles.” In Proceedings of IEEE Oceans 08, Quebec City, Canada, September 2008. PDF
- Louis Whitcomb, Andrew Bowen, Dana Yoerger, Chris Taylor, Robert McCabe, Jonathan Howland, Woods Daniel Gomez-Ibanez, James Kinsey, Matthew Heintz, Glenn McDonald, Donald Peters, Barbara Fletcher, Chris Young, James Buescher, Stephen Martin, Sarah Webster, Michael Jakuba. “The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000M Depth.” In Proceedings of IEEE Oceans 08, Quebec City, Canada, September 2008. PDF
- S.C.Martin. Advances in Six-Degree-of-Freedom Dynamics and Control of Underwater Vehicles, PhD thesis, The Johns Hopkins University, Baltimore, MD, USA, 2008. PDF
Awards and Honors
- ARCS Foundation Fellowship
- National Defense Science and Engineering Graduate Fellowship
- Link Foundation Fellowship in Ocean Engineering and Instrumentation
- Eagle Scout
My CV as a PDF.
071 Krieger Hall
3400 N. Charles Street
Baltimore, MD 21218 USA
(410) 516-8021 (phone)
(410) 516-4316 (fax)