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Fathi H. Ghorbel
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Proceedings Papers

Rice SPENDULAP: A Laboratory Apparatus to Illustrate Key Concepts in Kinematics, Dynamics, and Control

James B. Dabney, Fathi H. Ghorbel
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 1, 89-96, November 5–10, 2000
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2000-2289
https://doi.org/10.1115/IMECE2000-2289
View Paper titled, Rice SPENDULAP: A Laboratory Apparatus to Illustrate Key Concepts in Kinematics, Dynamics, and Control
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Topics: Dynamics (Mechanics), Kinematics, Nonlinear systems, Pendulums, Simulation, Students
Journal Articles

Modeling and Parameter Identification of an In-Tank Swimming Robot Performing Floor Inspection

Imen Hbiri, Houssem Karkri, Fathi H. Ghorbel, Slim Choura
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2019, 141(3): 031002.
Paper No: DS-17-1001
https://doi.org/10.1115/1.4041506
Published Online: October 31, 2018
View Article titled, Modeling and Parameter Identification of an In-Tank Swimming Robot Performing Floor Inspection
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Topics: Friction, Robots, Drag (Fluid dynamics), Modeling, Simulation, Inspection
Proceedings Papers

Design and Fabrication of a Novel Autonomous Pipeline Scanning Robot

Mansour Karkoub, Mohamed Gharib, Fathi H. Ghorbel, Issam Ben Moallem
Proc. ASME. IMECE2017, Volume 14: Emerging Technologies; Materials: Genetics to Structures; Safety Engineering and Risk Analysis, V014T07A020, November 3–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2017-72393
https://doi.org/10.1115/IMECE2017-72393
View Paper titled, Design and Fabrication of a Novel Autonomous Pipeline Scanning Robot
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Topics: Design, Manufacturing, Pipelines, Robots, Inspection, Pipes, Engineering prototypes, Sensors, Corrosion, Fasteners
Journal Articles

Modeling of Multisample Nanoplacing

Fakhreddine Landolsi, Fathi H. Ghorbel
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. February 2015, 137(2): 024502.
Paper No: DS-13-1122
https://doi.org/10.1115/1.4028312
Published Online: September 24, 2014
View Article titled, Modeling of Multisample Nanoplacing
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Topics: Modeling, Oscillations, Probes, Simulation, Engineering simulation, Vibration, Nanoscale phenomena
Journal Articles

Adhesion and Friction Coupling in Atomic Force Microscope-Based Nanopushing

Fakhreddine Landolsi, Fathi H. Ghorbel, James B. Dabney
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2013, 135(1): 011002.
Paper No: DS-09-1341
https://doi.org/10.1115/1.4006370
Published Online: October 30, 2012
View Article titled, Adhesion and Friction Coupling in Atomic Force Microscope-Based Nanopushing
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Topics: Adhesion, Atomic force microscopy, Friction, Nanoscale phenomena
Proceedings Papers

A New AFM Cantilever Design for Manipulation at the Nanoscale

Fakhreddine Landolsi, Fathi H. Ghorbel, James B. Dabney
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 979-986, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4153
https://doi.org/10.1115/DSCC2010-4153
View Paper titled, A New AFM Cantilever Design for Manipulation at the Nanoscale
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Topics: Atomic force microscopy, Cantilevers, Design, Nanoscale phenomena, Manipulators, Automotive industry, Biotechnology, End effectors, Manufacturing, Probes
Proceedings Papers

Vibrational AFM-Based Nano-Placing: Modeling and Simulation

Fakhreddine Landolsi, Fathi H. Ghorbel, James B. Dabney
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 1, 773-780, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2595
https://doi.org/10.1115/DSCC2009-2595
View Paper titled, Vibrational AFM-Based Nano-Placing: Modeling and Simulation
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Topics: Atomic force microscopy, Modeling, Simulation, Nanoscale phenomena, Adhesion, Manipulators, Manufacturing, Microscale devices, Oscillations, Performance
Journal Articles

Nanoscale Friction Dynamic Modeling

Fakhreddine Landolsi, Fathi H. Ghorbel, Jun Lou, Hao Lu, Yuekai Sun
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Dynamic Modeling Control And Manipulation At The Nanoscale
J. Dyn. Sys., Meas., Control. November 2009, 131(6): 061102.
https://doi.org/10.1115/1.3223620
Published Online: October 28, 2009
View Article titled, Nanoscale Friction Dynamic Modeling
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Topics: Friction, Nanoscale phenomena, Sliding friction, Stick-slip
Proceedings Papers

Effect of Interaction Modeling in AFM-Based Nanomanipulation

Fakhreddine Landolsi, Fathi H. Ghorbel, James B. Dabney
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 369-375, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2153
https://doi.org/10.1115/DSCC2008-2153
View Paper titled, Effect of Interaction Modeling in AFM-Based Nanomanipulation
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Topics: Atomic force microscopy, Modeling, Nanoscale phenomena, Collisions (Physics), Computer simulation, Friction
Proceedings Papers

Magnetic Flux Leakage Sensing: Current Practices and Mathematical Analysis

Sushant M. Dutta, Fathi H. Ghorbel
Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 981-989, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-42481
https://doi.org/10.1115/IMECE2007-42481
View Paper titled, Magnetic Flux Leakage Sensing: Current Practices and Mathematical Analysis
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Topics: Dipoles (Electromagnetism), Leakage, Magnetic flux, Mathematical analysis, Nondestructive evaluation
Proceedings Papers

An AFM-Based Nanomanipulation Model Describing the Atomic Two Dimensional Stick-Slip Behavior

Fakhreddine Landolsi, Fathi H. Ghorbel, James B. Dabney
Proc. ASME. IMECE2007, Volume 11: Micro and Nano Systems, Parts A and B, 177-186, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-42529
https://doi.org/10.1115/IMECE2007-42529
View Paper titled, An AFM-Based Nanomanipulation Model Describing the Atomic Two Dimensional Stick-Slip Behavior
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Topics: Atomic force microscopy, Stick-slip, Dynamics (Mechanics), Nanoscale phenomena, Cantilevers, Computer simulation, Contact mechanics, Friction, Physics, Sliding friction
Proceedings Papers

Dynamic Modeling and Control of Hysteresis in a Shape Memory Alloy Actuator

Sushant M. Dutta, Fathi H. Ghorbel, James B. Dabney
Proc. ASME. IMECE2004, Dynamic Systems and Control, Parts A and B, 555-563, November 13–19, 2004
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2004-61849
https://doi.org/10.1115/IMECE2004-61849
View Paper titled, Dynamic Modeling and Control of Hysteresis in a Shape Memory Alloy Actuator
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Topics: Actuators, Dynamic modeling, Shape memory alloys
Proceedings Papers

Integrating MATLAB and Simulink in an Advanced Engineering Mechanics Course

James B. Dabney, Fathi H. Ghorbel
Proc. ASME. IMECE2004, Innovations in Engineering Education: Mechanical Engineering Education, Mechanical Engineering/Mechanical Engineering Technology Department Heads, 407-412, November 13–19, 2004
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2004-60999
https://doi.org/10.1115/IMECE2004-60999
View Paper titled, Integrating MATLAB and Simulink in an Advanced Engineering Mechanics Course
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Topics: Engineering mechanics, Matlab, Students, Computer programming, Dynamic systems, Engineering education, Graduate students, Modeling, Nonlinear differential equations, Simulation
Proceedings Papers

Dynamic Response Modeling of Piezoelectric Ultrasonic Motors

James B. Dabney, Thomas L. Harman, Charanya Aswatharanayan, Mary Randolph-Gips, Fathi H. Ghorbel, Joseph J. Chakkungal
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 1723-1731, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-82731
https://doi.org/10.1115/IMECE2005-82731
View Paper titled, Dynamic Response Modeling of Piezoelectric Ultrasonic Motors
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Topics: Dynamic response, Modeling, Motors, Ultrasonic motors
Proceedings Papers

Modeling Closed Kinematic Chains for Control: A Comparative Study

Zhiyong Wang, Fathi H. Ghorbel
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 1507-1513, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-81059
https://doi.org/10.1115/IMECE2005-81059
View Paper titled, Modeling Closed Kinematic Chains for Control: A Comparative Study
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Topics: Closed kinematic chains, Modeling, Design, Manifolds, Simulation
Proceedings Papers

Nanomanipulation Modeling and Simulation

Yanto Mualim, Fathi H. Ghorbel, James B. Dabney
Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1481-1490, November 5–10, 2006
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2006-15319
https://doi.org/10.1115/IMECE2006-15319
View Paper titled, Nanomanipulation Modeling and Simulation
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Topics: Modeling, Simulation, Friction, Atomic force microscopy, Deformation, Dynamics (Mechanics), Physics, Sliding friction, Stick-slip
Proceedings Papers

Model-Based Torque Control of Piezoelectric Ultrasonic Motors

James B. Dabney, Thomas L. Harman, Fathi H. Ghorbel, Joseph J. Chakkungal
Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1265-1272, November 5–10, 2006
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2006-13918
https://doi.org/10.1115/IMECE2006-13918
View Paper titled, Model-Based Torque Control of Piezoelectric Ultrasonic Motors
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Topics: Motors, Torque control, Ultrasonic motors
Journal Articles

Control of Closed Kinematic Chains Using A Singularly Perturbed Dynamics Model

Zhiyong Wang, Fathi H. Ghorbel
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2006, 128(1): 142–151.
https://doi.org/10.1115/1.2171440
Published Online: November 30, 2005
View Article titled, Control of Closed Kinematic Chains Using A Singularly Perturbed Dynamics Model
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Topics: Closed kinematic chains, Closed loop systems, Composite materials, Differential equations, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Trajectories (Physics)
Journal Articles

On the Kinematic Error in Harmonic Drive Gears

Fathi H. Ghorbel, Associate Professor, Prasanna S. Gandhi, Graduate Student, Friedhelm Alpeter, Research Assistant
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2001, 123(1): 90–97.
https://doi.org/10.1115/1.1334379
Published Online: October 1, 1998
View Article titled, On the Kinematic Error in Harmonic Drive Gears
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Topics: Errors, Kinematics, Gears, Stress