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Electrical and Computer Engineering|College of Engineering and Applied Science

John E. McInroy

Department Head and Professor of Electrical & Computer Engineering

Room 5028, Engineering Building
University of Wyoming
College of Engineering and Applied Science
Department of Electrical & Computer Engineering
Dept. 3295
1000 E. University Avenue
Laramie, WY 82071
 Phone: 307.766.6137
Fax: 307.766.2248



Rensselaer Polytechnic Institute, Ph.D., Computer and Systems Engineering, 1991,
University of Wyoming
, B.S., Electrical Engineering (Computer Option), May 1986,



UNIVERSITY OF WYOMING–Professor, Electrical and Computer Engineering, 8/2002-present, Assoc. Prof. 8/97-7/2002, Asst. Prof., 8/91–7/97
AIR FORCE RESEARCH LABORATORY SPACE VEHICLES–National Research Council Research Associate, Academic Year 9/05–5/06
UNIVERSITY OF PENNSYLVANIA–Visiting Researcher, GRASP Laboratory, Fall 1998
NASA JET PROPULSION LABORATORY–Summer Faculty Fellow, Summers 95-96
NASA MARSHALL SPACE FLIGHT CENTER–Graduate Student Researchers Program, 6/90–8/90; 6/89–8/89
XEROX CORPORATION– Technical Intern/Consulting Engineer, 6/86–8/90



J.E. McInroy, J.C. Musto, and G.N. Saridis, Reliable Plan Selection by Intelligent Machines, World Scientific Publishing, River Edge, New Jersey, February, 1996



  1. A. A. Allais, J. E. McInroy, and J. F. O’Brien, “Locally-Decoupled Micro-manipulation Using an Even Number of Parallel Force Actuators,” IEEE Trans. on Robotics, December 2012.
  2. Zhen Qi and John E. McInroy, “Improved Image Based Visual Servoing with Parallel Robot," Journal of Intelligent and Robotic Systems Vol. 48, No. 3, July 2008, DOI 10.1007/s10846-008-9245-2
  3. Chinmay S. Ukidve, John E. McInroy, and Farhad Jafari, “Using Redundancy to Optimize Manipulability of Stewart Platforms," IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 4, pp. 475-479, August 2008
  4. John E. McInroy and Zhen Qi, “A Novel Pose Estimation Algorithm Based on Points to Regions Correspondence," Journal of Mathematical Imaging and Vision, Vol. 30, No. 2, pp. 195-207, February 2008
  5. John E. McInroy, Lawrence M. Robertson, and R. Scott Erwin, “Autonomous Distant Visual Silhouetting of Satellites," IEEE Transactions on Aerospace and Electronic Systems, Vol. 44, No. 2, April 2008, pp. 801-808
  6. Zhen Qi, John E. McInroy, and Farhad Jafari, “Trajectory Tracking with Parallel Robots Using Low Chattering, Fuzzy Sliding Mode Controller,” Journal of Intelligent and Robotic Systems Vol. 48, No. 3, March 2007, pp. 333-356
  7. Haomin Lin and John E. McInroy, “Disturbance attenuation in precise hexapod pointing using positive force feedback," Control Engineering Practice, a Journal of the International Federation on Automatic Control, Vol. 14, No. 11, pp. 1377-1386, November 2006
  8. Yong Yi, J.E. McInroy, and Yixin Chen, “Fault Tolerance of Parallel Manipulators Using Task Space and Kinematic Redundancy", IEEE Trans. on Robotics, Vol. 22, No. 5, pp. 1017-1021, October 2006.
  9. Haomin Lin, John E. McInroy, and Jerry C. Hamann, “Analysis and Design of Motion Control Systems with Positive Force/Torque Feedback using Robust Control Methods, " IEEE Transactions on Control Systems Technology, Vol. 13, No. 5, pp. 752-759, September 2005.
  10. John E. McInroy and Farhad Jafari, “Finding Symmetric Orthogonal Gough-Stewart Platforms," IEEE Trans. on Robotics, Vol. 22, No. 5, pp. 880-889, October 2006.
  11. Yong Yi, John McInroy, and Farhad Jafari, “Generating Classes of Locally Orthogonal Gough-Stewart Platforms", IEEE Trans. on Robotics, Vol. 21, No. 5, pp. 812-820, October 2005
  12. Yixin Chen and J.E. McInroy, “Decoupled Control of Flexure Jointed Hexapods Using Estimated Joint Space Mass-Inertia Matrix," IEEE Transactions on Control Systems Technology, Vol. 12, No. 3, pp. 413-421, May 2004
  13. Farhad Jafari and John E. McInroy, “Orthogonal Gough-Stewart Platforms for Micromanipulation," IEEE Trans. on Robotics and Automation, Vol. 19, No. 3, pp. 595-603, August 2003.
  14. Yixin Chen, John E. McInroy, and Yong Yi, “Optimal, Fault-Tolerant Mappings to Achieve Secondary Goals without Compromising Primary Performance," IEEE Trans. on Robotics and Automation, Vol. 19, No. 3, 680-691, August 2003.
  15. H. Lin and J.E. McInroy, “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms," IEEE Trans. on Control Systems Technology, Vol. 11, No. 2, pp. 267-272, March 2003.
  16. Yixin Chen and J.E. McInroy, “Estimation of Symmetric, Positive Definite Matrices from Imperfect Measurements," IEEE Trans. on Automatic Control, Vol. 47, No. 10, pp. 1721-1725, October, 2002
  17. J.E. McInroy, “Design and Modeling of Flexure Jointed Hexapods for Control Purposes," IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 1, pp. 95-99, March 2002
  18. J.E. McInroy and S.F. Legowski, “Using Power Measurements to Diagnose Degradations in Motor Drivepower Systems: A Case Study of Oilfield Pump Jacks," IEEE Transactions on Industry Applications, Vol. 37, No. 6, November/December 2001, pp. 1-8.
  19. J.E. McInroy and J.C. Hamann, “Design and Control of Flexure Jointed Hexapods," IEEE Transactions on Robotics and Automation, Vol. 16, No. 4, pp. 372-381, August, 2000

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