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Jeng Yen


4800 Oak Grove Drive
M/S 198-235

Pasadena, CA 91109


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Member of:

347K - Robot Operations

Jeng Yen, PhD

Group Supervisor


I have been developing and implementing computational methods for multibody systems for 18 years. Joined JPL at 1998 as a member of technical staff, Ive sucessfully developed rover models and simulation methods used for MER surface operation and Rover Analysis Modeling and Simulation (ROAMS) software.

Started at 1987, I developed a class of numerical integration algorithm for the real-time driving simulator in the University of Iowa, later implemnted the numerical integration to support the National Advanced Driving Simulator (NADS) at the universitys research park. After graduated from the Applied Math. program, I joined Comupter Adied Design Software Inc. (CADSI), where I implemented and developed new computational methods for the vehicle system design and simulation. At 1993, I joined Army High Performance Computing Reserach Center (AHPCRC) at the University of Minnesota at Twin City. My reserach is focused on the computational methods for highly oscillatory dynamic systems in the next four years at the center. In the meantime, I also served as a reserach faculty at the Automotive Research Center of University of Michigan. From 1996-98, I led the project to create a simulation of Ford automotive assembling line. This project was awarded by Engineering Animation Inc. (EAI) at Ames Iowa. At the same time, I also led another project for modeling and simulation of Armys track vehciles at United Defense, LP in Minneapolis, Minnesota.


Ph. D in Applied Math. And Computational Sciences, minor in Mechanical Engineering, The University of Iowa, Iowa City, Iowa, 1990.

M.S. in Mathematics, Iowa City, Iowa, 1987.

B.S. in Mathematics, National Tsing Hua University, Taiwan, 1983.

Professional Experience

1997-98: Project Manager, Applied Mechanics Dept., United Defense, LP, Minneapolis, Minnesota.

1996-98: Project Manager, Engineering Animation Inc., Ames, Iowa.

1994-97: Research Faculty, Army High Performance Computing Research Center, University of Minnesota at Twin City, Minnesota.

1993-96: Research Faculty, Automotive Research Center, University of Michigan.

1990-94: Sr. Software Engineer, Compute Aided Design Software, Inc., Coralville, Iowa.

1990-1994: Research Associate, Center for Computer Aided Design of Mechanical Systems, The University of Iowa.

Research Interests

Modeling and Simulation of Multibody Systems
Human-robot interaction


  1. Ashitey Trebi-Ollennu, Khaled Ali, Cristina Sorice, Won Kim, Steven Myint, Omair Khan, Philip Bailey, Hallie Abarca, Robert G. Deen, Jeng Yen, Justin N. Maki, Grace Lim, Nythi Udomkesmalee, and Jeffrey Umland, "Robotic Deployment and Installation of Payloads on Planetary Surface," Handbook of Space Resources, edited by Viorel Badescu, Kris Zacny, Yoseph Bar-Cohen, Springer, pp. 721 – 762, 28 April 2023.
  1. J. Koch, G. Johnson, N. Wiltsie, F. Hartman, F. Alibay, J. Yen, "Helicopter and Rover Operations on Mars using the Robot Sequencing and Visualization Program (RSVP)," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-9, 05 March 2022.
  1. J. Yen, B. Cooper, F. Hartman, S. Maxwell, and J. Wright, "Sequence Rehearsal and Validation for Surface Operations of the Mars Exploration Rovers," Proc. SpaceOps 2004, Montreal, Canada, 2004, 17 September 2020.
  2. J. Yen, A. Jain, J. Balaram, "ROAMS: Rover Analysis, Modeling, and Simulation," Proceedings of the 5th international symposium on artificial intelligence, robotics, and automation in space, pp. 249-254, 17 September 2020.
  1. Masahiro Ono, Thomas Fuchs, Amanda Steffy, Mark Maimone, Jeng Yen, "Risk-aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning," IEEE Aerospace conference proceedings, Big Sky, Montana, USA, 01 March 2015.
  1. J. Wright, B. Cooper, F. Hartman, S. Maxwell, J. Yen, J. Morrison, "Terrain Modeling for Immersive Visualization for the Mars Exploration Rovers," Proc. SpaceOps 2004, Montreal, Canada, 01 January 2004.
  2. S. Maxwell, B. Cooper, F. Hartman, J. Wright, J. Yen, "The Design and Architecture of Rover Sequencing and Visualization Program," Proc. SpaceOps 2004, Montreal, Canada, 01 January 2004.
  3. F. Hartman, B. Cooper, S. Maxwell, J. Wright, J. Yen, "Immersive Visualization for Navigation and Control of the Mars Exploration Rovers," Proc. SpaceOps 2004, Montreal, Canada, 01 January 2004.
  4. B. Cooper, F. Hartman, S. Maxwell, J. Wright, J. Yen, "Using RSVP for analyzing States and Previous Activities for the Mars Exploration Rovers," Proc. SpaceOps 2004, Montreal, Canada, 01 January 2004.
  1. T. Estlin. S. Hayati, A. Jain, J. Yen, G. Rabideau, R. Castano, R. Petras, S. Peters, D. Decoste, E. Tunstel, S. Chien, E. Mjolsness, R. Steele, D. Mutz, A. Gray and T. Mann, "An Integrated Architecture for Cooperating Rovers," 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Noordwijk, The Netherlands, pp. 255-262, 01 January 1999.
  1. J. Yen, L. R. Petzold, "An Efficient Newton-Type Iteration for the Numerical Solution of Highly Oscillatory Constrained Multibody Dynamic Systems," SIAM J. Sci. Stat. Comput., Vol. 19, No. 5, pp. 1513-1534, 01 September 1998.
  2. Yen, L. R. Petzold, S. Raha, "A Time Integration Algorithm for Flexibe Mechanism Dynamics: The DAE alpha-Method," Comput. Meth. in Appl. Mechanics and Engrgr., 158(1998), pp. 341-355, 01 January 1998.
  1. L. Petzold, L. Jay, J. Yen, "Numerical Solution of Highly Oscillatory Ordinary Differential Equations," Acta Numerica, pp. 437-483, 01 January 1997.
  1. J. Yen, L. R. Petzold, "Computational Challenges in the Solution of Nonlinear Oscillatory Multibody Dynamic Systems," Proceedings of the 1995 Biennial Conference on Numerical Analysis, Editors D. F. Griffiths and G. A. Watson. Pitman Research Notes in Mathematics, Vol. 344, Addison Wesley Longman Ltd, pp 134-142, 01 April 1996.
  1. E.J. Haug, F. Adkins, C.C. Qiu, J. Yen, "Analysis of Barriers to Control of Manipulators Within Accessible Output Sets," ASME J. of Advances in Design Automation, ASME DE-82:1, pp. 697-704, 01 January 1995.
  2. E. Eich, C. Fuehrer, J. Yen, "On the Error Control for Multistep Methods Applied to ODEs with Invariants and DAEs in Multibody Dynamics," J. Mechanics of Structures and Machines, Vol. 23, No. 2, pp. 123-135, 01 January 1995.
  1. J. Yen, C.C. Chou, "Automatic Generation and Numerical Integration of Differential-Algebraic Equations of Multibody Dynamics," Comput. Meth. in Appl. Mechanics and Engr., 104, pp. 317-331, 01 January 1993.
  1. E.J. Haug, J. Yen, "Implicit Numerical Integration of Constrained Equations of Motion via Generalized Coordinate Partitioning," ASME J. of Mechanical Design, Vol. 114, pp. 296-304, 01 June 1992.
  1. J. Yen, E.J. Haug, "Numerical Methods for Constrained Equations of Motion in Mechanical System Analysis," J. Mech. of Struct. and Mach., 19(1), pp. 41-76, 01 January 1991.
  2. J. Yen, F.A. Potra, "Implicit Numerical Integration for Euler-Lagrange Equations via Tangent Space Parametrization," J. Mech. of Struct. and Mach., 19(1), pp. 76-98, 01 January 1991.