M.E. Mechanical Engineering (1987) Carnegie Mellon University
Ph.D. Mechanical Engineering (1991) University of Illinois at Urbana-Champaign
B.S. Mechanical Engineering (1985) Pennsylvania State University
Control Theory, Dynamical Systems, Robotics, Biomedical Systems
Email: ghorbel@rice.edu
Phone: 713-348-3738
Office: Mechanical Engineering Bldg. Room 205
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Fathi Ghorbel
Professor of Mechanical Engineering & Materials Science & Bioengineering
Fathi H. Ghorbel is an Associate Professor in the Department of Mechanical Engineering Materials Science and Bioengineering at Rice. He is also the Co-Director of the Biomedical Systems and Instrumentation Lab, the Director of the System Dynamics and Control Laboratory and the Robotics Laboratory.
Dr. Ghorbel is active in the nonlinear modeling and control of complex engineering systems, and robot control. His current research programs in the bioengineering area cover cardiopulmonary systems analysis, modeling and control.
Fathi H. Ghorbel is an Associate Professor in the Department of Mechanical Engineering & Materials Science and the Department of Bioengineering at Rice University. He is also the Director of the Robotics & Intelligent Systems (RiSYS) Laboratory.
Dr. Ghorbel is active in the areas of control theory, dynamical systems, intelligent robotic systems, and robotic sensor technologies. His current research programs in the bioengineering area cover cardiopulmonary systems analysis, modeling and control.
Fathi H. Ghorbel is an Associate Professor in the Department of Mechanical Engineering Materials Science and Bioengineering at Rice. He is also the Co-Director of the Biomedical Systems and Instrumentation Lab, the Director of the System Dynamics and Control Laboratory and the Robotics Laboratory.
Dr. Ghorbel is active in the nonlinear modeling and control of complex engineering systems, and robot control. His current research programs in the bioengineering area cover cardiopulmonary systems analysis, modeling and control.
Selected Publications
Article
Lu, K. , Clark, J.W. Jr., Ghorbel, F.H., Ware, D.L. , Zwischenberger, J.B., and Bidani, A. "Whole-Body Gas Exchange in Human Predicted by a Cardiopulmonary Model." Cardiovascular Engineering, An International Journal, 3(1) (2003): 1-19.
Prasanna S. Gandhi, F. H. Ghorbel "Closed-Loop Compensation of Kinematic Error in Harmonic Drives
for Precision Control Applications." IEEE Transactions on Control Systems Technology, 10 (2002): 759-768.
Lu Kun, John W. Clark, F. H. Ghorbel, D.L. Ware, J.B. Zwischenberger, A. Bidani "Analysis of Asphyxia Using A Model of Whole Body Cardiopulmonary Gas Exchange." Journal of Applied Physiology.(In Revision)
Dutta, S.M., Ghorbel, F.H., and Stanley, R.K. "Nanoscale Friction Dynamic Modeling." Journal of Dynamic Systems, Measurement and Control (2008).(In Revision)
Landolsi, F., Ghorbel, F.H. , Lou, J., Lu, H. and Sun, Y. "Nanoscale Friction Dynamic Modeling." ASME Journal of Dynamic Systems, Measurement and Control (2008).(In Revision)
Landolsi, F., Ghorbel, F.H., Lou, J., Lu, H. and Sun, Y. "Regular and Reversed Nanoscale Stick-Slip Behavior: Modeling and Experiments." ASME Journal of Dynamic Systems, Measurement and Control (2008).(In Revision)
Dutta, S.M., Ghorbel, F.H., and Stanley, R.K., "Dipole Modeling of Magnetic Flux Leakage." IEEE Transactions on Magnetics, 45 (4) (2009): 1959-1965.
Dutta, S.M.; Ghorbel, FH; Stanley, RK "Simulation and Analysis of 3-Dimensional Magnetic Flux Leakage." IEEE Transactions on Magnetics, 45 (4) (2009): 1966-1972.
Qian, J., Clark, Jr., J., Lu, K., F. H. Ghorbel, Zwischenberger, J.B., Bidani, A. "A Closed-Loop Model of the Cardiovascular System in Sheep." IEEE Transactions on Biomedical Engineering.(Submitted)
Yaz EE (Yaz, Edwin E.), Ghorbel FH (Ghorbel, Fathi H.), Burkan R (Burkan, R.), Uzman I (Uzman, I.) "Discussion on: "Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators"." EUROPEAN JOURNAL OF CONTROL, 12 (2) (MAR-APR 2006): 171-175.
Conference paper
Gandhi, P.S., F. H. Ghorbel "Modeling Nonlinearities in Harmonic Drives for Precision Control Applications." Proc. of the 11th World Congress in Mechanism and Machine Science (2003).(Submitted)
Gandhi, P.S., F. H. Ghorbel, Dabney, J.B. "Modeling, Identification, and Compensation of Friction in Harmonic Drives." Proc. of the 2002 Conference on Decision and Control (2002).
Dabney, J., F. H. Ghorbel, Wang, Z. "Modeling Closed Kinematic Chains via Singular Perturbations." Proc. of the 2002 IEEE American Control Conference (2002).
Qian, J., J. W. Clark, Jr., Lu, K., F. H. Ghorbel, Zwischenberger, J.B., Bidani, A. "A Closed-Loop Model of the Ovine Cardiovascular System." Proc. of the Second Joint Meeting of the IEEE Engineering in Medicine and Biology Society (EMBS) and the Biomedical Engineering Society (BMES) (2002).
Other
Dhaouadi, R., Ghorbel, F.H., and Gandhi, P. "A New Dynamic Model of Hysteresis in Harmonic Drives." IEEE Transactions on Industrial Electronics.(In Press)
Hall, R. A., Lowry, N. C., and Ghorbel, F.H "Three-Pulse Minimal Fuel Rotations of Axisymmetric Spacecraft Using Reaction Control Thrusters." Proc. of the IEEE American Control Conference (2003/ June).
Dhaouadi, R., Ghorbel, F.H. "Modeling and Analysis of Hysteresis in Harmonic Drive Gears." Journal of Systems Analysis Modelling Simulation.(In Press)
Ghorbel, F.H., Gunawardana, R., Dabney, J.B. "Experimental Validation of A Reduced Model
Based Tracking Control of Parallel Robots." Proc. of the 2001 IEEE International
Conference on Control Applications, Mexico City, Mexico (September 5-7, 2001): 375-382.
Altpeter, F., Ghorbel, F., and Longchamp, R. "A Singular Perturbation Analysis of Two Friction Models with Application to a Vertical EDM-Axis." Proc. IFAC Workshop on MOTION CONTROLMOTION CONTROL (Sept 21-23, 1998): pp. 7-12.
Olansen, J.B., Ghorbel, F., Clark Jr., J.W., Deyo, D., Zwischenberger,J.B., and Bidani, A. "An Automated LabVIEW-Based Data Acquisition System forAnalysis of Pulmonary Function." Journal of Clinical Engineering (July/August 1998): pp. 279--287.
Ghorbel, F., Srinivasan, B., and Spong., M.W. "On the Uniform Boundedness of the Inertia Matrix of Serial Robot Manipulators." Journal of Robotic Systems, Vol. 15, No.1 (January 1998): pp. 17--28.
Altpeter, F., Ghorbel, F., and Longchamp, R. "Relationship Between Two Friction Models: A Singular Perturbation Approach." IEEE 37th Conference on Decision and Control (December 16 - 18, 1998).
Lu, K., Clark, J.W., Ghorbel, F.H., Ware, D.L., and Bidani A. "An Integrated Model of the Human Cardiopulmonary System." Proc. of the 23rd Annual International Conference of the IEEE
Engineering in Medicine and Biology Society, Istanbul, Turkey (25-28 October, 2001): 1-3.
Ghorbel, F.H., and Gandhi, P.S. "Modeling and Control of Nonlinear Transmission Attributes in Harmonic Drives." Proc. of the Tunisian-German Conference on Smart Systems and Devices, Hammamet, Tunisia (27-30 March 2001): 145-152.
Dabney, J.B., and Ghorbel, F.H. "Using the Rice SPENDULAP as a Testbed for Nonlinear Feedback Control." Proc. of the Tunisian-German Conference on Smart Systems and Devices, Hammamet, Tunisia (27-30 March 2001): 70-76.
Ghorbel, F., Chetelat, O., and Longchamp, R. "On the Modeling and Control of Closed-Chain Mechanisms." Proc. of the IMACS/IEEE International Conference on Computational Engineering in Systems Applications (April 1-4, 1998).
Niranjan, S.C., Bidani, A., Ghorbel, F., Zwischenberger,
J.B.,and Clark Jr., J.W. "Analysis of Inspiratory Waveforms on Pulmonary Blood Flow and Gas Exchange
During Mechanical Ventilation." Computers and Biomedical Research, 32 (1999): 355-390.
Gunawardana, R., and Ghorbel, F. "On the Uniform Boundedness of the
Coriolis/Centrifugal Terms in the Robot Equations of Motion." International Journal of Robotics and Automation, 14-2 (1999): 45-53.
Gandhi, P., and Ghorbel, F. "Closed Loop Compensation of Kinematic Error in Harmonic Drives for Precision
Control Applications." Proc. of
the IEEE 36th Conference on Decision
and Control (1999/Dec. 7-10): 5368-5370.
Dabney, J.B. and Ghorbel, F. "Illustrating Nonlinear Systems Analysis Concepts Using the Rice SPENDULAP." Proc. of the 1999 American Society for Engineering Education Gulf Southwest
Annual Conference (1999/March 7-9).
Ghorbel, F., Dabney, J. "A Spherical Pendulum System to Teach Key Concepts in Kinematics, Dynamics, Control, and Simulation." IEEE Transactions on Education, 42-4 (1999/November).
Gunawardana, R., and Ghorbel, F. "On the Boundedness of the
Hessian of the Potential Energy of Robot Manipulators." Journal of Robotic
Systems, 16-11 (1999/November): 613-625.
Athanasiades, A., Clark Jr., J.W., Ghorbel, F., and Bidani, A. "An Ionic Current Model for Respiratory Neurons in the Rat vNTS and Guinea Pig
Nucleus Ambiguus." Proc. of the 21st Annual International Conference of the IEEE Engineering in Medicine
and Biology Society/The 1999 Annual Fall Meeting of the Biomedical Engineering
Society (1999/Oct. 13-16).
Olansen, J.B., Clark, J.W., Khoury, D., and Ghorbel, F. "Modeling and Identification of Cardiovascular Hemodynamics in a Closed-Loop
Model with Ventricular Interaction." Proc. of the 21st Annual International Conference of the IEEE Engineering in Medicine
and Biology Society/The 1999 Annual Fall Meeting of the Biomedical Engineering
Society (1999/Oct. 13-16).
Olansen, J.B., Clark Jr., J.W., Khoury, D., Ghorbel, F., and Bidani, A. "A Closed-Loop Model of the Canine Cardiovascular System that Includes Ventricular Interaction
." Computers and Biomedical
Research, 33 (2000): 260-295.
Athanasiades, A., Clark Jr., J.W., Ghorbel, F., and Bidani, A. "An Ionic Current Model for Medullary Respiratory Neurons." Journal of Computational Neuroscience, 9 (2000): 237 -257.
Athanasiades, A., Ghorbel, F., Clark Jr., J.W., Niranjan, S.C., Olansen, J., Zwischenberger, J.B., and Bidani, A. "Energy Analysis of a Nonlinear Human
Lung Model." Journal of Biological Systems, 8/2 (2000): 115-139.
Ghorbel, F., and Mark W. Spong "Integral Manifolds of Singularly
Perturbed Systems with Application to Rigid-Link Flexible-Joint Multibody
Systems
." International Journal of Nonlinear Mechanics, 35/1 (2000): 133--155.
Dhaouadi, R.,
Ghorbel, F., and Gandhi, P. "Modeling and Analysis of Hysteresis in Harmonic Drive gears
." Proc. of the 16th IMACS World Congress, Lausanne, Switzerland, August 21-25 (2000).
Ghorbel, F., Chetelat, O., Gunawardana, R., and Longchamp, R.
"Modeling and Set Point Control of Closed-Chain Mechanisms: Theory and
Experiment
." IEEE Transactions on Control Systems Technology, 8/5 (2000): 801-815.
Ghorbel, F.H. "Research in Robot Motion Control." Proc. of the Workshop on Scientific Research Outlook in the Arab World and the
New Millenium: Science and Technology (2000).
Dabney, J.B. and Ghorbel, F. "Rice SPENDULAP: A Laboratory Apparatus to Illustrate Key Concepts in Kinematics,
Dynamics, and Control." Proceedings of the ASME Dynamics Systems and Control Division,Orlando, FL, Nov 5 - 10, 1 (2000): 89 - 96.
Olansen, J.B., Ghorbel, F., Clark Jr., and Bidani, A. "Using Virtual Instrumentation to Develop a Modern Biomedical Engineering
Laboratory
." The International Journal of Engineering Education, 16/3 (2000): 244-254.
Ghorbel, F., and Mark W. Spong "Integral Manifolds of Singularly
Perturbed Systems with Application to Rigid-Link Flexible-Joint Multibody
Systems." International Journal of Nonlinear Mechanics, 35-1 (2000-January): 133-155.
Lu, K., Clark, J.W., Ghorbel, F.H., Ware, D.L., and Bidani, A. "A Human Cardiopulmonary System Model Applied to the Analysis of the Valsalva Maneuver." American Journal of Physiology: Heart and Circulatory Physiology, 281 (2001): H2661-H2679.
Ghorbel, F., Gandhi, P.S., Altpeter, F. "On the Kinematic Error in Harmonic Drive Gears." Transactions of the ASME, Journal of Mechanical Design, 123 (2001): 90-97.
Dabney, J.B., McCune, J., and Ghorbel, F.H. "Web-based control of the Rice SPENDULAP." the International Journal of Engineering Education, 19 (2003): 478-486.
Refereed Article
Wang, Z., Ghorbel, F.H, and Dabney, J.B. "A Singular Perturbation Approach to the Modeling of Closed Kinematic Chains." ASME Journal of Dynamic Systems, Measurement, and Control.(Submitted)
3. Dutta, S.M., and Ghorbel, F.H. "Differential Hysteresis Modeling of a Shape Memory Alloy Wire Actuator." IEEE/ASME Transactions on Mechatronics.(In Press)
1. Dabney, J.B., and Ghorbel, F.H. "Enhancing an Advanced Engineering Mechanics Course Using
MATLAB and Simulink." The International Journal of Engineering Education.(In Press)
Gandhi, P.S., and Ghorbel, F.H. "High-Speed Precision Tracking with Harmonic Drive Systems Using Integral Manifold Control Design." International Journal of Control.(In Press)
Gunawardana, R., Ghorbel, F.H., and Wang, Z. "Reduced Model
Based Tracking Control of Robots with Closed Kinematic Chains: Analysis and
Implementation." IEEE Transactions on Control Systems Technology.(In Revision)
"A Singular Perturbation Approach to the Control of Closed Kinematic Chains." ASME Journal of Dynamic Systems, Measurement and Control.(Submitted)
Wang, ZY; Ghorbel, FH "Control of closed kinematic chains using a singularly perturbed dynamics model
." JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 128 (2006/MAR): 142-151.
Zhiyong, W., Ghorbel, F.H., and Dabney, J.B. "On the Domain and Error Characterization in the
Singular Perturbation Modeling of Closed Kinematic Chains." Proc. of the IEEE American Control Conference (2004): 493?498.
Gandhi, P., and Ghorbel, F.H. "Control of Hysteresis and Kinematic Error Nonlinearities in Harmonic Drives for High Speed Precision Control Applications." Proc. of the IEEE American Control
Conference (2004): 1135?1140.
Lu, K., Clark, J.W., Ghorbel, F.H., Robertson, C.S., Ware, D.L., Zwischenberger, J.B., and Bidani, A. "Cerebral Autoregulation and Gas Exchange Studied Using A Human Cardiopulmonary Model." AJP: Heart and Circulatory Physiology, 286 (2004): H584 ? H601.
Refereed Conference Paper
Dabney, J.B., and Ghorbel, F.H. "Integrating MATLAB and SIMULINK in an Advanced Engineering
Mechanics Course." Proc. of the ASME International Mechanical Engineering Congress (2004).
Dutta, S.M., Ghorbel, F.H., and Dabney J.B "Dynamic Modeling and Control of Hysteresis in a
Shape Memory Alloy Actuator." Proc. of the ASME International Mechanical Engineering Congress (2004).
Zhiyong, W. and Ghorbel, F.H. "Control of Closed Kinematic Chains using a Singularly Perturbed
Dynamic Model." Proc. of the IEEE Conference on Decision and Control (2004): 317-322.
Presentations
Invited Papers
"Modeling, Identification, and Compensation of Friction in Harmonic Drives." 2002 Conference on Decision and Control, Las Vegas, Nevada. (December 11, 2002) With Gandhi, P.S., and Ghorbel, F.H.
"A Closed-Loop Model of the Ovine Cardiovascular System." The Second Joint Meeting of the IEEE Engineering in Medicine and Biology Society (EMBS) and the Biomedical Engineering Society (BMES), Houston, Texas. (October 23-26, 2002) With Qian, J., Clark, J.W., Lu, K., Ghorbel, F., Zwischenberger, J.B., and Bidani, A.
"Power and Locomotion of a Millirobotic Crawler." TSS International Conference on Advances in Mechanical Engineering, Hammamet, Tunisia. (March 18-20, 2002) With Dabney, J.B., and Ghorbel, F.H.
Invited Talk
"Web-based Mechatronics: New applications in Science and Engineering." The Second Symposium on Scientific Research Outlook In the Arab World, Sharjah, United Arab Emirates. (24-27 March, 2002) With Ghorbel, F.H.
"Robotics, Historical Perspective and Current Challenges." The TSS International Conference on Advances in Mechanical Engineering, Hammamet, Tunisia. (March 18-20, 2002) With Dabney, J.B., Ghorbel, F.H., O'Malley, M.K.
Other
"Modeling and Identification of Cardiovascular Hemodynamics in a Closed-LoopModel with Ventricular Interaction." The 21st Annual International Conference of the IEEE Engineering in Medicineand Biology Society/The 1999 Annual Fall Meeting of the Biomedical EngineeringSociety, Atlanta, GA. (October 13-16, 1999) With Olansen, J.B., Clark, J.W., and Khoury, D.
"Relationship Between Two Friction Models: A Singular Perturbation Approach." the IEEE 37th Conference on Decision and Control, Tampa, Florida. (December 16 - 18, 1998) With Altpeler, F. and Longchomp, R.
"Research in Control Systems, Robotics, and Biomedical
Systems at Rice University." (invited
seminar), The American University of Sharjah, UAE. (Nov. 1, 2000) With Ghorbel, F.H.
"Using the Rice SPENDULAP as a Testbed for Nonlinear Feedback Control." Tunisian-German Conference on Smart Systems and Devices, Hammamet, Tunisia. (27-30 March 2001) With Dabney, J.B., and Ghorbel, F.H.
"An Ionic Current Model for Respiratory Neurons in the Rat vNTS and Guinea Pig
Nucleus Ambiguus." The 21st Annual International Conference of the IEEE Engineering in Medicine
and Biology Society/The 1999 Annual Fall Meeting of the Biomedical Engineering
Society, Atlanta, GA. (October 13-16, 1999) With Athanasiades, A., Clark Jr., J.W., and Bidani, A.
"Modeling and Control of Nonlinear Transmission Attributes in Harmonic Drives." Presented at the Tunisian-German Conference on Smart Systems and Devices, Hammamet, Tunisia. (27-30 March 2001) With Ghorbel, F.H., and Gandhi, P.S.
"Neural Regulation of Respiration: A Modeling Approach." The
Eighteenth Annual Houston Conference on Biomedical Engineering Research, . (February 10-11, 2000) With Athanasiades, A., Clark Jr. , J.W., Ghorbel, F.H., and Bidani, A.
"Perspectives on Living as an International Student/Scholar in the United States." Luncheon speech to incoming International graduate students during International Graduate Student Orientation, Rice University. (August 24, 1998)
"A Mathematical Model of the Human Cardiopulmonary System." Nineteenth Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (February 8-9, 2001) With Lu, K., Clark, J.W., Ghorbel, F.H., and Bidani, A.
"A Model of the Human Cardiopulmonary System." The
Eighteenth Annual Houston Conference on Biomedical Engineering Research, . (February, 10-11, 2000) With Lu, K., Olansen, J., Clark Jr. , J.W., Ghorbel, F.H., and Bidani, A.,
.
"A Singular Perturbation Analysis of Two Friction Models with Application to a Vertical EDM-Axis." IFAC Workshop on MOTION CONTROL, Grenoble, France. (September 1998) With Altpeter, F., and Longchamp, R.
"Closed Loop Compensation of Kinematic Error in Harmonic Drives for Precision
Control Applications." the IEEE 36th Conference on Decision
and Control, Phoenix, Arizona. (December 7-10, 1999) With Gandhi, P.
"Closed Loop Pacing: Can Cardiovascular System Models be Used as Conceptual Testbeds for
Design?." The Eighteenth Annual Houston Conference on Biomedical Engineering
Research, Houston, TX. (February, 10-11, 2000) With Clark Jr., J.W., Alfrey, K., Lu, K., Olansen, J.B., Ghorbel, F., Bidani, A.,
Andersen, M.C., and Kunze, D.L.
"Experimental Validation of A Reduced Model
Based Tracking Control of Parallel Robots." the 2001 IEEE International
Conference on Control Applications, Mexico City, Mexico. (September 5-7, 2001) With Ghorbel, F.H., Gunawardana, R., Dabney, J.B.
"Illustrating Nonlinear Systems Analysis Concepts Using the Rice SPENDULAP." the 1999 American Society for Engineering Education Gulf Southwest
Annual Conference, Dallas, TX. (March 7-9, 1999) With Dabney, J.B.
"On the Modeling and Control of Closed-Chain Mechanisms." IMACS/IEEE International Conference on Computational Engineering in Systems Applications, Nabeul-Hammamet, Tunisia. (April 1998) With Chetelat, O., and Longchamp, R.
"An Integrated Model of the Human Cardiopulmonary System." 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Istanbul, Turkey. (25-28 October, 2001) With Lu, K., Clark, J.W., Ghorbel, F.H., Ware, D.L., and Bidani A.
"An Ionic Current Model For Respiratory Neurons in the Rat Ventral Nucleus Tractus Solitarii." The 17th Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (February 11-12, 1999) With A. Athanasiades, A., J.W. Clark, and A. Bidani.
"Combining Data Acquisition and Analysis of Pulmonary Function using LabVIEW-Based Algorithms." Sixteenth Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (April 1998) With Olansen, J.B., J.W. Clark Jr., Deyo, D., and Bidani, A.
"Singular Perturbation Methods in Nonlinear Modeling and
Control." Short Course, Ecole National d'Ingenieur-Sfax,, Tunisia. (March 6-14, 2000) With Ghorbel, F.H.
"Analysis of Inspiratory Waveforms on Pulmonary Blood Flow and Gas Exchange
During Mechanical Ventilatio." Sixteenth Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (April 1998) With Niranjan, S.C, Bidani, A., Zwischenberger, J.B., and Clark Jr., J.W.
"Integration of Classical Biomedical Experimentation with Modern Data Acquisition and Analysis." The 17th Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (February 11-12, 1999) With J.B. Olansen, F. Ghorbel, and J.W. Clark.
"Research in Robot Motion Control." Workshop on Scientific Research Outlook in the Arab
World and the New Millenium: Science and Technology, University of
Sharjah, UAE. (April 24-26, 2000) With Ghorbel, F.H.
"Modeling and Analysis of Hysteresis in Harmonic Drive gears." The 16th IMACS World Congress, Lausanne, Switzerland. (August 21-25, 2000) With Dhaouadi, R.,
Ghorbel, F., and Gandhi, P.
"Nonlinear Modeling of Human Lung Tissue." Sixteenth Annual Houston Conference on Biomedical Engineering Research, Houston, TX. (April 1998) With Athanasiades A., Olansen, J.B., Clark, Jr., J.W., Niranjan S.C., Zwinschenberger J.B., and Bidani A.
"On the Modeling and Control of Nonlinear Transmission Attributes in Harmonic Gear Transmission Systems." Innovations'98, Gilruth Center, NASA/Johnson Spapce Center, Houston, TX. (March 1998) With Gandhi, P.S.
"Rice SPENDULAP: A Laboratory Apparatus to Illustrate Key Concepts in Kinematics,
Dynamics, and Control." The ASME International Mechanical Engineering
Congress and Exposition, Orlando, Florida, . (November 5-10, 2000) With Dabney, J.B. and Ghorbel, F.
Poster
"A Closed-loop Model of Human Gas Exchange." The Second Joint Meeting of the IEEE Engineering in Medicine and Biology Society (EMBS) and and the Biomedical Engineering Society (BMES), Houston, Texas. (October 23-26, 2002) With Lu, K., Clark, J. W., Ghorbel, F. H., Ware, D. L., and Bidani, A.
Workshop
"Control of Closed Kinematic Chains using a Singularly Perturbed Dynamic Model." IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas. (December 14-17) With Wang, Z., Ghorbel, F.H.
"Dynamic Modeling and Control of Hysteresis in a Shape Memory Alloy Actuator." ASME International Mechanical Engineering Congress, Anaheim, California. (November 2004) With Dutta, S.M., Ghorbel, F.H., and Dabney J.B.
"Integrating MATLAB and SIMULINK in an Advanced Engineering Mechanics Course." ASME International Mechanical Engineering Congress, Anaheim, California. (November 2004) With Dabney, J.B., and Ghorbel, F.H.
"On the Domain and Error Characterization in the Singular Perturbation Modeling of Closed Kinematic Chains." IEEE American Control Conference, Boston. (June 2004) With Wang, Z., Ghorbel, F.H, and Dabney, J.B.
"Control of Hysteresis and Kinematic Error Nonlinearities in Harmonic Drives for High Speed Precision Control Applications." IEEE American Control Conference, Boston. (June 2004) With Gandhi, P., and Ghorbel, F.H.
"Adaptive Tracking Control of the Rice Planar Delta Robot." Innovations 2002, University of Houston, Clear Lake. (May 16, 2002) With Wang, Z., and Ghorbel, F.H.
"A Millirobotic Crawler for Pipe Inspection." Innovations 2002, University of Houston, Clear Lake. (May 16, 2002) With Dabney, J.B., and Ghorbel, F.H.
"Web-based Control of the Rice SPENDULAP." Innovations 2002, University of Houston, Clear Lake. (May 16, 2002) With McCune, J., Ghorbel, F.H., Dabney, J.B.
"Hysteresis and its Modeling." Innovations 2002, University of Houston, Clear Lake. (May 16, 2002) With Dutta, S., Ghorbel, F.H., and Dabney, J.B.
Editorial Positions
Associate Editor, IEEE Transactions on Control Systems Technology, (2002).
Associate Editor, International Journal of Robotics Automation, (2000).
Associate Editor, ASME Journal of Dynamic Systems, Measurements, and Control, (2002).
Associate Editor, IEEE Control Systems Society Conference Editorial Board (for ACC and CDC Conferences), (2002).
Associate Editor, IEEE Transactions on Control Systems Technology, (2003).
Associate Editor, ASME Journal of Dynamic Systems, Measurement, and Control, (2003).
Associate Editor, IEEE Control Systems Society Conference Editorial Board, (2003).
Associate Editor, IEEE Transactions on Control Systems Technology, (2004).
Associate Editor, ASME Journal of Dynamic Systems, Measurement, and Control, (2004).
Member of the Editorial Board, IEEE Control Systems Society Conference Editorial Board, (2004).
Theses
Jon Olansen, Doctoral. "Virtual Bio-Instrumentation: Integrating Biomedical Experimentation with Systems-Level Modeling and Analysis." (1999).
Ruvinda Gunawardana, Doctoral. "Control of Serial and Parallel Robots: Analysis and Implementation." (1999).
Athanasios Athanasiades, Doctoral. "Respiratory Function: A Systems Approach." (2000).
Jorge Gonzalez, Masters. "A Singular Perturbation Approach to Modeling Closed
Kinematic Chains." (2000).
Jon Olansen, Doctoral. "Virtual Bio-Instrumentation: Integrating Biomedical Experimentation
with Systems-Level Modeling and Analysis." (2000).
Prasanna Gandhi, Doctoral. "Modeling and Control of Nonlinear Transmission Attributes in Harmonic Drive." (2001).
Edward McCants, Masters. "Optimal Open-Loop Control Moment Gyroscope Maneuvers." (2001).
Kun Lu, Masters. "A Model of the Human Cardiopulmonary System." (2001).
Remzi Artar, M.S. "Dynamical Analysis and Control of Longitudinal Electromagnetic Levitation." (2002).(Thesis or Dissertation Director)
Remzi Artar, Masters. "Dynamical Analysis and Control of Longitudinal Electromagnetic Levitation." (2002).
Kun Lu, Ph.D. "Human Whole-Body Gas Exchange and Cerebral Autoregulation Studied using A Cardiopulmonary Model." (2003).(Thesis or Dissertation Director)
Nathan Lowry, M.S. "A Three-Pulse Algorithm for Minimum-Fuel Rotational Maneuvers." (2003).(Thesis or Dissertation Director)
Joshua McCune, M.S. "Web-based Control of the Rice SPENDULAP: A Web-enabled Telemechatronic System." (2003).(Thesis or Dissertation Director)
Liang Sun, Ph.D. "xyz." (2003).(Committee Member)
Dutta, Sushant, M.S. "Dynamic Hysteresis Modeling and Applications." (2004).(Thesis or Dissertation Director)
Wang, Zhiyong, Ph.D. "Modeling and Control of Closed Kinematic Chains: A Singular Perturbation Approach." (2004).(Thesis or Dissertation Director)
Chris Bartley, M.S. "M.S.." (2004).(Committee Member)
Abhishek Gupta, M.S. "M.S.." (2004).(Committee Member)
Indra Tjahjono, MS-Thesis. ""An Analytical Model for Near Infrared Light Heating of a Slab by Embedded Gold Nanoshells"." (2006).(Committee Member)
Emilie Kopp, MS-Thesis. "“Open Architecture for Haptic Interfaces: FPGA, Real-time Operating Systems and Graphical Programming”." (2006).(Committee Member)
Kun Lu, "No Title."
Prasanna Gandhi, "No Title."
William Ehrenstrom, "No Title."
Edward McCants, "No Title."
Jorge Gonzalez, "No Title."
Remzi Artar, "No Title."
Michael Rubin, "No Title."
Prasanna Gandhi, "No Title."
Zhiyong Wang, "No Title."
Remzi Artar, "No Title."
Kun Lu, "No Title."
Edward McCants, "No Title."
Joshe McCune, "No Title."
Athanasios Athanasiades, "No Title."
Jorge Gonzalez, "No Title."
Prasanna Gandhi, "No Title."
Zhiyong Wang, "No Title."
Kun Lu, "No Title."
Remzi Artar, "No Title."
Edward McCants, "No Title."
Sushant Dutta, "No Title."
Athanasios Athanasiades, "No Title."
Nathan Lowry, "No Title."
Joshe McCune, "No Title."
Grants and Proposals
Motion Control of Manufacturing Mechanical Systems with Harmonic Drive Gear Transmission and Flexible Coupling, Texas Higher Education Coordinating Board/ Advanced Technology Program.
Modeling and Control of Space Vehicles, Draper Laboratory.
Modeling and Control of Closed Kinematic Chains, NSF.
Modeling and Control of Closed Kinematic Chains, NSF.
National Instruments Graduate Fellowship in Instrumentation in Biomedical Systems, National Instruments, Austin, TX.
Cardiopulmonary Systems Analysis, Bioengineering Center, the University of Texas Medical Branch.
Development of High Performance Control Systems for Electro-Mechanical
Actuators with Harmonic Drive Gears, NSF.
Development of High Performance Control Systems for Electro-Mechanical Actuators with Harmonic Drive Gears, NSF.
Development of High Performance Control Systems for Electro-Mechanical Actuators with Harmonic Drive Gears, National Science Foundation.
A Distributed WEB Operated Robotics and Control Laboratory, NSF/The Center for Technology in Teaching and Learning-Rice University.
Draper Laboratory Fellowship in Dynamics and Control, Draper Lab, MA.
A Distributed WEB Operated Robotics and Control Laboratory, The Center for Technology in Teaching and Learning.
Cardiopulmonary Systems Analysis, Bioengineering Center, The University of Texas Medical Branch at Galveston (UTMB).
Cardiopulmonary Systems Analysis, Bioengineering Center, UTMB.
National Instruments Graduate Fellowship, NI.
Modeling and Control of Closed Kinematic Chains, National Science Foundation.
A Distributed WEB Operated Robotics and Control Laboratory, The Center for Technology in Teaching and Learning.
Graduate Fellowship in Bioengineering, National Instruments.
Draper Laboratory Fellowship in Dynamics and Control, Draper Laboratory.
Ultrasonic Motor Modeling, NASA Research Institute for Computing and Information Systems (RICIS).
Cardiopulmonary Systems Analysis, Bioengineering Center, The University of Texas Medical Branch at Galveston (UTMB).
Fellowship in Dynamics and Control, Draper Laboratory.
Rice Milli-robotic Crawler for In-Pipe Inspection, Schlumberger.
Rice Milli-robotic Crawler for In-Pipe Inspection, Schlumberger.
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