I have a similar eSATA disk enclosure http://www.addonics.com/products/cpr5sa.php
I'm using an eSATA to USB 3.0 adapter to connect to my mac. http://www.addonics.com/products/adu31esp.php
But you can connect this to the UDOO and get xpenology to see as an external drive - then access it over the network.