publications

[J13]

Rone, W., Ben-Tzvi, P., "Mapping, Localization and Motion Planning in Mobile Multi-Robotic Systems", Robotica Journal, In-press, Dec 2011.

[J12]

Moubarak, P., Ben-Tzvi, P., Zaghloul, M., "A Self-Calibrating Mathematical Model for the Direct Piezoelectric Effect of a new MEMS Tilt Sensor", IEEE Sensors Journal, In-Press, Oct. 2011. DOI 10.1109/JSEN.2011.2173188

[J11]

Ben-Tzvi, P., Bai, S., Zhou, Q., Huang, X., "Fuzzy Sliding Mode Control of Rigid-Flexible Multi-Body Systems with Bounded Inputs", Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol. 133, Issue 6, pp. 061012: 1-8, November 2011.

[J10]

Bai, S., Ben-Tzvi, P., Zhou, Q., Huang, X., "Variable Structure Controller Design for Linear Systems with Bounded Inputs", International Journal of Control, Automation and Systems, Vol. 9, Issue 2, pp. 228-236, April 2011.

[J9]

Ben-Tzvi, P., Rone, W., "Tiny Robots, Massive Potential", IEEE Nanotechnology Newsletter, pp. 4-7, March 2011.

[J8]

Ben-Tzvi, P., Goldenberg, A.A., Zu, J.W., "Articulated Hybrid Mobile Robot Mechanism with Compounded Mobility and Manipulation and On-Board Wireless Sensor/Actuator Control Interfaces", Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010.

[J7]

Ben-Tzvi, P., "Experimental Validation and Field Performance Metrics of a Hybrid Mobile Robot Mechanism", Journal of Field Robotics, Vol. 27, Issue 3, pp. 250-267, May 2010.

[J6]

Ben-Tzvi, P., Rone, W., "Microdroplet Generation in Gaseous and Liquid Environments", Microsystem Technologies Journal, Vol. 16, Issue 3, pp. 333-356, March 2010.

[J5]

Ben-Tzvi, P., Ito, S., and Goldenberg, A.A., "A Mobile Robot with Autonomous Climbing and Descending of Stairs", Robotica Journal, Vol. 27, Issue 02, pp. 171-188, Feb. 2009.

[J4]

Zhou, Q., Ben-Tzvi, P., Fan, D., "Design and Analysis of a Fast Steering Mirror for Precision Laser Beams Steering", Sensors & Transducers Journal,Vol. 5, Issue 3, pp. 104-118, March 2009.

[J3]

Bai, S., Ben-Tzvi, P., Zhou, Q., Huang, X., "A Study on Dynamic Stiffening of a Rotating Beam with a Tip Mass", Sensors & Transducers Journal,Vol. 5, Issue 3, pp. 53-68, March 2009.

[J2]

Ben-Tzvi, P., Goldenberg, A.A., Zu, J.W., "Design and Analysis of a Hybrid Mobile Robot Mechanism with Compounded Locomotion and Manipulation Capability", Transactions of the ASME, Journal of Mechanical Design, Vol. 130, Issue 7, pp. 1-13, July 2008.

[J1]

Ben-Tzvi, P., Ben Mrad, R., Goldenberg, A.A., "Design and FE Analysis of a Piezoceramic Actuated Dispensing System for Microdrops Generation in Microarray Applications", Mechatronics Journal, Vol. 17, Issue 1, pp. 1-13, February 2007.

[JR4]

Rone, W., Ben-Tzvi, P., "Integrated Sensing Using Compressible Gas for Microdroplet Generation Control", Mechatronics Journal, submitted, April 2011.

[JR3]

Moubarak, P., Ben-Tzvi, P., "Globally Adaptive Manipulation of Mobile Robots with Redundant Arms", IEEE Transactions on Instrumentation and Measurement, submitted, October 2011.

[JR2]

Moubarak, P., Ben-Tzvi, P., "Modular and Reconfigurable Mobile Robotics", Journal of Robotics and Autonomous Systems, under review, July 2011.

[JR1]

Omar, G., Ben-Tzvi, P., "On the Locomotion of Mobile Robots: A Comparative Assessment of Types", Transactions of the ASME, Journal of Mechanisms and Robotics, to be submitted, Aug. 2011.

[C28]

Rone, W., Ben-Tzvi, P., "MEMS-Based Microdroplet Generation with Integrated Sensing", COMSOL Conference, Boston, MA, October 13-15, 2011.

[C27]

Moubarak, P., Ben-Tzvi, P., "Design and Analysis of a New Piezoelectric MEMS Tilt Sensor", Proceedings of the 2010 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2011), Montreal, Quebec, Canada, pp. 83-88, September 17-18, 2011.

[C26]

Moubarak, P., Ben-Tzvi, P., "Field Testing and Adaptive Manipulation of a Hybrid Mechanism Mobile Robot", Proceedings of the 2010 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2011), Montreal, Quebec, Canada, pp. 113-118, September 17-18, 2011.

[C25]

Gilman, C., Ben-Tzvi, P., Yessin, G., Danoff, J., "A Robotic Wrist Exoskeleton Device for Augmenting Wrist Movement and Grip Function in Debilitated Patients", Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition (IMECE 2011), Denver, CO, November 11-17, 2011.

[C24]

Zhou, M., Ben-Tzvi, P., "An Admittance-Type Haptic Device-RML Glove" ,Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition  (IMECE 2011), Denver, CO, November 11-17, 2011.

[C23]

Gilani, O., Ben-Tzvi, P., "Bioinspired Jumping Mobility Concepts for Rough Terrain Mobile Robots", Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition (IMECE 2011), Denver, CO, November 11-17, 2011.

[C22]

Gilani, O., Ben-Tzvi, P., "The Application of Bipinspired Jumping Locomotion Principles to Mobile Robots: Modeling and Analysis", Proceedings of the 2011 ASME Annual Dynamic Systems and Control Conference (DSCC 2011), Arlington, VA,Oct 31-Nov 2, 2011.

[C21]

Rone, W., Ben-Tzvi, P., "Finite Element Modeling of a Microdroplet Generator with Integrated Sensing", Proceedings of the 2011 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2011), 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA2011), Washington, DC, Aug. 28-31, 2011.

[C20]

Moubarak, P., Ben-Tzvi, P., and Ma, Z., "A Generic Configuration of a Compact Dexterous and Self-Contained End-Effector for Mobile Robotic Platforms", Proceedings of the 2010 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, Arizona, pp. 116-121, October 15-16, 2010.

[C19]

Ben-Tzvi, P., Xu, X., "An Embedded Feature-Based Stereo Vision System for Autonomous Mobile Robots", Proceedings of the 2010 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, Arizona, pp. 176-181, October 15-16, 2010.

[C18]

Ben-Tzvi, P., Charifa, S., and Shick, M., "Extraction of 3D Images Using Pitch-Actuated 2D Laser Range Finder for Robotic Vision", Proceedings of the 2010 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, Arizona, pp. 140-145, October 15-16, 2010.

[C17]

Moubarak, P., Ben-Tzvi, P., Ma, Z., "Mobile Robotic Platform for Autonomous Navigation and Dexterous Manipulation in Unstructured environments", Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), Vancouver, British Columbia, Canada,November 12-18, 2010.

[C16]

Ben-Tzvi, P., Zhuk, M., "Real-time Dynamic Modeling and Virtual Prototype Simulation of Mechanical systems", Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), Vancouver, British Columbia, Canada,November 12-18, 2010.

[C15]

Charifa, S., Ben-Tzvi, P., "Using Backpropagation Neural Network in Object Recognition for Hybrid Mechanism Mobile Robot", Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), Vancouver, British Columbia, Canada,November 12-18, 2010.

[C14]

Ben-Tzvi, P., "Experimental Validation of a Hybrid Mobile Robot Mechanism with Interchangeable Locomotion and Manipulation", Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, Missouri, pp. 420-421, October 11-15, 2009.

[C13]

Zhou, Q., Ben-Tzvi, P., Iqbal, A., Fan, D., "Design, Analysis and Optimization of Magnetic Microactuators", Proceedings of the 2009 ASME International Mechanical Engineering Congress and Exposition (IMECE 2009), Lake Buena Vista, Florida, November 13-19, 2009.

[C12]

Bai, S., Ben-Tzvi, P., Zhou, Q., Huang, X., "Fuzzy Sliding Mode Control of Flexible Spacecraft with Input Saturation", Proceedings of the 2009 ASME International Mechanical Engineering Congress and Exposition (IMECE 2009), Lake Buena Vista, Florida, November 13-19, 2009.

[C11]

Ben-Tzvi, P., "Wireless Modular Control Hardware Architecture for Hybrid Mechanism Mobile Robot:, Proceedings of the 2009 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009), 33rd Mechanisms & Robotics Conference, San Diego, CA, pp. 675-680, Aug. 30-Sep. 2, 2009.

[C10]

Zhao, H., Ben-Tzvi, P., Tingqi Lin, T., Goldenberg, A.A., "Two-layer Sliding Mode Control of Pneumatic Position Synchro System with Feedback Linearization Based on Friction Compensation", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 41-45, Oct 17-18, 2008.

[C9]

Zhou, Q., Ben-Tzvi, P., Fan, D., Goldenberg, A.A., "Design of Fast Steering Mirror Systems for Precision Laser Beams Steering", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 144-149, October 17-18, 2008.

[C8]

Bai, S., Ben-Tzvi, P., Zhou, Q., Huang, X., "Dynamic Modeling of a Rotating Beam Having a Tip Mass", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 52-57, October 17-18, 2008.

[C7]

Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "Design, Simulations and Optimization of a Tracked Mobile Robot Manipulator with Hybrid Locomotion and Manipulation Capabilities", Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA2008), Pasadena, California, pp. 2307-2312, May 19-23, 2008.

[C6]

Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "A Novel Control Architecture and Design of Hybrid Locomotion and Manipulation Tracked Mobile Robot", Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007),Harbin, China, pp. 1374-1381, August 5-8, 2007.

[C5]

Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "Implementation of Sensors and Control Paradigm for a Hybrid Mobile Robot Manipulator for Search and Rescue Operations", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2007), Ottawa, Ontario, Canada, pp. 92-97, October 12-13, 2007.
*** Winner of the Best Paper Award ***

[C4]

Ben-Tzvi, P., Ito, S., and Goldenberg, A.A., "Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2007), Ottawa, Canada, pp. 104-109, Oct. 12-13, 2007.

[C3]

Ben-Tzvi, P., Raoufi, C., Goldenberg, A.A., and Zu, J.W., "Virtual Prototype Development and Simulations of a Tracked Hybrid Mobile Robot", Proceedings of MSC. Software 2007 Virtual Product Development Conference, Detroit, Michigan, October 10-12, 2007.

[C2]

Raoufi, C., Ben-Tzvi, P., Goldenberg, A.A., and Kucharczyk, W., "A MR-Compatible Tele-Robotic System for MRI-Guided Intervention: System Overview and Mechanical Design", Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007), San Diego, California, pp. 1975-1800, October 29 - Nov 2, 2007.

[C1]

Goldenberg, A.A., Ben-Tzvi, P., "Mobile Robots for Hazardous Environments: New Technology for Mobility", ANS 2nd Int. Joint Topical Meeting on Emergency Preparedness & Response and Robotic & Remote Systems (12th Robotics & Remote Systems for Hazardous Environments), Albuquerque, NM, Mar 9-12, 2008.