publications

 

Peer-Reviewed Journal Publications

 

[J22]

Ma, Z., Ben-Tzvi, P., "Design and Optimization of a Five-Finger Haptic Glove Mechanism", Journal of Mechanisms and Robotics, Transactions of the ASME, Under review, 2014.

 

[J21]

Rone, W., Ben-Tzvi, P., "Mechanics Modeling of Multi-Segment Rod-Driven Continuum Robots", Journal of Mechanisms and Robotics, Transactions of the ASME, In-Press, 2014.

DOI: 10.1115/1.4027235

 

[J20]

Ma, Z., Ben-Tzvi, P., "RML Glove - An Exoskeleton Glove Mechanism with Haptics Feedback", IEEE/ASME Transactions on Mechatronic, In-Press, 2014. [PDF]

DOI: 10.1109/TMECH.2014.2305842

 

[J19]

Moubarak, P., Ben-Tzvi, P., "A Tristate Rigid Reversible and Non-Back-Drivable Active Docking Mechanism for Modular Robotics", IEEE/ASME Transactions on Mechatronics, Vol. 19, Issue 3, pp. 840-851, June 2014. [PDF]

 

[J18]

Rone, W., Ben-Tzvi, P., "Continuum Robot Dynamics Utilizing the Principle of Virtual Power", IEEE Transactions on Robotics, Vol. 30, Issue 1, pp. 275-287, February 2014. [PDF]

 

[J17]

Moubarak, P., Ben-Tzvi, P., "A Globally Converging Algorithm for Adaptive Manipulation and Trajectory Following for Mobile Robots with Serial Redundant Arms", Robotica Journal, Vol. 31, Issue 8, pp. 1299-1312, December 2013. [PDF]

 

[J16]

Rone, W., Ben-Tzvi, P., "Design and FE Analysis of Integrated Sensing using Gas Compressibility for Microdroplet Generation", Mechatronics Journal, Vol. 23, Issue 4, pp. 397-408, June 2013. [PDF]

 

[J15]

Moubarak, P., Ben-Tzvi, P., "On the Dual-Rod Slider Rocker Mechanism and its Applications to Tri-State Rigid Active Docking", Transactions of the ASME, Journal of Mechanisms and Robotics, Vol. 5, Issue 1, pp. 011010: 1-10, February 2013. [PDF]

 

[J14]

Rone, W., Ben-Tzvi, P., "Mapping, Localization and Motion Planning in Mobile Multi-Robotic Systems", Robotica Journal, Vol. 31 Issue 1, pp. 1-24, January 2013. [PDF]

 

[J13]

Moubarak, P., Ben-Tzvi, P., "Modular and Reconfigurable Mobile Robotics", Journal of Robotics and Autonomous Systems, Vol. 60, Issue 12, pp. 1648-1663, December 2012. [PDF]

 

[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, Vol. 12, Issue 5, pp. 1033-1042, May 2012. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[J9]

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

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

 

Peer-Reviewed Conference Proceedings (full articles with full review)

 

[C42]

Ma, Z., Ben-Tzvi, P., "Modeling Human Hand and Sensing Hand Motions with the Five-Fingered Haptic Glove Mechanism", Proc. of the 2014 ASME Int'l Design Engineering Technical Conferences & Computers and Information in Engineering Conf. (IDETC/CIE 2014), 38th Mechanisms & Robotics Conference, Buffalo, NY, Aug. 17-20, 2014. [PDF]

 

[C41]

Rone, W., Ben-Tzvi, P., "Continuum Robotic Tail Loading Analysis for Mobile Robot Stabilization and Maneuvering", Proceedings of the 2014 ASME Int'l Design Engineering Technical Conferences & Computers and Information in Engineering Conf. (IDETC/CIE 2014), 38th Mechanisms & Robotics Conference, Buffalo, NY, Aug. 17-20, 2014. [PDF]

 

[C40]

Snyder, M.R., Kumar, A., Ben-Tzvi, P., "Off Ship Measurement of Ship Air Wakes Using Instrumented Unmanned Aerial Vehicles", 32nd AIAA Applied Aerodynamics Conference, AIAA Aviation and Aeronautics Forum and Exposition 2014, Atlanta, GA, 16-20 June 2014. [PDF]

 

[C39]

Rone, W., Ben-Tzvi, P., "Multi-Segment Continuum Robot Shape Estimation Using Passive Cable Displacements", Proceedings of the 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington, DC, Oct. 21-23, 2013. [PDF]

 

[C38]

Ma, Z., Ben-Tzvi, P., "Tendon Transmission Efficiency of A Two-finger Haptic Glove", Proceedings of the 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington, DC, Oct. 21-23, 2013. [PDF]

 

[C37]

Kumar, A., Ben-Tzvi, P., Snyder, M.R., Saab, W., "Instrumentation System for Ship Airwake Measurement", Proceedings of the 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington, DC, Oct. 21-23, 2013. [PDF]

 

[C36]

Moubarak, P., Alvarez, E., Ben-Tzvi, P., "Reconfiguring a Modular Robot into a Humanoid Formation: A Multi-Body Dynamic Perspective on Motion Scheduling for Modules and their Assemblies", Proc. of the 2013 IEEE International Conference on Automation Science and Engineering (CASE2013), Madison, Wisconsin, Aug. 17-21, 2013. [PDF]

 

[C35]

Moubarak, P., Ben-Tzvi, P., "Globally Converging MIMO Optimal Controller for Adaptive Manipulation of Mobile Robots with Redundant Arms", Proceedings of the 2013 American Control Conference, Washington, DC, pp. 5729-5734, June 17-19, 2013. [PDF]

 

[C34]

Moubarak, P., Ben-Tzvi, P., Ma, Z., Alvarez, E., "An Active Coupling Mechanism with Three Modes of Operation for Modular Mobile Robotics", Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013, pp. 5469-5474. [PDF]

 

[C33]

Snyder, M.R., Kumar, A., Ben-Tzvi, P., Kang, H.S., "Validation of Computational Ship Air Wakes for a Naval Research Vessel", American Institute of Aeronautics and Astronautics (AIAA) 51stAerospace Sciences Meeting, AIAA Paper 2013-0959, Grapevine, Texas, January 7-10, 2013. [PDF]

 

[C32]

Rone, W., Ben-Tzvi, P., "Continuum Manipulator Statics Based on the Principle of Virtual Work", Proceedings of the 2012 ASME International Mechanical Engineering Congress and Exposition (IMECE 2012), Houston, TX,November 9-15, 2012. [PDF]

 

[C31]

Moubarak, P., Ben-Tzvi, P., Ma, Z., Alvarez, E., "Kinematic Synthesis and Dynamic Analysis of the Dual-Rod Slider Crank Mechanism: An Application to Modular Robotics", Proceedings of the 2012 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2012), 36th Mechanisms & Robotics Conference, Chicago, IL, Aug. 12-15, 2012. [PDF]

 

[C30]

Ma, Z., Ben-Tzvi, P., "An Admittance Glove Mechanism for Controlling a Mobile Robot", Proceedings of the 2009 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009), 36th Mechanisms & Robotics Conference, Chicago, IL, Aug. 12-15, 2012. [PDF]

 

[C29]

Moubarak, P., Barsky, D., Ben-Tzvi, P., and Zaghloul, M., "A self-calibrating, bi-axial piezoelectric MEMS tilt sensor," Proceedings of SPIE - Defense, Security, and Sensing, Micro- and Nanotechnology Sensors, Systems, and Applications IV Conference, Vol. 8373, 8373-93, Baltimore, MD, April 23-27, 2012. [PDF]

 

[C28]

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. [PDF]

 

[C27]

Ma, Z., 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. [PDF]

 

[C26]

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. [PDF]

 

[C25]

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. [PDF]

 

[C24]

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

*** Winner of the Best Paper Award ***

 

[C23]

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. [PDF]

 

[C22]

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

 

[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. [PDF]

 

[C20]

Moubarak, P., Ben-Tzvi, P., Ma, Z., Dumas, M., "A 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. [PDF]

 

[C19]

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. [PDF]

 

[C18]

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. [PDF]

 

[C17]

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. [PDF]

 

[C16]

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. [PDF]

 

[C15]

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. [PDF]

 

[C14]

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. [PDF]

 

[C13]

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. [PDF]

 

[C12]

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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[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. [PDF]

 

[C8]

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

 

[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. [PDF]

 

[C6]

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. [PDF]

 

[C5]

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. [PDF]

 

[C4]

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. [PDF]
*** Winner of the Best Paper Award ***

 

[C3]

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. [PDF]

 

[C2]

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. [PDF]

 

[C1]

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. [PDF]

 

 

 


Patents

 

Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "Hybrid Mobile Robot", U.S. Patent 7,874,386, Issued January 25, 2011.

 

Ben-Tzvi, P., Moubarak, P., "Self-Configurable and Transformable Omni-Directional Robotic Modules (STORM)", U.S. Provisional Patent Application No. 61/532,711, September 9, 2011.

 

Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "Hybrid Mobile Robot", Canadian Patent Application No. CA2631116, May 12, 2008.

 

 

Books/Monographs

 

Ben-Tzvi, P., Hybrid Mobile Robot Systems: Symbiosis of Locomotion and Manipulation. Germany: LAP LAMBERT Academic Publishing AG & Co. KG, 2010. (ISBN-13: 978-3-8433-6890-2)

 

Ben-Tzvi, P., A Dispensing System for Microdrops Generation in Medical Applications. Germany: LAP LAMBERT Academic Publishing AG & Co. KG, 2010. (ISBN-13: 978-3-8383-6000-3)

 

 

Book Chapters

 

Ben-Tzvi, P. and Moubarak, P., "A Mechatronic Perspective on Robotic Arms and End-Effectors" in Intelligent Mechatronics. Vienna, Austria: InTech Open Access Publisher, Feb 2011, pp. 3-20. (ISBN-13: 978-953-307-300-2)

 

 

Invited Keynote Lectures / Research Talks


Symbiosis of Mobile Robotic Locomotion and Manipulation on Rough Terrain - Towards Modularity and Reconfigurability, State University of New York at Buffalo (UB), Mechanical and Aerospace Engineering Department, Buffalo, NY, February 28, 2013. (Research Talk)


STORM:  Self-configurable and Transformable Omni-directional Robotic Modules for Rough Terrain Maximum Mobility and Manipulation, Carnegie Mellon University (CMU), Robotics Institute, Pittsburgh, PA, March 5, 2012. (Research Talk)

 

Symbiosis of Mobile Robotic Locomotion and Manipulation on Rough Terrain, 2011 Symposium on Advanced Intelligent Systems, University of Waterloo, Waterloo, Canada, December 1-2, 2011. (Keynote Lecture)

 

Sensor-Controlled Autonomous Compounded Manipulation and Locomotion of Mobile Robots, Orebro University, School of Science and Technology, Centre for Applied Autonomous Sensor Systems (AASS), Sweden, September 10, 2008. (Research Talk)

 

Autonomous Mobile Manipulation for Rough-Terrain Environments, Malardalen University, Intelligent Sensor Systems Division, Eskilstuna, Sweden, September 11, 2008. (Research Talk)

 

Hybrid Mobile Robot System for Field Operations: Interchanging Locomotion and Manipulation, The Robotdalen Day, Volvo CE Democenter, Eskilstuna, Sweden, September 10, 2008. (Research Talk)

 

 

 

 

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