Patents
• Ghorbel, F.H., and Gandhi, P.S., "Closed Loop Compensation of Kinematic
Error in Harmonic Drives for Precision Control
Applications," U.S. Patent No. 6,459,940, issued
October 1, 2002.
• Ghorbel, F.H., et al., "An Autonomous Robotic Crawler for
In-Pipe Inspection," Patent Pending.
• Ghorbel, F.H., and Dabney, B.J., "Helical Drive Mechanism
for Small Diameter In-Pipe Robots," Patent Pending.
• Westlake, J., Jamoussi, A., Ghorbel, F., and Stanley,
R.K., "System and Method for Inline Inspection of
Pipelines,'' Patent Pending
Journal Articles
• Ghorbel, F.H., "Discussion on: Application of
Logarithmic-Based Parameter and Upper Bounding
Estimation Rules to Adaptive-Robust Control of Robot
Manipulators," European Journal of
Control, Vol. 12, No. 2, pp. 171-175, 2006.
• Wang, Z., and Ghorbel, F.H., "Control of Closed Kinematic Chains
Using A Singularly Perturbed Dynamic Model,"
ASME Journal of Dynamic Systems, Measurement, and
Control, Vol. 128, Issue 1, pp. 142-151, March
2006.
• Gandhi, P.S., and Ghorbel, F.H., "High-Speed Precision Tracking with
Harmonic Drive Systems Using Integral Manifold Control
Design," International Journal of
Control, Vol. 78, No. 02, pp. 112-121, January
2005.
• Dabney, J.B., and Ghorbel, F.H., "Enhancing an Advanced Engineering
Mechanics Course Using MATLAB and Simulink,"
The International Journal of Engineering
Education, Vol. 21, No. 5, Pp. 885-895, 2005.
• 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.
Peer Reviewed Conference Papers
• Mualim, Y., Ghorbel, F., and Dabney, J.B. "AFM Nanomanipulation: Modeling and
Simulation," Proc. of the ASME International
Mechanical Engineering Congress, Chicago, November
5-10, 2006.
• Dabney, J.B, Harman, T.L., Ghorbel, F.H., and Chakkungal,
J.J., "Model-Based Torque Control of
Piezoelectric Ultrasonic Motors," Proc. of the
ASME International Mechanical Engineering Congress,
Chicago, November 5-10, 2006.
• Zhiyong, W. and Ghorbel, F.H., "Control of Closed Kinematic Chains: A
Comparative Study," Proc. of the IEEE American
Control Conference, Minneapolis, Minnesota USA, June
14-16, 2006.
• Dutta, S. M., Ghorbel, F. H., and Dabney,
J. B., "Modeling and Control of a Shape Memory
Alloy Actuator," Proc. of the IEEE International
Symposium on Intelligent Control, Limassol, Cyprus,
pp. 1007-1012, 27-29, 2005.
• Zhiyong, W. and Ghorbel, F.H., "Modeling Closed Kinematic Chains for
Control: A Comparative Study," Proc. of the ASME
International Mechanical Engineering Congress, (7
pages) Orlando, Florida November 5-11, 2005.
• Dabney, J.B, Harman, T.L., Ghorbel, F.H., and Chakkungal,
J.J. "Dynamic Response Modeling of
Piezoelectric Ultrasonic Motors," Proc. of the
ASME International Mechanical Engineering Congress, (9
pages) Orlando, Florida, November 5-11, 2005.
• 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,
Atlantis, Paradise Island, Bahamas, pp. 317-322,
December 14-17, 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,
Anaheim, California November 13-19, 2004.
• 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, Anaheim, California November 13-19, 2004.
• 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, pp. 493-498,
Boston, MA, June 30-July 2, 2004.
• 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, pp. 1135-1140, Boston,
MA, June 30-July 2, 2004.
• 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, Vol. 2, pp. 1128-1133, June 4-6, 2003,
Denver, Colorado.
• Lu, K., Clark, J.W., Ghorbel, F.H., Robertson, C.S.,
Ware, D.L., Zwischenberger, J.B., Bidani, A., "Cerebral
autoregulation and gas exchange studied using a human
cardiopulmonary model," Proc. of the Second Joint Meeting
of the IEEE Engineering in Medicine and Biology Society
(EMBS) and the Biomedical Engineering Society (BMES), Vol.
1, pp. 395-397, 17-21 Sept. 2003.
• Qian, J., Clark, J.W., Lu, K., Ghorbel, F.,
Zwischenberger, J.B., and Bidani, A., "A Closed-LoopModel
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), Vol. 2, pp. 1585-1586, Houston, Texas,
October 23-26, 2002.
• Lu, K., Clark, J.W., Ghorbel, F.H., Ware,
D.L., Bidani, A., "A closed-loop Model of Human Gas
Exchange," Proc. of the Second Joint Meeting of the IEEE
Engineering in Medicine and Biology Society (EMBS) and the
Biomedical Engineering Society (BMES), Vol. 2, pp.
1535-1536, Houston, Texas, October 23-26, 2002.
• Gandhi, P.S., Ghorbel, F.H., and Dabney,
J.B., "Modeling, Identification, and Compensation of
Friction in Harmonic Drives," Proc. of the IEEE Conference
on Decision and Control, Vol. 1, pp. 160-166, December
10-13, 2002, Las Vegas, Nevada.
• Dabney, J.B., Ghorbel, F.H., Wang, Z.,
"Modeling Closed Kinematic Chains via Singular
Perturbations," Proc. of the 2002 American Control
Conference, Vol. 5, pp. 4104-4110, May 8-10, 2002,
Anchorage, Alaska, USA.
• 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, pp.
375-382, September 5-7, 2001, Mexico City,
Mexico.
• 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, Vol. 1, pp. 412-414, 25-28
October 2001, Istanbul, Turkey.
• 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, pp. 70-76, 27-30 March 2001 Hammamet,
Tunisia.
• 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, pp. 145-152, 27-30 March 2001
Hammamet, Tunisia.
• Dabney, J.B. and Ghorbel, F., "Rice
SPENDULAP: A Laboratory Apparatus to Illustrate Key
Concepts in Kinematics, Dynamics, and Control," Proc. of
the ASME Dynamics Systems and Control Division, Vol.1, pp.
89-96, Orlando, FL, November 5-10, 2000. Ghorbel, March 2,
2006 21.
• Dhaouadi, R. , Ghorbel, F., and Gandhi, P.
"Modeling and Analysis of Hysteresis in Harmonic Drive
gears," Proc. of the 16th IMACS World Congress, August
21-25, 2000, Lausanne, Switzerland.
• Ghorbel, F.H., "Research in Robot Motion
Control," Proc. of the Workshop on Scientific Research
Outlook in the Arab World in the New Millennium: Science
and Technology, pp. 1383-1398, University of Sharjah, UAE,
April 24-26, 2000.
• 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," The 21st Annual International Conference of
the IEEE Engineering in Medicine and Biology Society/The
1999 Annual Fall Meeting of the Biomedical Engineering
Society, Vol. 1, pg. 253, Atlanta, GA, Oct. 13-16,
1999.
• 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,"
The 21st Annual International Conference of the IEEE
Engineering in Medicine and Biology Society/The 1999 Annual
Fall Meeting of the Biomedical Engineering Society, Vol. 1,
pg. 400, Atlanta, GA, Oct. 13-16, 1999.
• Gandhi, P., and Ghorbel, F., "Closed Loop
Compensation of Kinematic Error in Harmonic Drives for
Precision Control Applications," Proc. of the IEEE 38th
Conference on Decision and Control, Vol. 5, pp. 5268-5270,
Phoenix, Arizona, December 7-10, 1999.
• 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,
March 7-9, Dallas, Texas, 1999.
• Altpeter, F., Ghorbel, F., and Longchamp,
R., "Relationship Between Two Friction Models: A Singular
Perturbation Approach," Proc. of the IEEE 37th Conference
on Decision and Control, pp. 1572-1574, Tampa, Florida,
Dec. 16-18, 1998.
• 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 CONTROL, pp. 7-12, Grenoble, France,
Sept 21-23, 1998.
• 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, Nabeul-Hammamet, Tunisia, April 1-4,
1998.
• Ghorbel, F., and Gunawardana, R., "A
Validation Study of PD Control of a Closed-Chain Mechanical
System," Proc. of the IEEE 36th Conference on Decision and
Control, pp. 1998-2004, San Diego, December 10-12,
1997.
• Athanasiades, A., Ghorbel, F., Clark Jr.,
J.W., Niranjan, S.C., Liu, C.H., Zwischenberger, J.B., and
Bidani, A., "Energy Analysis of a Nonlinear Human Lung
Model," Proc. of the ASME International Mechanical
Engineering Congress and Exposition, DSC-Vol. 61, pp.
433-438, November 16-21, Dallas, Texas, 1997.
• Abdoulkader, H., Maalej, A., Ghorbel, F.,
and Loukil, A., "A new Approach of Dynamic Modeling with
Application to a Spacial Closed Robot,", 17emes Journees
Tunisiennes d'Electrotechnique et d'Automatique, pp.
377-386, Nov. 5-6, Nabeul, Tunisia, 1997.
• Gunawardana, R., and Ghorbel, F., "PD
Control of Closed-Chain Mechanical Systems: An Experimental
Study," Proc. of the Fifth IFAC Symposium on Robot Control
SYROCO'97, Vol. 1, pp. 79-84, Nantes, France, September
3-5, 1997.
• Athanasiades, A., Ghorbel, F. , Clark Jr.,
J.W., Niranjan, S.C., Liu, C.H., Zwischenberger, J.B., and
Bidani, A., "The Work of Breathing in a Nonlinear Model of
Respiratory Mechanics, " Proc. of the 19th Annual
International Conference of the IEEE Engineering in
Medicine and Biology Society, pp. 2161-2164, Chicago,
October 1997.
• Athanasiades, A., Liu, C.H., Ghorbel, F.,
Clark Jr., J.W., Niranjan, S.C., Zwischenberger, J.B.,
Bidani, A., "Components of the Energy of Breathing in a
Nonlinear Model of the Human Lung," Proc. of the 18th
Annual International Conference IEEE Engineering in
Medicine and Biology Society, Amsterdam, The Netherlands,
pp. 570-571, October 31- November 3, 1996. Ghorbel, March
2, 2006 22.
• Gunawardana, R., and Ghorbel, F., "The
Class of Robot Manipulators with Bounded Jacobian of the
Gravity Vector," Proc. of the IEEE International Conference
on Robotics and Automation, pp. 3677-3682, Minneapolis,
Minnesota, April 22-28, 1996.
• Ghorbel, F., "Modeling and PD Control of Closed-Chain
Mechanical Systems," Proc. of the 34th IEEE
Conference on Decision and Control, pp. 540-542 New
Orleans, Louisiana, Dec. 13-15, 1995.
• Ghorbel, F., and Gunawardana, R., "On the
Uniform Boundedness of the Derivative of the Gravitational
Force of Serial Link Robot Manipulators," Proc. of the ASME
International Mechanical Engineering Congress and
Exposition (IMECE), Vol. DSC-57-1, pp. 99-106, San
Francisco, California, November 12-17, 1995.
• Altpeter, F., Ghorbel, F., and Longchamp,
R., "Control of Drives with Flexible Transmission," Proc.
of the International Federation of Automatic Control (IFAC)
Motion Control Conference, Munich, Germany, October 9-11,
1995.
• Ghorbel, F., Altpeter, F., and Longchamp,
R., "Integral Manifold Control of a Mechanical System with
a Flexible Shaft," Proc. of the International Conference on
Recent Advances in Mechatronics, pp. 722-727, Istanbul,
Turkey, August 14-16, 1995.
• Ghorbel, F., Chetelat, O., and Longchamp,
R., "A Reduced Model for Constrained Rigid Bodies with
Application to Parallel Robots ," Proc. of the IFAC
Symposium on Robot Control, pp. 57-62, Capri, Italy,
September 19-21, 1994.
• Ghorbel, F., B. Srinivasan, and Spong,
M.W., "On the Positive Definiteness and Uniform Boundedness
of the Inertia Matrix for Robot Manipulators," Proc. of the
32nd IEEE Conference on Decision and Control, pp.
1103-1108, San Antonio, Texas, December 15-17,
1993.
• Ghorbel, F., and Spong, M.W., "Adaptive
Integral Manifold Control of Flexible Joint Robots with
Configuration Invariant Inertia," Proc. of the American
Control Conference, pp. 3314-3318, Chicago, Illinois, June
24-26, 1992.
• Ghorbel, F., and Spong, M.W., "Adaptive
Integral Manifold Corrective Control of Flexible Joint
Robot Manipulators," Proc. of the IEEE International
Conference on Robotics and Automation, pp. 707-714, Nice,
France, May 10-15, 1992.
• Ghorbel, F., and Spong, M.W., "Integral
Manifold Corrective Control of Flexible Joint Robot
Manipulators: The Known Parameter Case," DSC-Vol. 31,
Modeling and Control of Compliant and Rigid Motion Systems,
pp. 81-93, ASME Winter Annual Meeting, Atlanta, Georgia,
December 1-6, 1991.
• Ghorbel, F., and Spong, M.W., "Stability
Analysis of Adaptively Controlled Flexible Joint
Manipulators, " Proc. of the 29th IEEE Conference on
Decision and Control, pp. 2538-2544, Hawaii, December 5-7,
1990.
• Ghorbel, F., Fitzmorris, A., and Spong,
M.W., "Robustness of Adaptive Control of Robots: Theory and
Experiment," International Workshop on Adaptive and
Nonlinear Control: Issues in Robotics, Grenoble, France,
November 21-23, 1990.
• Spong, M.W., and Ghorbel, F., "Robustness
of Adaptive Control of Robots," Proc. of the 1991 Symposium
on the Control of Robots and Manufacturing Systems, pp.
2-9, Arlington, Texas, November 9, 1990.
• Spong, M.W., Hung, J., Bortoff, S., and
Ghorbel, F., "A Comparison of Feedback Linearization and
Singular Perturbation Techniques for the Control of
Flexible Joint Robots," Proc. of the American Control
Conference, pp. 25-30, Pittsburgh, Pennsylvania, June
21-23, 1989.
• Ghorbel, F., Hung, J.H., and Spong, M.W.,
"Adaptive Control of Flexible Joint Manipulators," Proc. of
the IEEE International Conference on Robotics and
Automation, pp. 1188-1193, Phoenix, Arizona, May 14-19,
1989.Other
Contribution to Handbook
• Ghorbel, F., "Robot Control," invited handbook section,
The Handbook on Industrial Electronics, CRC Press, Florida,
April, 1997.
Other Conference Papers/Posters/Abstracts
• Gupta, A., V. Patoglu, F. Ghorbel, and M.
OMalley, "Vision-based force sensing and multi-rate haptic
controller design for nanorobotic manipulation," 23rd
Annual Houston Conference on Biomedical Engineering
Research, February 9-10, 2006. (Extended Abstract).
• Mualim, Y., F. Ghorbel, and M. OMalley, "AFM
Nanomanipulation Modeling and Simulation," Associated
Nanotechnolgy Congress, Third Annual SPRING (Strategic
Partnership for Research in Nanotechnology), Rice
University, Houston TX, October 10, 2005. (Poster).
• Gupta, A., M. OMalley and F. Ghorbel, "Rice
Nanomanipulation System," Associated Nanotechnolgy
Congress, Third Annual SPRING (Strategic Partnership for
Research in Nanotechnology), Rice University, Houston TX,
October 10, 2005. (Poster).
• Wang, Z., and Ghorbel, F.H., "Adaptive Tracking Control
of the Rice Planar Delta Robot," Innovations 2002,
University of Houston, Clear Lake. May 16, 2002.
• Dabney, J.B., and Ghorbel, F.H., "A Millirobotic Crawler
for Pipe Inspection," Innovations 2002, University of
Houston, Clear Lake. May 16, 2002.
• McCune, J., Ghorbel, F.H., Dabney, J.B., "Web-based
Control of the Rice SPENDULAP," Innovations 2002,
University of Houston, Clear Lake. May 16, 2002
• Dutta, S., Ghorbel, F.H., and Dabney, J.B., "Hysteresis
and its Modeling,"
• Dabney, J.B., Ghorbel, F.H., O'Malley, M.K., "Robotics,
Historical Perspective and Current Challenges," A plenary
lecture presented at the TSS International Conference on
Advances in Mechanical Engineering March 18-20, 2002,
Hammamet, Tunisia.
• Lu, K., Clark, J. W., Ghorbel, F. H., Ware, D. L., and
Bidani, A., "A Closed-loop Model of Human Gas Exchange,"
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.
• Dabney, J.B., and Ghorbel, F.H., "Power and Locomotion of
a Millirobotic Crawler," Proceedings of The TSS
International Conference on Advances in Mechanical
Engineering March 18-20, 2002, Hammamet, Tunisia .
• Lu, K. , Clark, J.W., Ghorbel, F.H., and Bidani, A. "A
Mathematical Model of the Human Cardiopulmonary System,"
Abstract, Nineteenth Annual Houston Conference on
Biomedical Engineering Research, p. 56, February 8-9, 2001.
• Athanasiades, A., Clark Jr. , J.W., Ghorbel, F.H., and
Bidani, A., "Neural Regulation of Respiration: A modeling
Approach," Eighteenth Annual Houston Conference on
Biomedical Engineering Research, p. 83, February, 10-11,
2000
• Lu, K., Olansen, J., Clark Jr. , J.W., Ghorbel, F.H., and
Bidani, A., "A Model of the Human Cardiopulmonary System,"
Eighteenth Annual Houston Conference on Biomedical
Engineering Research, p. 18, February, 10-11, 2000
• Clark Jr. , J.W., Alfrey, K., Lu, K., Olansen, J.B.,
Ghorbel, F., Bidani, A., Andersen, M.C., and Kunze, D.L.,
"Closed Loop Pacing: Can Cardiovascular System Models be
Used as Conceptual Testbeds for Design?," Eighteenth Annual
Houston Conference on Biomedical Engineering Research, p.
72, February, 10-11, 2000
• Athanasiades, A., Clark Jr. , J.W., Ghorbel, F.H., and
Bidani, A., "An Ionic Current Model for Respiratory Neurons
in the Rat Ventral Nucleus Tractus Solitarii," Abstract,
Seventeenth Annual Houston Conference on Biomedical
Engineering Research, p. 22, February 11-12, 1999
• Olansen, J.B., Ghorbel, F., and Clark Jr. , J.W.,
"Integration of Classical Biomedical Experimentation with
Modern Data Acquisition and Analysis," Abstract,
Seventeenth Annual Houston Conference on Biomedical
Engineering Research, p. 37, February 11-12, 1999 Ghorbel,
March 2, 2006 24
• Olansen, J.B., J.W. Clark Jr., F. Ghorbel, Deyo, D., and
Bidani, A., "Combining Data Acquisition and Analysis of
Pulmonary Function using LabVIEW-Based Algorithms",
Abstract, Sixteenth Annual Houston Conference on Biomedical
Engineering Research, p 53, Houston, April 2-3 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", Abstract, Sixteenth Annual Houston
Conference on Biomedical Engineering Research, p 158,
Houston, April 2-3 1998.
• Athanasiades A., Olansen, J.B., Ghorbel F., Clark, Jr.,
J.W., Niranjan S.C., Zwinschenberger J.B., and Bidani A.,
"Nonlinear Modeling of Human Lung Tissue", Abstract,
Sixteenth Annual Houston Conference on Biomedical
Engineering Research, p 159, Houston, April 2-3 1998.
• Gandhi, P.S., and Ghorbel, F, "On the Modeling and
Control of Nonlinear Transmission Attributes in Harmonic
Gear Transmission Systems," Abstract, Innovations'98,
Gilruth Center, NASA/Johnson Space Center, Houston, TX,
March 31, 1998.
• Dabney, J.B., and Ghorbel, F, "Continuous Sliding Mode
Control of a Rotating Pendulum," Abstract, Innovations'98,
Gilruth Center, NASA/Johnson Spapce Center, Houston, TX,
March 31, 1998.
• Athanasiades, A., F. Ghorbel, J.W. Clark Jr., S.C.
Niranjan, J.B. Zwischenberger and A. Bidani, "Nonlinear
Modeling of Respiratory Mechanics and the Work of
Breathing", Abstract, Texas Systems Day '97, p. 6, Rice
University, Houston, TX, October 1997.
• Athanasiades A., Ghorbel F., Clark, Jr., J.W., Niranjan
S.C., Liu C.H., Zwinschenberger J.B., and Bidani A.,
"Identifying Work of Breathing Functions in a Nonlinear
Model of Respiratory Mechanics," Abstract No.86, Ann.
Biomed. Eng., vol.25 (suppl. 1), p. S-15, 1997, presented
at the 1997 Annual Fall Meeting of the Biomedical
Engineering Society, San Diego, October 1997.
• Athanasiades, A., C. H. Liu, F. Ghorbel, J.W. Clark Jr.,
S.C. Niranjan, J.B. Zwischenberger and A. Bidani. "The Work
of Breathing in a Nonlinear Model of the Human Lung",
Abstract, Fifteenth Annual Houston Conference on Biomedical
Engineering Research, p 37, Houston, February 1997.
• Athanasiades, A., C. H. Liu, F. Ghorbel, J.W. Clark Jr.,
S.C. Niranjan, J.B. Zwischenberger and A. Bidani,
"Components of the Energy of Breathing in a Nonlinear Model
of the Human Lung", Abstract, Texas Systems Day '96,
Dallas, October 1996.
• Ghorbel, F., and Gunawardana, R., "Modeling and Control
of Closed-Chain Mechanisms: Theory and Experiment,"
Abstract, Texas Systems Day '96, Dallas, October 1996.
• Ghorbel, F., "Integral Manifold Methods in Control,"
Abstract, Texas Systems Day '96, Dallas, October 1996.
• Athanasiades, A., C. H. Liu, F. Ghorbel, J.W. Clark Jr.,
S.C. Niranjan, J.B. Zwischenberger and A. Bidani,
"Components of the Energy of Breathing in a Nonlinear Model
of the Human Lung", Poster Abstract No. 9, 1996 Retreat on
Computational Biology, Galveston, September 1996.
• Ghorbel, F., "Issues in Robot Control,"Proceedings of the
First TSS/ASTA International Conference on Technology Parks
and Transfer of Knowledge, pp. 20-22, Tunis, Tunisia, July
22-24, 1996.
• Ghorbel, F., "Integral Manifold Methods in
Control,"Proceedings of the First TSS/ASTA International
Conference on Technology Parks and Transfer of Knowledge,
pp. 84-86, Tunis, Tunisia, July 22-24, 1996.
• Athanasiades, A., C. H. Liu, F. Ghorbel, J.W. Clark Jr.,
S.C. Niranjan, J.B. Zwischenberger and A. Bidani,
"Components of the Energy of Breathing in a Nonlinear Model
of the Human Lung", Poster, Proceedings of the First
TSS/ASTA International Conference on Technology Parks and
Transfer of Knowledge, p. 201, Tunis, Tunisia, July 22-24,
1996. Ghorbel, March 2, 2006 25
• Abdoulkader, H., Maalej, A., Ghorbel, F., and Loukil, A.,
"Une nouvelle approche de modelisation dynamique des robots
manipulateurs," 1eres Journees de Mecanique et
d'Ingenierie-ENIS, May 2-4, Mahdia, Tunisia, 1996.
• Athanasiades, A., Ghorbel, F., Clark, J.W., Niranjan,
S.C., Bidani, A., and Zwischenberger, J.B., "Components of
the Energy of Breathing in a Nonlinear Model of the Human
Lung," Abstract, Proc. of the Fourteenth Annual Houston
Conference on Biomedical Engineering Research, p. 97,
University of Houston, Houston, TX, Feb. 8-9, 1996.
• Ghorbel, F., "Robot Manipulator Motion Control
Revisited," Abstract, Texas Systems Day '96, University of
Houston, October 1995.
• Kumar, A., Odeh, A., Ghorbel, F., and Spong, M.W.,
"Robotic Corrosion Inspection Crawler," Corrosion 90, Paper
No. 174, Las Vegas, Nevada, April 23-27, 1990.