PUBLICATIONS



Dutta, S.M., and Ghorbel, F.H., "Differential Hysteresis Modeling of a Shape Memory Alloy Wire Actuator," IEEE/ASME Transactions on Mechatronics, Vol. 10, Issue 2, pp. 189-197, April 2005.

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," American Journal of Physiology: Heart and Circulatory Physiology, Vol. 286, pp. H584-H601, February 2004.

Dhaouadi, R., Ghorbel, F.H., "Modeling and Analysis of Hysteresis in Harmonic Drive Gears," Journal of Systems Analysis Modelling Simulation (Accepted).

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, Vol 3(1), pp.1-19, March 2003.

Dhaouadi, R., Ghorbel, F.H., and Gandhi, P., "A New Dynamic Model of Hysteresis in Harmonic Drives," IEEE Transactions on Industrial Electronics, Vol 50 (6), pp. 1165-1171, 2003.

Dabney, J.B., McCune, J., and Ghorbel, F.H., "Web-based control of the Rice SPENDULAP," The International Journal of Engineering Education, Vol. 19, pp. 478-486, 2003.

Gandhi, P., and Ghorbel, F., "Closed-Loop Compensation of Kinematic Error in Harmonic Drives for Precision Control Applications," IEEE Transactions on Control Systems Technology, Vol. 10, No. 6, pp. 759-768, November 2002.

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, Vol. 281, pp. H2661-H2679, 2001.

Ghorbel, F., Gandhi, P.S., Altpeter, F., "On the Kinematic Error in Harmonic Drive Gears," Transactions of the ASME, Journal of Mechanical Design, Vol. 123, pp. 90-97, March 2001.

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, Vol. 33, pp. 260-295, August 2000.

Athanasiades, A., Clark Jr., J.W., Ghorbel, F., and Bidani, A., "An Ionic Current Model for Medullary Respiratory Neurons," Journal of Computational Neuroscience, Vol. 9 (3), pp. 237 -257, 2000.

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, Vol. 16, No. 3, pp. 244-254, 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, Vol. 8, No. 5, pp. 801-815, September 2000.

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, Vol. 35, No. 1, pp. 133-155, January 2000.

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, Vol. 8, No. 2, pp. 115-139, 2000.

Ghorbel, F., Dabney, J., "A Spherical Pendulum System to Teach Key Concepts in Kinematics, Dynamics, Control, and Simulation," IEEE Transactions on Education, HTML format-special CD-ROM issue, Vol. 42, No. 4, November 1999. (also available online here).

Gunawardana, R., and Ghorbel, F., "On the Boundedness of the Hessian of the Potential Energy of Robot Manipulators," Journal of Robotic Systems, Vol. 16, No. 11, pp. 613-625, November 1999.

Niranjan, S.C., Bidani, A., Ghorbel, F., Zwischenberger, J.B.,and Clark Jr., J.W., "Theoretical Study of Inspiratory Flow Waveforms during Mechanical Ventilation on Pulmonary Blood Flow and Gas Exchange," Computers and Biomedical Research, Vol. 32 (4), pp. 355-390, 1999.

Gunawardana, R., and Ghorbel, F., "On the Uniform Boundedness of the Coriolis/Centrifugal Terms in the Robot Equations of Motion," International Journal of Robotics & Automation, Vol. 14, No. 2, pp. 45-53, 1999.

Olansen, J.B., Ghorbel, F., Clark Jr., J.W., Deyo, D., Zwischenberger, J.B., and Bidani, A., "An Automated LabVIEW-Based Data Acquisition System for Analysis of Pulmonary Function," Journal of Clinical Engineering, pp. 279-287, July/August 1998.

Ghorbel, F., Srinivasan, B., Spong., M.W., "On the Uniform Boundedness of the Inertia Matrix of Serial Robot Manipulators," Journal of Robotic Systems, Vol. 15, No.1, pp. 17-28, January 1998.

Ghorbel, F., and Nayfeh, M., "Robotics: From Highly Structured and Predictable Systems to Autonomous Agents," Arab Journal for Science, Vol. 15, No. 30, pp.73-81, 1997 (Invited Paper, In Arabic).

Ghorbel, F., Gunawardana, R., "A Uniform Bound for the Jacobian of the Gravitational Force Vector for a Class of Robot Manipulators," Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 119, pp. 110-114, March 1997.

Ghorbel, F., and Spong, M., "Correction to 'Robustness of Adaptive Control of Robots'," Journal of Intelligent and Robotic System, Vol. 10, pp. 209-215, 1994. Ghorbel, March 2, 2006 19

Ghorbel, F., and Spong, M.W., "Robustness of Adaptive Control of Robots," Journal of Intelligent Robotic Systems, Vol. 6, pp. 3-15, 1992.

Kumar, A., Odeh, A., Ghorbel, F., and Spong, M.W., "Robotic Corrosion Inspection Crawler," Materials Performance, Vol. 30, No. 4, pp. 29-32, 1991.

Ghorbel, F., Hung, J.H., and Spong, M.W., "Adaptive Control of Flexible Joint Manipulators," IEEE Control System Magazine, Vol. 9, No. 7, pp. 9-13, December, 1989.