@article {998, title = {General muscle torque generator model for a two degree-of-freedom shoulder joint}, journal = {Journal of Biomechanical Engineering}, year = {2024}, month = {03/2024}, chapter = {1-8}, keywords = {muscle mechanics, muscle torque generator, shoulder joint, torque-angle relationship, torque-velocity relationship}, doi = {https://doi.org/10.1115/1.4065044}, author = {Sydney Bell and Ali Nasr and John McPhee} } @article {999, title = {Robust machine learning mapping of sEMG signals to future actuator commands in biomechatronic devices}, journal = {Journal of Bionic Engineering}, volume = {21}, year = {2024}, month = {01/2024}, chapter = {270-287}, keywords = {Bionic, Exoskeleton, Machine Learning, Multibody System Dynamics, Myoelectric-based control, Surface electromyography}, doi = {https://doi.org/10.1007/s42235-023-00453-8}, author = {Ali Nasr and Sydney Bell and Rachel L. Whittaker and Clark R. Dickerson and John McPhee} } @article {997, title = {Scalable musculoskeletal model for dynamic simulations of lower body movement}, journal = {Computer Methods in Biomechanics and Biomedical Engineering}, year = {2024}, month = {02/2024}, keywords = {Biomechanics, Dynamic simulation, Lower body, Muscle torque, Musculoskeletal system model}, doi = {https://doi.org/10.1080/10255842.2024.2316240}, author = {Ali Nasr and John McPhee} } @article {962, title = {Age-sensitive high density surface electromyogram indices for detecting muscle fatigue using core shape modelling}, journal = {Biomedical Signal Processing and Control}, volume = {81}, year = {2023}, month = {01/2023}, chapter = {104446}, keywords = {Aging, Core Shape Modelling, Gaussianity monitoring, High density Electromyography, Muscle Fatigue}, doi = {https://doi.org/10.1016/j.bspc.2022.104446}, author = {Bharath Krishnan and Serena Zanelli and Sofiane Boudaoud and L{\'e}a Scapucciati and John McPhee and Ning Jiang} } @article {970, title = {Energy-Efficient Actuator Design Principles for Robotic Leg Prostheses and Exoskeletons: A Review of Series Elasticity and Backdrivability}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, year = {2023}, abstract = {

Robotic leg prostheses and exoskeletons have traditionally been designed using highly-geared motor-transmission systems that minimally exploit the passive dynamics of human locomotion, resulting in inefficient actuators that require significant energy consumption and thus provide limited battery-powered operation or require large onboard batteries. Here we review two of the leading energy-efficient actuator design principles for legged and wearable robotic systems: series elasticity and backdrivability. As shown by inverse dynamic simulations of walking, there are periods of negative joint mechanical work that can be used to increase efficiency by recycling some of the otherwise dissipated energy using series elastic actuators and/or backdriveable actuators with energy regeneration. Series elastic actuators can improve shock tolerance during foot-ground impacts and reduce the peak power and energy consumption of the electric motor via mechanical energy storage and return. However, actuators with series elasticity tend to have lower output torque, increased mass and architecture complexity due to the added physical spring, and limited force and torque control bandwidth. High torque density motors with low-ratio transmissions, known as quasi-direct drives, can likewise achieve low output impedance and high backdrivability, allowing for safe and compliant human-robot physical interactions, in addition to energy regeneration. However, torque-dense motors tend to have higher Joule heating losses, greater motor mass and inertia, and require specialized motor drivers for real-time control. While each actuator design has advantages and drawbacks, designers should consider the energy-efficiency of robotic leg prostheses and exoskeletons beyond steady-state level-ground walking.

}, keywords = {Actuators, Energy-Efficiency, Exoskeletons, Legged Locomotion, Prosthetics, Wearable Robotics}, doi = {10.1115/1.4056919}, url = {https://asmedigitalcollection.asme.org/computationalnonlinear/article-abstract/doi/10.1115/1.4056919/1159612/Energy-Efficient-Actuator-Design-Principles-For?redirectedFrom=fulltext}, author = {Brokoslaw Laschowski and John McPhee} } @article {1001, title = {Evaluation of a machine-learning-driven active-passive upper-limb exoskeleton robot: Experimental human-in-the-loop study}, journal = {Wearable Technologies}, volume = {4}, year = {2023}, month = {05/2023}, chapter = {e13}, keywords = {Active-passive, Assistive control, Exoskeletons, human-in-the-loop control, Wearable robots}, doi = {https://doi.org/10.1017/wtc.2023.9}, author = {Ali Nasr and Jason Hunter and Clark R. Dickerson and John McPhee} } @article {1000, title = {Experimental study of fully passive, fully active, and active{\textendash}passive upper-limb exoskeleton efficiency: An assessment of lifting tasks}, journal = {Sensors}, volume = {24}, year = {2023}, month = {12/2023}, chapter = {63}, keywords = {Active-passive, Electromyography, Exoskeletons; Wearable robots, Fatigue, sEMG}, doi = {https://doi.org/10.3390/s24010063}, author = {Ali Nasr and Clark R. Dickerson and John McPhee} } @inproceedings {1003, title = {Human and passive lower-limb exoskeleton interaction analysis: Computational study with dynamics simulation using nonlinear model predictive control}, booktitle = {The Society of Instrument and Control Engineers (SICE) Annual Conference}, year = {2023}, month = {09/2023}, publisher = {IEEE}, organization = {IEEE}, address = {Tsu, Japan}, keywords = {Balance control, Biomechanical analysis, Model-Based Design, Multibody model, Optimization}, doi = {https://doi.org/10.23919/SICE59929.2023.10354196}, author = {Naoto Haraguchi and Ali Nasr and Keaton A. Inkol and Kazunori Hase and John McPhee} } @article {964, title = {Multibody Dynamics and Control using Machine Learning}, journal = {Multibody System Dynamics}, year = {2023}, keywords = {Data- driven modeling, Data-driven control, Deep Learning, Machine Learning, Model-based control, Multibody system}, author = {Arash Hashemi and Grzegorz Orzechowski and Aki Mikkola and John McPhee} } @article {1002, title = {Scalable musculoskeletal model for dynamic simulations of upper body movement}, journal = {Computer Methods in Biomechanics and Biomedical Engineering}, volume = {27}, year = {2023}, month = {03/2023}, chapter = {306-337}, keywords = {Biomechanics, Muscle torque, Musculoskeletal system, Upper body}, doi = {https://doi.org/10.1080/10255842.2023.2184747}, author = {Ali Nasr and Arash Hashemi and John McPhee} } @article {919, title = {Environment Classification for Robotic Leg Prostheses and Exoskeletons using Deep Convolutional Neural Networks}, journal = {Frontiers in Neurorobotics}, volume = {15}, year = {2022}, month = {02/2022}, publisher = {bioRxiv}, abstract = {

Robotic leg prostheses and exoskeletons can provide powered locomotor assistance to older adults and/or persons with physical disabilities. However, the current locomotion mode recognition systems being developed for automated high-level control and decision-making rely on mechanical, inertial, and/or neuromuscular sensors, which inherently have limited prediction horizons (i.e., analogous to walking blindfolded). Inspired by the human vision-locomotor control system, we developed an environment classification system powered by computer vision and deep learning to predict the oncoming walking environments prior to physical interaction, therein allowing for more accurate and robust high-level control decisions. In this study, we first reviewed the development of our \“ExoNet\” database\—the largest and most diverse open-source dataset of wearable camera images of indoor and outdoor real-world walking environments, which were annotated using a hierarchical labeling architecture. We then trained and tested over a dozen state-of-the-art deep convolutional neural networks (CNNs) on the ExoNet database for image classification and automatic feature engineering, including: EfficientNetB0, InceptionV3, MobileNet, MobileNetV2, VGG16, VGG19, Xception, ResNet50, ResNet101, ResNet152, DenseNet121, DenseNet169, and DenseNet201. Finally, we quantitatively compared the benchmarked CNN architectures and their environment classification predictions using an operational metric called \“NetScore,\” which balances the image classification accuracy with the computational and memory storage requirements (i.e., important for onboard real-time inference with mobile computing devices). Our comparative analyses showed that the EfficientNetB0 network achieves the highest test accuracy; VGG16 the fastest inference time; and MobileNetV2 the best NetScore, which can inform the optimal architecture design or selection depending on the desired performance. Overall, this study provides a large-scale benchmark and reference for next-generation environment classification systems for robotic leg prostheses and exoskeletons.

}, keywords = {Artificial Intelligence, Biomechatronics, Computer Vision, Deep Learning, ExoNet, Exoskeletons, Prosthetics, Rehabilitation Robotics, wearables}, doi = {10.3389/fnbot.2021.730965}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2021.730965/full}, author = {Brokoslaw Laschowski and William McNally and Alexander Wong and John McPhee} } @article {943, title = {Model-based design and optimization of passive shoulder exoskeletons}, journal = {J. Comput. Nonlinear Dynam.}, volume = {17}, year = {2022}, month = {03/2022}, abstract = {

To physically assist workers in reducing musculoskeletal strain or to develop motor skills for patients with neuromuscular disabilities, recent research has focused on exoskeletons. Designing exoskeletons is challenging due to the complex human geometric structure, the human-exoskeleton wrench interaction, the kinematic constraints, and the selection of power source characteristics. This study concentrates on modeling a 3D multibody upper-limb human-exoskeleton, developing a procedure of analyzing optimal assistive torque profiles, and optimizing the passive mechanism features for desired tasks. The optimization objective is minimizing the human joint torques. Differential-algebraic equations (DAEs) of motion have been generated and solved to simulate the complex closed-loop multibody dynamics. Three different tasks have been considered, which are common in industrial environments: object manipulation, over-head work, and static pointing. The resulting assistive exoskeleton\&$\#$39;s elevation joint torque profile decreases the specific task\&$\#$39;s human shoulder torque in computer simulations. The exoskeleton is not versatile or optimal for different dynamic tasks since the passive mechanism produces a specific torque for a given elevation angle. We concluded that designing a fully passive exoskeleton for a wide range of dynamic applications is impossible.

}, doi = {10.1115/1.4053405}, url = {https://asmedigitalcollection.asme.org/computationalnonlinear/article-abstract/17/5/051004/1133367/Model-Based-Design-and-Optimization-of-Passive?redirectedFrom=fulltext}, author = {Ali Nasr and Spencer Ferguson and John McPhee} } @article {944, title = {Model-based mid-level regulation for assist-as-needed hierarchical control of wearable robots: A computational study of human-robot adaptation}, journal = {Robotics}, volume = {11}, year = {2022}, month = {01/2022}, chapter = {20}, abstract = {

The closed-loop human\–robot system requires developing an effective robotic controller that considers models of both the human and the robot, as well as human adaptation to the robot. This paper develops a mid-level controller providing assist-as-needed (AAN) policies in a hierarchical control setting using two novel methods: model-based and fuzzy logic rule. The goal of AAN is to provide the required extra torque because of the robot\’s dynamics and external load compared to the human limb free movement. The human\–robot adaptation is simulated using a nonlinear model predictive controller (NMPC) as the human central nervous system (CNS) for three conditions of initial (the initial session of wearing the robot, without any previous experience), short-term (the entire first session, e.g., 45 min), and long-term experiences. The results showed that the two methods (model-based and fuzzy logic) outperform the traditional proportional method in providing AAN by considering distinctive human and robot models. Additionally, the CNS actuator model has difficulty in the initial experience and activates both antagonist and agonist muscles to reduce movement oscillations. In the long-term experience, the simulation shows no oscillation when the CNS NMPC learns the robot model and modifies its weights to simulate realistic human behavior. We found that the desired strength of the robot should be increased gradually to ignore unexpected human\–robot interactions (e.g., robot vibration, human spasticity). The proposed mid-level controllers can be used for wearable assistive devices, exoskeletons, and rehabilitation robots.

}, doi = {10.3390/robotics11010020}, url = {https://www.mdpi.com/2218-6581/11/1/20}, author = {Ali Nasr and Arash Hashemi and John McPhee} } @article {961, title = {Optimal design of active-passive shoulder exoskeletons: a computational modeling of human-robot interaction}, journal = {Multibody System Dynamics}, year = {2022}, month = {11/2022}, keywords = {Active-passive, Assistive control, Closed kinematic chain, Exoskeletons, Human-robot interaction, Wearable robots}, doi = {https://doi.org/10.1007/s11044-022-09855-8}, author = {Ali Nasr and Sydney Bell and John McPhee} } @article {960, title = {Predictive multibody dynamic simulation of human neuromusculoskeletal systems: a review}, journal = {Multibody System Dynamics}, year = {2022}, month = {11/2022}, keywords = {Biomechanics, Human movement, Neuromusculoskeletal system models, Optimal Control, Predictive dynamic simulation, Review}, doi = {https://doi.org/10.1007/s11044-022-09852-x}, author = {M{\'\i}riam Febrer-Nafr{\'\i}a and Ali Nasr and Mahdokht Ezati and Peter Brown and Josep M. Font-Llagunes and John McPhee} } @article {963, title = {A review of dynamic models and measurements in golf}, journal = {Sports Engineering}, volume = {25}, year = {2022}, month = {12/2022}, pages = {1-19}, keywords = {Dynamic models, Golf, Measurement, Review, Simulation}, doi = {https://doi.org/10.1007/s12283-022-00387-0}, author = {John McPhee} } @inproceedings {959, title = {Simulation of Energy Regeneration in Human Locomotion for Efficient Exoskeleton Actuation}, booktitle = {IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, year = {2022}, month = {11/2022}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Backdriveable actuators with energy regeneration can improve the efficiency and extend the battery-powered operating times of robotic lower-limb exoskeletons by converting some of the otherwise dissipated energy during negative mechanical work into electrical energy. However, previous related studies have focused on steady-state level-ground walking. To better encompass real-world community mobility, here we developed a feedforward human-exoskeleton energy regeneration system model to simulate energy regeneration and storage during other daily locomotor activities. Data from inverse dynamics analyses of 10 healthy young adults walking at variable speeds and slopes were used to calculate the negative joint mechanical power and work (i.e., the mechanical energy theoretically available for electrical energy regeneration). These human joint mechanical energetics were then used to simulate backdriving a robotic exoskeleton and regenerating energy. An empirical characterization of the exoskeleton device was carried out using a joint dynamometer system and an electromechanical motor model to calculate the actuator efficiency and to simulate energy regeneration. Our performance calculations showed that regenerating energy at slower walking speeds and decline slopes could significantly extend the battery-powered operating times of robotic lower-limb exoskeletons (i.e., up to 99\% increase in total number of steps), therein improving locomotor efficiency.

}, keywords = {Actuators, Biomechatronics, Energy-Efficiency, Exoskeletons}, doi = {10.1109/BioRob52689.2022.9925349}, url = {https://ieeexplore.ieee.org/document/9925349}, author = {Brokoslaw Laschowski and Keaton A. Inkol and Alex Mihailidis and John McPhee} } @article {933, title = {Baseball Pitching Arm 3-D Inertial Parameter Calculations from Body Composition Imaging and a Novel Overweight Measure for Youth Pitching Arm Kinetics}, journal = {Journal of Biomechanical Engineering}, year = {2021}, abstract = {

Many baseball pitching studies have used inverse dynamics to assess throwing arm kinetics as high and repetitive kinetics are thought to be linked to pitching injuries. However, prior studies have not used participant-specific body segment inertial parameters (BSIPs) which are thought to improve analysis of high-acceleration motions and overweight participants. This study\&$\#$39;s objectives were to 1) calculate participant-specific BSIPs using DXA measures, 2) compare inverse dynamic calculations of kinetics determined by DXA-calculated BSIPs (full DXA-driven inverse dynamics) against kinetics using the standard inverse dynamics approach with scaled BSIPs (scaled inverse dynamics), and 3) examine associations between full DXA-driven kinetics and overweight indices: body mass index (BMI) and segment mass index (SMI). Eighteen participants (10-11 years old) threw 10 fastballs that were recorded for motion analysis. DXA scans were used to calculate participant-specific BSIPs (mass, center of mass, radii of gyration) for each pitching arm segment (upper arm, forearm, hand), BMI, and SMI. The hypotheses were addressed with t-tests and linear regression analyses. The major results were that 1) DXA-calculated BSIPs differed from scaled BSIPs for each pitching arm segment, 2) calculations for shoulder, but not elbow, kinetics differed between the full DXA-driven and scaled inverse dynamics analyses, and 3) full DXA-driven inverse dynamics calculations for shoulder kinetics were more strongly associated with SMI than with BMI. Results suggest that using participant-specific BSIPs and pitching arm SMIs may improve evidence-based injury prevention guidelines for youth pitchers.

}, doi = {10.1115/1.4052890}, url = {https://asmedigitalcollection.asme.org/biomechanical/article-abstract/doi/10.1115/1.4052890/1122988/Baseball-Pitching-Arm-3-D-Inertial-Parameter}, author = {Dalton Jennings and Scott K Reaves and Jeff Sklar and Colin Brown and John McPhee and Scott J Hazelwood and Stephen M Klisch} } @inproceedings {915, title = {Computer Vision and Deep Learning for Environment-Adaptive Control of Robotic Lower-Limb Exoskeletons}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine \& Biology Society (EMBC)}, year = {2021}, month = {04/2021}, publisher = {IEEE }, organization = {IEEE }, abstract = {

Robotic exoskeletons require human control and decision making to switch between different locomotion modes, which can be inconvenient and cognitively demanding. To support the development of automated locomotion mode recognition systems (i.e., high-level controllers), we designed an environment recognition system using computer vision and deep learning. We collected over 5.6 million images of indoor and outdoor real-world walking environments using a wearable camera system, of which ~923,000 images were annotated using a 12-class hierarchical labelling architecture (called the ExoNet database). We then trained and tested the EfficientNetB0 convolutional neural network, designed for efficiency using neural architecture search, to predict the different walking environments. Our environment recognition system achieved ~73\% image classification accuracy. While these preliminary results benchmark EfficientNetB0 on the ExoNet database, further research is needed to compare different image classification algorithms to develop an accurate and real-time environment-adaptive locomotion mode recognition system for robotic exoskeleton control.

}, keywords = {Biomechatronics, Computer Vision, Deep Learning, Exoskeletons, Rehabilitation, Robotics}, doi = {10.1109/EMBC46164.2021.9630064}, url = {https://ieeexplore.ieee.org/document/9630064}, author = {Brokoslaw Laschowski and William McNally and Alexander Wong and John McPhee} } @article {945, title = {InverseMuscleNET: Alternative machine learning solution to static optimization and inverse muscle modeling}, journal = {Frontiers in Computational Neuroscience}, year = {2021}, month = {12/2021}, abstract = {

InverseMuscleNET, a machine learning model, is proposed as an alternative to static optimization for resolving the redundancy issue in inverse muscle models. A recurrent neural network (RNN) was optimally configured, trained, and tested to estimate the pattern of muscle activation signals. Five biomechanical variables (joint angle, joint velocity, joint acceleration, joint torque, and activation torque) were used as inputs to the RNN. A set of surface electromyography (EMG) signals, experimentally measured around the shoulder joint for flexion/extension, were used to train and validate the RNN model. The obtained machine learning model yields a normalized regression in the range of 88\–91\% between experimental data and estimated muscle activation. A sequential backward selection algorithm was used as a sensitivity analysis to discover the less dominant inputs. The order of most essential signals to least dominant ones was as follows: joint angle, activation torque, joint torque, joint velocity, and joint acceleration. The RNN model required 0.06 s of the previous biomechanical input signals and 0.01 s of the predicted feedback EMG signals, demonstrating the dynamic temporal relationships of the muscle activation profiles. The proposed approach permits a fast and direct estimation ability instead of iterative solutions for the inverse muscle model. It raises the possibility of integrating such a model in a real-time device for functional rehabilitation and sports evaluation devices with real-time estimation and tracking. This method provides clinicians with a means of estimating EMG activity without an invasive electrode setup.

}, doi = {10.3389/fncom.2021.759489}, url = {https://www.frontiersin.org/articles/10.3389/fncom.2021.759489/full$\#$h13}, author = {Ali Nasr and Keaton A. Inkol and Sydney Bell and John McPhee} } @inproceedings {921, title = {Model-based design and optimization of passive shoulder exoskeletons}, booktitle = {ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference}, year = {2021}, publisher = {ASME}, organization = {ASME}, abstract = {

To physically assist workers in reducing musculoskeletal strain or to develop motor skills for patients with neuromuscular disabilities, recent research has focused on Exoskeletons (Exos). Designing active Exos is challenging due to the complex human geometric structure, the human-Exoskeleton wrench interaction, the kinematic constraints, and the selection of power source characteristics. Because of the portable advantages of passive Exos, designing a passive shoulder mechanism has been studied here. The study concentrates on modeling a 3D multibody upper-limb human-Exoskeleton, developing a procedure of analyzing optimal assistive torque profiles, and optimizing the passive mechanism features for desired tasks. The optimization objective is minimizing the human joint torques. For simulating the complex closed-loop multibody dynamics, differential-algebraic equations (DAE)s of motion have been generated and solved. Three different tasks have been considered, which are common in industrial environments: object manipulation, over-head work, and static pointing. The resulting assistive Exoskeleton\’s elevation joint torque profile could decrease the specific task\’s human shoulder torque. Since the passive mechanism produces a specific torque for a given elevation angle, the Exoskeleton is not versatile or optimal for different dynamic tasks. We concluded that designing a passive Exoskeleton for a wide range of dynamic applications is impossible. We hypothesize that augmenting an actuator to the mechanism can provide the necessary adjustment torque and versatility for multiple tasks.

}, keywords = {Exoskeletons, Multibody System Dynamics, Optimization, Wearable Robotics}, author = {Ali Nasr and Spencer Ferguson and John McPhee} } @article {922, title = {MuscleNET: Mapping electromyography to kinematic and dynamic biomechanical variables by machine learning}, journal = {Journal of Neural Engineering}, year = {2021}, month = {08/2021}, abstract = {

Objective. This paper proposes machine learning models for mapping surface electromyography (sEMG) signals to regression of joint angle, joint velocity, joint acceleration, joint torque, and activation torque. Approach. The regression models, collectively known as MuscleNET, take one of four forms: ANN (Forward Artificial Neural Network), RNN (Recurrent Neural Network), CNN (Convolutional Neural Network), and RCNN (Recurrent Convolutional Neural Network). Inspired by conventional biomechanical muscle models, delayed kinematic signals were used along with sEMG signals as the machine learning model\&$\#$39;s input; specifically, the CNN and RCNN were modeled with novel configurations for these input conditions. The models\&$\#$39; inputs contain either raw or filtered sEMG signals, which allowed evaluation of the filtering capabilities of the models. The models were trained using human experimental data and evaluated with different individual data. Main results. Results were compared in terms of regression error (using the root-mean-square) and model computation delay. The results indicate that the RNN (with filtered sEMG signals) and RCNN (with raw sEMG signals) models, both with delayed kinematic data, can extract underlying motor control information (such as joint activation torque or joint angle) from sEMG signals in pick-and-place tasks. The CNNs and RCNNs were able to filter raw sEMG signals. Significance. All forms of MuscleNET were found to map sEMG signals within 2 ms, fast enough for real-time applications such as the control of exoskeletons or active prostheses. The RNN model with filtered sEMG and delayed kinematic signals is particularly appropriate for applications in musculoskeletal simulation and biomechatronic device control.

}, keywords = {Electromyography, EMG-based control, Machine learning model, Muscle model, Myoelectric control, Myoelectric signals}, doi = {10.1088/1741-2552/ac1adc}, url = {https://iopscience.iop.org/article/10.1088/1741-2552/ac1adc}, author = {Ali Nasr and Sydney Bell and Jiayuan He and Rachel L. Whittaker and Ning Jiang and Clark R Dickerson and John McPhee} } @inproceedings {918, title = {Myoelectric control of robotic leg prostheses and exoskeletons: A review}, booktitle = {ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference}, year = {2021}, publisher = {ASME}, organization = {ASME}, abstract = {

Myoelectric signals from the human motor control system can improve the real-time control and neural-machine interface of robotic leg prostheses and exoskeletons for different locomotor activities (e.g., walking, sitting down, stair ascent, and nonrhythmic movements). Here we review the latest advances in myoelectric control designs and propose future directions for research and innovation. We review the different wearable sensor technologies, actuators, signal processing, and pattern recognition algorithms used for myoelectric locomotor control and intent recognition, with an emphasis on the hierarchical architectures of volitional control systems. Common mechanisms within the control architecture include 1) open-loop proportional control with fixed gains, 2) active-reactive control, 3) joint mechanical impedance control, 4) manual-tuning torque control, 5) adaptive control with varying gains, and 6) closed-loop servo actuator control. Based on our review, we recommend that future research consider using musculoskeletal modeling and machine learning algorithms to map myoelectric signals from surface electromyography (EMG) to actuator joint torques, thereby improving the automation and efficiency of next-generation EMG controllers and neural interfaces for robotic leg prostheses and exoskeletons. We also propose an example model-based adaptive impedance EMG controller including muscle and multibody system dynamics. Ongoing advances in the engineering design of myoelectric control systems have implications for both locomotor assistance and rehabilitation.

}, keywords = {Exoskeletons, Machine Learning, Neural Control, Neural Interfaces, Prosthetics, Wearable Robotics}, author = {Ali Nasr and Brokoslaw Laschowski and John McPhee} } @inproceedings {936, title = {Simulating Human Upper and Lower Limb Balance Recovery Responses Using Nonlinear Model Predictive Control}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine \& Biology Society (EMBC)}, year = {2021}, month = {12/2021}, publisher = {IEEE}, organization = {IEEE}, address = {Mexico}, abstract = {

The ability to generate predictive dynamic simulations of human movement using optimal control has been a growing point of interest in the design of medical/assistive devices, e.g. robotic exoskeletons. Despite this, many disseminated simulations of whole-body tasks, such as balance recovery, neglect the role of the upper body instead focusing on postural joints, e.g. ankle, knees, hips. Thus, the purpose of the current study was to use a novel nonlinear model predictive control (NMPC) approach to assess how actuated upper limbs, as well as different individual performance (optimality) criteria, can shape simulated reactive balance recovery responses. A sagittal biomechanical model of a young adult standing was designed and actuated via nonlinear muscle torque generators (rotational single-muscle equivalents). Forward dynamic simulations of balance recovery (NMPC-driven) following an unexpected support-surface perturbation were generated for each unique combination of selected performance criteria (6 total), perturbation direction (forward and backward), and arm joints free/locked. The observed joint trajectories provide insight into the emergence of human elements of postural control from individual optimality criteria, e.g. hip-ankle strategies emerge from single-joint regulation. Quantitative analysis of performance improvements with the arms free suggest that whether arm responses emerge in the simulations may be dependent on the problem\’s initial guess. Future work should focus on testing further performance criteria and improving NMPC as a model of the nervous system.

}, keywords = {Arms, Biological system modeling, Biomechanics, Optimal Control, Perturbation methods, Predictive models}, doi = {10.1109/EMBC46164.2021.9630208}, url = {https://ieeexplore.ieee.org/abstract/document/9630208}, author = {Inkol, Keaton A. and McPhee, John} } @article {908, title = {Simulation of Stand-to-Sit Biomechanics for Robotic Exoskeletons and Prostheses with Energy Regeneration}, journal = {IEEE Transactions on Medical Robotics and Bionics}, volume = {3}, year = {2021}, month = {05/2021}, chapter = {455 - 462}, abstract = {

Previous studies of robotic exoskeletons and prostheses with regenerative actuators have focused on level-ground walking. Here we analyzed the lower-limb joint mechanical power during stand-to-sit movements using inverse dynamics to estimate the biomechanical energy available for electrical regeneration. Nine subjects performed 20 sitting and standing movements while lower-limb kinematics and ground reaction forces were measured. Subject-specific body segment parameters were estimated using parameter identification. Joint mechanical power was calculated from joint torques and rotational velocities and numerically integrated over time to estimate the joint biomechanical energy. The hip absorbed the largest peak negative mechanical power (1.8 \± 0.5 W/kg), followed by the knee (0.8 \± 0.3 W/kg) and ankle (0.2 \± 0.1 W/kg). Negative mechanical work on the hip, knee, and ankle joints per stand-to-sit movement were 0.35 \± 0.06 J/kg, 0.15 \± 0.08 J/kg, and 0.02 \± 0.01 J/kg, respectively. Assuming known regenerative actuator efficiencies (i.e., maximum 63\%), robotic exoskeletons and prostheses could regenerate ~26 Joules of electrical energy while sitting down, compared to ~19 Joules per walking stride. Given that these regeneration performance calculations are based on healthy young adults, future research should include seniors and/or rehabilitation patients to better estimate the biomechanical energy available for electrical regeneration.

}, keywords = {Biomechanics, Exoskeletons, Prostheses, Rehabilitation Engineering, Robotics}, issn = {2576-3202}, doi = {DOI: 10.1109/TMRB.2021.3058323}, url = {https://ieeexplore.ieee.org/document/9351558}, author = {Brokoslaw Laschowski and Reza Sharif Razavian and John McPhee} } @inproceedings {897, title = {Adjusting a Momentum-Based Golf Clubhead-Ball Impact Model to Improve Accuracy}, booktitle = {13th conference of the International Sports Engineering Association, Online, 22{\textendash}26 June 2020}, year = {2020}, month = {06/2020}, url = {https://www.mdpi.com/2504-3900/49/1/47}, author = {Behzad Danaei and William McNally and Erik Henrikson and John McPhee} } @inproceedings {905, title = {Assessing Control of Fixed-Support Balance Recovery in Wearable Lower-Limb Exoskeletons Using Multibody Dynamic Modelling}, booktitle = {International Conference on Biomedical Robotics and Biomechatronics (BIOROB)}, year = {2020}, abstract = {

Despite many lower-limb exoskeletons requiring the use of crutches to maintain upright postures, limited research has assessed control of standing balance recovery in these systems. Using a model-based approach, the current simulation study investigated the performance of impedance controllers designed to assist with standing fixed-support balance recovery. A novel multibody dynamic model of the integrated humanexoskeleton system was designed to move in the sagittal plane. Development of the exoskeleton model (Technaid Exo-H3) was accompanied by parameter identification. The balancing torques produced by the human in the model were derived from offline linear control methods and saturated to approximate the torque-production of a young individual either with or without incomplete spinal cord injury. Without intervention, the injured user was not able to recover upright posture following a forward push of specific magnitude. Thus, three feedback control laws, inspired by robotics research (exoskeletons and humanoids), were implemented in the simulated exoskeleton. Each law assisted with balance recovery via reference tracking within the joint and/or whole-body center of mass space. Following optimization of control parameters, all proposed exoskeleton control laws were successful in assisting the injured user return to an upright posture. Joint space control yielded the best jointlevel reference tracking during recovery, while center of mass control better reduced forward center of mass excursions \— albeit at the cost of joint-level tracking accuracy.

}, keywords = {Balance, Biomechanics, Biomechatronics, Control-Oriented Model, Exoskeletons}, author = {Keaton A. Inkol and John McPhee} } @inproceedings {893, title = {Comparative Analysis of Environment Recognition Systems for Control of Lower-Limb Exoskeletons and Prostheses}, booktitle = {IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, year = {2020}, month = {10/2020}, publisher = {IEEE}, organization = {IEEE}, address = {New York City, NY, USA}, abstract = {

Environment recognition systems can facilitate the predictive control of lower-limb exoskeletons and prostheses by recognizing the oncoming walking environment prior to physical interactions. While many environment recognition systems have been developed using different wearable technology and classification algorithms, their relative operational performances have not been evaluated. Motivated to determine the state-of-the-science and propose future directions for research innovation, we conducted an extensive comparative analysis of the wearable technology, training datasets, and classification algorithms used for vision-based environment recognition. The advantages and drawbacks of different wearable cameras and training datasets were reviewed. Environment recognition systems using pattern recognition, machine learning, and convolutional neural networks for image classification were compared. We evaluated the performances of different deep learning networks using a novel balanced metric called \“NetScore\”, which considers the image classification accuracy, and computational and memory storage requirements. Based on our analysis, future research in environment recognition systems for lower-limb exoskeletons and prostheses should consider developing 1) efficient deep convolutional neural networks for onboard classification, and 2) large-scale open-source datasets for training and comparing image classification algorithms from different researchers.\ 

}, keywords = {Artificial Intelligence, Biomechatronics, Computer Vision, Environment Recognition, Exoskeletons, Image Classification, Prostheses, Rehabilitation, Wearable Technology}, doi = {10.1109/BioRob49111.2020.9224364}, url = {https://ieeexplore.ieee.org/document/9224364}, author = {Brokoslaw Laschowski and William McNally and Alexander Wong and John McPhee} } @article {891, title = {Comparison of Direct Collocation Optimal Control to Trajectory Optimization for Parameter Identification of an Ellipsoidal Foot{\textendash}Ground Contact Model}, journal = {Multibody System Dynamics}, year = {2020}, abstract = {

Foot\–ground contact models play an important role in the accuracy of predictive human gait simulations, and there is a need for a computationally-efficient dynamic contact model for predictive and evaluative studies. In this research, we generated symbolic dynamic equations for a 2D torque-driven 11-DOF human model with a 3D ellipsoidal volumetric foot\–ground contact model. The main goal was to increase the prediction accuracy and decrease the computation time for human gait analyses compared to the previous studies that used numerical formulations and point foot\–ground contact models.

A data-tracking optimization was developed to identify the contact parameters of the human gait model using two optimization approaches: trajectory optimization and optimal control. The first approach is developed with a global search algorithm based on inverse dynamics. In this algorithm, a local optimizer is repeatedly run from multiple potential start points to select the best start point while satisfying the constraints and reaching the lowest cost function value. The second approach is developed using direct collocation based on implicit dynamics. In this method, the optimization problem is solved using a variable-order adaptive orthogonal collocation method along with sparse nonlinear programming.

Optimal control was superior to trajectory optimization for identifying a large number of parameters; the simulated torques and ground reaction forces from the optimal control correlated better with the experimental data. For the optimal control, the root-mean-square errors of the resultant torques, tangential and normal ground reaction forces were 0.48 (N.m), 14.07 (N), and 26.44 (N), respectively. However, for the trajectory optimization, these errors were 15.19 (N.m), 36.51 (N), and 234.57 (N). Thus, the optimized contact model from the optimal control, which was developed symbolically and based on volumetric contact equations, is a suitable foot\–ground contact model for predictive human gait simulations. Additionally, we demonstrated that optimal control could be used to predict the motion and torque for the metatarsal joints, which are not easily measurable in practice.

}, doi = {10.1007/s11044-020-09731-3}, url = {https://link.springer.com/article/10.1007/s11044-020-09731-3}, author = {Mahdokht Ezati and Peter Brown and Borna Ghannadi and John McPhee} } @article {906, title = {ExoNet Database: Wearable Camera Images of Human Locomotion Environments}, journal = {Frontiers in Robotics and Artificial Intelligence}, volume = {7}, year = {2020}, month = {12/2020}, abstract = {

Advances in computer vision and deep learning are allowing researchers to develop environment recognition systems for robotic exoskeletons and prostheses. However, small-scale and private training datasets have impeded the development and dissemination of image classification algorithms for classifying human walking environments. To address these limitations, we developed ExoNet - the first open-source, large-scale hierarchical database of high-resolution wearable camera images of human locomotion environments. Unparalleled in scale and diversity, ExoNet contains over 5.6 million images of indoor and outdoor real-world walking environments, which were collected using a lightweight wearable camera system throughout the summer, fall, and winter seasons. Approximately 923,000 images in ExoNet were human-annotated using a 12-class hierarchical labelling architecture. Available publicly through IEEE DataPort, ExoNet offers an unprecedented shared platform to train, develop, and compare next-generation image classification algorithms for human locomotion environment recognition. Besides the control of exoskeletons and prostheses, applications of ExoNet could extend to humanoids and autonomous legged\ robots.\ 

}, keywords = {Artificial Intelligence, Biomechatronics, Computer Vision, Deep Learning, Environment Recognition, Exoskeletons, Prosthetics, Rehabilitation Robotics, Wearable Technology}, doi = {10.3389/frobt.2020.562061}, url = {https://www.frontiersin.org/articles/10.3389/frobt.2020.562061/full}, author = {Brokoslaw Laschowski and William McNally and Alexander Wong and John McPhee} } @inproceedings {896, title = {Investigating the Influence of Shaft Balance Point on Clubhead Speed: A Simulation Study}, booktitle = {13th conference of the International Sports Engineering Association}, year = {2020}, month = {06/2020}, url = {https://www.mdpi.com/2504-3900/49/1/156}, author = {William McNally and John McPhee} } @article {895, title = {Muscle torque generators in multibody dynamic simulations of optimal sports performance}, journal = {Multibody System Dynamics}, year = {2020}, month = {06/2020}, url = {https://link.springer.com/article/10.1007\%2Fs11044-020-09747-9}, author = {Keaton A. Inkol and Colin Brown and William McNally and Conor Jansen and John McPhee} } @article {892, title = {Optimal control of joint torques using direct collocation to maximize ball carry distance in a golf swing}, journal = {Multibody System Dynamics}, year = {2020}, author = {Colin Brown and William McNally and John McPhee} } @article {887, title = {Predictive Dynamic Simulation of Olympic Track Cycling Standing Start Using Direct Collocation Optimal Control}, journal = {Multibody System Dynamics}, year = {2020}, abstract = {

Much of the previous research on modeling and simulation of cycling has focused on seated pedaling, modeling the crank load with an effective resistive torque and inertia. This study focuses on modeling standing starts, a component of certain track cycling events in which the cyclist starts from rest and attempts to accelerate to top speed as quickly as possible. A ten degree-of-freedom, two-legged cyclist and bicycle model was developed and utilized for predictive dynamic simulations of standing starts. Experimental data including crank torque, cadence, and joint kinematics were collected for a member of the Canadian Olympic team performing standing starts on the track. Using direct collocation optimal control to maximize the simulated distance traveled, the predictive simulations aligned well with the experiments and replicated key aspects of the standing start technique such as the drive and reset. The model\’s use in \“What if?\” scenarios presents interesting possibilities for investigating optimal techniques and equipment in cycling.\ 

}, keywords = {Optimal Control, Sports Biomechanics, Sports Engineering}, issn = {1573-272X}, doi = {10.1007/s11044-020-09723-3}, url = {https://link.springer.com/article/10.1007/s11044-020-09723-3}, author = {Conor Jansen and John McPhee} } @article {888, title = {Predictive Forward Dynamic Simulation of Manual Wheelchair Propulsion on a Rolling Dynamometer}, journal = {ASME Journal of Biomechanical Engineering}, year = {2020}, abstract = {

Research studies to understand the biomechanics of manual wheelchair propulsion often incorporate experimental data and mathematical models. This project aimed to advance this field of study by developing a two-dimensional model to generate first of its kind forward dynamic fully predictive computer simulations of a wheelchair basketball athlete on a stationary ergometer. Subject-specific parameters and torque generator functions were implemented in the model from dual x-ray absorptiometry and human dynamometer measurements. A direct collocation optimization method was used in a wheelchair propulsion model for the first time to replicate the human muscle recruitment strategy. Simulations were generated for varying time constraints and seat positions. Similar magnitudes of kinematic and kinetic data were observed between simulation and experimental data of a first push. Furthermore, seat heights inferior to the neutral position were found to produce similar joint torques to those reported in previous studies. An anterior seat placement produced the quickest push time with the least amount of shoulder torque required. The work completed in this project demonstrates that fully predictive simulations of wheelchair propulsion have the potential of varying simulation parameters to draw meaningful conclusions.

}, keywords = {Biomechanics, Optimal Control, Predictive Simulation, Sports Engineering, Wheelchair}, doi = {10.1115/1.4046298}, url = {https://asmedigitalcollection.asme.org/biomechanical/article/doi/10.1115/1.4046298/1074477/Predictive-Forward-Dynamic-Simulation-of-Manual}, author = {Colin Brown and John McPhee} } @article {894, title = {A continuous analytical shaft model for fast dynamic simulation of the golf swing}, journal = {Sports Engineering}, volume = {22}, year = {2019}, month = {11/2019}, url = {https://link.springer.com/article/10.1007\%2Fs12283-019-0314-5}, author = {William McNally and Erik Henrikson and John McPhee} } @inproceedings {898, title = {GolfDB: A Video Database for Golf Swing Sequencing}, booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops}, year = {2019}, month = {05/2019}, url = {https://ieeexplore.ieee.org/document/9025559}, author = {William McNally and Kanav Vats and Tyler Pinto and Chris Dulhanty and John McPhee and Alexander Wong} } @article {883, title = {Integration of Machine Learning with Dynamics and Control: From Autonomous Cars to Biomechatronics}, number = {7-8}, year = {2019}, chapter = {Fall 2019}, abstract = {

Researchers at the University of Waterloo are strategically combining artificial intelligence (AI) methods with dynamics and model-based control approaches, to solve real-world problems that are too difficult or computationally intensive to tackle with either AI or conventional methods on their own. Our goal is to combine the best features of machine learning and model-based control theories, in contrast to computer scientists that are seeking purely AI solutions to dynamics and control problems. This article presents our recent work towards this goal, with an emphasis on two very active research applications: Autonomous Cars and Biomechatronics.

}, keywords = {Artificial Intelligence, Autonomous Cars, Biomechatronics, Deep Learning, Exoskeletons, Robotics}, url = {http://csme-scgm.ca/sites/default/files/BULLETIN-FALL-2019.pdf}, author = {Arash Hashemi and Yuan Lin and William McNally and Brokoslaw Laschowski and Bryce Hosking and Alexander Wong and John McPhee} } @article {863, title = {Lower-Limb Prostheses and Exoskeletons with Energy Regeneration: Mechatronic Design and Optimization Review}, journal = {ASME Journal of Mechanisms and Robotics}, volume = {11}, year = {2019}, abstract = {

Lower-limb biomechatronic devices (i.e., prostheses and exoskeletons) depend upon onboard batteries to power wearable sensors, actuators, and microprocessors, therein inherently limiting their operating durations. Regenerative braking, also termed electrical energy regeneration, represents a promising solution to the aforementioned shortcomings. Regenerative braking converts the otherwise dissipated mechanical energy during locomotion into electrical energy for recharging the onboard batteries, while simultaneously providing negative mechanical work for controlled system deceleration. This paper reviewed the electromechanical design and optimization of lower-limb biomechatronic devices with electrical energy regeneration. The technical review starts by examining human walking biomechanics (i.e., mechanical work, power, and torque about the hip, knee, and ankle joints) and proposes general design principles for regenerative braking prostheses and exoskeletons. Analogous to electric and hybrid electric vehicle powertrains, there are numerous mechatronic design components that could be optimized to maximize electrical energy regeneration, including the mechanical power transmission, electromagnetic machine, electrical drive, device mass and moment of inertia, and energy storage devices. Design optimization of these system components is individually discussed while referencing the latest advancements in robotics and automotive engineering. The technical review demonstrated that existing systems (1) are limited to level-ground walking applications and (2) have maximum energy regeneration efficiencies between 30\% and 37\%. Accordingly, potential future directions for research and innovation include (1) regenerative braking during dynamic movements like sitting down and slope and staircase descent and (2) utilizing high-torque-density electromagnetic machines and low-impedance mechanical power transmissions to maximize energy regeneration efficiencies.

}, keywords = {Assistive Devices, Biomechanics, Biomechatronics, Exoskeletons, Prostheses, Regenerative Braking, Rehabilitation Engineering, Rehabilitation Robotics}, doi = {10.1115/1.4043460}, url = {http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2730917\&resultClick=1}, author = {Brokoslaw Laschowski and John McPhee and Jan Andrysek} } @article {868, title = {A Modified Homotopy Optimization for Parameter Identification in Dynamic Systems with Backlash Discontinuity}, journal = {Nonlinear Dynamics}, volume = {95}, year = {2019}, abstract = {

Model-based control considers system dynamics to solve challenging control problems; recently, the amount of activity in developing model-based controllers is growing, specifically in rehabilitation robotics. The performance of this controller depends on how accurate the system dynamics has been modeled. Dynamic parameter identification (DPI) of the systems is required for optimal performance of the model-based controller. Current DPI methods are more suitable for systems with continuous dynamics. If any type of discontinuity (e.g., backlash) is present in the system, the DPI may have numerical problems for convergence. In this work, we propose a modified homotopy optimization to identify parameters of a system with mechanical discontinuity (i.e., backlash). The performance of the proposed method was first evaluated through a computer simulation on a system with sandwiched backlash. Results of the DPI showed that the proposed homotopy optimization can identify the discontinuous system parameters with a good accuracy. It was found that ignoring the backlash in the system dynamics imposes large errors in the system DPI. After verifying the proposed method using computer simulations, the DPI was implemented to identify the parameters of a rehabilitation robot with actuator backlash. The proposed method provided a better estimate of the system parameters compared to the no-backlash DPI of the experimental robot. Despite the noise in velocity and acceleration due to the numerical differentiation of the sampled angle measurements, the forward dynamics results are quite accurate for all of the tested configurations with the discontinuous backlash model.

}, doi = {10.1007/s11071-018-4550-1}, url = {https://link.springer.com/article/10.1007/s11071-018-4550-1}, author = {Ghannadi, Borna and Reza Sharif Razavian and John McPhee} } @inproceedings {874, title = {Preliminary Design of an Environment Recognition System for Controlling Robotic Lower-Limb Prostheses and Exoskeletons}, booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR) }, year = {2019}, month = {07/2019}, publisher = {IEEE }, organization = {IEEE }, address = {Toronto, Canada}, abstract = {

Drawing inspiration from autonomous vehicles, using future environment information could improve the control of wearable biomechatronic devices for assisting human locomotion. To the authors knowledge, this research represents the first documented investigation using machine vision and deep convolutional neural networks for environment recognition to support the predictive control of robotic lower-limb prostheses and exoskeletons. One participant was instrumented with a battery-powered, chest-mounted RGB camera system. Approximately 10 hours of video footage were experimentally collected while ambulating throughout unknown outdoor and indoor environments. The sampled images were preprocessed and individually labelled. A deep convolutional neural network was developed and trained to automatically recognize three walking environments: level-ground, incline staircases, and decline staircases. The environment recognition system achieved 94.85\% overall image classification accuracy. Extending these preliminary findings, future research should incorporate other environment classes (e.g., incline ramps) and integrate the environment recognition system with electromechanical sensors and/or surface electromyography for automated locomotion mode recognition. The challenges associated with implementing deep learning on wearable biomechatronic devices are discussed.\ 

}, keywords = {Artificial Intelligence, Autonomous Control, Deep Learning, Exoskeleton, Machine Vision, Prostheses, Robotics}, doi = {10.1109/ICORR.2019.8779540}, url = {https://ieeexplore.ieee.org/document/8779540}, author = {Brokoslaw Laschowski and William McNally and Alexander Wong and John McPhee} } @article {867, title = {On the Relationship Between Muscle Synergies and Redundant Degrees of Freedom in Musculoskeletal Systems}, journal = {Frontiers in Computational Neuroscience}, volume = {13}, year = {2019}, abstract = {

It has been suggested that the human nervous system controls motions in the task (or operational) space. However, little attention has been given to the separation of the control of the task-related and task-irrelevant degrees of freedom. Aim: We investigate how muscle synergies may be used to separately control the task-related and redundant degrees of freedom in a computational model. Approach: We generalize an existing motor control model, and assume that the task and redundant spaces have orthogonal basis vectors. This assumption originates from observations that the human nervous system tightly controls the task-related variables, and leaves the rest uncontrolled. In other words, controlling the variables in one space does not affect the other space; thus, the actuations must be orthogonal in the two spaces. We implemented this assumption in the model by selecting muscle synergies that produce force vectors with orthogonal directions in the task and redundant spaces. Findings: Our experimental results show that the orthogonality assumption performs well in reconstructing the muscle activities from the measured kinematics/dynamics in the task and redundant spaces. Specifically, we found that approximately 70\% of the variation in the measured muscle activity can be captured with the orthogonality assumption, while allowing efficient separation of the control in the two spaces. Implications: The developed motor control model is a viable tool in real-time simulations of musculoskeletal systems, as well as model-based control of bio-mechatronic systems, where a computationally efficient representation of the human motion controller is needed.

}, doi = {10.3389/fncom.2019.00023}, url = {https://www.frontiersin.org/articles/10.3389/fncom.2019.00023/full}, author = {Reza Sharif Razavian and Ghannadi, Borna and John McPhee} } @article {878, title = {A Review of Simulation Methods for Human Movement Dynamics with Emphasis on Gait}, journal = {Multibody System Dynamics}, year = {2019}, abstract = {

Human gait analysis is a complex problem in biomechanics because of highly nonlinear human motion equations, muscle dynamics, and foot-ground contact. Despite a large number of studies in human gait analysis, predictive human gait simulation is still challenging researchers to increase the accuracy and computational efficiency for evaluative studies (e.g., model-based assistive device controllers, surgical intervention planning, athletic training, and prosthesis and orthosis design). To assist researchers in this area, this review article classifies recent predictive simulation methods for human gait analysis according to three categories: 1) the human models used (i.e., skeletal, musculoskeletal and neuromusculoskeletal models), 2) problem formulation, and 3) simulation solvers. Human dynamic models are classified based on whether muscle activation and/or contraction dynamics or joint torques (instead of muscle dynamics) are employed in the analysis. Different formulations use integration and/or differentiation or implicit-declaration of the dynamic equations. A variety of simulation solvers (i.e., semi- and fully-predictive simulation methods) are studied. Finally, the pros and cons of the different formulations and simulation solvers are discussed.

}, doi = {10.1007/s11044-019-09685-1}, url = {https://link.springer.com/article/10.1007\%2Fs11044-019-09685-1}, author = {Mahdokht Ezati and Borna Ghannadi and John McPhee} } @inproceedings {899, title = {STAR-Net: Action Recognition using Spatio-Temporal Activation Reprojection}, booktitle = {16th Conference on Computer and Robot Vision (CRV)}, year = {2019}, month = {04/2019}, url = {https://ieeexplore.ieee.org/document/8781623}, author = {William McNally and Alexander Wong and John McPhee} } @article {866, title = {A Synergy-Based Motor Control Framework for the Fast Feedback Control of Musculoskeletal Systems}, journal = {ASME Journal of Biomechanical Engineering}, volume = {141}, year = {2019}, abstract = {

This paper presents a computational framework for the fast feedback control of musculoskeletal systems using muscle synergies. The proposed motor control framework has a hierarchical structure. A feedback controller at the higher level of hierarchy handles the trajectory planning and error compensation in the task space. This high-level task space controller only deals with the task-related kinematic variables, and thus is computationally efficient. The output of the task space controller is a force vector in the task space, which is fed to the low-level controller to be translated into muscle activity commands. Muscle synergies are employed to make this force-to-activation (F2A) mapping computationally efficient. The explicit relationship between the muscle synergies and task space forces allows for the fast estimation of muscle activations that result in the reference force. The synergy-enabled F2A mapping replaces a computationally heavy nonlinear optimization process by a vector decomposition problem that is solvable in real time. The estimation performance of the F2A mapping is evaluated by comparing the F2A-estimated muscle activities against the measured electromyography (EMG) data. The results show that the F2A algorithm can estimate the muscle activations using only the task-related kinematics/dynamics information with \∼70\% accuracy. An example predictive simulation is also presented, and the results show that this feedback motor control framework can control arbitrary movements of a three-dimensional (3D) musculoskeletal arm model quickly and near optimally. It is two orders-of-magnitude faster than the optimal controller, with only 12\% increase in muscle activities compared to the optimal. The developed motor control model can be used for real-time near-optimal predictive control of musculoskeletal system dynamics.

}, doi = {10.1115/1.4042185}, url = {http://biomechanical.asmedigitalcollection.asme.org/article.aspx?articleid=2718207}, author = {Reza Sharif Razavian and Ghannadi, Borna and John McPhee} } @inproceedings {900, title = {Action Recognition using Deep Convolutional Neural Networks and Compressed Spatio-Temporal Pose Encodings}, booktitle = {4th Annual Conference on Vision and Intelligent Systems (CVIS)}, year = {2018}, month = {12/2018}, url = {https://openjournals.uwaterloo.ca/index.php/vsl/article/view/339}, author = {William McNally and Alexander Wong and John McPhee} } @article {842, title = {Anti-Jerk Dynamic Modeling and Parameter Identification of an Electric Vehicle Based on Road Tests}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, year = {2018}, abstract = {

Model-based design facilitates quick development of vehicle controllers early in the development cycle. The goal is to develop simple, accurate, and computationally efficient physics based models that are capable of real-time simulation. We present models that serve the purpose of both plant and anti-jerk control design of electric vehicles. In this research, we propose a procedure for quick identification of longitudinal dynamic parameters for a high-fidelity plant and control-oriented model of an electric vehicle through road tests. Experimental data was gathered on our test vehicle, a Toyota Rav4EV, using an integrated measurement system to collect data from multiple sensors. A MATLAB/Simulink non-linear least square parameter estimator with a trust-reflective algorithm was used to identify the vehicle parameters. The models have been validated against experimental data.

}, keywords = {Dynamic Modelling, Electric Vehicles, Model-Based Design, Parameter Identification, Vehicles}, doi = {10.1115/1.4040870}, url = {http://computationalnonlinear.asmedigitalcollection.asme.org/article.aspx?articleid=2688485}, author = {Mohit Batra and John McPhee and Nasser Lashgarian Azad} } @article {847, title = {Constrained Dynamic Optimization of Sit-To-Stand Motion Driven by B{\'e}zier Curves}, journal = {ASME Journal of Biomechanical Engineering}, year = {2018}, type = {Journal Article}, abstract = {

The purpose of this work is two-fold: first, to synthesize a motion pattern imitating sit-to-stand and second, to compare the kinematics and dynamics of the resulting motion to healthy sit-to-stand. Predicting sit-to-stand in simulation inspired the creation of three models: a biomechanical model, a motion model, and performance criteria as a model of preference. First, the human is represented as three rigid links in the sagittal plane. This model captures aspects of joint, foot, and buttocks physiology, which makes it the most comprehensive planar model for predicting sit-to-stand to date. Second, candidate sit-to-stand trajectories are described geometrically by a set of B{\'e}zier curves which seem well suited to predictive biomechanical simulations. Third, with the assumption that healthy people naturally prioritize mechanical efficiency, disinclination to a motion is described as a cost function of joint torques, and for the first time, physical infeasibility including slipping and falling. This new dynamic optimization routine allows for motions of gradually increasing complexity while the model\’s performance is improving. Using these models and optimal control strategy together has produced gross motion patterns characteristic of healthy sit-to-stand when compared with normative data from the literature.

}, keywords = {Biomechanics, Dynamics, Kinematics, Mechanical efficiency, Mechanics, Optimal Control, Optimization, Physiology, Preferences, Simulation}, doi = {10.1115/1.4041527}, url = {http://biomechanical.asmedigitalcollection.asme.org/article.aspx?articleid=2703965}, author = {V Norman-Gerum}, editor = {John McPhee} } @article {844, title = {A Control-Oriented Modular One-Dimensional Model for Wall-Flow Diesel Particulate Filters}, journal = { International Journal of Engine Research}, volume = {19}, year = {2018}, abstract = {

A comprehensive modular one-dimensional physics-based mathematical model is developed for non-isothermal compressible flow, pressure drop, and filtration and regeneration processes in wall-flow diesel particulate filters. Employing a modified orthogonal collocation method and symbolic computation in Maple\™, the governing partial differential equations are reduced to a control-oriented model governed by ordinary differential equations which can be solved in real time. Numerical examples are provided to indicate the accuracy and computational efficiency of the developed model and to study the different behaviors of wall-flow diesel particulate filters.

}, keywords = {Control-Oriented Model, Diesel Particulate Filters, Mathematical Modelling, Symbolic Computation}, doi = {10.1177/1468087417702018}, url = {http://journals.sagepub.com/doi/abs/10.1177/1468087417702018}, author = {Soroosh Hassanpour and John McPhee} } @inproceedings {901, title = {Dynamic Optimization of the Golf Swing Using a Six Degree-of-Freedom Biomechanical Model}, booktitle = {12th Conference of the International Sports Engineering Association}, year = {2018}, month = {02/2018}, url = {https://www.mdpi.com/2504-3900/2/6/243}, author = {William McNally and John McPhee} } @article {840, title = {Feedback Control of Functional Electrical Stimulation for 2D Arm Reaching Movements}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, year = {2018}, abstract = {

Functional electrical stimulation (FES) can be used as a neuroprosthesis in which muscles are stimulated by electrical pulses to compensate for the loss of voluntary movement control. Modulating the stimulation intensities to reliably generate movements is a challenging control problem. This paper introduces a feedback controller for a multi-muscle FES system to control hand movements in a two-dimensional (table-top) task space. This feedback controller is based on a recent human motor control model, which uses muscle synergies to simplify its calculations and improve the performance. This synergy-based\ controller employs direct relations between the muscle synergies and the produced hand force, thereby allowing for the real-time calculation of six muscle stimulation levels required to reach an arbitrary target. The experimental results show that this control\ scheme can perform arbitrary point-to-point reaching tasks in the two-dimensional task space in real-time, with an average of ~2 cm final hand position error from the specified targets. The success of this prototype demonstrates the potential of the proposed method for the feedback control of functional tasks with FES.

}, keywords = {Biomechanics and Sports}, issn = {1534-4320}, doi = {10.1109/TNSRE.2018.2853573}, url = {https://ieeexplore.ieee.org/abstract/document/8404077/}, author = {Reza Sharif Razavian and Ghannadi, Borna and Naser Mehrabi and Mark Charlet and John McPhee} } @inproceedings {902, title = {The Golf Shaft{\textquoteright}s Influence on Clubhead-Ball Impact Dynamics}, booktitle = {12th conference of the International Sports Engineering Association, Brisbane}, year = {2018}, month = {02/2018}, url = {https://www.mdpi.com/2504-3900/2/6/245}, author = {William McNally and John McPhee and Erik Henrikson} } @article {841, title = {Optimization-Based Motor Control of a Paralympic Wheelchair Athlete}, journal = {Sports Engineering}, volume = {21}, year = {2018}, abstract = {

The following research approximated how the central nervous system of Paralympic wheelchair athletes resolve kinematic redundancies during upper-limb movements. A multibody biomechanical model of a tetraplegic Paralympic athlete was developed using subject-specific body segment parameters. The angular joint kinematics throughout a specified Paralympic sport movement (i.e., wheelchair curling) were experimentally measured using inertial measurement units. The motor control system of the Paralympian was mathematically modelled and simulated using forward dynamics optimization. The predicted kinematics from different optimization objective functions (i.e., minimizing resultant joint moments, mechanical joint power, and angular joint velocities and accelerations) were compared with those experimentally measured throughout the wheelchair curling movement. Of the optimization objective functions under consideration, minimizing angular joint accelerations produced the most accurate predictions of the kinematic trajectories (i.e., characterized with the lowest overall root mean square deviations) and the shortest optimization computation time. The implications of these control findings are discussed with regards to optimal wheelchair design through predictive dynamic simulations.

}, keywords = {Forward Dynamics Modelling, Human Motor Control, Optimal Control, Optimization, Sports Biomechanics, Sports Engineering}, issn = {1460-2687}, doi = {10.1007/s12283-018-0265-2}, url = {https://link.springer.com/article/10.1007/s12283-018-0265-2}, author = {Brokoslaw Laschowski and Naser Mehrabi and John McPhee} } @proceedings {827, title = {Powertrain Modeling and Model Predictive Longitudinal Dynamics Control for Hybrid Electric Vehicles}, year = {2018}, keywords = {Advanced Vehicle Systems}, author = {Bryce Hosking and John McPhee} } @article {843, title = {Symbolic Integration of Multibody System Dynamics with the Finite Element Method}, journal = {Multibody System Dynamics}, volume = {43}, year = {2018}, month = {08/2018}, abstract = {

With the widespread use of computer-aided engineering (CAE) to solve computational mechanics problems, engineering design has become more accurate and efficient. The integration of the finite element method (FEM) and flexible multibody dynamics (FMD) is a typical application of computational mechanics. It constitutes an important contribution to engineering development, but its potential is restrained by numerical computation. Computational time is a critical factor that influences the efficiency and cost of design and analysis. The advent of symbolic computation enables faster simulation code, but the symbolic integration of FEM and FMD is at the initial stages. A general symbolic integration procedure is presented in this paper. The performance of the symbolic model is compared with models from the literature and numerically-based commercial software.

}, keywords = {Computer-Aided Engineering, Engineering Design, Finite Element Method, Multibody System Dynamics, Symbolic Integration}, issn = {1573-272X}, doi = {10.1007/s11044-018-9627-6}, url = {https://link.springer.com/article/10.1007/s11044-018-9627-6}, author = {Yiteng Liang and John McPhee} } @article {853, title = {A Synergy-Based Motor Control Framework for the Fast Feedback Control of Musculoskeletal Systems}, journal = {ASME Journal of Biomechanical Engineering}, year = {2018}, abstract = {

Summary: This paper presents a computational framework for the fast feedback control of musculoskeletal systems using muscle synergies. Method: The proposed motor control framework has a hierarchical structure. A feedback controller at the higher level of hierarchy handles the trajectory planning and error compensation in the task space. This high-level task space controller only deals with the task-related kinematic variables, and thus is computationally efficient. The output of the task space controller is a force vector in the task space, which is fed to the low-level controller to be translated into muscle activity commands. Muscle synergies are employed to make this force-to-activation (F2A) mapping computationally efficient. The explicit relationship between the muscle synergies and task space forces allows for the fast estimation of muscle activations that result in the reference force. The synergy-enabled F2A mapping replaces a computationally-heavy non-linear optimization process by a vector decomposition problem that is solvable in real-time. Results: The estimation performance of the F2A mapping is evaluated by comparing the F2A-estimated muscle activities against the measured EMG data. The results show that the F2A algorithm can estimate the muscle activations using only the task-related kinematics/dynamics information with \∼ 70\% accuracy. An example predictive simulation is also presented, and the results show that this feedback motor control framework can control arbitrary movements of a 3D musculoskeletal arm model quickly and near-optimally. It is two orders-of-magnitude faster than the optimal controller, with only 12\% increase in muscle activities compared to the optimal. Conclusion: The developed motor control model can be used for real-time near-optimal predictive control of musculoskeletal system dynamics.

}, keywords = {Feedback Control, Motor Control, Musculoskeletal Systems}, doi = {10.1115/1.4042185}, author = {Reza Sharif Razavian and Ghannadi, Borna and John McPhee} } @article {823, title = {A 3D ellipsoidal volumetric foot-ground contact model for forward dynamics}, journal = {Multibody System Dynamics}, year = {2017}, abstract = {

Foot--ground contact models are an important part of forward dynamic biomechanic models, particularly those used to model gait, and have many challenges associated with them. Contact models can dramatically increase the complexity of the multibody system equations, especially if the contact surface is relatively large or conforming. Since foot--ground contact has a large potential contact area, creating a computationally efficient model is challenging. This is particularly problematic in predictive simulations, which may determine optimal performance by running a model simulation thousands of times. An ideal contact model must find a balance between accuracy for large, conforming surfaces, and computational efficiency.

}, keywords = {contact dynamics, ellipsoid, foot-ground contact, gait, volumetric contact}, doi = {10.1007/s11044-017-9605-4}, url = {http://rdcu.be/AG5z}, author = {Peter Brown and John McPhee} } @mastersthesis {824, title = {Contact Modelling for Forward Dynamics of Human Motion}, volume = {MASc}, year = {2017}, school = {University of Waterloo}, type = {Master{\textquoteright}s thesis}, address = {Waterloo}, url = {http://hdl.handle.net/10012/11315}, author = {Peter Brown} } @article {814, title = {A control-oriented modular one-dimensional model for wall-flow diesel particulate filters}, journal = {International Journal of Engine Research}, year = {2017}, pages = {1-19}, doi = {10.1177/1468087417702018}, author = {Soroosh Hassanpour and John McPhee} } @article {831, title = {Estimation of Maximum Finger Tapping Frequency Using Musculoskeletal Dynamic Simulations}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {12}, year = {2017}, chapter = {051009}, doi = {10.1115/1.4036288}, url = {http://computationalnonlinear.asmedigitalcollection.asme.org/article.aspx?doi=10.1115/1.4036288}, author = {M Shourijeh and Reza Sharif Razavian and John McPhee} } @proceedings {817, title = {Feedback Control of Functional Electrical Stimulation for Arbitrary Upper Extremity Movements}, year = {2017}, pages = {1451-1456}, address = {London, UK}, keywords = {Biomechanics and Sports}, doi = {10.1109/ICORR.2017.8009452}, author = {Reza Sharif Razavian and Ghannadi, Borna and John McPhee} } @proceedings {816, title = {Feedback control of upper extremity motion with FES}, year = {2017}, address = {London, UK}, keywords = {Biomechanics and Sports}, author = {Reza Sharif Razavian and John McPhee} } @article {832, title = {Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control}, journal = {Frontiers in Computational Neuroscience}, volume = {10}, year = {2017}, doi = {10.3389/fncom.2016.00143}, url = {http://journal.frontiersin.org/article/10.3389/fncom.2016.00143/abstract}, author = {Naser Mehrabi and Reza Sharif Razavian and Ghannadi, Borna and John McPhee} } @proceedings {825, title = {Volumetric Contact Model of Ellipsoid-Plane Geometries}, year = {2017}, address = {Prague, Czech Republic}, abstract = {

Contact models of conforming surfaces are difficult to model accurately and efficiently. In multibody dynamics simulations, contact models increase system equation complexity (often dramatically so) and can also introduce nonlinearities and discontinuities into the system equations, decreasing the computational efficiency. This is particularly problematic in predictive simulations, which may determine optimal performance by running a simulation thousands of times. Contact modelling is even more complicated for large conforming surfaces, where the contact cannot be simplified to a single point. An ideal contact model must find a balance between accuracy and computational efficiency. Volumetric contact modelling is explored as a computationally efficient model conforming contacts. Volumetric contact has been used previously in robotics and biomechanics contacts, but analytical contact equations have only been derived for sphere-plane contact and 2D shapes. The model presented here improves on current work by deriving analytical volumetric contact equations for ellipsoid-plane contact which can better represent the shape of some contact surfaces. Equations for the volumetric geometrical values, normal force and damping, rolling resistance, tangential friction, and spinning friction were derived. Friction is approximated using a continuous velocity-based model of friction, and the possible limitations of this are described. This model may be useful for future use in modelling conforming contacts that can be approximated as an ellipsoid contacting a plane.

}, url = {http://multibody2017.cz/}, author = {Peter Brown and John McPhee} } @proceedings {1205, title = {A 3D Volumetric Foot-Ground Contact Model}, year = {2016}, address = {Hamilton, Canada}, author = {Peter Brown and John McPhee} } @proceedings {1197, title = {Application of Newton/GMRES Method to Nonlinear Model Predictive Control of Functional Electrical Stimulation}, year = {2016}, publisher = {Avestia}, address = {Ottawa, Ontario}, url = {avestia.com/CDSR2016_Proceedings/files/paper/121.pdf}, author = {Naser Mehrabi and sadegh Tajeddin and Nasser Lashgarian Azad and John McPhee} } @proceedings {806, title = {Application of Newton/GMRES Method to Nonlinear Model-Predictive Control of Functional Electrical Stimulation}, year = {2016}, address = {Ottawa, Canada}, author = {Naser Mehrabi and sadegh Tajeddin and Nasser Lashgarian Azad and John McPhee} } @mastersthesis {1206, title = {Biomechanical Modelling of Paralympic Wheelchair Curling}, year = {2016}, school = {University of Waterloo}, type = {MASc Thesis}, url = {https://uwspace.uwaterloo.ca/handle/10012/10722}, author = {Brokoslaw Laschowski} } @article {1193, title = {Body Segment Parameters of Paralympic Athletes from Dual-Energy X-Ray Absorptiometry}, journal = {Sports Engineering}, volume = {19}, year = {2016}, abstract = {

This research represents the first documented investigation into the body segment parameters of Paalympic athletes (e.g., individuals with spinal cord injuries and lower extremity amputations). Two-dimensional body segment parameters (i.e., mass, length, position vector of the center of mass, and principal mass moment of inertia about the center of mass) were quantified from dual-energy X-ray absorptiometry (DXA). In addition to establishing a body segment parameter database of Paralympic athletes for prospective biomechanists and engineers, the mass of each body segment as experimentally measured via the DXA imaging was compared with that reported by previous research of able-bodied cadavers. In general, there were significant differences in the body segment masses between the different methods. These findings support the implementation of the proposed database for developing valid multibody biomechanical models of Paralympic athletes with distinct physical disabilities.

}, keywords = {Medical Imaging, Sports Biomechanics, Sports Engineering}, issn = {1460-2687}, doi = {10.1007/s12283-016-0200-3}, url = {https://link.springer.com/article/10.1007/s12283-016-0200-3$\#$citeas}, author = {Brokoslaw Laschowski and John McPhee} } @proceedings {802, title = {Computational motor control framework based on muscle synergy. Perspectives from dynamics and control engineering}, year = {2016}, address = {Hamilton, Ontario}, author = {Reza Sharif Razavian and John McPhee} } @article {1203, title = {A Continuous Velocity-Based Friction Model for Dynamics and Control With Physically Meaningful Parameters}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {11}, year = {2016}, pages = {054502}, issn = {1555-1415}, doi = {10.1115/1.4033658}, url = {http://computationalnonlinear.asmedigitalcollection.asme.org/article.aspx?doi=10.1115/1.4033658}, author = {Peter Brown and John McPhee} } @proceedings {801, title = {Control of redundant musculoskeletal systems using muscle synergies}, year = {2016}, address = {Mt Sterling, OH}, author = {Reza Sharif Razavian and John McPhee} } @inproceedings {903, title = {Effect of Clubhead Inertial Properties and Driver Face Geometry on Golf ball Trajectories}, booktitle = {11th conference of the International Sports Engineering Association}, year = {2016}, month = {12/2016}, url = {https://doi.org/10.1016/j.proeng.2016.06.329}, author = {William McNally and Daniel Balzerson and Daniel Wilson and John McPhee} } @proceedings {1204, title = {An Efficient and Continuous Friction Model with Physically Meaningful Parameters}, year = {2016}, address = {Montr{\'e}al, Canada}, author = {Peter Brown and John McPhee} } @proceedings {1184, title = {Estimation of maximum muscle contraction frequency in fnger tapping motion using forward musculoskeletal dynamic simulations}, year = {2016}, address = {Montreal, Canada}, author = {M Shourijeh and R Razavian and John McPhee} } @article {812, title = {Inverse Dynamics Modelling of Paralympic Wheelchair Curling}, journal = {Journal of Applied Biomechanics}, year = {2016}, abstract = {

Paralympic wheelchair curling is an adapted version of Olympic curling played by individuals with spinal cord injuries, cerebral palsy, multiple sclerosis, and lower extremity amputations. To the best of the authors\’ knowledge, there has been no experimental or computational research published regarding the biomechanics of wheelchair curling. Accordingly, the objective of this research was to quantify the angular joint kinematics and dynamics of a Paralympic wheelchair curler throughout the delivery. The angular joint kinematics of the upper extremity were experimentally measured using an inertial measurement unit system; the translational kinematics of the curling stone were additionally evaluated with optical motion capture. The experimental kinematics were optimized to satisfy the kinematic constraints of a subject-specific multibody biomechanical model. The optimized kinematics were subsequently used to compute the resultant joint moments via inverse dynamics analysis. The main biomechanical demands throughout the delivery (i.e., in terms of both kinematic and dynamic variables) were about the hip and shoulder joints, followed sequentially by the elbow and wrist. The implications of these findings are discussed in relation to wheelchair curling delivery technique, musculoskeletal modelling, and forward dynamic simulations.

}, doi = {10.1123/jab.2016-0143}, url = {http://journals.humankinetics.com/doi/pdf/10.1123/jab.2016-0143}, author = {Brokoslaw Laschowski and Naser Mehrabi and John McPhee} } @article {1201, title = {Modelling the Deflection of Rowing Oar Shafts}, journal = {Sports Biomechanics}, volume = {16}, year = {2016}, abstract = {

The deflection of rowing oar shafts subjected to a static load was investigated. Two sets of sculling oars of different design stiffness were tested at three different lengths from 2.66 to 2.70\ m. Loads up to 201\ N were applied to the blade end of the oar shafts, and deflections were measured at six positions along the length of the shafts. The experimental results were compared with theoretical predictions obtained by modelling the oar shafts as homogenous end-loaded cantilever beams. The results show that the oar shafts are not uniform, in contradiction to the assumed model, but rather are most compliant near the sleeves and up to 80\% stiffer towards the blades. The effect of oar shaft stiffness and length on the deflection angle at the blade end of the oar shaft was at most 1.18\ \±\ 0.01\°. The measured variation of stiffness along the shaft has implications for boat propulsion and rowing performance.

}, keywords = {Beam Modelling, Sports Biomechanics, Sports Engineering}, doi = {10.1080/14763141.2016.1194890}, author = {Brokoslaw Laschowski and Cameron C Hopkins and John R de Bruyn and Volker Nolte} } @proceedings {1183, title = {A motor control framework for the fast control of a 3D musculoskeletal arm motion using muscle synergy}, year = {2016}, address = {Montreal, Canada}, author = {R Razavian and John McPhee} } @proceedings {800, title = {Nonlinear Model Predictive Control of a Human-Robot Rehabilitation System}, year = {2016}, address = {Hamilton, Ontario}, author = {Naser Mehrabi and Ghannadi, Borna and John McPhee} } @proceedings {1195, title = {Optimal Control of Paralympic Wheelchair Curling}, year = {2016}, address = {Canada}, author = {Brokoslaw Laschowski and Naser Mehrabi and John McPhee} } @proceedings {799, title = {Optimal Dynamics of Human Vertical Jumping}, year = {2016}, address = {Hamilton, Ontario}, author = {Naser Mehrabi and John McPhee} } @proceedings {1198, title = {Predictive Simulation of Cycling with Muscle Fatigue}, year = {2016}, month = {May 29 {\textendash} June 2}, author = {Naser Mehrabi and John McPhee} } @proceedings {798, title = {Predictive Simulation of Reaching to Moving Targets using Nonlinear Model Predictive Control}, year = {2016}, address = {Kanazawa, Japan}, author = {Naser Mehrabi and John McPhee} } @proceedings {1199, title = {Quantifying Body Segment Parameters Using Dual-Energy X-Ray Absorptiometry: A Paralympic Wheelchair Curler Case Report}, volume = {147}, year = {2016}, publisher = {Procedia Engineering}, abstract = {

The body segment parameters of a Paralympic wheelchair curler were experimentally investigated; the athlete has an incomplete cervical spinal cord injury. Two-dimensional body segment parameters (i.e., mass, length, position vector of the center of mass, and principal mass moment of inertia about the center of mass) were quantified using dual-energy x-ray absorptiometry (DXA). In addition to measuring the body segment parameters in the interest of developing a subject-specific multibody biomechanical model, the mass of each body segment as experimentally measured via the DXA imaging was compared with that reported by previous research of able-bodied cadavers. In general, there were significant differences in the body segment masses between the different methods. The composition of each body segment (i.e., percentage of skeletal muscle, bone mineral content, and adipose tissue) was additionally investigated.

}, keywords = {Body Segment Parameters, Medical Imaging, Sports Biomechanics, Sports Engineering}, doi = {10.1016/j.proeng.2016.06.207}, url = {https://www.sciencedirect.com/science/article/pii/S1877705816306543}, author = {Brokoslaw Laschowski and John McPhee} } @proceedings {1202, title = {A real-time physics-based model for compressible flow in wall-flow diesel particulate filters under transient loading}, year = {2016}, month = {June}, pages = {1-6}, publisher = {Canadian Society for Mechanical Engineering}, address = {Kelowna, BC, Canada}, abstract = {

A one-dimensional physics-based mathematical model is developed for compressible flow, pressure drop, and filtration process in diesel particulate filters under a transient loading. Employing a modified orthogonal collocation method and the symbolic computation in Maple(TM), the developed model is reduced to a control-oriented model governed by ordinary differential equations which can be solved in real time. Numerical examples indicate the accuracy and computational efficiency of the developed model.

}, keywords = {conference}, doi = {10.13140/RG.2.1.4841.6248}, author = {Soroosh Hassanpour and John McPhee} } @proceedings {1207, title = {Real-time solution of one-dimensional distributed-parameter models with application to compressible flow in diesel particulate filters}, year = {2016}, month = {August}, pages = {1-2}, address = {Montreal, QC, Canada}, doi = {10.13140/RG.2.2.30843.72487}, author = {Soroosh Hassanpour and Amer Keblawi and John McPhee} } @proceedings {1208, title = {A reduced control-oriented model for quasi one dimensional flow in area varying channels}, year = {2016}, month = {August}, pages = {1-2}, address = {Montreal, QC, Canada}, doi = {10.13140/RG.2.2.14066.50888}, author = {Amer Keblawi and Soroosh Hassanpour and John McPhee} } @proceedings {1200, title = {Statistical Analyses of Unidirectional Static Forces on Instrumented Rowing Oarlocks}, volume = {147}, year = {2016}, publisher = {Procedia Engineering}, abstract = {

The PowerLine System includes instrumented rowing oarlocks, which measure athlete-applied forces during on-water rowing. Despite its international popularity, limited research has considered the quality engineering of the PowerLine system. Accordingly, the following research examined the convergent validity and test-retest reliability of the PowerLine force measurements. Unidirectional static forces of up to 431 N were applied to nine sweep and eight scull oarlocks over fifteen days of testing. The differences between the PowerLine force measurements and the known static forces were statistically analyzed. The PowerLine force measurements were consistent over the fifteen days of testing, but were 2.0 \% \± 0.8 percentage points less than the quantities of the known applied forces. Although the differences between the experimental measurements and known applied forces corresponded with the manufacturer\’s specifications, calibration factors for each PowerLine oarlock were generated to correct for the minor discrepancies.\ 

}, keywords = {Rowing Biomechanics, Sports Biomechanics, Sports Technology}, doi = {10.1016/j.proeng.2016.06.322}, url = {https://www.sciencedirect.com/science/article/pii/S187770581630769X}, author = {Brokoslaw Laschowski and Volker Nolte} } @proceedings {815, title = {Thermofluid Connector: a new environment for acausal modeling of thermofluid systems}, year = {2016}, month = {September}, pages = {1-3}, address = {Troy, MI, USA}, abstract = {

This paper presents a new environment for objectoriented acausal\ modeling of thermofluid systems with bi-directional flow and convective transport of energy and specific quantities.

}, doi = {10.13140/RG.2.2.17344.12806}, author = {Soroosh Hassanpour and John McPhee} } @article {1132, title = {Acasual Powertrain Modelling with Cycle-by-cycle Spark Ignition Engine Model}, journal = {International Journal of Powertrains}, year = {2015}, type = {Accepted}, author = {H Adibi-asl and R Fraser and John McPhee} } @article {1126, title = {Automated Topology Optimization of Hybrid Electric Vehicle Powertrains}, journal = {International Journal of Electric and Hybrid Vehicles}, year = {2015}, type = {Accepted}, author = {A Ing and John McPhee} } @article {1125, title = {A Comparative Analysis of Route-based Energy Management Systems for PHEVs}, journal = {Asian Journal of Control}, year = {2015}, month = {Accepted}, author = {A Taghavipour and M Vajedi and Nasser Lashgarian Azad and John McPhee} } @proceedings {1186, title = {Control of Musculoskeletal Arm Model Using Muscle Synergy}, year = {2015}, address = {Glasgow, UK}, author = {R Razavian and Ghannadi, Borna and John McPhee} } @article {1130, title = {Design and Evaluation of a Predictive Powertrain Control System for a PHEV to Improve Fuel Economy and Emissions}, journal = {IMechE Part D: Journal of Automobile Engineering}, volume = {229}, year = {2015}, pages = {624-640}, type = {Published}, author = {A Taghavipour and John McPhee and Nasser Lashgarian Azad} } @article {1123, title = {Design and Evaluation of an Observer-based Disturbance Rejection Controller for Electric Power Steering Systems}, journal = {IMechE Part D: Journal of Automobile Engineering}, year = {2015}, month = {Accepted}, doi = {10.1177/0954407015596275}, url = {http://pid.sagepub.com/content/early/2015/08/12/0954407015596275.abstract}, author = {Naser Mehrabi and John McPhee and Nasser Lashgarian Azad} } @proceedings {1175, title = {Development of a human-robot dynamic model for the model-based controller design of an upper limb rehabilitation robot}, year = {2015}, address = {Barcelona, Catalonia, Spain}, author = {Ghannadi, Borna and Naser Mehrabi and John McPhee} } @article {1145, title = {Ecological Adaptive Cruise Controller for Hybrid Electric Vehicles Using Nonlinear Model Predictive Control}, journal = {IEEE Intelligent Transportation Systems Transactions}, year = {2015}, author = {M Vajedi and Nasser Lashgarian Azad} } @article {1190, title = {The Effects of Oar-Shaft Stiffness and Length on Rowing Biomechanics}, journal = {Journal of Sports Engineering \& Technology}, volume = {229}, year = {2015}, abstract = {

This work experimentally investigates the effects of oar-shaft stiffness and length on rowing biomechanics. Elite rowers were tested in instrumented single sculling boats over a set distance using oar-shafts of different stiffness and length. There were slight differences in the measured boat accelerations and oarlock forces between rowing with the different oar configurations. However, the rower\’s inter-stroke inconsistencies in the biomechanical parameters were on the same order of magnitude as the measured differences between rowing with the different oar configurations. The results are discussed in relation to oar-shaft deflection and lever theory.

}, keywords = {Biomechanics, Sports Biomechanics, Sports Engineering}, doi = {10.1177/1754337115582121}, url = {http://journals.sagepub.com/doi/abs/10.1177/1754337115582121?journalCode=pipa}, author = {Brokoslaw Laschowski and Volker Nolte} } @article {1120, title = {Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {10}, year = {2015}, pages = {1-12}, author = {W Petersen and John McPhee} } @article {886, title = {Foot Contact Modelling within Human Gait Simulations: from Spring-Damper to Hyper-Volumetric Models}, journal = {Multibody Sys. Dyn.}, year = {2015}, month = {Accepted}, doi = {10.1007/s11044-015-9467-6}, author = {M Shourijeh and John McPhee} } @proceedings {1185, title = {Minimization of Muscle Fatigue as the Criterion to Solve Muscle Forces-Sharing Problem}, volume = {1}, year = {2015}, pages = {V001T15A001; 8 pages}, address = {Columbus, OH}, issn = {978-0-7918-5724-3}, doi = {10.1115/DSCC2015-9678}, url = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=2481892}, author = {R Razavian and John McPhee} } @article {1144, title = {A model-based approach to predict muscle synergies using optimization: application to feedback control}, journal = {Frontiers in computational neuroscience}, year = {2015}, abstract = {

This paper presents a new model-based method to define muscle synergies. Unlike the conventional factorization approach, which extracts synergies from electromyographic data, the proposed method employs a biomechanical model and formally defines the synergies as the solution of an optimal control problem. As a result, the number of required synergies is directly related to the dimensions of the operational space. The estimated synergies are posture-dependent, which correlate well with the results of standard factorization methods. Two examples are used to showcase this method: a two-dimensional forearm model, and a three-dimensional driver arm model. It has been shown here that the synergies need to be task-specific (i.e. they are defined for the specific operational spaces: the elbow angle and the steering wheel angle in the two systems). This functional definition of synergies results in a low-dimensional control space, in which every force in the operational space is accurately created by a unique combination of synergies. As such, there is no need for extra criteria (e.g., minimizing effort) in the process of motion control. This approach is motivated by the need for fast and bio-plausible feedback control of musculoskeletal systems, and can have important implications in engineering, motor control, and biomechanics.

}, doi = {10.3389/fncom.2015.00121}, url = {http://journal.frontiersin.org/article/10.3389/fncom.2015.00121/abstract}, author = {R Razavian and Naser Mehrabi and John McPhee} } @article {1149, title = {Multi-objective component sizing of a power-split plug-in hybrid electric vehicle powertrain combined with optimal power management}, journal = {Engineering and Optimization}, year = {2015}, author = {A. Mozaffari and M Vajedi and Nasser Lashgarian Azad} } @article {1121, title = {A Neuronal Model of Central Pattern Generator to Account for Natural Motion Variation}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {11}, year = {2015}, month = {Aug}, chapter = {021007}, doi = {10.1115/1.4031086}, url = {http://computationalnonlinear.asmedigitalcollection.asme.org/article.aspx?articleid=2398651}, author = {R Razavian and Naser Mehrabi and John McPhee} } @article {1122, title = {An Optimal Gear Shifting Strategy for Heavy Trucks with Trade-off Study Between Trip Time and Fuel Economy}, journal = {International Journal of Heavy Vehicle Systems}, year = {2015}, month = {Accepted}, author = {X Zhao and A Ing and Nasser Lashgarian Azad and John McPhee} } @article {1129, title = {Parameter Estimation of an Electrochemistry-based- Lithium-ion Battery Model}, journal = {Journal of Power Sources}, year = {2015}, type = {Accepted}, author = {R Masoudi and T Uchida and John McPhee} } @article {1131, title = {A Physics-Based Musculoskeletal Driver Model to Study Steering Tasks}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {10}, year = {2015}, pages = {1-8}, type = {Published}, doi = {10.1115/1.4027333}, url = {http://computationalnonlinear.asmedigitalcollection.asme.org/article.aspx?articleid=1857502}, author = {Naser Mehrabi and R Razavian and John McPhee} } @article {1127, title = {Real-time Predictive Control Strategy for a Plug-in Hybrid Electric Powertrain}, journal = {Mechatronics}, year = {2015}, type = {Accepted}, author = {A Taghavipour and Nasser Lashgarian Azad and John McPhee} } @article {1124, title = {Reduction of Multibody Dynamic Models in Automotive Systems using the Proper Orthogonal Decomposition}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {10}, year = {2015}, pages = {1-8}, type = {Published}, author = {R Masoudi and T Uchida and John McPhee} } @article {1151, title = {A robust safety-oriented autonomous cruise control scheme for electric vehicles based on model predictive control and online sequential extreme learning machine with a hyper-level fault tolerance-based supervisor}, journal = {Neurocomputing}, volume = {151}, year = {2015}, author = {A. Mozaffari and M Vajedi and Nasser Lashgarian Azad} } @article {1128, title = {Steering Disturbance Rejection using a Physics-based Neuro-musculoskeletal Driver Model}, journal = {Vehicle System Dynamics}, year = {2015}, type = {Accepted}, doi = {10.1080/00423114.2015.1050403}, url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2015.1050403}, author = {Naser Mehrabi and R Razavian and John McPhee} } @article {1148, title = {System dynamic modelling and simulation of hydrodynamic machines}, journal = {Mathematical and Computer Modelling of Dynamical Systems}, year = {2015}, month = {Aug 2015}, pages = {1-33}, abstract = {

A graph-theoretic framework for the dynamic simulation of hydrodynamic (both axial and radial flow) machines is presented in this article. The physics based analytical models are developed by considering the dynamics of the hydraulic fluid flow and its interaction with the mechanical components. A linear graph is used to capture the topology of the system and the interconnection of the constituent components. Using the graph-theoretic framework, a dynamic model of an automotive hydrodynamic torque converter is developed to simulate its behaviour under different flow conditions. The ability of the model to capture different features of the torque converter will also be demonstrated by simulation. The simulation results are compared with and validated by experimental results in the literature.

}, doi = {10.1080/13873954.2015.1084518}, url = {http://dx.doi.org/10.1080/13873954.2015.1084518}, author = {Joydeep Banerjee and John McPhee} } @proceedings {1180, title = {Volumetric Contact Knee Model for Forward Dynamics Simulation}, year = {2015}, author = {Peter Brown and John McPhee} } @proceedings {1153, title = {A comparative analysis of route-based power management strategies for real-time application in plug-in hybrid electric vehicles}, year = {2014}, author = {M Vajedi and A Taghavipour and Nasser Lashgarian Azad and John McPhee} } @proceedings {1188, title = {CPG-Like Motor Control Model for Periodic Arm Motion}, year = {2014}, address = {Boston, MA}, author = {R Razavian and John McPhee} } @proceedings {1187, title = {Definition of Muscle Synergies for Automobile Steering}, year = {2014}, address = {Waterloo, Canada}, author = {R Razavian and Naser Mehrabi and John McPhee} } @mastersthesis {1158, title = {Dynamics of Gyroelastic Continua}, year = {2014}, school = {University of Waterloo}, type = {Ph.D. thesis}, address = {Waterloo, ON, Canada}, url = {http://hdl.handle.net/10012/8289}, author = {Soroosh Hassanpour} } @mastersthesis {1191, title = {The Effects of Oar-Shaft Stiffness and Length on Rowing Biomechanics}, year = {2014}, school = {University of Western Ontario}, type = {MSc Thesis}, url = {http://ir.lib.uwo.ca/etd/2270/}, author = {Brokoslaw Laschowski} } @proceedings {1176, title = {Evaluation of a Musculoskeletal Arm Model for Automobile Drivers using Electromyography}, year = {2014}, address = {Waterloo, Ontario}, author = {Naser Mehrabi and John McPhee} } @article {1116, title = {Forward Dynamic Optimization of Human Gait Simulations: A Global Parameterization Approach}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {9}, year = {2014}, pages = {1-11}, author = {M Shourijeh and John McPhee} } @article {851, title = {Forward Dynamic Optimization of Human Gait Simulations: A Global Parameterization Approach}, journal = {ASME J. Comp. Nonlinear Dyn}, year = {2014}, author = {M Shourijeh and John McPhee} } @article {1119, title = {Graph-theoretic Sensitivity Analysis of Dynamic Multibody Systems}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {9}, year = {2014}, pages = {1-8}, author = {Joydeep Banerjee and John McPhee} } @article {1117, title = {On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates}, journal = {Multibody System Dynamics}, volume = {31}, year = {2014}, pages = {371-392}, author = {T Uchida and A Callejo and J Garcia de Jalon and John McPhee} } @article {1147, title = {Intelligent power management of plugin hybrid electric vehicles, part II: real-time route based power management}, journal = {International Journal of Electric and Hybrid Vehicles}, volume = {6}, year = {2014}, chapter = {68}, author = {M Vajedi and Nasser Lashgarian Azad} } @article {1146, title = {Intelligent power management of plugin hybrid electric vehicles , part I: real-time optimum SOC trajectory builder}, journal = {International Journal of Electric and Hybrid Vehicles}, volume = {6}, year = {2014}, chapter = {46}, author = {M Vajedi and Nasser Lashgarian Azad} } @article {1115, title = {A Mechanistic Multibody Model for Simulating the Dynamics of a Vertical Piano Action}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {9}, year = {2014}, month = {Published}, pages = {1-10}, author = {R Masoudi and S Birkett and John McPhee} } @article {854, title = {Parameter Identification for Multibody Systems Expressed in Differential-Algebraic Form}, journal = {Multibody Sys. Dyn}, volume = {31}, year = {2014}, month = {Published}, pages = {393-403}, author = {T Uchida and C Vyasarayani and M Smart and John McPhee} } @article {1118, title = {Physics-based Models, Sensitivity Analysis and Optimization of Automotive Batteries}, journal = {SAE International Journal of Passenger Cars: Electronic and Electrical Systems}, volume = {7}, year = {2014}, pages = {18-27}, author = {Joydeep Banerjee and John McPhee and P Goossens and T S Dao and HD Ahn} } @article {855, title = {A Study of Volumetric Contact Modelling Approaches in Rigid Tire Simulation for Planetary Rover Application}, journal = {Int. J. Vehicle Design}, volume = {64}, year = {2014}, pages = {262-279}, author = {W Petersen and John McPhee} } @article {852, title = {A survey of mathematics-based equivalent-circuit and electrochemical battery models for hybrid and electric vehicle simulation}, journal = {J. Power Sources}, volume = {256}, year = {2014}, pages = {410-423}, doi = {10.1016/j.jpowsour.2014.01.057}, url = {http://www.sciencedirect.com/science/article/pii/S0378775314000810}, author = {A Seaman and T S Dao and John McPhee} } @article {1152, title = {A Volumetric Contact Model to Study the Effect of Lane Friction and the Radii of Gyration on the Hook Shot in Indoor Bowling}, journal = {Procedia Engineering}, volume = {72}, year = {2014}, pages = {429 - 434}, abstract = {

Abstract Bowling refers to a series of sports in which a player rolls a spherical bowling ball towards a set of vertical targets or pins; where the objective is to knock down as many pins as possible, Werner (1995). In indoor bowling the game is played on a flat wooden or synthetic surface. To increase the probability of hitting the maximum number of pins, players often impart an initial spin that makes the ball curve and hit the target at an angle. For a right-handed player, the usual curve goes from right to left and is known as a hook shot. In this paper, a volumetric contact model has been used to simulate the hook shot by modeling the interaction between the ball and the lane. The principal objective is to study the effectiveness of the modeling framework towards the study of the effects of the lane friction and the initial kinematic conditions on the trajectory of the shot. The construction of the core of the ball and the variation of its radii of gyration will also be investigated for their contributions towards the hook.

}, keywords = {volumetric contact model}, issn = {1877-7058}, doi = {http://dx.doi.org/10.1016/j.proeng.2014.06.075}, url = {http://www.sciencedirect.com/science/article/pii/S1877705814005918}, author = {Joydeep Banerjee}, editor = {John McPhee} } @article {856, title = {A Battery Hardware-in-the-Loop Setup for Concurrent Design and Evaluation of Real-Time Optimal HEV Power Management Controllers}, journal = {Int. J. Elec. Hybrid Vehicles}, volume = {5}, year = {2013}, pages = {177-194}, author = {R Razavian and Nasser Lashgarian Azad and John McPhee} } @proceedings {1189, title = {Central Pattern Generator (CPG) in the Control of Periodic Elbow Flexion/Extension}, year = {2013}, address = {Barrie, Canada}, author = {R Razavian and John McPhee} } @proceedings {893, title = {Comparison of Cylindrical Wrapping Geometries to Via Points for Modelling Muscle Paths in the Estimation of Sit-to-Stand Muscle Forces}, year = {2013}, publisher = {DETC2013-13437}, address = {Portland}, author = {V Norman-Gerum and John McPhee} } @article {861, title = {Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller}, journal = {SAE Int. J. Passeng. Cars Electron. Electr. Syst}, volume = {6}, year = {2013}, pages = {241-254}, doi = {doi:10.4271/2013-01-0688}, author = {K Jalali and T Uchida and John McPhee and S Lambert} } @article {860, title = {Development of an Advanced Torque Vectoring Control System for an Electric Vehicle with In-Wheel Motors using Soft Computing Techniques}, journal = {SAE Int. J. Alt. Power}, volume = {2}, year = {2013}, pages = {261-278}, doi = {doi: 10.4271/2013-01-0698}, author = {K Jalali and T Uchida and S Lambert and John McPhee} } @article {862, title = {Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller}, journal = {SAE Int. J. Passeng. Cars Electron. Electr. Syst}, volume = {6}, year = {2013}, pages = {222-240}, doi = {doi:10.4271/2013-01-0681}, author = {K Jalali and T Uchida and John McPhee and S Lambert} } @proceedings {892, title = {Efficient Hyper-Volumetric Contact Dynamic Modelling of the Foot within Human Gait Simulations}, year = {2013}, publisher = {DETC2013-13446}, address = {Portland}, author = {M Shourijeh and John McPhee} } @proceedings {890, title = {Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model}, year = {2013}, publisher = {DETC 2013-13486}, address = {Portland}, abstract = {

Winner of Best Paper Award

}, author = {W Petersen and John McPhee} } @article {1114, title = {Galerkin Approximations with a Moving Boundary for State Dependent Delay Differential Equations}, journal = {ASME Journal of Dynamics Systems, Measurement, and Control}, volume = {135}, year = {2013}, pages = {1-6}, author = {C Vyasarayani and A Gupta and John McPhee} } @article {858, title = {Galerkin Approximations with a Moving Boundary for State Dependent Delay Differential Equations}, journal = {to appear in ASME J. Dyn. Sys. Meas. Control.}, year = {2013}, author = {C Vyasarayani and A Gupta and John McPhee} } @article {853, title = {Optimal Control and Forward Dynamics of Human Periodic Motions Using Fourier Series for Muscle Excitation Patterns}, journal = {ASME J. Comp. Nonlinear Dyn}, volume = {9}, year = {2013}, month = {Published}, pages = {1-7}, author = {M Shourijeh and John McPhee} } @article {857, title = {Reduction of a Vehicle Multibody Dynamic Model using Homotopy Optimization}, journal = {Archive Mech. Eng}, year = {2013}, month = {Published}, pages = {23-35}, author = {A Hall and T Uchida and F Loh and C Schmitke and John McPhee} } @inbook {815, title = {Symbolic Sensitivity Analysis of Multibody Systems}, booktitle = {Multibody Dynamics: Computational Methods and Applications}, year = {2013}, pages = {123-146}, publisher = {Springer Netherlands}, organization = {Springer Netherlands}, author = {Joydeep Banerjee and John McPhee}, editor = {J C Samin and P Fisette} } @proceedings {891, title = {A Three-Dimensional Musculoskeletal Driver Model to Study Steering Tasks}, year = {2013}, publisher = {DETC2013-13101}, address = {Portland}, doi = {10.1115/DETC2013-13101}, url = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830803}, author = {Naser Mehrabi and R Razavian and John McPhee} } @article {866, title = {Volumetric Modelling and Experimental Validation of Normal Contact Dynamic Forces}, journal = {ASME J. Comp. Non. Dyn}, volume = {8}, year = {2013}, pages = {021006:1-8}, author = {M Boos and John McPhee} } @proceedings {897, title = {Comparison of Optical and Inertial Tracking of Full Golf Swings}, volume = {34}, year = {2012}, pages = {461-466}, publisher = {Int. Sports Eng. Assoc}, author = {A Seaman and John McPhee} } @article {887, title = {Design and Evaluation of a Predictive Powertrain Control System for a PHEV to Improve Fuel Economy and Emissions}, journal = {submitted to Int. J. Vehicle Des.}, year = {2012}, author = {A Taghavipour and Nasser Lashgarian Azad and John McPhee} } @article {863, title = {Design and Evaluation of a Real-time Fuel optimal Control System for Series Hybrid Electric Vehicles}, journal = {Int. J. Elec. Hybrid Vehicles}, volume = {4}, year = {2012}, pages = {260-288}, type = {Published}, author = {R Razavian and A Taghavipour and Nasser Lashgarian Azad and John McPhee} } @proceedings {909, title = {Development of a Fuzzy Slip Control System for Electric Vehicles with In-wheel Motors}, year = {2012}, address = {Detroit, USA}, author = {K Jalali and T Uchida and John McPhee and S Lambert} } @article {869, title = {Development of a Fuzzy Slip Control System for Electric Vehicles with In-wheel Motors}, journal = {SAE International Journal of Alternative Powertrains}, volume = {1}, year = {2012}, pages = {46-64}, type = {Published}, author = {K Jalali and T Uchida and John McPhee and S Lambert} } @proceedings {908, title = {Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle}, year = {2012}, address = {Detroit, USA}, author = {K Jalali and S Lambert and John McPhee} } @article {865, title = {Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle}, journal = {SAE Int. J. Passenger Cars Electron. Electr. Sys.}, volume = {5}, year = {2012}, pages = {100-113}, type = {Published}, author = {K Jalali and S Lambert and John McPhee} } @article {868, title = {Driving Simulator with Double-wishbone Suspension using Efficient Block-triangularized Kinematic Equations}, journal = {Multibody Sys. Dyn.}, volume = {28}, year = {2012}, pages = {331-347}, type = {Published}, keywords = {Advanced Vehicle Systems, System Dynamics and Control}, author = {T Uchida and John McPhee} } @proceedings {933, title = {Dynamic Optimization of Human Forearm Simulations Parameterizing the Muscle Excitations}, year = {2012}, chapter = {2 pages}, address = {Vancouver, B.C}, author = {M Shourijeh and John McPhee} } @article {870, title = {Foot Placement and Balance in 3D}, journal = {ASME J. Comp. Non. Dyn.}, volume = {7}, year = {2012}, pages = {021015:1-14}, type = {Published}, author = {M Millard and John McPhee and E Kubica} } @proceedings {902, title = {Friction Modelling and Validation for a Volumetric Contact Dynamics Model}, year = {2012}, address = {Stuttgart, Germany}, author = {M Boos and John McPhee} } @proceedings {896, title = {Graph-theoretic Modelling of an Automotive Torque Converter}, volume = {7, Part 1}, year = {2012}, pages = {1219-1224}, address = {Austria}, author = {Joydeep Banerjee and John McPhee} } @proceedings {903, title = {On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates}, year = {2012}, address = {Stuttgart, Germany}, author = {T Uchida and A Callejo and J Garcia de Jalon and John McPhee} } @article {889, title = {On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates}, journal = {submitted to Multibody Sys. Dyn.}, year = {2012}, author = {T Uchida and A Callejo and J Garcia de Jalon and John McPhee} } @proceedings {894, title = {Identification of Volumetric Wheel/Soil Interaction Model Parameters from Planetary Rover Experiments}, year = {2012}, address = {South Africa}, abstract = {

Winner of Conference Award for Best Paper Presentation

}, author = {W Petersen and John McPhee} } @proceedings {939, title = {MapleSim in Engineering Research}, year = {2012}, month = {19 July}, address = {McMaster University, Hamilton}, keywords = {System Dynamics and Control}, author = {John McPhee} } @article {888, title = {Math-based Torque Converter Modelling to Evaluate Damping Characteristics and Reverse Flow Mode}, journal = {International Journal of Vehicle Systems Modelling and Testing}, volume = {9}, year = {2012}, pages = {36-55}, type = {Published}, author = {H Adibi-asl and Nasser Lashgarian Azad and John McPhee} } @proceedings {938, title = {Mathematics-based Modelling of Series-Hybrid Electric Vehicles}, year = {2012}, month = {27 Sept.}, author = {John McPhee and T S Dao} } @proceedings {905, title = {A Mechanistic Model of Compression Hysteresis in Compliant Interfaces in Multibody Dynamic Simulation of a Piano Action Mechanism}, year = {2012}, address = {Stuttgart, Germany}, author = {R Masoudi and John McPhee} } @article {867, title = {Modeling of Contact and Stiction in Electrostatic Micro-Cantilever Actuators}, journal = {ASME J. Nano. Eng. Med}, volume = {3}, year = {2012}, pages = {1-8}, type = {Published}, author = {C Vyasarayani and A Abdel-Rahman and John McPhee} } @proceedings {899, title = {Modeling Torque Converter Characteristics in Automatic Drivelines: Lock-up Clutch and Engine Braking Simulation}, year = {2012}, publisher = {Paper DETC2012-70222}, address = {Chicago, USA}, author = {H Adibi-asl and Nasser Lashgarian Azad and John McPhee} } @article {877, title = {Nonlinear Parameter Identification in Multibody Systems using Homotopy Continuation}, journal = {ASME J. Comp. Non. Dyn.}, volume = {7}, year = {2012}, pages = {011012:1-8}, type = {Published}, author = {C Vyasarayani and T Uchida and John McPhee} } @article {873, title = {Nonsmooth Modeling of Vibro-Impacting Euler-Bernoulli Beam}, journal = {Advances in Acoustics and Vibration}, volume = {12}, year = {2012}, pages = {268595: 1-9}, type = {Accepted}, author = {C Vyasarayani and S Sandhu and John McPhee} } @article {872, title = {Optimal Power Management Strategy for Power Split Plug-in Hybrid Electric Vehicles}, journal = {Int. J. Vehicle Design}, volume = {60}, year = {2012}, pages = {286-304}, type = {Published}, author = {A Taghavipour and Nasser Lashgarian Azad and John McPhee} } @article {796, title = {An optimal power management strategy for power split plug-in hybrid electric vehicles}, journal = {Int. J. Vehicle Design}, volume = {60}, year = {2012}, pages = {286-304}, doi = {10.1504/IJVD.2012.050085}, url = {http://www.inderscienceonline.com/doi/abs/10.1504/IJVD.2012.050085?journalCode=ijvd}, author = {A Taghavipour and Nasser Lashgarian Azad and John McPhee} } @proceedings {901, title = {Parameter Identification for Multibody Systems Governed by DAEs}, year = {2012}, address = {Stuttgart, Germany}, author = {T Uchida and C Vyasarayani and M Smart and John McPhee} } @inbook {816, title = {Parameter Identification in Dynamic Systems using the Homotopy Optimization Approach}, booktitle = {Identification for Automotive Systems}, volume = {418}, year = {2012}, pages = {129-145}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {8}, address = {New York}, author = {C Vyasarayani and T Uchida and John McPhee and A Carvalho}, editor = {D Alberer and G Stewart} } @proceedings {907, title = {Parametric Importance Analysis and Design Optimization of a Torque Converter Model using Sensitivity Information}, year = {2012}, address = {Detroit, USA}, author = {Joydeep Banerjee and H Adibi-asl and Nasser Lashgarian Azad and John McPhee} } @article {864, title = {Parametric Importance Analysis and Design Optimization of a Torque Converter Model using Sensitivity Information}, journal = {SAE Int. J. Passenger Cars Mech. Sys}, volume = {5}, year = {2012}, pages = {621-638}, type = {Published}, author = {Joydeep Banerjee and H Adibi-asl and Nasser Lashgarian Azad and John McPhee} } @proceedings {895, title = {Predictive Power Management Strategy for a PHEV Based on Different Levels of Trip Information}, year = {2012}, address = {Paris, France}, author = {A Taghavipour and M Vajedi and Nasser Lashgarian Azad and John McPhee} } @proceedings {906, title = {On Real-time Optimal Control of a Series Hybrid Electric Vehicle with an Ultra-Capacitor}, year = {2012}, address = {Montreal, Canada}, author = {R Razavian and Nasser Lashgarian Azad and John McPhee} } @proceedings {904, title = {Reduction of a Vehicle Multibody Dynamic Model using Homotopy Optimization}, year = {2012}, address = {Stuttgart, Germany}, author = {A Hall and T Uchida and F Loh and John McPhee and C Schmitke} } @article {876, title = {Simplification and Order Reduction of Lithium-ion Battery Model based on Porous-Electrode Theory}, journal = {Journal of Power Sources}, volume = {198}, year = {2012}, pages = {329-337}, type = {Published}, author = {T S Dao and C Vyasarayani and John McPhee} } @proceedings {898, title = {Simulation of the Three-dimensional Motion of a Cricket Ball using a Volumetric Contact Model}, volume = {34}, year = {2012}, pages = {676-681}, publisher = {Int. Sports Eng. Assoc.}, author = {Joydeep Banerjee and John McPhee} } @article {871, title = {Single-shooting Homotopy Method for Parameter Identification in dynamical Systems}, journal = {Phys. Review E.}, volume = {85}, year = {2012}, pages = {036201:1-5}, type = {Published}, author = {C Vyasarayani and T Uchida and John McPhee} } @proceedings {900, title = {Study of Human Steering Tasks using a Neuromuscular Driver Model}, year = {2012}, publisher = {Adv. Vehicle Control}, address = {Seoul, Korea}, author = {Naser Mehrabi and M Shourijeh and John McPhee} } @proceedings {1154, title = {Traction-motor power ratio and speed trajectory optimization for power split Plug-in Hybrid Electric Vehicles using route information}, year = {2012}, author = {M Vajedi and A Taghavipour and Nasser Lashgarian Azad} } @article {874, title = {Using Grobner Bases to Generate Efficient Kinematic Solutions for the Dynamic Simulation of Multi-loop Mechanisms}, journal = {Mech. Mach. Theory}, volume = {52}, year = {2012}, pages = {144-157}, type = {Published}, author = {T Uchida and John McPhee} } @article {1133, title = {Volumetric Modeling and Experimental Validation of Normal Contact Dynamic Forces}, journal = {ASME Journal of Computational and Nonlinear Dynamics}, volume = {8}, year = {2012}, pages = {021006:1-8}, type = {Published}, author = {M Boos and John McPhee} } @proceedings {942, title = {Advanced Machine Design with Symbolic Modeling and Simulation Technology}, year = {2011}, month = {21 June}, author = {John McPhee and O Vahid} } @proceedings {940, title = {Advanced Physical Modelling Tackles the Complexity of Modern Engineering}, year = {2011}, month = {7 Dec.}, author = {D Wright and John McPhee and A Khajepour and V Krovi} } @proceedings {915, title = {Development of a High-Fidelity Series- Hybrid Electric Vehicle Model using a Mathematics-Based Approach}, year = {2011}, chapter = {6 pages}, author = {T S Dao and A Seaman and John McPhee and K Shigematsu} } @proceedings {918, title = {Driving Simulator with Double-Wishbone Suspension using Block-Triangularized Kinematic Equations for Real-Time Performance}, year = {2011}, chapter = {19 pages}, author = {T Uchida and John McPhee} } @article {878, title = {Dynamic Modeling of Electrochemical Systems using Linear Graph Theory}, journal = {J. Power Sources}, volume = {196}, year = {2011}, pages = {10442-10454}, type = {Published}, author = {T S Dao and John McPhee} } @proceedings {913, title = {Efficient Solution of Kinematics for Multi-loop Mechanisms using Grobner Bases}, year = {2011}, chapter = {9 pages}, address = {Mexico}, author = {T Uchida and John McPhee} } @proceedings {912, title = {Flexible Planetary Rover Tire Model with Volumetric Wheel/Soil Interface}, year = {2011}, chapter = {8 pages}, address = {Virginia, USA}, author = {W Petersen and C Vyasarayani and John McPhee} } @proceedings {910, title = {Forward Dynamic Human Gait Simulation using a SLIP Target Model}, volume = {2}, year = {2011}, pages = {142-157}, author = {M Millard and E Kubica and John McPhee} } @proceedings {916, title = {Graph-Theoretic Sensitivity Analysis of Multibody Systems}, year = {2011}, chapter = {20 pages}, author = {Joydeep Banerjee and John McPhee} } @proceedings {919, title = {Math-based Modeling and Parametric Sensitivity Analysis of Torque Converter Performance Characteristics}, year = {2011}, chapter = {11 pages}, author = {H Adibi-asl and Nasser Lashgarian Azad and John McPhee} } @proceedings {920, title = {Mathematical Modeling and Symbolic Sensitivity Analysis of Ni-MH Batteries}, year = {2011}, chapter = {19 pages}, author = {Joydeep Banerjee and T S Dao and John McPhee} } @proceedings {934, title = {Modelling Human Foot Placement in 2D and 3D}, year = {2011}, chapter = {2 pages}, address = {Belgium}, author = {M Millard and E Kubica and John McPhee} } @article {881, title = {Modelling MEMS Resonators Past Pull-in}, journal = {ASME J. Comp. Non. Dyn.}, volume = {6}, year = {2011}, pages = {031008:1-7}, type = {Published}, author = {C Vyasarayani and A Abdel-Rahman and John McPhee and S Birkett} } @proceedings {917, title = {Nonlinear Parameter Identification in Multibody Systems using Homotopy Continuation}, year = {2011}, chapter = {14 pages}, address = {Belgium}, author = {C Vyasarayani and T Uchida and John McPhee} } @proceedings {935, title = {Optimal Control and Forward Dynamics of Periodic Forearm Motions using Fourier Series for Muscle Excitations}, year = {2011}, chapter = {2 pages}, author = {M Shourijeh and John McPhee} } @proceedings {911, title = {Optimal Disturbance Rejection Control Design for Electric Power Steering Systems}, year = {2011}, chapter = {6 pages}, address = {Orlando, USA}, doi = {10.1109/CDC.2011.6161006}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6161006\&tag=1}, author = {Naser Mehrabi and Nasser Lashgarian Azad and John McPhee} } @article {875, title = {Parameter Identification in Dynamic Systems using the Homotopy Optimization Approach}, journal = {Multibody Sys. Dyn.}, volume = {26}, year = {2011}, pages = {411-424}, type = {Published}, author = {C Vyasarayani and T Uchida and John McPhee and A Carvalho} } @article {879, title = {Parameter Identification in Multibody Systems using Lie Series Solutions and Symbolic Computation}, journal = {J. Comp. Non. Dyn}, volume = {6}, year = {2011}, pages = {041011:1-9}, type = {Published}, author = {C Vyasarayani and T Uchida and John McPhee} } @proceedings {941, title = {Physical Models of Automotive Batteries for EV and HEV Applications}, year = {2011}, month = {29 Nov.}, author = {D Wright and T S Dao and John McPhee} } @article {1134, title = {Triangularization Kinematic Constraint Equations using Grobner Bases for Real-time Dynamic Simulation}, journal = {Multibody System Dynamics}, volume = {25}, year = {2011}, pages = {335-356}, type = {Published}, author = {T Uchida and John McPhee} } @proceedings {914, title = {Volumetric Contact Dynamics Models and Experimental Validation of Normal Forces for Simple Geometries}, year = {2011}, chapter = {10 pages}, author = {M Boos and John McPhee} } @proceedings {930, title = {3D Dynamic Modelling and Simulation of a Golf Drive}, year = {2010}, pages = {3243-3248}, address = {Austria}, author = {S Sandhu and M Millard and D Brekke and John McPhee} } @proceedings {944, title = {Advanced Golf Clubhead Design}, volume = {11}, year = {2010}, month = {Jan.}, keywords = {Biomechanics and Sports}, author = {W Petersen and John McPhee} } @proceedings {936, title = {Computationally Efficient Partitioned Dynamic Simulation of Multibody Systems using Implicit Time Integrators}, year = {2010}, chapter = {2 pages}, address = {Bulgaria}, author = {S Sandhu and John McPhee} } @proceedings {922, title = {Effective Modelling of Sticking Motions in Vibro- Impacting Continuous Systems}, year = {2010}, chapter = {9 pages}, address = {Vancouver}, author = {C Vyasarayani and S Sandhu and John McPhee} } @proceedings {943, title = {High Fidelity Physical Models of Automotive Batteries}, year = {2010}, month = {22 Sept.}, author = {T S Dao and John McPhee and T Lee} } @proceedings {925, title = {Mapping Spring Forces onto Anthropomorphic Legs}, year = {2010}, chapter = {10 pages}, address = {Finland}, author = {M Millard and E Kubica and John McPhee} } @proceedings {928, title = {Mathematics-based Modelling of a Series Hybrid Electric Vehicle}, year = {2010}, chapter = {10 pages}, address = {Japan}, author = {A Seaman and T S Dao and John McPhee} } @proceedings {937, title = {A Model for Forward Dynamic Simulation of Rapid Tapping Motion of Index Finger}, year = {2010}, chapter = {1 page}, address = {Kingston}, author = {M Shourijeh and John McPhee and R Wells} } @article {885, title = {Modelling Impacts Between a Continuous System and a Rigid Obstacle Using Coefficient of Restitution}, journal = {ASME J. Appl. Mech.}, volume = {77}, year = {2010}, pages = {021008:1-7}, author = {C Vyasarayani and John McPhee and S Birkett} } @proceedings {929, title = {Parameter Identification in Dynamic Systems using the Homotopy Optimization Approach}, year = {2010}, chapter = {18 pages}, address = {Austria}, author = {C Vyasarayani and T Uchida and A Carvalho and John McPhee} } @article {883, title = {Partitioned Dynamic Simulation of Multibody Systems}, journal = {ASME J. Comp. Non. Dyn.}, volume = {5}, year = {2010}, pages = {031007:1-7}, type = {Published}, author = {S Sandhu and John McPhee} } @proceedings {931, title = {Player Testing and Statistical Analysis of Two Different Methods for Spine-aligning Golf Club Shafts}, year = {2010}, pages = {3355-3360}, address = {Austria}, author = {JS Rancourt and M Millard and John McPhee} } @article {882, title = {Symbolic Formulation of Multibody Dynamic Equations for Wheeled Vehicle Systems on 3D Roads}, journal = {SAE Int. J. Mater. Manuf.}, volume = {3}, year = {2010}, pages = {454-467}, type = {Published}, author = {W Bombardier and John McPhee and C Schmitke} } @proceedings {932, title = {Symbolic Formulation of Multibody Dynamic Equations for Wheeled Vehicle Systems on Three-Dimensional Roads}, year = {2010}, chapter = {10 pages}, address = {Detroit}, author = {John McPhee and W Bombardier and C Schmitke} } @proceedings {924, title = {Symbolic Math-based Battery Modelling for Electric Vehicle Simulation}, year = {2010}, chapter = {8 pages}, address = {Montreal}, author = {A Seaman and John McPhee} } @proceedings {927, title = {Triangularizing Kinematic Constraint Equations using Grobner Bases for Real-time Dynamic Simulation}, year = {2010}, chapter = {10 pages}, address = {Finland}, author = {T Uchida and John McPhee} } @proceedings {921, title = {A Two-Dimensional Nonlinear Volumetric Foot Contact Model}, year = {2010}, chapter = {10 pages}, address = {Vancouver}, author = {S Sandhu and John McPhee} } @proceedings {923, title = {A Volumetric Contact Model for Off-road Tire/Soil Dynamic Simulation}, year = {2010}, chapter = {8 pages}, address = {Montreal}, author = {W Petersen and John McPhee} } @proceedings {926, title = {Volumetric Contact Models and Experimental Validation}, year = {2010}, chapter = {10 pages}, address = {Finland}, author = {M Boos and John McPhee} } @proceedings {996, title = {Comparison of Golf Ball/Driver Impact Models with Mechanical Impedance Matching Theory}, year = {2009}, chapter = {6 pages}, address = {California}, author = {W Petersen and John McPhee and A Salehian} } @article {1136, title = {Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors}, journal = {SAE International Journal of Passenger Cars - Electronic and Electrical Systems}, volume = {1}, year = {2009}, pages = {211-219}, type = {Published}, author = {K Jalali and K Bode and S Lambert and John McPhee} } @proceedings {1062, title = {Design of an Improved Ice Hockey Stick Test Machine}, year = {2009}, chapter = {2 pages}, address = {Halifax}, keywords = {Biomechanics and Sports}, author = {E Genoud and John McPhee} } @proceedings {997, title = {Dynamic Model of a Vertical Piano Action Mechanism}, year = {2009}, chapter = {10 pages}, address = {California}, author = {R Masoudi and S Birkett and John McPhee} } @proceedings {995, title = {The Effect of Pulsed Active Steering on the Dynamic Roll Response of a Passenger Vehicle}, year = {2009}, chapter = {7 pages}, address = {Florida}, author = {A Khajepour and John McPhee and A Abdel-Rahman} } @proceedings {1060, title = {Foot Placement and Balance in 3D}, year = {2009}, address = {Vancouver, 2009}, author = {M Millard and E Kubica and John McPhee} } @article {946, title = {Human Foot Placement and Balance in the Sagittal Plane}, journal = {ASME J. Biomech. Eng}, volume = {131}, year = {2009}, pages = {121001:1-7}, type = {Published}, author = {M Millard and D Wright and John McPhee and E Kubica and D Wang} } @article {945, title = {Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques}, journal = {SAE Int. J. Passeng. Cars {\textendash} Electron. Electr. Syst.}, volume = {2}, year = {2009}, pages = {109-119}, type = {Published}, author = {K Jalali and T Uchida and John McPhee and S Lambert} } @proceedings {1000, title = {Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques}, year = {2009}, chapter = {11 pages}, address = {Detroit}, author = {K Jalali and T Uchida and John McPhee and S Lambert} } @proceedings {1061, title = {Mechatronic Modelling and Real-time Simulation of an Electric Vehicle with In-wheel Motors}, year = {2009}, chapter = {2 pages}, address = {Halifax}, author = {K Jalali and John McPhee and H Vogt and C Schmitke} } @article {1135, title = {Modeling impacts between a continuous system and a rigid obstacle using coefficient of restitution}, journal = {ASME Journal of Applied Mechanics}, volume = {77}, year = {2009}, pages = {1-7}, type = {Published}, author = {C Vyasarayani and John McPhee and S Birkett} } @article {949, title = {Modelling the Dynamics of a Compliant Piano Action Mechanism Impacting an Elastic Stiff String}, journal = {J. Acoust. Soc. Amer.}, volume = {125}, year = {2009}, pages = {4034-4042}, type = {Published}, author = {C Vyasarayani and S Birkett and John McPhee} } @article {947, title = {Modelling the Dynamics of a Vibrating String with a Distributed Unilateral Constraint: Application to the Sitar}, journal = {J. Acoust. Soc. Amer.}, volume = {125}, year = {2009}, pages = {3673-3682}, type = {Published}, author = {C Vyasarayani and S Birkett and John McPhee} } @inbook {848, title = {Multi-step Forward Dynamic Gait Simulation}, booktitle = {Multibody Dynamics}, volume = {12 of Computational Methods in Applied Sciences}, year = {2009}, publisher = {Springer}, organization = {Springer}, author = {M Millard and John McPhee and E Kubica}, editor = {C. Bottasso} } @article {884, title = {Shape Optimization of Golf Clubface using Finite Element Impact Models}, journal = {Sports Eng.}, volume = {12}, year = {2009}, pages = {77-86}, author = {W Petersen and John McPhee} } @article {948, title = {A Survey on Stability Enhancement Strategies for Articulated Steer Vehicles}, journal = {Int. J. Heavy Veh. Sys.}, volume = {16}, year = {2009}, pages = {26-48}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @proceedings {999, title = {Symbolic Modeling of Wheeled Vehicles on 3D Roads}, year = {2009}, chapter = {17 pages}, address = {Poland}, author = {W Bombardier and John McPhee} } @proceedings {998, title = {A Volumetric Contact Model Implemented using Polynomial Geometry}, year = {2009}, chapter = {17 pages}, address = {Poland}, author = {Y Gonthier and C Lange and John McPhee} } @book {814, title = {Articulated Steer Vehicles: Dynamics and Control}, year = {2008}, isbn = {978-3-8364-5665-4}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @proceedings {1005, title = {Comparison of Impulse-Momentum and Finite Element Models for Impact between Golf Ball and Clubhead}, year = {2008}, chapter = {6 pages}, address = {Phoenix}, author = {W Petersen and John McPhee} } @article {955, title = {Complete and Scalable Multi-Robot Roadmap Coordination Planning}, journal = {IEEE Trans. Robotics}, volume = {24}, year = {2008}, pages = {283-292}, author = {M Peasgood and C Clark and John McPhee} } @proceedings {1066, title = {Considering the Effect of Hammer Shank Flexibility using a Multibody Dynamic Simulation Model of a Piano Action Mechanism with String Contact}, year = {2008}, publisher = {Journal of the Acoustical Society of America 123:3660}, chapter = {1 page}, address = {Paris}, author = {C Vyasarayani and S Birkett and John McPhee} } @proceedings {1006, title = {Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors}, year = {2008}, chapter = {8 pages}, address = {Detroit}, author = {K Jalali and K Bode and John McPhee and S Lambert} } @article {950, title = {Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors}, journal = {SAE Int. J. Passeng. Cars {\textendash}Electron. Electr. Syst.}, volume = {1}, year = {2008}, pages = {211-219}, author = {K Jalali and K Bode and John McPhee and S Lambert} } @inbook {849, title = {Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors}, booktitle = {Vehicle Dynamics and Simulation and Tire and Wheel Technology}, year = {2008}, publisher = {SAE International}, organization = {SAE International}, isbn = {978-0-7680-1999-5}, author = {K Jalali and K Bode and John McPhee and S Lambert} } @proceedings {1003, title = {Design of an Ice Hockey Test Machine}, year = {2008}, chapter = {6 pages}, address = {France}, keywords = {Biomechanics and Sports}, author = {M McQueen and John McPhee} } @article {817, title = {Dynamic Modeling and Experimental Testing of a Piano Action Mechanism with a Flexible Hammer Shank}, journal = {ASME J. Comp. Non. Dyn.}, volume = {3}, year = {2008}, author = {A Izadbakhsh and John McPhee and S Birkett} } @proceedings {1063, title = {Evaluation of a Human Foot Placement Model}, year = {2008}, chapter = {2 pages}, address = {Ann Arbor}, author = {M Millard and D Wight and John McPhee and E Kubica and D Wang} } @proceedings {1001, title = {Modelling MEMS Resonators Past Pull-In}, year = {2008}, chapter = {7 pages}, address = {Boston}, author = {C Vyasarayani and John McPhee and S Birkett and A Abdel-Rahman} } @proceedings {1064, title = {Modelling MEMS Resonators Past Pull-in}, year = {2008}, chapter = {1 page}, address = {Virginia}, author = {C Vyasarayani and A Abdel-Rahman and John McPhee and S Birkett} } @proceedings {1007, title = {Motorized Shoulder Belt Tensioning: Modeling and Performance for a Diverse Occupant Population}, year = {2008}, chapter = {8 pages}, address = {Detroit}, author = {C Good and D Viano and John McPhee and J Pieper and J Ronsky} } @proceedings {1004, title = {Real-Time Hardware-in-the-Loop Dynamic Simulation of Multibody Mechatronic Systems}, year = {2008}, chapter = {7 pages}, address = {Korea}, author = {T Uchida and John McPhee} } @article {1099, title = {Reply to {\textquotedblleft}Who Owns Mechatronics{\textquotedblright}}, journal = {ASME Mechanical Engineering Magazine}, year = {2008}, month = {October}, type = {Letter to editor}, author = {John McPhee} } @article {952, title = {A Review of Automated Design Synthesis Approaches for Virtual Development of Ground Vehicle Suspensions}, journal = {SAE Trans. J. Passenger Cars - Mech. Sys.}, volume = {116}, year = {2008}, pages = {867-879}, author = {Y He and John McPhee} } @proceedings {1002, title = {Shape Optimization of Golf Clubface using Finite Element Impact Models}, year = {2008}, chapter = {6 pages}, address = {France}, author = {W Petersen and John McPhee} } @article {953, title = {Unified Modelling and Real-Time Simulation of an Electric Vehicle}, journal = {Int. J. Veh. Auto. Sys.}, volume = {6}, year = {2008}, pages = {288-307}, author = {K Jalali and John McPhee and C Schmitke and H Vogt} } @article {951, title = {Using Graph Theory and Symbolic Computing to Generate Efficient Models for Multibody Vehicle Dynamics}, journal = {IMechE J. Multi-body Dynamics}, volume = {222}, year = {2008}, pages = {339-352}, author = {C Schmitke and John McPhee and K Morency} } @article {954, title = {Using Linear Graph Theory and the Principle of Orthogonality to Model Multibody, Multi-Domain Systems}, journal = {Adv. Eng. Infor.}, volume = {22}, year = {2008}, pages = {147-160}, author = {C Schmitke and John McPhee} } @proceedings {1065, title = {Using Volume Metrics as an Alternative to Penalty or Finite Element Methods for Modelling Contacts}, year = {2008}, chapter = {3 pages}, address = {Italy}, author = {Y Gonthier and C Lange and John McPhee} } @proceedings {1067, title = {A Vibrating Sitar String: Modeling the 3D Dynamics of a Plucked String Impacting a Spatial Obstacle with Friction}, year = {2008}, publisher = {Journal of the Acoustical Society of America 123:3380}, chapter = {1 page}, address = {Paris}, author = {C Vyasarayani and S Birkett and John McPhee} } @article {959, title = {Application of Optimisation Algorithms and Multibody Dynamics to Ground Vehicle Suspension Design}, journal = {Int. J. Heavy Veh. Sys.}, volume = {14}, year = {2007}, pages = {158-192}, author = {Y He and John McPhee} } @article {963, title = {Application of SQP and Dynamic Model Tracking to the Identification of the Critical Speed of Rail Vehicles}, journal = {Int. J. Heavy Veh. Sys}, volume = {14}, year = {2007}, pages = {193-212}, author = {Y He and John McPhee} } @article {956, title = {Automated Kinematic Synthesis of Planar Mechanisms with Revolute Joints}, journal = {Mech.-Based Des. Struct. Mach.}, volume = {35}, year = {2007}, pages = {405-445}, author = {Y Liu and John McPhee} } @proceedings {1014, title = {Automated Selection of Modelling Coordinates for Multibody System Dynamics}, year = {2007}, month = {June}, chapter = {6 pages}, address = {France}, author = {M Leger and John McPhee} } @article {957, title = {Computerized Generation of Motion Equations Using Variational Graph-theoretic Methods}, journal = {Appl. Math. Comp.}, volume = {192}, year = {2007}, pages = {135-156}, author = {M Richard and John McPhee and R.J Anderson} } @proceedings {1072, title = {Dynamic Analysis of Micromirrors with Staggered Vertical Combdrives Actuation}, year = {2007}, chapter = {2 pages}, address = {Toronto}, author = {S Rasheed and J Yeow and John McPhee} } @proceedings {1009, title = {Dynamic Modeling and Experimental Testing of a Piano Action Mechanism with a Flexible Hammer Shank}, year = {2007}, chapter = {10 pages}, address = {Las Vegas}, author = {A Izadbakhsh and S Birkett and John McPhee} } @proceedings {1070, title = {Dynamic Modelling and Simulation of the Centaur Skid-steered Allterrain Vehicle}, year = {2007}, chapter = {2 pages}, address = {Toronto}, author = {T Uchida and John McPhee} } @article {962, title = {The Effects of Locking Differentials on the Snaking Mode of Articulated Steer Vehicles}, journal = {Int. J. Veh. Sys. Model. Test}, volume = {2}, year = {2007}, pages = {101-127}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @proceedings {1071, title = {Flexible Beam Impacting a String with Nonlinear Contact Law}, year = {2007}, chapter = {2 pages}, address = {Toronto}, author = {C Vyasarayani and S Birkett and John McPhee} } @proceedings {1011, title = {Free Vibration Response of a Plucked String Impacting Against a Spatial Obstacle}, year = {2007}, chapter = {12 pages}, address = {Kharagpur, India}, author = {C Vyasarayani and S Birkett and John McPhee} } @article {1100, title = {Generating Computationally Efficient Vehicle Dynamic Models with DynaFlexPro}, journal = {Automotive Design Line}, year = {2007}, month = {June}, pages = {14 pages}, author = {T Uchida and John McPhee and K Morency and C Schmitke} } @proceedings {1008, title = {On the Implementation of Coulomb Friction in a Volumetric-Based Model for Contact Dynamics}, year = {2007}, chapter = {10 pages}, address = {Las Vegas, Nevada}, author = {Y Gonthier and John McPhee and C Lange} } @proceedings {1012, title = {On Implementing a Bristle Friction Model in a Contact Model Based on Volumetric Properties}, year = {2007}, chapter = {17 pages}, address = {Milan, Italy}, author = {Y Gonthier and C Lange and John McPhee} } @proceedings {1068, title = {Inverse Dynamics of the Golf Swing using Graph-Theoretic Modelling}, year = {2007}, chapter = {2 pages}, address = {Toronto}, author = {S Singh and John McPhee} } @proceedings {1013, title = {Modeling Biomechanics of Volunteers Subject to Loading by a Motorized Shoulder Belt Tensioner}, year = {2007}, chapter = {5 pages}, address = {Maastricht, Netherlands}, author = {C Good and D Viano and J Ronsky and John McPhee} } @proceedings {1010, title = {A Multibody Dynamic Model of a Flexible Piano Action Mechanism Impacting a Flexible String}, year = {2007}, chapter = {12 pages}, address = {Kharagpur, India}, author = {C Vyasarayani and S Birkett and John McPhee} } @proceedings {1069, title = {Optimization of a Vehicle Suspension Using a Genetic Algorithm Method}, year = {2007}, chapter = {2 pages}, address = {Toronto}, author = {K Jalali and S Lambert and John McPhee} } @proceedings {1015, title = {A Review of Automated Design Synthesis Approaches for Virtual Development of Ground Vehicle Suspensions}, year = {2007}, chapter = {13 pages}, author = {Y He and John McPhee} } @article {960, title = {Robust State Feedback Stabilization of Articulated Steer Vehicles}, journal = {Veh. Sys. Dyn}, volume = {45}, year = {2007}, pages = {249-275}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @article {958, title = {Robust Variable Structure Control for Stabilization of Articulated Steer Vehicles by Torque Vectoring}, journal = {Int. J. Heavy Veh. Sys.}, volume = {14}, year = {2007}, pages = {331-354}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @article {818, title = {Selection of Modeling Coordinates for Forward Dynamic Multibody Simulations}, journal = {Multibody Syst. Dyn.}, volume = {18}, year = {2007}, pages = {277-297}, author = {M Leger and John McPhee} } @article {961, title = {Stabilization of a Dynamic Walking Gait Simulation}, journal = {ASME J. Comp. Non. Dyn}, volume = {2}, year = {2007}, pages = {65-72}, author = {M Peasgood and E Kubica and John McPhee} } @proceedings {1016, title = {An Active Control Device Based on Differential Braking for Articulated Steer Vehicles}, year = {2006}, chapter = {8 pages}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @proceedings {1020, title = {Automated Selection of Modelling Coordinates in Multibody Dynamics}, year = {2006}, chapter = {21 pages}, address = {Alberta}, author = {M Leger and John McPhee} } @proceedings {1017, title = {Complete and Scalable Multi-Robot Planning in Tunnel Environments}, year = {2006}, chapter = {6 pages}, address = {Brazil}, author = {M Peasgood and C Clark and John McPhee} } @proceedings {1075, title = {DynaFlexPro: A Maple Package for Multibody System Dynamics}, year = {2006}, chapter = {1 page plus oral presentation}, address = {Waterloo, Canada}, author = {John McPhee and C Schmitke} } @article {965, title = {Dynamic Modelling and Experimental Testing of a Piano Action Mechanism}, journal = {ASME J. Comp. Non. Dyn.}, volume = {1}, year = {2006}, pages = {47-55}, author = {M Hirschkorn and John McPhee and S Birkett} } @proceedings {1022, title = {Dynamic Modelling of a Piano Action Mechanism with a Flexible Hammer Shank}, year = {2006}, chapter = {12 pages}, address = {Alberta}, author = {A Izadbakhsh and John McPhee and S Birkett} } @proceedings {1021, title = {Implementation of a Variable Duty Factor Controller on an Axi-Symmetric Six-Legged Walking Robot}, year = {2006}, chapter = {19 pages}, address = {Alberta}, author = {S Cutler and John McPhee and E Kubica} } @proceedings {1073, title = {Infinite Step Forward Dynamic Gait Simulation}, year = {2006}, chapter = {1 page plus poster}, address = {Waterloo, Canada}, author = {M Millard and E Kubica and John McPhee} } @article {820, title = {Modelling Multibody Systems with Indirect Coordinates}, journal = {Comp. Meth. Appl. Mech. Eng}, volume = {195}, year = {2006}, pages = {6942-6957}, author = {John McPhee and S Redmond} } @proceedings {1076, title = {Propulsion System for Swimming Micro-Robots}, year = {2006}, chapter = {2 pages plus poster}, address = {Florida, USA}, author = {M Wybenga and John McPhee and E Kubica} } @proceedings {1023, title = {Robust Stabilization of Articulated Steer Vehicles by Differential Braking}, year = {2006}, chapter = {11 pages}, address = {Alberta}, author = {Nasser Lashgarian Azad and A Khajepour and John McPhee} } @proceedings {1018, title = {Small Angle Analysis of the Dynamically Tuned Gyro}, year = {2006}, pages = {395-408}, address = {London, England}, author = {J Cain and G Heppler and D Staley and John McPhee} } @article {964, title = {Stability Analysis of a Dynamically Tuned Gyroscope}, journal = {J. Guid. Cont. Dyn}, volume = {29}, year = {2006}, pages = {965-969}, author = {G Heppler and John McPhee and D Staley and J Cain} } @proceedings {1019, title = {Using Graph Theory and Symbolic Computing to Generate Efficient Models for Vehicle Dynamics}, year = {2006}, chapter = {19 pages}, address = {Alberta}, author = {K Morency and John McPhee and C Schmitke} } @article {971, title = {Automated Type Synthesis of Planar Mechanisms using Numeric Optimization with Genetic Algorithms}, journal = {ASME J. Mech. Des.}, volume = {126}, year = {2005}, pages = {910-916}, author = {Y Liu and John McPhee} } @proceedings {1028, title = {A Contact Modeling Method Based on Volumetric Properties}, year = {2005}, month = {Sept.}, chapter = {10 pages}, address = {California}, author = {Y Gonthier and C Lange and J Piedboeuf and John McPhee} } @article {967, title = {A Design Methodology for Mechatronic Vehicles: Application of MDO, Multibody Dynamics, and Genetic Algorithms}, journal = {Veh. Sys. Dyn.}, volume = {43}, year = {2005}, pages = {697-733}, author = {Y He and John McPhee} } @proceedings {1026, title = {Dynamic Modelling and Experimental Testing of a Piano Action Mechanism}, year = {2005}, chapter = {13 pages}, address = {California}, author = {M Hirschkorn and John McPhee and S Birkett} } @article {968, title = {Forming Equivalent Subsystem Components to Facilitate the Modelling of Mechatronic Multibody Systems}, journal = {Multibody Sys. Dyn.}, volume = {14}, year = {2005}, pages = {81-109}, author = {C Schmitke and John McPhee} } @inbook {850, title = {Implicit Reduced Involutive Forms and Their Application to Engineering Multibody Systems}, booktitle = {Lecture Notes in Computer Science}, volume = {3519}, year = {2005}, pages = {31-43}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, author = {W Zhou and D Jeffrey and G Reid and C Schmitke and John McPhee}, editor = {H Li and P Olver and G Sommer} } @proceedings {1025, title = {Initial Locomotion Study of an Omni-Directional Rover}, year = {2005}, chapter = {10 pages}, address = {California}, author = {K Low and W Loh and Y Wang and John McPhee} } @proceedings {1029, title = {Localization of Multiple Robots with Simple Sensors}, year = {2005}, month = {Aug.}, pages = {671-676}, address = {Niagara Falls, Canada}, author = {M Peasgood and C Clark and John McPhee} } @article {970, title = {Multidisciplinary Design Optimization of Mechatronic Vehicles with Active Suspensions}, journal = {J. Sound Vib.}, volume = {283}, year = {2005}, pages = {217-241}, author = {Y He and John McPhee} } @article {972, title = {Multidisciplinary Optimization of Multibody Systems with Application to the Design of Rail Vehicles}, journal = {Multibody Sys. Dyn.}, volume = {14}, year = {2005}, pages = {111-135}, author = {Y He and John McPhee} } @article {966, title = {Off-road Lateral Stability Analysis of an Articulated Steer Vehicle with a Rear-mounted Load}, journal = {Int. J. Veh. Sys. Model. Test.}, volume = {1}, year = {2005}, pages = {106-130}, author = {Nasser Lashgarian Azad and John McPhee and A Khajepour} } @article {969, title = {Optimization of Curving Performance of Rail Vehicles}, journal = {Veh. Sys. Dyn.}, volume = {43}, year = {2005}, pages = {895-923}, author = {Y He and John McPhee} } @proceedings {1024, title = {Simulation of Contact Between Complexly Shaped Objects}, year = {2005}, month = {Sept.}, chapter = {8 pages}, address = {Munich, Germany}, author = {Y Gonthier and C Lange and John McPhee and J Piedboeuf} } @proceedings {1027, title = {Stabilization and Energy Optimization of a Dynamic Walking Gait Simulation}, year = {2005}, chapter = {11 pages}, address = {California}, author = {M Peasgood and John McPhee and E Kubica} } @proceedings {1030, title = {Symbolic Modeling of Vehicle Dynamics: A Maple Implementation}, year = {2005}, month = {July}, pages = {45-62}, author = {K Morency and John McPhee and C Schmitke} } @inbook {821, title = {Unified Modelling Theories for the Dynamics of Multidisciplinary Multibody Systems}, booktitle = {Advances in Computational Multibody Systems}, year = {2005}, pages = {129-158}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, author = {John McPhee}, editor = {J.A.C Ambrosio} } @proceedings {1032, title = {Automated Kinematic Synthesis of Planar Mechanisms Using an Evolutionary Approach}, year = {2004}, month = {June}, pages = {362-371}, address = {University of Western Ontario, London}, author = {Y Liu and John McPhee} } @article {973, title = {A Comparison of Different Methods for Modelling Multibody Systems with Electrical Drives}, journal = {Multibody System Dynamics}, volume = {12}, year = {2004}, pages = {209-250}, author = {L Sass and John McPhee and C Schmitke and P Fisette and D Grenier} } @article {974, title = {Dynamic Modeling and Stability Analysis of Articulated Frame Steer Vehicles}, journal = {Int. J. Heavy Veh. Sys.}, volume = {12}, year = {2004}, pages = {28-59}, author = {A Khajepour and Y He and John McPhee and X Wang} } @article {825, title = {Dynamic Modelling of Mechatronic Multibody Systems with Symbolic Computing and Linear Graph Theory}, journal = {Mathematical and Computer Modelling of Dynamical Systems}, volume = {10}, year = {2004}, pages = {1-23}, author = {John McPhee and C Schmitke and S Redmond} } @proceedings {1079, title = {Formulation of Symbolic Motion Equations for Electromechanical Multibody Systems}, year = {2004}, month = {July}, address = {Waterloo, Ontario}, author = {S Redmond and John McPhee} } @proceedings {1031, title = {Friction Compensation of Harmonic Drive Actuators}, year = {2004}, month = {July}, pages = {683-692}, address = {Liguria, Italy}, author = {J.-P Hauschild and G Heppler and John McPhee} } @proceedings {1078, title = {Generating Efficient Equations for Dynamic Simulation of Electromechanical Multibody Systems using Maple, Subsystem Models, and Linear Graph Theory}, year = {2004}, month = {July}, address = {Waterloo, Ontario}, author = {C Schmitke and John McPhee} } @proceedings {1034, title = {Lateral Stability Analysis and Parameter Estimation of Articulated Frame Steer Vehicles}, year = {2004}, month = {June}, pages = {962-971}, address = {University of Western Ontario, London}, author = {Y He and Nasser Lashgarian Azad and C Urbaniak and A Khajepour and John McPhee} } @proceedings {1033, title = {Mechatronic Vehicle Design via Multidisciplinary Optimization}, year = {2004}, month = {June}, pages = {504-513}, address = {University of Western Ontario, London}, author = {Y He and John McPhee} } @proceedings {1080, title = {Modelling of Mechatronic Multibody Systems using Subsystem Models and Linear Graph Theory}, year = {2004}, month = {March}, address = {Halle, Germany}, author = {C Schmitke and John McPhee} } @article {826, title = {A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction}, journal = {Multibody System Dynamics}, volume = {11}, year = {2004}, pages = {209-233}, keywords = {System Dynamics and Control}, author = {Y Gonthier and John McPhee and J Piedboeuf and C Lange} } @proceedings {1077, title = {Simulation of Contact in Multibody Dynamics using Simulink}, year = {2004}, month = {November}, address = {Noordwijk, The Netherlands}, author = {Y Gonthier and C Lange and John McPhee and J Piedboeuf} } @proceedings {1035, title = {Type Synthesis of Planar Mechanisms using Topology as an Optimization Design Variable}, year = {2004}, month = {April}, chapter = {5 pages}, address = {Tianjin, China}, author = {Y Liu and John McPhee} } @proceedings {1082, title = {Application of Multidisciplinary Design Optimization to the Design of Ground Vehicles with Active Suspensions}, year = {2003}, month = {Feb.}, address = {Erlangen, Germany}, author = {Y He and John McPhee} } @article {829, title = {Design Optimization of Rail Vehicles with Passive and Active Suspensions: A Combined Approach using Genetic Algorithms and Multibody Dynamics}, journal = {Vehicle System Dynamics}, volume = {37 Supplement}, year = {2003}, pages = {397-408}, author = {Y He and John McPhee} } @article {978, title = {Dynamic Modelling of Electromechanical Multibody Systems}, journal = {Multibody System Dynamics}, volume = {9}, year = {2003}, pages = {87-115}, author = {M Scherrer and John McPhee} } @proceedings {1036, title = {Dynamic Modelling of Mechatronic Multibody Systems with Symbolic Computing and Linear Graph Theory}, year = {2003}, month = {Feb.}, pages = {854-863}, address = {Vienna, Austria}, author = {John McPhee and S Redmond and C Schmitke} } @article {827, title = {Effective use of Subsystem Models in Multibody and Mechatronic System Dynamics}, journal = {International Journal for Multiscale Computational Engineering}, volume = {1}, year = {2003}, pages = {139-159}, author = {C Schmitke and John McPhee} } @article {977, title = {Inverse Dynamic Analysis of Parallel Manipulators with Full Mobility}, journal = {Mechanism and Machine Theory}, volume = {38}, year = {2003}, pages = {549-562}, author = {T Geike and John McPhee} } @proceedings {1081, title = {Kinematic Model of a Piano Action Mechanism}, year = {2003}, month = {June}, address = {Calgary, Alberta}, author = {M Hirschkorn and S Birkett and John McPhee} } @article {822, title = {Modelling Mechatronic Multibody Systems using Symbolic Subsystem Models}, journal = {Multibody System Dynamics}, year = {2003}, author = {C Schmitke and John McPhee} } @article {975, title = {Multijoint Coordination of Vertical Arm Movement}, journal = {Applied Bionics and Biomechanics}, volume = {1}, year = {2003}, pages = {45-56}, keywords = {Biomechanics and Sports}, author = {A Seth and John McPhee and M Pandy} } @article {835, title = {Stabilization of Constraints of Multibody System Dynamics}, journal = {Mechanics of Structures and Machines}, volume = {31}, year = {2003}, pages = {25-55}, keywords = {System Dynamics and Control}, author = {E Zahariev and John McPhee} } @article {976, title = {Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix}, journal = {Mathematical and Computer Modelling of Dynamical Systems}, volume = {9}, year = {2003}, pages = {417-436}, author = {E Zahariev and John McPhee} } @inbook {823, title = {Virtual Prototyping of Multibody Systems with Linear Graph Theory and Symbolic Computing}, booktitle = {Virtual Nonlinear Multibody Systems}, year = {2003}, pages = {37-56}, publisher = {Kluwer Academic}, organization = {Kluwer Academic}, author = {John McPhee}, editor = {W Schiehlen and M Valasek} } @proceedings {1037, title = {On the Automatic Generation of Inverse Dynamic Solutions for Parallel Manipulators}, year = {2002}, month = {Oct.}, address = {Quebec City, Canada}, author = {T Gieke and John McPhee} } @article {833, title = {Dynamics of Multibody Systems using Virtual Work and Symbolic Programming}, journal = {Mathematical and Computer Modelling of Dynamical Systems}, volume = {8}, year = {2002}, pages = {137-156}, author = {John McPhee and P Shi and J Piedboeuf} } @article {832, title = {Dynamics of Multibody Systems with Multiple Constraints}, journal = {Mathematical and Computer Modelling of Dynamical Systems}, year = {2002}, author = {E Zahariev and John McPhee} } @article {831, title = {Effective Use of Subsystem Models in Multibody and Mechatronic System Dynamics}, journal = {International Journal of Computational Civil and Structural Engineering}, year = {2002}, author = {C Schmitke and John McPhee} } @proceedings {830, title = {Graph-Theoretic Modelling of Multibody Systems}, year = {2002}, month = {June}, publisher = {Czech Republic}, address = {Prague}, author = {John McPhee} } @proceedings {1040, title = {An Integrated Approach Using Genetic Algorithms, Multibody Dynamics and LQG Control for Design Optimization of Ground Vehicles with Active Suspensions}, year = {2002}, month = {May}, address = {Queen{\textquoteright}s University, Canada}, author = {Y He and John McPhee} } @proceedings {1038, title = {Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom}, year = {2002}, month = {July}, pages = {49-58}, address = {Udine, Italy}, author = {T Geike and John McPhee} } @article {980, title = {Optimization of the Lateral Stability of Rail Vehicles}, journal = {Vehicle System Dynamics}, volume = {38}, year = {2002}, pages = {361-390}, author = {Y He and John McPhee} } @article {834, title = {A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction}, journal = {Multibody System Dynamics}, year = {2002}, author = {Y Gonthier and John McPhee and J Piedboeuf and C Lange} } @proceedings {1039, title = {A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction}, year = {2002}, month = {May}, address = {Queen{\textquoteright}s University, Canada}, author = {John McPhee and S Redmond} } @proceedings {1041, title = {Some New Aspects of the Kinematics and Dynamics of Multibody Systems}, year = {2002}, month = {April}, address = {University of Stuttgart, Germany}, author = {E Zahariev and John McPhee} } @article {981, title = {Symbolic Programming of a Graph-Theoretic Approach to Flexible Multibody Dynamics}, journal = {Mechanics of Structures and Machines}, volume = {30}, year = {2002}, pages = {123-154}, author = {P Shi and John McPhee} } @article {979, title = {On the Use of Numerical Optimization to Maximize the Critical Velocity of a Simple Rail Vehicle}, journal = {Transactions of the CSME}, volume = {26}, year = {2002}, pages = {311-322}, abstract = {

Winner of Award for Best Paper of 2002

}, author = {A.E Baumal and John McPhee} } @proceedings {1084, title = {A Comparative Study of Optimization Algorithms used in Ground Vehicle Design}, year = {2001}, month = {Aug.}, address = {Michigan}, author = {Y He and John McPhee} } @article {837, title = {A Deformation Field for Euler-Bernoulli Beams with Application to Flexible Multibody Dynamics}, journal = {Multibody System Dynamics}, volume = {5}, year = {2001}, pages = {79-104}, author = {P Shi and John McPhee and G Heppler} } @article {1103, title = {Kinematic and Static Analysis of a 6-bar Mechanism}, year = {2001}, month = {June}, pages = {14 pages}, address = {Penetanguishene, Ontario}, author = {John McPhee and C Schmitke} } @proceedings {1083, title = {Sub-System Modelling of Mechanical Systems using Linear Graph Theory}, year = {2001}, month = {Aug.}, address = {Michigan}, author = {C Schmitke and John McPhee} } @proceedings {838, title = {A Unified Formulation of Multibody Kinematic Equations in Terms of Absolute, Joint, and Indirect Coordinates}, year = {2001}, month = {Sept.}, address = {Pittsburgh U.S.A.}, author = {John McPhee} } @proceedings {1045, title = {Cross-Coupling Control for Slippage Minimization of a Four-Wheel-Steering Mobile Robot}, year = {2000}, pages = {42-47}, address = {Montreal}, author = {M Makatchev and S Lang and S.K Tso and John McPhee} } @article {982, title = {Design and Analysis of a Facility for Free-floating Flexible Manipulators}, journal = {Transactions of the CSME}, volume = {24}, year = {2000}, pages = {375-390}, author = {D Lovekin and G Heppler and John McPhee} } @proceedings {1044, title = {Design and Control of an Experimental Facility for Emulating Space-Based Robotic Manipulators}, year = {2000}, pages = {481-486}, address = {Montreal}, author = {P Shi and G Heppler and John McPhee} } @proceedings {1043, title = {Dynamic Modelling and Design Optimization of Automotive Suspension Systems}, year = {2000}, month = {May}, address = {Montreal}, author = {I Bruulsema and John McPhee} } @article {839, title = {Dynamics of Flexible Multibody Systems using Virtual Work and Linear Graph Theory}, journal = {Multibody System Dynamics}, volume = {4}, year = {2000}, pages = {355-381}, author = {P Shi and John McPhee} } @article {984, title = {Dynamics of Mountain Bicycles with Rear Suspensions: Design Optimization}, journal = {Sports Engineering}, volume = {3}, year = {2000}, pages = {49-56}, author = {C Good and John McPhee} } @article {983, title = {Polynomial Shape Functions and Numerical Methods for Flexible Multibody Dynamics}, journal = {Mechanics of Structures and Machines}, volume = {29}, year = {2000}, pages = {43-64}, author = {P Shi and John McPhee and G Heppler} } @proceedings {1042, title = {System Design, Modelling, and Control of a Four-Wheel-Steering Mobile Robot}, year = {2000}, month = {Dec.}, pages = {759-763}, address = {Hong Kong}, author = {M Makatchev and John McPhee and S.K Tso and S Lang} } @proceedings {1085, title = {A Unified Modelling Approach for Electro-mechanical Multibody Systems}, year = {2000}, address = {Chicago}, author = {John McPhee and M Scherrer and P Shi} } @article {987, title = {Determination of Minimum-Time Maneuvers for a Robotic Manipulator using Numerical Optimization Methods}, journal = {Mechanics of Structures and Machines}, volume = {2}, year = {1999}, pages = {185-201}, author = {J Heilig and John McPhee} } @article {986, title = {Dynamics of Mountain Bicycles with Rear Suspensions: Modelling and Simulation}, journal = {Sports Engineering}, volume = {2}, year = {1999}, pages = {129-144}, author = {C Good and John McPhee} } @proceedings {1048, title = {Graph-Theoretic Approach to Multibody Dynamics using Virtual Work as a Through Variable}, year = {1999}, month = {13-16 June}, pages = {43-48}, address = {Waterloo, Ontario}, author = {John McPhee} } @proceedings {1046, title = {Inverse Dynamics of Multibody Systems using Virtual Work}, year = {1999}, month = {20-23 September}, pages = {801-817}, address = {Lisbon, Portugal}, author = {J Piedboeuf and P Shi and John McPhee} } @proceedings {1047, title = {Inverse Dynamics of Multibody Systems using Virtual Work and Graph Theory}, year = {1999}, month = {20-24 June}, pages = {1258-1263}, address = {Oulu, Finland}, author = {P Shi and John McPhee} } @proceedings {1087, title = {Modelling Human Upper Limb Biomechanics using Graph Theory}, year = {1999}, month = {Oct.}, pages = {47-48}, address = {Gliwice, Poland}, author = {A Seth and John McPhee} } @article {1104, title = {Modelling of a Free-floating Robotic Manipulator}, year = {1999}, month = {June}, pages = {81 pages}, author = {P Shi and John McPhee and G Heppler} } @proceedings {1088, title = {Prediction of Optimal Arm Motions using a Genetic Algorithm}, year = {1999}, month = {30 May - 3 June}, pages = {339-340}, address = {Hamilton, Ontario}, author = {A Seth and John McPhee} } @proceedings {1086, title = {A Predictive Control Method for Human Motion Simulation}, year = {1999}, month = {Nov.}, pages = {28}, address = {Heidelberg, Germany}, author = {A Seth and John McPhee} } @proceedings {1089, title = {Symbolic Modelling and Dynamic Simulation of Flexible Manipulators using Virtual Work}, year = {1999}, month = {30 May - 3 June}, pages = {355-356}, address = {Hamilton, Ontario}, author = {P Shi and John McPhee} } @proceedings {1090, title = {3D Analysis of Human Locomotion Using Dual-Vectors and Graph Theory}, year = {1998}, month = {14-18 August}, pages = {213-214}, address = {Waterloo, Ontario, Canada}, author = {M.G Ishac and G.C Andrews and John McPhee and A.E Patla and D.A Winter} } @article {988, title = {Application of Genetic Algorithms to the Optimization of an Active Vehicle Suspension Design}, journal = {Computer Methods in Applied Mechanics and Engineering}, volume = {163}, year = {1998}, pages = {87-94}, author = {A.E Baumal and John McPhee and P.H Calamai} } @article {841, title = {Automatic Generation of Motion Equations for Planar Mechanical Systems Using the New Set of "Branch Co-ordinates{\textquoteright}{\textquoteright}}, journal = {Mechanism and Machine Theory}, volume = {33}, year = {1998}, pages = {805-823}, author = {John McPhee} } @proceedings {1091, title = {The Design and Construction of a Facility for Testing Compliant Manipulators}, year = {1997}, month = {June}, chapter = {523-524}, author = {L Chan and John McPhee and G Heppler} } @proceedings {1049, title = {Design and Implementation of a Walking Robot}, year = {1997}, month = {Dec.}, pages = {137-144}, address = {Canberra, Australia}, author = {S Williams and John McPhee and D Horvath} } @proceedings {1051, title = {Graph-Theoretic Analysis and Numerical Optimization of Multibody Systems}, year = {1997}, month = {June}, pages = {71-80}, address = {Varna, Bulgaria}, author = {John McPhee} } @proceedings {1092, title = {A Graph-Theoretic Virtual Work Formulation for Flexible Multibody Dynamics}, year = {1997}, pages = {181-182}, author = {P Shi and John McPhee} } @article {990, title = {Object-Oriented Implementation of A Graph-Theoretic Formulation for Planar Multibody Dynamics}, journal = {International Journal for Numerical Methods in Engineering}, volume = {40}, year = {1997}, pages = {4097-4118}, author = {O.M Oshinowo and John McPhee} } @article {842, title = {A Unified Graph-Theoretic Approach to Formulating Multibody Dynamics Equations in Absolute or Joint Coordinates}, journal = {Journal of the Franklin Institute}, volume = {334B}, year = {1997}, pages = {431-445}, author = {John McPhee} } @proceedings {1050, title = {On the Use of Virtual Work in a Graph-Theoretic Formulation for Multibody Dynamics}, year = {1997}, month = {Sept.}, address = {Sacramento, California}, author = {P Shi and John McPhee} } @article {992, title = {Automated Symbolic Analysis of Mechanical System Dynamics}, journal = {MapleTech}, volume = {3}, year = {1996}, pages = {48-56}, author = {John McPhee and C.E Wells} } @article {1105, title = {Feller Buncher Planar Motion Boom Numerical Optimization Project}, year = {1996}, pages = {56 pages}, address = {Woodstock, Ontario}, author = {A.E Baumal and John McPhee} } @proceedings {1052, title = {Genetic Algorithm Optimization for Active Vehicle Suspension Design}, year = {1996}, pages = {455-464}, abstract = {

Winner of award for Best Paper Lead-authored by a Student

}, author = {A.E Baumal and John McPhee and P.H Calamai}, editor = {S.A Meguid} } @article {991, title = {A Model Reduction Procedure for the Dynamic Analysis of Rail Vehicles Subjected to Linear Creep Forces}, journal = {Vehicle System Dynamics}, volume = {25}, year = {1996}, pages = {349-367}, author = {John McPhee and R.J Anderson} } @proceedings {1093, title = {Modelling of Spatial Mechanical Systems using Linear Graph Theory and {\textquotedblleft}Branch Coordinates{\textquotedblright}}, year = {1996}, address = {Virginia Polytechnic Institute}, author = {John McPhee} } @proceedings {1053, title = {A Symbolic Toolbox for Investigating the Structure of Multibody Dynamics}, year = {1996}, pages = {75-84}, author = {C.E Wells and John McPhee and S.A Meguid} } @article {843, title = {On the Use of Linear Graph Theory in Multibody System Dynamics}, journal = {Nonlinear Dynamics}, volume = {9}, year = {1996}, pages = {73-90}, author = {John McPhee} } @article {844, title = {Wittenburg{\textquoteright}s Formulation of Multibody Dynamics Equations from a Graph-Theoretic Perspective}, journal = {Mechanism and Machine Theory}, volume = {31}, year = {1996}, pages = {201-213}, author = {John McPhee and M.G Ishac and G.C Andrews} } @proceedings {1095, title = {Automated Generation of Symbolic Equations of Motion for Multibody Systems Using Absolute Coordinates}, year = {1995}, pages = {940-941}, address = {University of Victoria, B.C.}, author = {John McPhee and I.C Legrow} } @proceedings {1094, title = {Graph-Theoretic Formulation of Multibody Dynamics Equations in a Hybrid Set of User-Defined Coordinates}, year = {1995}, pages = {818-819}, address = {University of Victoria, B.C}, author = {John McPhee} } @proceedings {1054, title = {Formulation of Multibody Dynamics Equations in Absolute or Relative Coordinates Using the Vector-Network Method}, volume = {ASME DE-Vol.71}, year = {1994}, pages = {361-368}, author = {John McPhee} } @proceedings {1055, title = {Modelling and Simulation of Variable-Mass Mechanical Systems}, year = {1994}, pages = {559-567}, address = {McGill University, Montreal, Canada}, author = {John McPhee} } @article {993, title = {Use of a Model Reduction Procedure to Speed Up Time-Domain Simulations of Rail Vehicles}, journal = {Vehicle System Dynamics}, volume = {23 Supplement}, year = {1994}, pages = {20-33}, author = {R.J Anderson and John McPhee} } @proceedings {1096, title = {A Model Reduction Procedure for Dynamic Analyses of Rail Vehicles}, year = {1993}, pages = {271-272}, address = {Kingston, Ontario}, author = {John McPhee and R.J Anderson} } @inbook {824, title = {Two Different Methods for Simulating the Motion of Variable-Mass Multibody Systems}, booktitle = {Advanced Multibody System Dynamics: Simulation and Software Tools}, year = {1993}, pages = {385-390}, publisher = {Kluwer Academic}, organization = {Kluwer Academic}, author = {John McPhee}, editor = {W Schiehlen} } @proceedings {1056, title = {On the Use of Linear Graph Theory in Multibody System Dynamics}, volume = {2}, year = {1993}, pages = {131-150}, address = {Troia, Portugal}, author = {John McPhee and J.A.C Ambrosio}, editor = {M.S Pereira} } @article {846, title = {Dynamic Analysis and Computer Simulation of Variable-Mass Multi-Rigid-Body Systems}, journal = {International Journal for Numerical Methods in Engineering}, volume = {32}, year = {1991}, pages = {1711-1725}, author = {John McPhee and R N Dubey} } @proceedings {1097, title = {Dynamic Analysis of a Variable-Mass Multibody System}, year = {1991}, pages = {292-293}, address = {University of Manitoba, Winnipeg}, author = {John McPhee and R N Dubey} } @article {847, title = {Dynamics of Multibody Systems with Known Configuration Changes}, journal = {Journal of Applied Mechanics}, volume = {58}, year = {1991}, pages = {215-221}, author = {John McPhee and R N Dubey} } @proceedings {1057, title = {Introduction of a Variable-Mass Element Into a Multibody Dynamic Formulation}, year = {1991}, pages = {147-148}, address = {Munich, Germany}, author = {John McPhee and M. Geradin} } @proceedings {1098, title = {Dynamics of Systems with Time-Varying Inertial Properties}, year = {1989}, month = {May 28 - June 2}, pages = {392-293}, address = {Carleton University, Ottawa, Ontario}, author = {John McPhee} } @article {994, title = {Effect of Sidespin and Wind on Projectile Trajectory, with Particular Applicaiton to Golf}, journal = {American Journal of Physics}, volume = {56}, year = {1988}, pages = {933-939}, author = {John McPhee and G.C Andrews} } @proceedings {1058, title = {Dispersion Envelope Graphs for Small Arms Projectiles}, year = {1987}, month = {October 27-29}, pages = {1-7}, publisher = {American Defense Preparedness Association}, address = {San Diego, California}, author = {G.W Kraak and G.C Andrews and John McPhee} } @proceedings {1059, title = {Simulating Projectile Motion to Evaluate Stability and Dispersion}, year = {1986}, pages = {319-326}, address = {Chicago}, author = {G.C Andrews and G.W Kraak and John McPhee} }