Publications

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2024

Bell, S., A. Nasr, and J. McPhee, "General muscle torque generator model for a two degree-of-freedom shoulder joint", Journal of Biomechanical Engineering, 03/2024. PDF icon bell_2024_general.pdf (854.9 KB)
Nasr, A., S. Bell, R. L. Whittaker, C. R. Dickerson, and J. McPhee, "Robust machine learning mapping of sEMG signals to future actuator commands in biomechatronic devices", Journal of Bionic Engineering, vol. 21, 01/2024. PDF icon nasr_2024_robust.pdf (3.09 MB)
Nasr, A., and J. McPhee, "Scalable musculoskeletal model for dynamic simulations of lower body movement", Computer Methods in Biomechanics and Biomedical Engineering, 02/2024. PDF icon nasr_2024_scalable.pdf (2.16 MB)

2023

Haraguchi, N., A. Nasr, K. A. Inkol, K. Hase, and J. McPhee, "Human and passive lower-limb exoskeleton interaction analysis: Computational study with dynamics simulation using nonlinear model predictive control", The Society of Instrument and Control Engineers (SICE) Annual Conference, Tsu, Japan, IEEE, 09/2023. PDF icon haraguchi_2023_human.pdf (1.22 MB)
Krishnan, B., S. Zanelli, S. Boudaoud, L. Scapucciati, J. McPhee, and N. Jiang, "Age-sensitive high density surface electromyogram indices for detecting muscle fatigue using core shape modelling", Biomedical Signal Processing and Control, vol. 81, 01/2023. PDF icon krishnan_2022.pdf (947.76 KB)
Laschowski, B., and J. McPhee, "Energy-Efficient Actuator Design Principles for Robotic Leg Prostheses and Exoskeletons: A Review of Series Elasticity and Backdrivability", ASME Journal of Computational and Nonlinear Dynamics, 2023. PDF icon Laschowski 2023 (3.62 MB)
Nasr, A., J. Hunter, C. R. Dickerson, and J. McPhee, "Evaluation of a machine-learning-driven active-passive upper-limb exoskeleton robot: Experimental human-in-the-loop study", Wearable Technologies, vol. 4, 05/2023. PDF icon nasr_2023_evaluation.pdf (2.37 MB)
Nasr, A., C. R. Dickerson, and J. McPhee, "Experimental study of fully passive, fully active, and active–passive upper-limb exoskeleton efficiency: An assessment of lifting tasks", Sensors, vol. 24, issue 1, 12/2023. PDF icon nasr_2024_experimental.pdf (1.28 MB)
Hashemi, A., G. Orzechowski, A. Mikkola, and J. McPhee, "Multibody Dynamics and Control using Machine Learning", Multibody System Dynamics, 2023. PDF icon hashemi2023.pdf (1.2 MB)
Nasr, A., A. Hashemi, and J. McPhee, "Scalable musculoskeletal model for dynamic simulations of upper body movement", Computer Methods in Biomechanics and Biomedical Engineering, vol. 27, issue 3, 03/2023. PDF icon nasr_2023_scalable.pdf (6.42 MB)

2022

Laschowski, B., K. A. Inkol, A. Mihailidis, and J. McPhee, "Simulation of Energy Regeneration in Human Locomotion for Efficient Exoskeleton Actuation", IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob): IEEE, 11/2022. PDF icon Laschowski 2022 (833.06 KB)
McPhee, J., "A review of dynamic models and measurements in golf", Sports Engineering, vol. 25, issue 1, pp. 1-19, 12/2022. PDF icon review_golf.pdf (1.92 MB)
Laschowski, B., W. McNally, A. Wong, and J. McPhee, "Environment Classification for Robotic Leg Prostheses and Exoskeletons using Deep Convolutional Neural Networks", Frontiers in Neurorobotics, vol. 15: bioRxiv, 02/2022. PDF icon Laschowski2022 (3.9 MB)
Nasr, A., S. Ferguson, and J. McPhee, "Model-based design and optimization of passive shoulder exoskeletons", J. Comput. Nonlinear Dynam., vol. 17, issue 5, 03/2022. PDF icon Nasr_2022 (1.31 MB)
Nasr, A., A. Hashemi, and J. McPhee, "Model-based mid-level regulation for assist-as-needed hierarchical control of wearable robots: A computational study of human-robot adaptation", Robotics, vol. 11, issue 1, 01/2022. PDF icon Nasr_2022 (4.78 MB)
Nasr, A., S. Bell, and J. McPhee, "Optimal design of active-passive shoulder exoskeletons: a computational modeling of human-robot interaction", Multibody System Dynamics, 11/2022. PDF icon nasr_2022.pdf (2.39 MB)
Febrer-Nafría, M., A. Nasr, M. Ezati, P. Brown, J. M. Font-Llagunes, and J. McPhee, "Predictive multibody dynamic simulation of human neuromusculoskeletal systems: a review", Multibody System Dynamics, 11/2022. PDF icon review_mubo.pdf (422.88 KB)

2021

Laschowski, B., W. McNally, A. Wong, and J. McPhee, "Computer Vision and Deep Learning for Environment-Adaptive Control of Robotic Lower-Limb Exoskeletons", Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC): IEEE , 04/2021. PDF icon Laschowski_2021 (4.31 MB)
Nasr, A., S. Ferguson, and J. McPhee, "Model-based design and optimization of passive shoulder exoskeletons", ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference: ASME, 2021. PDF icon nasr_2021a.pdf (1.27 MB)
Nasr, A., B. Laschowski, and J. McPhee, "Myoelectric control of robotic leg prostheses and exoskeletons: A review", ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference: ASME, 2021. PDF icon Nasr_2021 (1.81 MB)
Inkol, K. A., and J. McPhee, "Simulating Human Upper and Lower Limb Balance Recovery Responses Using Nonlinear Model Predictive Control", Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Mexico, IEEE, 12/2021. PDF icon inkol_embc2021.pdf (1.1 MB)
Jennings, D., S. K. Reaves, J. Sklar, C. Brown, J. McPhee, S. J. Hazelwood, and S. M. Klisch, "Baseball Pitching Arm 3-D Inertial Parameter Calculations from Body Composition Imaging and a Novel Overweight Measure for Youth Pitching Arm Kinetics", Journal of Biomechanical Engineering, 2021. PDF icon Jennings_2021 (284.93 KB)
Nasr, A., K. A. Inkol, S. Bell, and J. McPhee, "InverseMuscleNET: Alternative machine learning solution to static optimization and inverse muscle modeling", Frontiers in Computational Neuroscience, 12/2021. PDF icon Nasr_2021 (3.51 MB)
Nasr, A., S. Bell, J. He, R. L. Whittaker, N. Jiang, C. R. Dickerson, and J. McPhee, "MuscleNET: Mapping electromyography to kinematic and dynamic biomechanical variables by machine learning", Journal of Neural Engineering, 08/2021. PDF icon nasr_2021b.pdf (3.27 MB)
Laschowski, B., R. Sharif Razavian, and J. McPhee, "Simulation of Stand-to-Sit Biomechanics for Robotic Exoskeletons and Prostheses with Energy Regeneration", IEEE Transactions on Medical Robotics and Bionics, vol. 3, issue 2, 05/2021. PDF icon Laschowski_2021 (1.52 MB)

2020

Danaei, B., W. McNally, E. Henrikson, and J. McPhee, "Adjusting a Momentum-Based Golf Clubhead-Ball Impact Model to Improve Accuracy", 13th conference of the International Sports Engineering Association, Online, 22–26 June 2020, 06/2020.
Inkol, K. A., and J. McPhee, "Assessing Control of Fixed-Support Balance Recovery in Wearable Lower-Limb Exoskeletons Using Multibody Dynamic Modelling", International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2020. PDF icon Keaton_2020 (1.23 MB)
Laschowski, B., W. McNally, A. Wong, and J. McPhee, "Comparative Analysis of Environment Recognition Systems for Control of Lower-Limb Exoskeletons and Prostheses", IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), New York City, NY, USA, IEEE, 10/2020. PDF icon Laschowski_2020_BioRob (546.25 KB)
McNally, W., and J. McPhee, "Investigating the Influence of Shaft Balance Point on Clubhead Speed: A Simulation Study", 13th conference of the International Sports Engineering Association, 06/2020.
Ezati, M., P. Brown, B. Ghannadi, and J. McPhee, "Comparison of Direct Collocation Optimal Control to Trajectory Optimization for Parameter Identification of an Ellipsoidal Foot–Ground Contact Model", Multibody System Dynamics, 2020. PDF icon Ezati_2020 (2.27 MB)
Laschowski, B., W. McNally, A. Wong, and J. McPhee, "ExoNet Database: Wearable Camera Images of Human Locomotion Environments", Frontiers in Robotics and Artificial Intelligence, vol. 7, issue 562061, 12/2020. PDF icon Laschowski_2020_Frontiers (548.61 KB)
Inkol, K. A., C. Brown, W. McNally, C. Jansen, and J. McPhee, "Muscle torque generators in multibody dynamic simulations of optimal sports performance", Multibody System Dynamics, 06/2020.
Brown, C., W. McNally, and J. McPhee, "Optimal control of joint torques using direct collocation to maximize ball carry distance in a golf swing", Multibody System Dynamics, 2020. PDF icon brown_2020.pdf (588.71 KB)
Jansen, C., and J. McPhee, "Predictive Dynamic Simulation of Olympic Track Cycling Standing Start Using Direct Collocation Optimal Control", Multibody System Dynamics, 2020. PDF icon Jansen_2020 (2.25 MB)
Brown, C., and J. McPhee, "Predictive Forward Dynamic Simulation of Manual Wheelchair Propulsion on a Rolling Dynamometer", ASME Journal of Biomechanical Engineering, 2020. PDF icon brown_2020.pdf (725.86 KB)

2019

McNally, W., K. Vats, T. Pinto, C. Dulhanty, J. McPhee, and A. Wong, "GolfDB: A Video Database for Golf Swing Sequencing", The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 05/2019.
Laschowski, B., W. McNally, A. Wong, and J. McPhee, "Preliminary Design of an Environment Recognition System for Controlling Robotic Lower-Limb Prostheses and Exoskeletons", IEEE International Conference on Rehabilitation Robotics (ICORR) , Toronto, Canada, IEEE , 07/2019. PDF icon Laschowski_2019_ICORR (398.57 KB)
McNally, W., A. Wong, and J. McPhee, "STAR-Net: Action Recognition using Spatio-Temporal Activation Reprojection", 16th Conference on Computer and Robot Vision (CRV), 04/2019.
McNally, W., E. Henrikson, and J. McPhee, "A continuous analytical shaft model for fast dynamic simulation of the golf swing", Sports Engineering, vol. 22, 11/2019.
Ghannadi, B., R. Sharif Razavian, and J. McPhee, "A Modified Homotopy Optimization for Parameter Identification in Dynamic Systems with Backlash Discontinuity", Nonlinear Dynamics, vol. 95, issue 1, 2019.
Ezati, M., B. Ghannadi, and J. McPhee, "A Review of Simulation Methods for Human Movement Dynamics with Emphasis on Gait", Multibody System Dynamics, 2019. PDF icon ezati_2019.pdf (670.78 KB)
Razavian, R. Sharif, B. Ghannadi, and J. McPhee, "A Synergy-Based Motor Control Framework for the Fast Feedback Control of Musculoskeletal Systems", ASME Journal of Biomechanical Engineering, vol. 141, issue 3, 2019.
Laschowski, B., J. McPhee, and J. Andrysek, "Lower-Limb Prostheses and Exoskeletons with Energy Regeneration: Mechatronic Design and Optimization Review", ASME Journal of Mechanisms and Robotics, vol. 11, issue 4, 2019. PDF icon laschowski_2019.pdf (884.21 KB)
Razavian, R. Sharif, B. Ghannadi, and J. McPhee, "On the Relationship Between Muscle Synergies and Redundant Degrees of Freedom in Musculoskeletal Systems", Frontiers in Computational Neuroscience, vol. 13, 2019.
Hashemi, A., Y. Lin, W. McNally, B. Laschowski, B. Hosking, A. Wong, and J. McPhee, "Integration of Machine Learning with Dynamics and Control: From Autonomous Cars to Biomechatronics", Canadian Society for Mechanical Engineering (CSME) Bulletin, no. 7-8, 2019. PDF icon Hashemi_2019 (341.59 KB)

2018

McNally, W., A. Wong, and J. McPhee, "Action Recognition using Deep Convolutional Neural Networks and Compressed Spatio-Temporal Pose Encodings", 4th Annual Conference on Vision and Intelligent Systems (CVIS), 12/2018.
McNally, W., and J. McPhee, "Dynamic Optimization of the Golf Swing Using a Six Degree-of-Freedom Biomechanical Model", 12th Conference of the International Sports Engineering Association, 02/2018.
McNally, W., J. McPhee, and E. Henrikson, "The Golf Shaft’s Influence on Clubhead-Ball Impact Dynamics", 12th conference of the International Sports Engineering Association, Brisbane, 02/2018.
Hosking, B., and J. McPhee, "Powertrain Modeling and Model Predictive Longitudinal Dynamics Control for Hybrid Electric Vehicles", SAE World Congress, 2018. PDF icon hosking2018a.pdf (1 MB)
Hassanpour, S., and J. McPhee, "A Control-Oriented Modular One-Dimensional Model for Wall-Flow Diesel Particulate Filters", International Journal of Engine Research, vol. 19, issue 3, 2018.
Razavian, R. Sharif, B. Ghannadi, and J. McPhee, "A Synergy-Based Motor Control Framework for the Fast Feedback Control of Musculoskeletal Systems", ASME Journal of Biomechanical Engineering, 2018. PDF icon razavian_2018.pdf (15.48 MB)
Batra, M., J. McPhee, and N. Lashgarian Azad, "Anti-Jerk Dynamic Modeling and Parameter Identification of an Electric Vehicle Based on Road Tests", ASME Journal of Computational and Nonlinear Dynamics, 2018. PDF icon batra2018 (3.33 MB)
Norman-Gerum, V., "Constrained Dynamic Optimization of Sit-To-Stand Motion Driven by Bézier Curves", ASME Journal of Biomechanical Engineering, 2018. PDF icon normangerum_2018.pdf (6.76 MB)
Razavian, R. Sharif, B. Ghannadi, N. Mehrabi, M. Charlet, and J. McPhee, "Feedback Control of Functional Electrical Stimulation for 2D Arm Reaching Movements", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2018. PDF icon razavian2018a.pdf (6.35 MB)
Laschowski, B., N. Mehrabi, and J. McPhee, "Optimization-Based Motor Control of a Paralympic Wheelchair Athlete", Sports Engineering, vol. 21, 2018. PDF icon Laschowski2018 (1.02 MB)
Liang, Y., and J. McPhee, "Symbolic Integration of Multibody System Dynamics with the Finite Element Method", Multibody System Dynamics, vol. 43, issue 4, 08/2018.

2017

Razavian, R. Sharif, B. Ghannadi, and J. McPhee, "Feedback Control of Functional Electrical Stimulation for Arbitrary Upper Extremity Movements", IEEE International Conference on Rehabilitation Robotics (ICORR), London, UK, pp. 1451-1456, 2017. PDF icon razavian2017b.pdf (2.11 MB)
Razavian, R. Sharif, and J. McPhee, "Feedback control of upper extremity motion with FES", Annual Conference of the International Functional Electrical Stimulation Society, London, UK, 2017. PDF icon razavian2017a.pdf (100.06 KB)
Brown, P., and J. McPhee, "Volumetric Contact Model of Ellipsoid-Plane Geometries", ECCOMAS Thematic Conference on Multibody Dynamics, Prague, Czech Republic, 2017. PDF icon brown_eccomas_2017.pdf (130.01 KB)
Brown, P., and J. McPhee, "A 3D ellipsoidal volumetric foot-ground contact model for forward dynamics", Multibody System Dynamics, 2017.
Hassanpour, S., and J. McPhee, "A control-oriented modular one-dimensional model for wall-flow diesel particulate filters", International Journal of Engine Research, pp. 1-19, 2017. PDF icon hassanpour2017.pdf (727.21 KB)
Shourijeh, M., R. Sharif Razavian, and J. McPhee, "Estimation of Maximum Finger Tapping Frequency Using Musculoskeletal Dynamic Simulations", ASME Journal of Computational and Nonlinear Dynamics, vol. 12, issue 5, 2017. PDF icon sharifshourijeh2017a.pdf (1.81 MB)
Mehrabi, N., R. Sharif Razavian, B. Ghannadi, and J. McPhee, "Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control", Frontiers in Computational Neuroscience, vol. 10, issue 143, 2017. PDF icon mehrabi2017a.pdf (2.2 MB)
Brown, P., "Contact Modelling for Forward Dynamics of Human Motion", Systems Design Engineering, vol. MASc, Waterloo, University of Waterloo, 2017. PDF icon brown_peter.pdf (1.92 MB)

2016

McNally, W., D. Balzerson, D. Wilson, and J. McPhee, "Effect of Clubhead Inertial Properties and Driver Face Geometry on Golf ball Trajectories", 11th conference of the International Sports Engineering Association, 12/2016.
Brown, P., and J. McPhee, "A 3D Volumetric Foot-Ground Contact Model", CSB 2016, Hamilton, Canada, 2016.
Razavian, R., and J. McPhee, "A motor control framework for the fast control of a 3D musculoskeletal arm motion using muscle synergy", International Multibody Systems Dynamics, Montreal, Canada, 2016. PDF icon Link to PDF (1.46 MB)
Hassanpour, S., and J. McPhee, "A real-time physics-based model for compressible flow in wall-flow diesel particulate filters under transient loading", Proceedings of The Canadian Society for Mechanical Engineering International Congress 2016, Kelowna, BC, Canada, Canadian Society for Mechanical Engineering, pp. 1-6, June, 2016.
Keblawi, A., S. Hassanpour, and J. McPhee, "A reduced control-oriented model for quasi one dimensional flow in area varying channels", Proceedings of the 24th International Congress of Theoretical and Apllied Mechanics, Montreal, QC, Canada, pp. 1-2, August, 2016.
Brown, P., and J. McPhee, "An Efficient and Continuous Friction Model with Physically Meaningful Parameters", IMSD 2016, Montréal, Canada, 2016.
Mehrabi, N., sadegh. Tajeddin, N. Lashgarian Azad, and J. McPhee, "Application of Newton/GMRES Method to Nonlinear Model Predictive Control of Functional Electrical Stimulation", The 3rd International Conference on Control, Dynamic Systems, and Robotics (CDSR’16), Ottawa, Ontario, Avestia, 2016.
Mehrabi, N., sadegh. Tajeddin, N. Lashgarian Azad, and J. McPhee, "Application of Newton/GMRES Method to Nonlinear Model-Predictive Control of Functional Electrical Stimulation", 3rd International Conference on Control, Dynamic Systems, and and Robotics, Ottawa, Canada, 2016. PDF icon Link to PDF (3.55 MB)
Razavian, R. Sharif, and J. McPhee, "Computational motor control framework based on muscle synergy. Perspectives from dynamics and control engineering", 19th Biennial Meeting of the Canadian Society for Biomechanics, Hamilton, Ontario, 2016.
Razavian, R. Sharif, and J. McPhee, "Control of redundant musculoskeletal systems using muscle synergies", Biomechanics and Neural Control of Movements, Mt Sterling, OH, 2016.
Shourijeh, M., R. Razavian, and J. McPhee, "Estimation of maximum muscle contraction frequency in fnger tapping motion using forward musculoskeletal dynamic simulations", International Multibody Systems Dynamics, Montreal, Canada, 2016. PDF icon sharifshourijeh2016.pdf (1.03 MB)
Mehrabi, N., B. Ghannadi, and J. McPhee, "Nonlinear Model Predictive Control of a Human-Robot Rehabilitation System", 19th Biennial Meeting of the Canadian Society for Biomechanics, Hamilton, Ontario, 2016.
Laschowski, B., N. Mehrabi, and J. McPhee, "Optimal Control of Paralympic Wheelchair Curling", 19th Biennial Meeting of the Canadian Society for Biomechanics, Canada, 2016.
Mehrabi, N., and J. McPhee, "Optimal Dynamics of Human Vertical Jumping", 19th Biennial Meeting of the Canadian Society for Biomechanics, Hamilton, Ontario, 2016.
Mehrabi, N., and J. McPhee, "Predictive Simulation of Cycling with Muscle Fatigue", The 4th Joint International Conference on Multibody System Dynamics, May 29 – June 2, 2016.
Mehrabi, N., and J. McPhee, "Predictive Simulation of Reaching to Moving Targets using Nonlinear Model Predictive Control", The 8th Asian Conference on Multibody Dynamics, Kanazawa, Japan, 2016.
Laschowski, B., and J. McPhee, "Quantifying Body Segment Parameters Using Dual-Energy X-Ray Absorptiometry: A Paralympic Wheelchair Curler Case Report", Conference of the International Sports Engineering Association, vol. 147: Procedia Engineering, 2016. PDF icon Laschowski_2016 (180.3 KB)
Hassanpour, S., A. Keblawi, and J. McPhee, "Real-time solution of one-dimensional distributed-parameter models with application to compressible flow in diesel particulate filters", Proceedings of the 24th International Congress of Theoretical and Apllied Mechanics, Montreal, QC, Canada, pp. 1-2, August, 2016.
Laschowski, B., and V. Nolte, "Statistical Analyses of Unidirectional Static Forces on Instrumented Rowing Oarlocks", Conference of the International Sports Engineering Association, vol. 147: Procedia Engineering, 2016. PDF icon Laschowski_2016 (2) (446.82 KB)
Hassanpour, S., and J. McPhee, "Thermofluid Connector: a new environment for acausal modeling of thermofluid systems", North America Modelica Users' Group Conference, Troy, MI, USA, pp. 1-3, September, 2016.
Brown, P., and J. McPhee, "A Continuous Velocity-Based Friction Model for Dynamics and Control With Physically Meaningful Parameters", ASME Journal of Computational and Nonlinear Dynamics, vol. 11, pp. 054502, 2016.
Laschowski, B., and J. McPhee, "Body Segment Parameters of Paralympic Athletes from Dual-Energy X-Ray Absorptiometry", Sports Engineering, vol. 19, 2016.
Laschowski, B., N. Mehrabi, and J. McPhee, "Inverse Dynamics Modelling of Paralympic Wheelchair Curling", Journal of Applied Biomechanics, 2016. PDF icon laschowski_et_al_2016.pdf (940.66 KB)
Laschowski, B., C. C. Hopkins, J. R. de Bruyn, and V. Nolte, "Modelling the Deflection of Rowing Oar Shafts", Sports Biomechanics, vol. 16, issue 1, 2016.
Laschowski, B., Biomechanical Modelling of Paralympic Wheelchair Curling: University of Waterloo, 2016.

2015

Razavian, R., B. Ghannadi, and J. McPhee, "Control of Musculoskeletal Arm Model Using Muscle Synergy", International Society of Biomechanics, Glasgow, UK, 2015.
Ghannadi, B., N. Mehrabi, and J. McPhee, "Development of a human-robot dynamic model for the model-based controller design of an upper limb rehabilitation robot", ECCOMAS Thematic Conference on Multibody Dynamics, {June 29 - July 2}, Barcelona, Catalonia, Spain, 2015.
Razavian, R., and J. McPhee, "Minimization of Muscle Fatigue as the Criterion to Solve Muscle Forces-Sharing Problem", ASME 2015 Dynamic Systems and Control Conference, vol. 1, Columbus, OH, pp. V001T15A001; 8 pages, 2015.
Brown, P., and J. McPhee, "Volumetric Contact Knee Model for Forward Dynamics Simulation", Ontario Biomechanics Conference, Alliston, ON, 2015.
Taghavipour, A., M. Vajedi, N. Lashgarian Azad, and J. McPhee, "A Comparative Analysis of Route-based Energy Management Systems for PHEVs", Asian Journal of Control, Accepted, 2015.
Razavian, R., N. Mehrabi, and J. McPhee, "A model-based approach to predict muscle synergies using optimization: application to feedback control", Frontiers in computational neuroscience, 2015.
Razavian, R., N. Mehrabi, and J. McPhee, "A Neuronal Model of Central Pattern Generator to Account for Natural Motion Variation", ASME Journal of Computational and Nonlinear Dynamics, vol. 11, Aug, 2015.
Mehrabi, N., R. Razavian, and J. McPhee, "A Physics-Based Musculoskeletal Driver Model to Study Steering Tasks", ASME Journal of Computational and Nonlinear Dynamics, vol. 10, pp. 1-8, 2015.
Mozaffari, A., M. Vajedi, and N. Lashgarian Azad, "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", Neurocomputing, vol. 151, 2015.
Adibi-asl, H., R. Fraser, and J. McPhee, "Acasual Powertrain Modelling with Cycle-by-cycle Spark Ignition Engine Model", International Journal of Powertrains, 2015.
Zhao, X., A. Ing, N. Lashgarian Azad, and J. McPhee, "An Optimal Gear Shifting Strategy for Heavy Trucks with Trade-off Study Between Trip Time and Fuel Economy", International Journal of Heavy Vehicle Systems, Accepted, 2015.
Ing, A., and J. McPhee, "Automated Topology Optimization of Hybrid Electric Vehicle Powertrains", International Journal of Electric and Hybrid Vehicles, 2015.
Taghavipour, A., J. McPhee, and N. Lashgarian Azad, "Design and Evaluation of a Predictive Powertrain Control System for a PHEV to Improve Fuel Economy and Emissions", IMechE Part D: Journal of Automobile Engineering, vol. 229, pp. 624-640, 2015.
Mehrabi, N., J. McPhee, and N. Lashgarian Azad, "Design and Evaluation of an Observer-based Disturbance Rejection Controller for Electric Power Steering Systems", IMechE Part D: Journal of Automobile Engineering, Accepted, 2015.
Vajedi, M., and N. Lashgarian Azad, "Ecological Adaptive Cruise Controller for Hybrid Electric Vehicles Using Nonlinear Model Predictive Control", IEEE Intelligent Transportation Systems Transactions, 2015.
Petersen, W., and J. McPhee, "Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model", ASME Journal of Computational and Nonlinear Dynamics, vol. 10, pp. 1-12, 2015.
Shourijeh, M., and J. McPhee, "Foot Contact Modelling within Human Gait Simulations: from Spring-Damper to Hyper-Volumetric Models", Multibody Sys. Dyn., Accepted, 2015.
Mozaffari, A., M. Vajedi, and N. Lashgarian Azad, "Multi-objective component sizing of a power-split plug-in hybrid electric vehicle powertrain combined with optimal power management", Engineering and Optimization, 2015.
Masoudi, R., T. Uchida, and J. McPhee, "Parameter Estimation of an Electrochemistry-based- Lithium-ion Battery Model", Journal of Power Sources, 2015.
Taghavipour, A., N. Lashgarian Azad, and J. McPhee, "Real-time Predictive Control Strategy for a Plug-in Hybrid Electric Powertrain", Mechatronics, 2015.
Masoudi, R., T. Uchida, and J. McPhee, "Reduction of Multibody Dynamic Models in Automotive Systems using the Proper Orthogonal Decomposition", ASME Journal of Computational and Nonlinear Dynamics, vol. 10, pp. 1-8, 2015.
Mehrabi, N., R. Razavian, and J. McPhee, "Steering Disturbance Rejection using a Physics-based Neuro-musculoskeletal Driver Model", Vehicle System Dynamics, 2015.
Banerjee, J., and J. McPhee, "System dynamic modelling and simulation of hydrodynamic machines", Mathematical and Computer Modelling of Dynamical Systems, pp. 1-33, Aug 2015.
Laschowski, B., and V. Nolte, "The Effects of Oar-Shaft Stiffness and Length on Rowing Biomechanics", Journal of Sports Engineering & Technology, vol. 229, issue 4, 2015.

2014

Vajedi, M., A. Taghavipour, N. Lashgarian Azad, and J. McPhee, "A comparative analysis of route-based power management strategies for real-time application in plug-in hybrid electric vehicles", American Control Conference, 2014.
Razavian, R., and J. McPhee, "CPG-Like Motor Control Model for Periodic Arm Motion", World Congress of Biomechanics, Boston, MA, 2014.
Razavian, R., N. Mehrabi, and J. McPhee, "Definition of Muscle Synergies for Automobile Steering", International Shoulder Group meeting, Waterloo, Canada, 2014.
Mehrabi, N., and J. McPhee, "Evaluation of a Musculoskeletal Arm Model for Automobile Drivers using Electromyography", 10th Conference of the International Shoulder Group, {July 13-15}, Waterloo, Ontario, 2014.
Masoudi, R., S. Birkett, and J. McPhee, "A Mechanistic Multibody Model for Simulating the Dynamics of a Vertical Piano Action", ASME Journal of Computational and Nonlinear Dynamics, vol. 9, pp. 1-10, Published, 2014.
Petersen, W., and J. McPhee, "A Study of Volumetric Contact Modelling Approaches in Rigid Tire Simulation for Planetary Rover Application", Int. J. Vehicle Design, vol. 64, pp. 262-279, 2014.
Seaman, A., T. S. Dao, and J. McPhee, "A survey of mathematics-based equivalent-circuit and electrochemical battery models for hybrid and electric vehicle simulation", J. Power Sources, vol. 256, pp. 410-423, 2014. PDF icon seaman2014.pdf (1.05 MB)
Banerjee, J., "A Volumetric Contact Model to Study the Effect of Lane Friction and the Radii of Gyration on the Hook Shot in Indoor Bowling", Procedia Engineering, vol. 72, pp. 429 - 434, 2014.
Shourijeh, M., and J. McPhee, "Forward Dynamic Optimization of Human Gait Simulations: A Global Parameterization Approach", ASME Journal of Computational and Nonlinear Dynamics, vol. 9, pp. 1-11, 2014.
Shourijeh, M., and J. McPhee, "Forward Dynamic Optimization of Human Gait Simulations: A Global Parameterization Approach", ASME J. Comp. Nonlinear Dyn, 2014.
Banerjee, J., and J. McPhee, "Graph-theoretic Sensitivity Analysis of Dynamic Multibody Systems", ASME Journal of Computational and Nonlinear Dynamics, vol. 9, pp. 1-8, 2014.
Vajedi, M., and N. Lashgarian Azad, "Intelligent power management of plugin hybrid electric vehicles , part I: real-time optimum SOC trajectory builder", International Journal of Electric and Hybrid Vehicles, vol. 6, 2014.
Vajedi, M., and N. Lashgarian Azad, "Intelligent power management of plugin hybrid electric vehicles, part II: real-time route based power management", International Journal of Electric and Hybrid Vehicles, vol. 6, 2014.
Uchida, T., A. Callejo, G. J de Jalon, and J. McPhee, "On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates", Multibody System Dynamics, vol. 31, pp. 371-392, 2014.
Uchida, T., C. Vyasarayani, M. Smart, and J. McPhee, "Parameter Identification for Multibody Systems Expressed in Differential-Algebraic Form", Multibody Sys. Dyn, vol. 31, pp. 393-403, Published, 2014.
Banerjee, J., J. McPhee, P. Goossens, T. S. Dao, and HD. Ahn, "Physics-based Models, Sensitivity Analysis and Optimization of Automotive Batteries", SAE International Journal of Passenger Cars: Electronic and Electrical Systems, vol. 7, pp. 18-27, 2014.
Hassanpour, S., Dynamics of Gyroelastic Continua, Waterloo, ON, Canada, University of Waterloo, 2014.
Laschowski, B., The Effects of Oar-Shaft Stiffness and Length on Rowing Biomechanics: University of Western Ontario, 2014.

2013

Banerjee, J., and J. McPhee, "Symbolic Sensitivity Analysis of Multibody Systems", Multibody Dynamics: Computational Methods and Applications: Springer Netherlands, pp. 123-146, 2013.
Mehrabi, N., R. Razavian, and J. McPhee, "A Three-Dimensional Musculoskeletal Driver Model to Study Steering Tasks", ASME Design Engineering Technical Conference, Portland, DETC2013-13101, 2013.
Razavian, R., and J. McPhee, "Central Pattern Generator (CPG) in the Control of Periodic Elbow Flexion/Extension", Ontario Biomechanics Conference (OBC), Barrie, Canada, 2013.
Norman-Gerum, V., and J. McPhee, "Comparison of Cylindrical Wrapping Geometries to Via Points for Modelling Muscle Paths in the Estimation of Sit-to-Stand Muscle Forces", ASME Design Engineering Technical Conference, Portland, DETC2013-13437, 2013.
Shourijeh, M., and J. McPhee, "Efficient Hyper-Volumetric Contact Dynamic Modelling of the Foot within Human Gait Simulations", ASME Design Engineering Technical Conference, Portland, DETC2013-13446, 2013.
Petersen, W., and J. McPhee, "Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model", ASME 15th International Conference on Advanced Vehicle Technologies, Portland, DETC 2013-13486, 2013. PDF icon Link to PDF (2.53 MB)
Razavian, R., N. Lashgarian Azad, and J. McPhee, "A Battery Hardware-in-the-Loop Setup for Concurrent Design and Evaluation of Real-Time Optimal HEV Power Management Controllers", Int. J. Elec. Hybrid Vehicles, vol. 5, pp. 177-194, 2013.
Jalali, K., T. Uchida, J. McPhee, and S. Lambert, "Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller", SAE Int. J. Passeng. Cars Electron. Electr. Syst, vol. 6, pp. 241-254, 2013.
Jalali, K., T. Uchida, S. Lambert, and J. McPhee, "Development of an Advanced Torque Vectoring Control System for an Electric Vehicle with In-Wheel Motors using Soft Computing Techniques", SAE Int. J. Alt. Power, vol. 2, pp. 261-278, 2013.
Jalali, K., T. Uchida, J. McPhee, and S. Lambert, "Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller", SAE Int. J. Passeng. Cars Electron. Electr. Syst, vol. 6, pp. 222-240, 2013.
Vyasarayani, C., A. Gupta, and J. McPhee, "Galerkin Approximations with a Moving Boundary for State Dependent Delay Differential Equations", ASME Journal of Dynamics Systems, Measurement, and Control, vol. 135, pp. 1-6, 2013.
Vyasarayani, C., A. Gupta, and J. McPhee, "Galerkin Approximations with a Moving Boundary for State Dependent Delay Differential Equations", to appear in ASME J. Dyn. Sys. Meas. Control., 2013.
Shourijeh, M., and J. McPhee, "Optimal Control and Forward Dynamics of Human Periodic Motions Using Fourier Series for Muscle Excitation Patterns", ASME J. Comp. Nonlinear Dyn, vol. 9, pp. 1-7, Published, 2013.
Hall, A., T. Uchida, F. Loh, C. Schmitke, and J. McPhee, "Reduction of a Vehicle Multibody Dynamic Model using Homotopy Optimization", Archive Mech. Eng, pp. 23-35, Published, 2013.
Boos, M., and J. McPhee, "Volumetric Modelling and Experimental Validation of Normal Contact Dynamic Forces", ASME J. Comp. Non. Dyn, vol. 8, pp. 021006:1-8, 2013.

2012

Vyasarayani, C., T. Uchida, J. McPhee, and A. Carvalho, "Parameter Identification in Dynamic Systems using the Homotopy Optimization Approach", Identification for Automotive Systems, vol. 418, New York, Springer-Verlag, pp. 129-145, 2012.
Masoudi, R., and J. McPhee, "A Mechanistic Model of Compression Hysteresis in Compliant Interfaces in Multibody Dynamic Simulation of a Piano Action Mechanism", Int. Conf. Multibody Sys. Dyn, Stuttgart, Germany, 2012.
Seaman, A., and J. McPhee, "Comparison of Optical and Inertial Tracking of Full Golf Swings", Procedia Engineering, vol. 34: Int. Sports Eng. Assoc, pp. 461-466, 2012.
Jalali, K., T. Uchida, J. McPhee, and S. Lambert, "Development of a Fuzzy Slip Control System for Electric Vehicles with In-wheel Motors", SAE Congress, Detroit, USA, 2012.
Jalali, K., S. Lambert, and J. McPhee, "Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle", SAE Congress, Detroit, USA, 2012.
Shourijeh, M., and J. McPhee, "Dynamic Optimization of Human Forearm Simulations Parameterizing the Muscle Excitations", Proc. Can. Soc. Biomech, Vancouver, B.C, 2012.
Boos, M., and J. McPhee, "Friction Modelling and Validation for a Volumetric Contact Dynamics Model", Int. Conf. Multibody Sys. Dyn, Stuttgart, Germany, 2012.
Banerjee, J., and J. McPhee, "Graph-theoretic Modelling of an Automotive Torque Converter", Mathematical Modelling (MathMOD 2012), vol. 7, Part 1, Austria, pp. 1219-1224, 2012.
Petersen, W., and J. McPhee, "Identification of Volumetric Wheel/Soil Interaction Model Parameters from Planetary Rover Experiments", Int. Soc. Terrain-Vehicle Sys., South Africa, 2012.
McPhee, J., "MapleSim in Engineering Research", 3rd Annual MapleSim Academic Summer Workshop, McMaster University, Hamilton, 19 July, 2012.
McPhee, J., and T. S. Dao, "Mathematics-based Modelling of Series-Hybrid Electric Vehicles", SAE Webinar to 234 automotive engineers, 27 Sept., 2012.
Adibi-asl, H., N. Lashgarian Azad, and J. McPhee, "Modeling Torque Converter Characteristics in Automatic Drivelines: Lock-up Clutch and Engine Braking Simulation", ASME Int. Conf. Adv. Vehicle Tech, Chicago, USA, Paper DETC2012-70222, 2012.
Razavian, R., N. Lashgarian Azad, and J. McPhee, "On Real-time Optimal Control of a Series Hybrid Electric Vehicle with an Ultra-Capacitor", Amer. Control Conf., Montreal, Canada, 2012.
Uchida, T., A. Callejo, G. J de Jalon, and J. McPhee, "On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates", Int. Conf. Multibody Sys. Dyn, Stuttgart, Germany, 2012.
Uchida, T., C. Vyasarayani, M. Smart, and J. McPhee, "Parameter Identification for Multibody Systems Governed by DAEs", Int. Conf. Multibody Sys. Dyn, Stuttgart, Germany, 2012.
Banerjee, J., H. Adibi-asl, N. Lashgarian Azad, and J. McPhee, "Parametric Importance Analysis and Design Optimization of a Torque Converter Model using Sensitivity Information", SAE World Congress, Detroit, USA, 2012.
Taghavipour, A., M. Vajedi, N. Lashgarian Azad, and J. McPhee, "Predictive Power Management Strategy for a PHEV Based on Different Levels of Trip Information", IFAC Workshop on Engine and Powertrain Control Simulation and Modeling, Paris, France, 2012.
Hall, A., T. Uchida, F. Loh, J. McPhee, and C. Schmitke, "Reduction of a Vehicle Multibody Dynamic Model using Homotopy Optimization", Int. Conf. Multibody Sys. Dyn, Stuttgart, Germany, 2012.
Banerjee, J., and J. McPhee, "Simulation of the Three-dimensional Motion of a Cricket Ball using a Volumetric Contact Model", Procedia Engineering, vol. 34: Int. Sports Eng. Assoc., pp. 676-681, 2012.
Mehrabi, N., M. Shourijeh, and J. McPhee, Study of Human Steering Tasks using a Neuromuscular Driver Model, Seoul, Korea, Adv. Vehicle Control, 2012.
Vajedi, M., A. Taghavipour, and N. Lashgarian Azad, "Traction-motor power ratio and speed trajectory optimization for power split Plug-in Hybrid Electric Vehicles using route information", International Mechanical Engineering Congress and Exposition, ASME, 2012.
Taghavipour, A., N. Lashgarian Azad, and J. McPhee, "An optimal power management strategy for power split plug-in hybrid electric vehicles", Int. J. Vehicle Design, vol. 60, issue 3/4, pp. 286-304, 2012. PDF icon Link to PDF (812.71 KB)
Taghavipour, A., N. Lashgarian Azad, and J. McPhee, "Design and Evaluation of a Predictive Powertrain Control System for a PHEV to Improve Fuel Economy and Emissions", submitted to Int. J. Vehicle Des., 2012.
Razavian, R., A. Taghavipour, N. Lashgarian Azad, and J. McPhee, "Design and Evaluation of a Real-time Fuel optimal Control System for Series Hybrid Electric Vehicles", Int. J. Elec. Hybrid Vehicles, vol. 4, pp. 260-288, 2012.
Jalali, K., T. Uchida, J. McPhee, and S. Lambert, "Development of a Fuzzy Slip Control System for Electric Vehicles with In-wheel Motors", SAE International Journal of Alternative Powertrains, vol. 1, pp. 46-64, 2012.
Jalali, K., S. Lambert, and J. McPhee, "Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle", SAE Int. J. Passenger Cars Electron. Electr. Sys., vol. 5, pp. 100-113, 2012.
Uchida, T., and J. McPhee, "Driving Simulator with Double-wishbone Suspension using Efficient Block-triangularized Kinematic Equations", Multibody Sys. Dyn., vol. 28, pp. 331-347, 2012.
Millard, M., J. McPhee, and E. Kubica, "Foot Placement and Balance in 3D", ASME J. Comp. Non. Dyn., vol. 7, pp. 021015:1-14, 2012.
Adibi-asl, H., N. Lashgarian Azad, and J. McPhee, "Math-based Torque Converter Modelling to Evaluate Damping Characteristics and Reverse Flow Mode", International Journal of Vehicle Systems Modelling and Testing, vol. 9, pp. 36-55, 2012.
Vyasarayani, C., A. Abdel-Rahman, and J. McPhee, "Modeling of Contact and Stiction in Electrostatic Micro-Cantilever Actuators", ASME J. Nano. Eng. Med, vol. 3, pp. 1-8, 2012.
Vyasarayani, C., T. Uchida, and J. McPhee, "Nonlinear Parameter Identification in Multibody Systems using Homotopy Continuation", ASME J. Comp. Non. Dyn., vol. 7, pp. 011012:1-8, 2012.
Vyasarayani, C., S. Sandhu, and J. McPhee, "Nonsmooth Modeling of Vibro-Impacting Euler-Bernoulli Beam", Advances in Acoustics and Vibration, vol. 12, pp. 268595: 1-9, 2012.
Uchida, T., A. Callejo, G. J de Jalon, and J. McPhee, "On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates", submitted to Multibody Sys. Dyn., 2012.
Taghavipour, A., N. Lashgarian Azad, and J. McPhee, "Optimal Power Management Strategy for Power Split Plug-in Hybrid Electric Vehicles", Int. J. Vehicle Design, vol. 60, pp. 286-304, 2012.
Banerjee, J., H. Adibi-asl, N. Lashgarian Azad, and J. McPhee, "Parametric Importance Analysis and Design Optimization of a Torque Converter Model using Sensitivity Information", SAE Int. J. Passenger Cars Mech. Sys, vol. 5, pp. 621-638, 2012.
Dao, T. S., C. Vyasarayani, and J. McPhee, "Simplification and Order Reduction of Lithium-ion Battery Model based on Porous-Electrode Theory", Journal of Power Sources, vol. 198, pp. 329-337, 2012.
Vyasarayani, C., T. Uchida, and J. McPhee, "Single-shooting Homotopy Method for Parameter Identification in dynamical Systems", Phys. Review E., vol. 85, pp. 036201:1-5, 2012.
Uchida, T., and J. McPhee, "Using Grobner Bases to Generate Efficient Kinematic Solutions for the Dynamic Simulation of Multi-loop Mechanisms", Mech. Mach. Theory, vol. 52, pp. 144-157, 2012.
Boos, M., and J. McPhee, "Volumetric Modeling and Experimental Validation of Normal Contact Dynamic Forces", ASME Journal of Computational and Nonlinear Dynamics, vol. 8, pp. 021006:1-8, 2012. PDF icon Link to PDF (994.38 KB)

2011

McPhee, J., and O. Vahid, "Advanced Machine Design with Symbolic Modeling and Simulation Technology", ASME Webinar to 200 mechanical engineers, 21 June, 2011.
Wright, D., J. McPhee, A. Khajepour, and V. Krovi, "Advanced Physical Modelling Tackles the Complexity of Modern Engineering", ASEEWebinar to 50 engineering educators, 7 Dec., 2011.
Dao, T. S., A. Seaman, J. McPhee, and K. Shigematsu, "Development of a High-Fidelity Series- Hybrid Electric Vehicle Model using a Mathematics-Based Approach", Proc. JSAE Congress, 2011.
Uchida, T., and J. McPhee, "Driving Simulator with Double-Wishbone Suspension using Block-Triangularized Kinematic Equations for Real-Time Performance", Proc. Multibody Dyn., 2011.
Uchida, T., and J. McPhee, "Efficient Solution of Kinematics for Multi-loop Mechanisms using Grobner Bases", Proc. 13th World Contress Mech. Mach. Sci., Mexico, 2011.
Petersen, W., C. Vyasarayani, and J. McPhee, "Flexible Planetary Rover Tire Model with Volumetric Wheel/Soil Interface", Proc. Int. Soc. Terrain-Vehicle Sys, Virginia, USA, 2011.
Millard, M., E. Kubica, and J. McPhee, "Forward Dynamic Human Gait Simulation using a SLIP Target Model", Procedia IUTAM, vol. 2, pp. 142-157, 2011.
Banerjee, J., and J. McPhee, "Graph-Theoretic Sensitivity Analysis of Multibody Systems", Proc. Multibody Dyn., 2011.
Adibi-asl, H., N. Lashgarian Azad, and J. McPhee, "Math-based Modeling and Parametric Sensitivity Analysis of Torque Converter Performance Characteristics", SAE Congress, 2011.
Banerjee, J., T. S. Dao, and J. McPhee, "Mathematical Modeling and Symbolic Sensitivity Analysis of Ni-MH Batteries", SAE Congress, 2011.
Millard, M., E. Kubica, and J. McPhee, "Modelling Human Foot Placement in 2D and 3D", Proc. Int. Soc. Biomech, Belgium, 2011.
Vyasarayani, C., T. Uchida, and J. McPhee, "Nonlinear Parameter Identification in Multibody Systems using Homotopy Continuation", Proc. Multibody Dyn., Belgium, 2011.
Shourijeh, M., and J. McPhee, "Optimal Control and Forward Dynamics of Periodic Forearm Motions using Fourier Series for Muscle Excitations", Proc. Amer. Soc. Biomech, 2011.
Mehrabi, N., N. Lashgarian Azad, and J. McPhee, "Optimal Disturbance Rejection Control Design for Electric Power Steering Systems", IEEE Conf. Decision Control, Orlando, USA, 2011.
Wright, D., T. S. Dao, and J. McPhee, "Physical Models of Automotive Batteries for EV and HEV Applications", SAE Webinar to 300 automotive engineers, 29 Nov., 2011.
Boos, M., and J. McPhee, "Volumetric Contact Dynamics Models and Experimental Validation of Normal Forces for Simple Geometries", Proc. ASME IDETC, 2011.
Dao, T. S., and J. McPhee, "Dynamic Modeling of Electrochemical Systems using Linear Graph Theory", J. Power Sources, vol. 196, pp. 10442-10454, 2011.
Vyasarayani, C., A. Abdel-Rahman, J. McPhee, and S. Birkett, "Modelling MEMS Resonators Past Pull-in", ASME J. Comp. Non. Dyn., vol. 6, pp. 031008:1-7, 2011.
Vyasarayani, C., T. Uchida, J. McPhee, and A. Carvalho, "Parameter Identification in Dynamic Systems using the Homotopy Optimization Approach", Multibody Sys. Dyn., vol. 26, pp. 411-424, 2011.
Vyasarayani, C., T. Uchida, and J. McPhee, "Parameter Identification in Multibody Systems using Lie Series Solutions and Symbolic Computation", J. Comp. Non. Dyn, vol. 6, pp. 041011:1-9, 2011.
Uchida, T., and J. McPhee, "Triangularization Kinematic Constraint Equations using Grobner Bases for Real-time Dynamic Simulation", Multibody System Dynamics, vol. 25, pp. 335-356, 2011.

2010

Sandhu, S., M. Millard, D. Brekke, and J. McPhee, "3D Dynamic Modelling and Simulation of a Golf Drive", 8th ISEA, Procedia Engineering 2, Austria, pp. 3243-3248, 2010.
Shourijeh, M., J. McPhee, and R. Wells, "A Model for Forward Dynamic Simulation of Rapid Tapping Motion of Index Finger", Proc. Canadian Soc. Biomechanics, Kingston, 2010.
Sandhu, S., and J. McPhee, "A Two-Dimensional Nonlinear Volumetric Foot Contact Model", Proc. ASME IMecE, Vancouver, 2010.
Petersen, W., and J. McPhee, "A Volumetric Contact Model for Off-road Tire/Soil Dynamic Simulation", Proc. ASME IDETC, Montreal, 2010.
Petersen, W., and J. McPhee, "Advanced Golf Clubhead Design", ASME ME Today on-line magazine, vol. 11, Jan., 2010.
Sandhu, S., and J. McPhee, "Computationally Efficient Partitioned Dynamic Simulation of Multibody Systems using Implicit Time Integrators", Proc. Euromech Colloquium 515: Adv. Appl. Persp., Bulgaria, 2010.
Vyasarayani, C., S. Sandhu, and J. McPhee, "Effective Modelling of Sticking Motions in Vibro- Impacting Continuous Systems", Proc. ASME ImecE, Vancouver, 2010.
Dao, T. S., J. McPhee, and T. Lee, "High Fidelity Physical Models of Automotive Batteries", IEEE Spectrum Webinar to 170 electrical engineers, 22 Sept., 2010.
Millard, M., E. Kubica, and J. McPhee, "Mapping Spring Forces onto Anthropomorphic Legs", Proc.1st IMSD, Finland, 2010.
Seaman, A., T. S. Dao, and J. McPhee, "Mathematics-based Modelling of a Series Hybrid Electric Vehicle", 5th Asian Conf. Multibody Dyn., Japan, 2010.
Vyasarayani, C., T. Uchida, A. Carvalho, and J. McPhee, "Parameter Identification in Dynamic Systems using the Homotopy Optimization Approach", Proc. Workshop Ident. Auto. Sys., Austria, 2010.
Rancourt, JS., M. Millard, and J. McPhee, "Player Testing and Statistical Analysis of Two Different Methods for Spine-aligning Golf Club Shafts", 8th ISEA, , Procedia Engineering 2, Austria, pp. 3355-3360, 2010.
McPhee, J., W. Bombardier, and C. Schmitke, "Symbolic Formulation of Multibody Dynamic Equations for Wheeled Vehicle Systems on Three-Dimensional Roads", Proc. SAE World Congress, Detroit, 2010.
Seaman, A., and J. McPhee, "Symbolic Math-based Battery Modelling for Electric Vehicle Simulation", Proc. ASME IDETC, Montreal, 2010.
Uchida, T., and J. McPhee, "Triangularizing Kinematic Constraint Equations using Grobner Bases for Real-time Dynamic Simulation", Proc. 1st IMSD, Finland, 2010.
Boos, M., and J. McPhee, "Volumetric Contact Models and Experimental Validation", Proc. 1st IMSD, Finland, 2010.
Vyasarayani, C., J. McPhee, and S. Birkett, "Modelling Impacts Between a Continuous System and a Rigid Obstacle Using Coefficient of Restitution", ASME J. Appl. Mech., vol. 77, pp. 021008:1-7, 2010.
Sandhu, S., and J. McPhee, "Partitioned Dynamic Simulation of Multibody Systems", ASME J. Comp. Non. Dyn., vol. 5, pp. 031007:1-7, 2010.
Bombardier, W., J. McPhee, and C. Schmitke, "Symbolic Formulation of Multibody Dynamic Equations for Wheeled Vehicle Systems on 3D Roads", SAE Int. J. Mater. Manuf., vol. 3, pp. 454-467, 2010.

2009

Millard, M., J. McPhee, and E. Kubica, "Multi-step Forward Dynamic Gait Simulation", Multibody Dynamics, vol. 12 of Computational Methods in Applied Sciences: Springer, 2009. PDF icon Link to PDF (1.08 MB)
Gonthier, Y., C. Lange, and J. McPhee, "A Volumetric Contact Model Implemented using Polynomial Geometry", Proc. Multibody Dynamics, Poland, 2009.
Petersen, W., J. McPhee, and A. Salehian, "Comparison of Golf Ball/Driver Impact Models with Mechanical Impedance Matching Theory", Proc. ASME SMASIS, California, 2009.
Genoud, E., and J. McPhee, "Design of an Improved Ice Hockey Stick Test Machine", Proc. CANCAM, Halifax, 2009.
Masoudi, R., S. Birkett, and J. McPhee, "Dynamic Model of a Vertical Piano Action Mechanism", Proc. ASME DETC, California, 2009.
Millard, M., E. Kubica, and J. McPhee, "Foot Placement and Balance in 3D", Proc. Dynamic Walking Conference, Vancouver, 2009, 2009.
Jalali, K., T. Uchida, J. McPhee, and S. Lambert, "Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques", SAE 2009 World Congress, Detroit, 2009.
Jalali, K., J. McPhee, H. Vogt, and C. Schmitke, "Mechatronic Modelling and Real-time Simulation of an Electric Vehicle with In-wheel Motors", Proc. CANCAM, Halifax, 2009.
Bombardier, W., and J. McPhee, "Symbolic Modeling of Wheeled Vehicles on 3D Roads", Proc. Multibody Dynamics, Poland, 2009.
Khajepour, A., J. McPhee, and A. Abdel-Rahman, "The Effect of Pulsed Active Steering on the Dynamic Roll Response of a Passenger Vehicle", Proc. ASME WAM, Florida, 2009.
Azad, N. Lashgarian, A. Khajepour, and J. McPhee, "A Survey on Stability Enhancement Strategies for Articulated Steer Vehicles", Int. J. Heavy Veh. Sys., vol. 16, pp. 26-48, 2009.
Jalali, K., K. Bode, S. Lambert, and J. McPhee, "Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors", SAE International Journal of Passenger Cars - Electronic and Electrical Systems, vol. 1, pp. 211-219, 2009.
Millard, M., D. Wright, J. McPhee, E. Kubica, and D. Wang, "Human Foot Placement and Balance in the Sagittal Plane", ASME J. Biomech. Eng, vol. 131, pp. 121001:1-7, 2009. PDF icon Link to PDF (163.43 KB)
Jalali, K., T. Uchida, J. McPhee, and S. Lambert, "Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques", SAE Int. J. Passeng. Cars – Electron. Electr. Syst., vol. 2, pp. 109-119, 2009.
Vyasarayani, C., J. McPhee, and S. Birkett, "Modeling impacts between a continuous system and a rigid obstacle using coefficient of restitution", ASME Journal of Applied Mechanics, vol. 77, pp. 1-7, 2009.
Vyasarayani, C., S. Birkett, and J. McPhee, "Modelling the Dynamics of a Compliant Piano Action Mechanism Impacting an Elastic Stiff String", J. Acoust. Soc. Amer., vol. 125, pp. 4034-4042, 2009.
Vyasarayani, C., S. Birkett, and J. McPhee, "Modelling the Dynamics of a Vibrating String with a Distributed Unilateral Constraint: Application to the Sitar", J. Acoust. Soc. Amer., vol. 125, pp. 3673-3682, 2009.
Petersen, W., and J. McPhee, "Shape Optimization of Golf Clubface using Finite Element Impact Models", Sports Eng., vol. 12, pp. 77-86, 2009.

2008

Azad, N. Lashgarian, A. Khajepour, and J. McPhee, Articulated Steer Vehicles: Dynamics and Control, 2008.
Jalali, K., K. Bode, J. McPhee, and S. Lambert, "Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors", Vehicle Dynamics and Simulation and Tire and Wheel Technology: SAE International, 2008.
Vyasarayani, C., S. Birkett, and J. McPhee, "A Vibrating Sitar String: Modeling the 3D Dynamics of a Plucked String Impacting a Spatial Obstacle with Friction", 2nd International ASA-EAA joint conference, Paris, Journal of the Acoustical Society of America 123:3380, 2008.
Petersen, W., and J. McPhee, "Comparison of Impulse-Momentum and Finite Element Models for Impact between Golf Ball and Clubhead", World Sci. Cong. Golf, Phoenix, 2008.
Vyasarayani, C., S. Birkett, and J. McPhee, "Considering the Effect of Hammer Shank Flexibility using a Multibody Dynamic Simulation Model of a Piano Action Mechanism with String Contact", 2nd International ASA-EAA joint conference, Paris, Journal of the Acoustical Society of America 123:3660, 2008.
Jalali, K., K. Bode, J. McPhee, and S. Lambert, "Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors", Proc. SAE World Congress, Detroit, 2008.
McQueen, M., and J. McPhee, "Design of an Ice Hockey Test Machine", Int. Sports Eng. Assoc, France, 2008.
Millard, M., D. Wight, J. McPhee, E. Kubica, and D. Wang, "Evaluation of a Human Foot Placement Model", Proc. N.A. Conf. Biomech, Ann Arbor, 2008.
Vyasarayani, C., J. McPhee, S. Birkett, and A. Abdel-Rahman, "Modelling MEMS Resonators Past Pull-In", ASME IMECE, Boston, 2008.
Vyasarayani, C., A. Abdel-Rahman, J. McPhee, and S. Birkett, "Modelling MEMS Resonators Past Pull-in", Engineering Science and Mechanics Conference, Virginia, 2008.
Good, C., D. Viano, J. McPhee, J. Pieper, and J. Ronsky, "Motorized Shoulder Belt Tensioning: Modeling and Performance for a Diverse Occupant Population", Proc. SAE World Congress, Detroit, 2008.
Uchida, T., and J. McPhee, "Real-Time Hardware-in-the-Loop Dynamic Simulation of Multibody Mechatronic Systems", 4th Asian Conference on Multibody Dynamics, Korea, 2008.
Petersen, W., and J. McPhee, "Shape Optimization of Golf Clubface using Finite Element Impact Models", Int. Sports Eng. Assoc., France, 2008.
Gonthier, Y., C. Lange, and J. McPhee, "Using Volume Metrics as an Alternative to Penalty or Finite Element Methods for Modelling Contacts", ECCOMAS, Italy, 2008.
He, Y., and J. McPhee, "A Review of Automated Design Synthesis Approaches for Virtual Development of Ground Vehicle Suspensions", SAE Trans. J. Passenger Cars - Mech. Sys., vol. 116, pp. 867-879, 2008.
Peasgood, M., C. Clark, and J. McPhee, "Complete and Scalable Multi-Robot Roadmap Coordination Planning", IEEE Trans. Robotics, vol. 24, pp. 283-292, 2008. PDF icon Link to PDF (722.78 KB)
Jalali, K., K. Bode, J. McPhee, and S. Lambert, "Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors", SAE Int. J. Passeng. Cars –Electron. Electr. Syst., vol. 1, pp. 211-219, 2008.
Izadbakhsh, A., J. McPhee, and S. Birkett, "Dynamic Modeling and Experimental Testing of a Piano Action Mechanism with a Flexible Hammer Shank", ASME J. Comp. Non. Dyn., vol. 3, 2008.
McPhee, J., "Reply to “Who Owns Mechatronics”", ASME Mechanical Engineering Magazine, October, 2008.
Jalali, K., J. McPhee, C. Schmitke, and H. Vogt, "Unified Modelling and Real-Time Simulation of an Electric Vehicle", Int. J. Veh. Auto. Sys., vol. 6, pp. 288-307, 2008.
Schmitke, C., J. McPhee, and K. Morency, "Using Graph Theory and Symbolic Computing to Generate Efficient Models for Multibody Vehicle Dynamics", IMechE J. Multi-body Dynamics, vol. 222, pp. 339-352, 2008.
Schmitke, C., and J. McPhee, "Using Linear Graph Theory and the Principle of Orthogonality to Model Multibody, Multi-Domain Systems", Adv. Eng. Infor., vol. 22, pp. 147-160, 2008.

2007

Vyasarayani, C., S. Birkett, and J. McPhee, "A Multibody Dynamic Model of a Flexible Piano Action Mechanism Impacting a Flexible String", Proc. ICTACEM, Kharagpur, India, 2007.
He, Y., and J. McPhee, "A Review of Automated Design Synthesis Approaches for Virtual Development of Ground Vehicle Suspensions", accepted for SAE 2007 World Congress, 2007.
Leger, M., and J. McPhee, "Automated Selection of Modelling Coordinates for Multibody System Dynamics", accepted for 12th IFToMM World Congress, France, June, 2007.
Rasheed, S., J. Yeow, and J. McPhee, "Dynamic Analysis of Micromirrors with Staggered Vertical Combdrives Actuation", Proc. CANCAM, Toronto, 2007.
Izadbakhsh, A., S. Birkett, and J. McPhee, "Dynamic Modeling and Experimental Testing of a Piano Action Mechanism with a Flexible Hammer Shank", Proc. ASME IDETC, Las Vegas, 2007.
Uchida, T., and J. McPhee, "Dynamic Modelling and Simulation of the Centaur Skid-steered Allterrain Vehicle", Proc. CANCAM, Toronto, 2007.
Vyasarayani, C., S. Birkett, and J. McPhee, "Flexible Beam Impacting a String with Nonlinear Contact Law", Proc. CANCAM, Toronto, 2007.
Vyasarayani, C., S. Birkett, and J. McPhee, "Free Vibration Response of a Plucked String Impacting Against a Spatial Obstacle", Proc. ICTACEM, Kharagpur, India, 2007.
Singh, S., and J. McPhee, "Inverse Dynamics of the Golf Swing using Graph-Theoretic Modelling", Proc. CANCAM, Toronto, 2007.
Good, C., D. Viano, J. Ronsky, and J. McPhee, "Modeling Biomechanics of Volunteers Subject to Loading by a Motorized Shoulder Belt Tensioner", Proc. Int. Res. Coun. Biomech. Injury (IRCOBI), Maastricht, Netherlands, 2007.
Gonthier, Y., C. Lange, and J. McPhee, "On Implementing a Bristle Friction Model in a Contact Model Based on Volumetric Properties", Proc. Multibody Dynamics Thematic Conference, Milan, Italy, 2007.
Gonthier, Y., J. McPhee, and C. Lange, "On the Implementation of Coulomb Friction in a Volumetric-Based Model for Contact Dynamics", Proc. ASME IDETC, Las Vegas, Nevada, 2007.
Jalali, K., S. Lambert, and J. McPhee, "Optimization of a Vehicle Suspension Using a Genetic Algorithm Method", Proc. CANCAM, Toronto, 2007.
He, Y., and J. McPhee, "Application of Optimisation Algorithms and Multibody Dynamics to Ground Vehicle Suspension Design", Int. J. Heavy Veh. Sys., vol. 14, pp. 158-192, 2007.
He, Y., and J. McPhee, "Application of SQP and Dynamic Model Tracking to the Identification of the Critical Speed of Rail Vehicles", Int. J. Heavy Veh. Sys, vol. 14, pp. 193-212, 2007.
Liu, Y., and J. McPhee, "Automated Kinematic Synthesis of Planar Mechanisms with Revolute Joints", Mech.-Based Des. Struct. Mach., vol. 35, pp. 405-445, 2007.
Richard, M., J. McPhee, and R.J. Anderson, "Computerized Generation of Motion Equations Using Variational Graph-theoretic Methods", Appl. Math. Comp., vol. 192, pp. 135-156, 2007.
Uchida, T., J. McPhee, K. Morency, and C. Schmitke, "Generating Computationally Efficient Vehicle Dynamic Models with DynaFlexPro", Automotive Design Line, pp. 14 pages, June, 2007.
Azad, N. Lashgarian, A. Khajepour, and J. McPhee, "Robust State Feedback Stabilization of Articulated Steer Vehicles", Veh. Sys. Dyn, vol. 45, pp. 249-275, 2007.
Azad, N. Lashgarian, A. Khajepour, and J. McPhee, "Robust Variable Structure Control for Stabilization of Articulated Steer Vehicles by Torque Vectoring", Int. J. Heavy Veh. Sys., vol. 14, pp. 331-354, 2007.
Leger, M., and J. McPhee, "Selection of Modeling Coordinates for Forward Dynamic Multibody Simulations", Multibody Syst. Dyn., vol. 18, pp. 277-297, 2007.
Peasgood, M., E. Kubica, and J. McPhee, "Stabilization of a Dynamic Walking Gait Simulation", ASME J. Comp. Non. Dyn, vol. 2, pp. 65-72, 2007.
Azad, N. Lashgarian, A. Khajepour, and J. McPhee, "The Effects of Locking Differentials on the Snaking Mode of Articulated Steer Vehicles", Int. J. Veh. Sys. Model. Test, vol. 2, pp. 101-127, 2007.

2006

Azad, N. Lashgarian, A. Khajepour, and J. McPhee, "An Active Control Device Based on Differential Braking for Articulated Steer Vehicles", Proc. SAE 2006 Comm. Veh. Eng. Congress, 2006.
Leger, M., and J. McPhee, "Automated Selection of Modelling Coordinates in Multibody Dynamics", Proc. CSME Forum, Alberta, 2006.
Peasgood, M., C. Clark, and J. McPhee, "Complete and Scalable Multi-Robot Planning in Tunnel Environments", Proc. 1st IFAC Work. Multivehicle Sys, Brazil, 2006.
McPhee, J., and C. Schmitke, "DynaFlexPro: A Maple Package for Multibody System Dynamics", Proc. Maple Summer Work, Waterloo, Canada, 2006.
Izadbakhsh, A., J. McPhee, and S. Birkett, "Dynamic Modelling of a Piano Action Mechanism with a Flexible Hammer Shank", Proc. CSME Forum, Alberta, 2006.
Cutler, S., J. McPhee, and E. Kubica, "Implementation of a Variable Duty Factor Controller on an Axi-Symmetric Six-Legged Walking Robot", Proc. CSME Forum, Alberta, 2006.
Millard, M., E. Kubica, and J. McPhee, "Infinite Step Forward Dynamic Gait Simulation", Proc. 14th Conf. Can. Soc. Biomech, Waterloo, Canada, 2006.
Wybenga, M., J. McPhee, and E. Kubica, "Propulsion System for Swimming Micro-Robots", Proc. ASME 2006 Summer Bioeng. Conf. Florida, Florida, USA, 2006.
Azad, N. Lashgarian, A. Khajepour, and J. McPhee, "Robust Stabilization of Articulated Steer Vehicles by Differential Braking", Proc. CSME Forum, Alberta, 2006.
Cain, J., G. Heppler, D. Staley, and J. McPhee, "Small Angle Analysis of the Dynamically Tuned Gyro", Proc. 7th Dyn. Cont. Sys. Struct. Space, London, England, pp. 395-408, 2006.
Morency, K., J. McPhee, and C. Schmitke, "Using Graph Theory and Symbolic Computing to Generate Efficient Models for Vehicle Dynamics", Proc. CSME Forum, Alberta, 2006.
Hirschkorn, M., J. McPhee, and S. Birkett, "Dynamic Modelling and Experimental Testing of a Piano Action Mechanism", ASME J. Comp. Non. Dyn., vol. 1, pp. 47-55, 2006.
McPhee, J., and S. Redmond, "Modelling Multibody Systems with Indirect Coordinates", Comp. Meth. Appl. Mech. Eng, vol. 195, pp. 6942-6957, 2006.
Heppler, G., J. McPhee, D. Staley, and J. Cain, "Stability Analysis of a Dynamically Tuned Gyroscope", J. Guid. Cont. Dyn, vol. 29, pp. 965-969, 2006.

2005

Zhou, W., D. Jeffrey, G. Reid, C. Schmitke, and J. McPhee, "Implicit Reduced Involutive Forms and Their Application to Engineering Multibody Systems", Lecture Notes in Computer Science, vol. 3519: Springer-Verlag, pp. 31-43, 2005.
McPhee, J., "Unified Modelling Theories for the Dynamics of Multidisciplinary Multibody Systems", Advances in Computational Multibody Systems: Springer-Verlag, pp. 129-158, 2005. PDF icon Link to PDF (749.47 KB)
Gonthier, Y., C. Lange, J. Piedboeuf, and J. McPhee, "A Contact Modeling Method Based on Volumetric Properties", Proc. ASME Des. Eng. Tech. Conf, California, Sept., 2005.
Hirschkorn, M., J. McPhee, and S. Birkett, "Dynamic Modelling and Experimental Testing of a Piano Action Mechanism", Proc. ASME Des. Eng. Tech. Conf, California, 2005.
Low, K., W. Loh, Y. Wang, and J. McPhee, "Initial Locomotion Study of an Omni-Directional Rover", Proc. ASME Des. Eng. Tech. Conf., California, 2005.
Peasgood, M., C. Clark, and J. McPhee, "Localization of Multiple Robots with Simple Sensors", Proc. Int. Conf. Mechatronics Automation, Niagara Falls, Canada, pp. 671-676, Aug., 2005.
Gonthier, Y., C. Lange, J. McPhee, and J. Piedboeuf, "Simulation of Contact Between Complexly Shaped Objects", Proc. Int. Symp. AI Rob. Auto. Space, Munich, Germany, Sept., 2005.
Peasgood, M., J. McPhee, and E. Kubica, "Stabilization and Energy Optimization of a Dynamic Walking Gait Simulation", Proc. ASME Des. Eng. Tech. Conf., California, 2005.
Morency, K., J. McPhee, and C. Schmitke, "Symbolic Modeling of Vehicle Dynamics: A Maple Implementation", Proc. Maple Conference, pp. 45-62, July, 2005.
He, Y., and J. McPhee, "A Design Methodology for Mechatronic Vehicles: Application of MDO, Multibody Dynamics, and Genetic Algorithms", Veh. Sys. Dyn., vol. 43, pp. 697-733, 2005.
Liu, Y., and J. McPhee, "Automated Type Synthesis of Planar Mechanisms using Numeric Optimization with Genetic Algorithms", ASME J. Mech. Des., vol. 126, pp. 910-916, 2005. PDF icon Link to PDF (120.2 KB)
Schmitke, C., and J. McPhee, "Forming Equivalent Subsystem Components to Facilitate the Modelling of Mechatronic Multibody Systems", Multibody Sys. Dyn., vol. 14, pp. 81-109, 2005.
He, Y., and J. McPhee, "Multidisciplinary Design Optimization of Mechatronic Vehicles with Active Suspensions", J. Sound Vib., vol. 283, pp. 217-241, 2005. PDF icon Link to PDF (410.98 KB)
He, Y., and J. McPhee, "Multidisciplinary Optimization of Multibody Systems with Application to the Design of Rail Vehicles", Multibody Sys. Dyn., vol. 14, pp. 111-135, 2005.
Azad, N. Lashgarian, J. McPhee, and A. Khajepour, "Off-road Lateral Stability Analysis of an Articulated Steer Vehicle with a Rear-mounted Load", Int. J. Veh. Sys. Model. Test., vol. 1, pp. 106-130, 2005.
He, Y., and J. McPhee, "Optimization of Curving Performance of Rail Vehicles", Veh. Sys. Dyn., vol. 43, pp. 895-923, 2005.

2004

Liu, Y., and J. McPhee, "Automated Kinematic Synthesis of Planar Mechanisms Using an Evolutionary Approach", CSME Forum, University of Western Ontario, London, pp. 362-371, June, 2004.
Redmond, S., and J. McPhee, "Formulation of Symbolic Motion Equations for Electromechanical Multibody Systems", Maple Summer Workshop 2004, Waterloo, Ontario, July, 2004.
Hauschild, J.-P., G. Heppler, and J. McPhee, "Friction Compensation of Harmonic Drive Actuators", 6th International Conference on Dynamics and Control of Systems and Structures in Space, Liguria, Italy, pp. 683-692, July, 2004.
Schmitke, C., and J. McPhee, "Generating Efficient Equations for Dynamic Simulation of Electromechanical Multibody Systems using Maple, Subsystem Models, and Linear Graph Theory", Maple Summer Workshop 2004, Waterloo, Ontario, July, 2004.
He, Y., N. Lashgarian Azad, C. Urbaniak, A. Khajepour, and J. McPhee, "Lateral Stability Analysis and Parameter Estimation of Articulated Frame Steer Vehicles", CSME Forum, University of Western Ontario, London, pp. 962-971, June, 2004.
He, Y., and J. McPhee, "Mechatronic Vehicle Design via Multidisciplinary Optimization", CSME Forum, University of Western Ontario, London, pp. 504-513, June, 2004.
Schmitke, C., and J. McPhee, "Modelling of Mechatronic Multibody Systems using Subsystem Models and Linear Graph Theory", Euromech 452: Advances in Simulation Techniques for Applied Dynamics, Halle, Germany, March, 2004.
Gonthier, Y., C. Lange, J. McPhee, and J. Piedboeuf, "Simulation of Contact in Multibody Dynamics using Simulink", 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, The Netherlands, November, 2004.
Liu, Y., and J. McPhee, "Type Synthesis of Planar Mechanisms using Topology as an Optimization Design Variable", accepted for 11th World Congress in Mechanism and Machine Science, Tianjin, China, April, 2004.
Sass, L., J. McPhee, C. Schmitke, P. Fisette, and D. Grenier, "A Comparison of Different Methods for Modelling Multibody Systems with Electrical Drives", Multibody System Dynamics, vol. 12, pp. 209-250, 2004.
Gonthier, Y., J. McPhee, J. Piedboeuf, and C. Lange, "A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction", Multibody System Dynamics, vol. 11, pp. 209-233, 2004. PDF icon Link to PDF (252.18 KB)
Khajepour, A., Y. He, J. McPhee, and X. Wang, "Dynamic Modeling and Stability Analysis of Articulated Frame Steer Vehicles", Int. J. Heavy Veh. Sys., vol. 12, pp. 28-59, 2004. PDF icon Link to PDF (389.28 KB)
McPhee, J., C. Schmitke, and S. Redmond, "Dynamic Modelling of Mechatronic Multibody Systems with Symbolic Computing and Linear Graph Theory", Mathematical and Computer Modelling of Dynamical Systems, vol. 10, pp. 1-23, 2004. PDF icon Link to PDF (388.06 KB)

2003

McPhee, J., "Virtual Prototyping of Multibody Systems with Linear Graph Theory and Symbolic Computing", Virtual Nonlinear Multibody Systems: Kluwer Academic, pp. 37-56, 2003.
He, Y., and J. McPhee, "Application of Multidisciplinary Design Optimization to the Design of Ground Vehicles with Active Suspensions", Proc. EuroMech Colloquium on Computer-Aided Optimization of Mechanical Systems, Erlangen, Germany, Feb., 2003.
McPhee, J., S. Redmond, and C. Schmitke, "Dynamic Modelling of Mechatronic Multibody Systems with Symbolic Computing and Linear Graph Theory", CD-ROM Proceedings of 4th Mathmod, Vienna, Austria, pp. 854-863, Feb., 2003.
Hirschkorn, M., S. Birkett, and J. McPhee, "Kinematic Model of a Piano Action Mechanism", 19th Canadian Congress of Applied Mechanics, Calgary, Alberta, June, 2003.
He, Y., and J. McPhee, "Design Optimization of Rail Vehicles with Passive and Active Suspensions: A Combined Approach using Genetic Algorithms and Multibody Dynamics", Vehicle System Dynamics, vol. 37 Supplement, pp. 397-408, 2003.
Scherrer, M., and J. McPhee, "Dynamic Modelling of Electromechanical Multibody Systems", Multibody System Dynamics, vol. 9, pp. 87-115, 2003.
Schmitke, C., and J. McPhee, "Effective use of Subsystem Models in Multibody and Mechatronic System Dynamics", International Journal for Multiscale Computational Engineering, vol. 1, pp. 139-159, 2003.
Geike, T., and J. McPhee, "Inverse Dynamic Analysis of Parallel Manipulators with Full Mobility", Mechanism and Machine Theory, vol. 38, pp. 549-562, 2003.
Schmitke, C., and J. McPhee, "Modelling Mechatronic Multibody Systems using Symbolic Subsystem Models", Multibody System Dynamics, 2003.
Seth, A., J. McPhee, and M. Pandy, "Multijoint Coordination of Vertical Arm Movement", Applied Bionics and Biomechanics, vol. 1, pp. 45-56, 2003.
Zahariev, E., and J. McPhee, "Stabilization of Constraints of Multibody System Dynamics", Mechanics of Structures and Machines, vol. 31, pp. 25-55, 2003.
Zahariev, E., and J. McPhee, "Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix", Mathematical and Computer Modelling of Dynamical Systems, vol. 9, pp. 417-436, 2003.

2002

McPhee, J., and S. Redmond, "A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction", CD-ROM Proceedings of CSME Forum, Queen’s University, Canada, May, 2002.
He, Y., and J. McPhee, "An Integrated Approach Using Genetic Algorithms, Multibody Dynamics and LQG Control for Design Optimization of Ground Vehicles with Active Suspensions", CD-ROM Proceedings of CSME Forum, Queen’s University, Canada, May, 2002.
McPhee, J., "Graph-Theoretic Modelling of Multibody Systems", NATO ASI Workshop on Virtual Nonlinear Multibody Systems, Prague, Czech Republic, June, 2002.
Geike, T., and J. McPhee, "Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom", Proceedings of 14th CISM-IFToMM Symposium on Robotics, Udine, Italy, pp. 49-58, July, 2002.
Gieke, T., and J. McPhee, "On the Automatic Generation of Inverse Dynamic Solutions for Parallel Manipulators", Proceedings of Workshop on Fundamental Issues and Future Research Directions for, Quebec City, Canada, Oct., 2002.
Zahariev, E., and J. McPhee, "Some New Aspects of the Kinematics and Dynamics of Multibody Systems", Proceedings of International Conference on Multifield Problems, University of Stuttgart, Germany, April, 2002.
Gonthier, Y., J. McPhee, J. Piedboeuf, and C. Lange, "A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction", Multibody System Dynamics, 2002.
McPhee, J., P. Shi, and J. Piedboeuf, "Dynamics of Multibody Systems using Virtual Work and Symbolic Programming", Mathematical and Computer Modelling of Dynamical Systems, vol. 8, pp. 137-156, 2002.
Zahariev, E., and J. McPhee, "Dynamics of Multibody Systems with Multiple Constraints", Mathematical and Computer Modelling of Dynamical Systems, 2002.
Schmitke, C., and J. McPhee, "Effective Use of Subsystem Models in Multibody and Mechatronic System Dynamics", International Journal of Computational Civil and Structural Engineering, 2002.
Baumal, A.E., and J. McPhee, "On the Use of Numerical Optimization to Maximize the Critical Velocity of a Simple Rail Vehicle", Transactions of the CSME, vol. 26, pp. 311-322, 2002.
He, Y., and J. McPhee, "Optimization of the Lateral Stability of Rail Vehicles", Vehicle System Dynamics, vol. 38, pp. 361-390, 2002.
Shi, P., and J. McPhee, "Symbolic Programming of a Graph-Theoretic Approach to Flexible Multibody Dynamics", Mechanics of Structures and Machines, vol. 30, pp. 123-154, 2002.

2001

He, Y., and J. McPhee, "A Comparative Study of Optimization Algorithms used in Ground Vehicle Design", Proc. 6th U.S. National Congress on Computational Mechanics, Michigan, Aug., 2001.
McPhee, J., "A Unified Formulation of Multibody Kinematic Equations in Terms of Absolute, Joint, and Indirect Coordinates", CD-ROM Proceedings of the ASME Design Engineering Technical Conference, Pittsburgh U.S.A., Sept., 2001.
Schmitke, C., and J. McPhee, "Sub-System Modelling of Mechanical Systems using Linear Graph Theory", Proc. 6th U.S. National Congress on Computational Mechanics, Michigan, Aug., 2001.
Shi, P., J. McPhee, and G. Heppler, "A Deformation Field for Euler-Bernoulli Beams with Application to Flexible Multibody Dynamics", Multibody System Dynamics, vol. 5, pp. 79-104, 2001.
McPhee, J., and C. Schmitke, Kinematic and Static Analysis of a 6-bar Mechanism, Penetanguishene, Ontario, pp. 14 pages, June, 2001.

2000

McPhee, J., M. Scherrer, and P. Shi, "A Unified Modelling Approach for Electro-mechanical Multibody Systems", International Congress for Theoretical and Applied Mechanics, Chicago, 2000.
Makatchev, M., S. Lang, S.K. Tso, and J. McPhee, "Cross-Coupling Control for Slippage Minimization of a Four-Wheel-Steering Mobile Robot", Proceedings of International Symposium on Robotics, Montreal, pp. 42-47, 2000.
Shi, P., G. Heppler, and J. McPhee, "Design and Control of an Experimental Facility for Emulating Space-Based Robotic Manipulators", Proceedings of International Symposium on Robotics, Montreal, pp. 481-486, 2000.
Bruulsema, I., and J. McPhee, "Dynamic Modelling and Design Optimization of Automotive Suspension Systems", CD-ROM Proceedings of CSME Forum, Montreal, May, 2000.
Makatchev, M., J. McPhee, S.K. Tso, and S. Lang, "System Design, Modelling, and Control of a Four-Wheel-Steering Mobile Robot", Proceedings of the 19th Chinese Control Conference, Hong Kong, pp. 759-763, Dec., 2000.
Lovekin, D., G. Heppler, and J. McPhee, "Design and Analysis of a Facility for Free-floating Flexible Manipulators", Transactions of the CSME, vol. 24, pp. 375-390, 2000.
Shi, P., and J. McPhee, "Dynamics of Flexible Multibody Systems using Virtual Work and Linear Graph Theory", Multibody System Dynamics, vol. 4, pp. 355-381, 2000. PDF icon Link to PDF (165.47 KB)
Good, C., and J. McPhee, "Dynamics of Mountain Bicycles with Rear Suspensions: Design Optimization", Sports Engineering, vol. 3, pp. 49-56, 2000.
Shi, P., J. McPhee, and G. Heppler, "Polynomial Shape Functions and Numerical Methods for Flexible Multibody Dynamics", Mechanics of Structures and Machines, vol. 29, pp. 43-64, 2000.

1999

Seth, A., and J. McPhee, "A Predictive Control Method for Human Motion Simulation", Proceedings of Workshop on Biomechanics Meets Robotics: Modelling and Simulation, Heidelberg, Germany, pp. 28, Nov., 1999.
McPhee, J., "Graph-Theoretic Approach to Multibody Dynamics using Virtual Work as a Through Variable", Proceedings of HKK Conference, Waterloo, Ontario, pp. 43-48, 13-16 June, 1999.
Piedboeuf, J., P. Shi, and J. McPhee, "Inverse Dynamics of Multibody Systems using Virtual Work", Proceedings of Euromech Colloquium on Advances in Computational Multibody Dynamics, Lisbon, Portugal, pp. 801-817, 20-23 September, 1999.
Shi, P., and J. McPhee, "Inverse Dynamics of Multibody Systems using Virtual Work and Graph Theory", Proceedings of 10th World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, pp. 1258-1263, 20-24 June, 1999.
Seth, A., and J. McPhee, "Modelling Human Upper Limb Biomechanics using Graph Theory", Proc. 2nd International Conference on Graphs and Mechanics, Gliwice, Poland, pp. 47-48, Oct., 1999.
Seth, A., and J. McPhee, "Prediction of Optimal Arm Motions using a Genetic Algorithm", Proc. 17th Canadian Congress of Applied Mechanics, Hamilton, Ontario, pp. 339-340, 30 May - 3 June, 1999.
Shi, P., and J. McPhee, "Symbolic Modelling and Dynamic Simulation of Flexible Manipulators using Virtual Work", Proc. 17th Canadian Congress of Applied Mechanics, Hamilton, Ontario, pp. 355-356, 30 May - 3 June, 1999.
Heilig, J., and J. McPhee, "Determination of Minimum-Time Maneuvers for a Robotic Manipulator using Numerical Optimization Methods", Mechanics of Structures and Machines, vol. 2, pp. 185-201, 1999.
Good, C., and J. McPhee, "Dynamics of Mountain Bicycles with Rear Suspensions: Modelling and Simulation", Sports Engineering, vol. 2, pp. 129-144, 1999.
Shi, P., J. McPhee, and G. Heppler, Modelling of a Free-floating Robotic Manipulator, pp. 81 pages, June, 1999.

1998

Ishac, M.G., G.C. Andrews, J. McPhee, A.E. Patla, and D.A. Winter, "3D Analysis of Human Locomotion Using Dual-Vectors and Graph Theory", Proc. 3rd North American Conference on Biomechanics (NACOB’98), Waterloo, Ontario, Canada, pp. 213-214, 14-18 August, 1998.
Baumal, A.E., J. McPhee, and P.H. Calamai, "Application of Genetic Algorithms to the Optimization of an Active Vehicle Suspension Design", Computer Methods in Applied Mechanics and Engineering, vol. 163, pp. 87-94, 1998. PDF icon Link to PDF (459.28 KB)
McPhee, J., "Automatic Generation of Motion Equations for Planar Mechanical Systems Using the New Set of "Branch Co-ordinates’’", Mechanism and Machine Theory, vol. 33, pp. 805-823, 1998.

1997

Shi, P., and J. McPhee, "A Graph-Theoretic Virtual Work Formulation for Flexible Multibody Dynamics", 16th Canadian Congress of Applied Mechanics, pp. 181-182, 1997.
Williams, S., J. McPhee, and D. Horvath, "Design and Implementation of a Walking Robot", Proceedings of International Conference on Field and Service Robotics, Canberra, Australia, pp. 137-144, Dec., 1997.
McPhee, J., "Graph-Theoretic Analysis and Numerical Optimization of Multibody Systems", Proceedings of NATO ASI on Computational Methods in Mechanisms, Varna, Bulgaria, pp. 71-80, June, 1997.
Shi, P., and J. McPhee, "On the Use of Virtual Work in a Graph-Theoretic Formulation for Multibody Dynamics", CD-ROM Proceedings, ASME Design Engineering Technical Conference, Sacramento, California, Sept., 1997.
Chan, L., J. McPhee, and G. Heppler, "The Design and Construction of a Facility for Testing Compliant Manipulators", 16th Canadian Congress of Applied Mechanics, June, 1997.
McPhee, J., "A Unified Graph-Theoretic Approach to Formulating Multibody Dynamics Equations in Absolute or Joint Coordinates", Journal of the Franklin Institute, vol. 334B, pp. 431-445, 1997.
Oshinowo, O.M., and J. McPhee, "Object-Oriented Implementation of A Graph-Theoretic Formulation for Planar Multibody Dynamics", International Journal for Numerical Methods in Engineering, vol. 40, pp. 4097-4118, 1997.

1996

Wells, C.E., J. McPhee, and S.A. Meguid, "A Symbolic Toolbox for Investigating the Structure of Multibody Dynamics", Mechanics in Design, Proceedings of C.S.M.E. Forum, pp. 75-84, 1996.
Baumal, A.E., J. McPhee, and P.H. Calamai, "Genetic Algorithm Optimization for Active Vehicle Suspension Design", Mechanics in Design, Proceedings of C.S.M.E. Forum, pp. 455-464, 1996.
McPhee, J., "Modelling of Spatial Mechanical Systems using Linear Graph Theory and “Branch Coordinates”", Proc. 6th Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures, Virginia Polytechnic Institute, 1996.
McPhee, J., and R.J. Anderson, "A Model Reduction Procedure for the Dynamic Analysis of Rail Vehicles Subjected to Linear Creep Forces", Vehicle System Dynamics, vol. 25, pp. 349-367, 1996.
McPhee, J., and C.E. Wells, "Automated Symbolic Analysis of Mechanical System Dynamics", MapleTech, vol. 3, pp. 48-56, 1996.
Baumal, A.E., and J. McPhee, Feller Buncher Planar Motion Boom Numerical Optimization Project, Woodstock, Ontario, pp. 56 pages, 1996.
McPhee, J., "On the Use of Linear Graph Theory in Multibody System Dynamics", Nonlinear Dynamics, vol. 9, pp. 73-90, 1996. PDF icon Link to PDF (1.27 MB)
McPhee, J., M.G. Ishac, and G.C. Andrews, "Wittenburg’s Formulation of Multibody Dynamics Equations from a Graph-Theoretic Perspective", Mechanism and Machine Theory, vol. 31, pp. 201-213, 1996.

1995

McPhee, J., and I.C. Legrow, "Automated Generation of Symbolic Equations of Motion for Multibody Systems Using Absolute Coordinates", Proc. 15th Canadian Congress of Applied Mechanics, University of Victoria, B.C., pp. 940-941, 1995.
McPhee, J., "Graph-Theoretic Formulation of Multibody Dynamics Equations in a Hybrid Set of User-Defined Coordinates", Proc. 15th Canadian Congress of Applied Mechanics, University of Victoria, B.C, pp. 818-819, 1995.

1994

McPhee, J., "Formulation of Multibody Dynamics Equations in Absolute or Relative Coordinates Using the Vector-Network Method", Machine Elements and Machine Dynamics, vol. ASME DE-Vol.71, pp. 361-368, 1994.
McPhee, J., "Modelling and Simulation of Variable-Mass Mechanical Systems", Proceedings of 12th Symposium on Engineering Applications of Mechanics, McGill University, Montreal, Canada, pp. 559-567, 1994.
Anderson, R.J., and J. McPhee, "Use of a Model Reduction Procedure to Speed Up Time-Domain Simulations of Rail Vehicles", Vehicle System Dynamics, vol. 23 Supplement, pp. 20-33, 1994.

1993

McPhee, J., "Two Different Methods for Simulating the Motion of Variable-Mass Multibody Systems", Advanced Multibody System Dynamics: Simulation and Software Tools: Kluwer Academic, pp. 385-390, 1993.
McPhee, J., and R.J. Anderson, "A Model Reduction Procedure for Dynamic Analyses of Rail Vehicles", Proc. 14th Canadian Congress of Applied Mechanics, Kingston, Ontario, pp. 271-272, 1993.
McPhee, J., and J.A.C. Ambrosio, "On the Use of Linear Graph Theory in Multibody System Dynamics", Proceedings of the NATO A.S.I. on Computer-Aided Analysis of Rigid and Flexible Mechanical Systems, vol. 2, Troia, Portugal, pp. 131-150, 1993.

1991

McPhee, J., and R. N. Dubey, "Dynamic Analysis of a Variable-Mass Multibody System", Proc. Canadian Congress of Applied Mechanics,, University of Manitoba, Winnipeg, pp. 292-293, 1991.
McPhee, J., and M. Geradin, "Introduction of a Variable-Mass Element Into a Multibody Dynamic Formulation", Extended Abstracts of the First European Solid Mechanics Conference, Munich, Germany, pp. 147-148, 1991.
McPhee, J., and R. N. Dubey, "Dynamic Analysis and Computer Simulation of Variable-Mass Multi-Rigid-Body Systems", International Journal for Numerical Methods in Engineering, vol. 32, pp. 1711-1725, 1991.
McPhee, J., and R. N. Dubey, "Dynamics of Multibody Systems with Known Configuration Changes", Journal of Applied Mechanics, vol. 58, pp. 215-221, 1991.

1989

McPhee, J., "Dynamics of Systems with Time-Varying Inertial Properties", Proc. Twelfth Canadian Congress of Applied Mechanics, Carleton University, Ottawa, Ontario, pp. 392-293, May 28 - June 2, 1989.

1988

McPhee, J., and G.C. Andrews, "Effect of Sidespin and Wind on Projectile Trajectory, with Particular Applicaiton to Golf", American Journal of Physics, vol. 56, pp. 933-939, 1988.

1987

Kraak, G.W., G.C. Andrews, and J. McPhee, "Dispersion Envelope Graphs for Small Arms Projectiles", Proceedings of the Tenth International Symposium on Ballistics, San Diego, California, American Defense Preparedness Association, pp. 1-7, October 27-29, 1987.

1986

Andrews, G.C., G.W. Kraak, and J. McPhee, "Simulating Projectile Motion to Evaluate Stability and Dispersion", Proceedings of ASME International Computers in Engineering Conference, Chicago, pp. 319-326, 1986.

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