Khaled Ben-Gharbia's PhD Thesis Publications
Serial Journal Articles:
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"Kinematic design of redundant robotic manipulators for spatial positioning that are optimally fault tolerant,"
IEEE Transactions on Robotics,
Vol. 29, No. 5, pp. 1300-1307, Oct. 2013.
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"A kinematic analysis and evaluation of planar robots designed from optimally fault-tolerant Jacobians,"
IEEE Transactions on Robotics,
Vol. 30, No. 2, pp. 516-524, April 2014.
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R. C. Hoover,R. G. Roberts, A. A. Maciejewski, P. S. Naik, and K. M. Ben-Gharbia,
"Designing a Failure-Tolerant Workspace for Kinematically Redundant Robots,"
IEEE Transactions on Automation Science and Engineering.
Vol. 12, No. 4, pp. 1421-1432, Oct. 2015.
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"Kinematic design of manipulators with seven revolute joints optimized for fault tolerance,"
IEEE Transactions on Systems, Man, and Cybernetics.
Vol. 46, No. 10, pp. 1364-1373, Oct.~2016.
Conference Proceedings and Presentations:
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"An illustration of generating robots from optimal fault-tolerant Jacobians,"
15th IASTED International Conference on Robotics andApplications,
pp. 453-460, Cambridge, MA, Nov. 1-3, 2010.
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K. M. Ben-Gharbia, R. G. Roberts, and A. A. Maciejewski,
"Examples of planar robot kinematic designs from optimally fault-tolerant Jacobians,"
IEEE International Conference on Robotics and Automation ,
pp. 4710-4715, Shanghai, China, May 9-13, 2011.
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"Examples of spatial positioning redundant robotic manipulators that are optimally fault tolerant,"
IEEE International Conference on Systems, Man, and Cybernetics,
pp. 1526-1531, Anchorage, Alaska, Oct. 9-12, 2011.
(Finalist for Best Student Paper Award)
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P. S. Naik, A. A. Maciejewski, R. G. Roberts, R. C. Hoover, and K. Ben-Gharbia
"An Example of Computing the Failure-Tolerant Workspace Area for a Planar Kinematically Redundant Robot,"
Ninth IEEE International Conference on Automation Science and Engineering (CASE 2013),
pp. 312-317, Madison, WI, August 17-21, 2013.
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"An Example of a Seven Joint Manipulator Optimized for Kinematic Fault Tolerance,"
IEEE International Conference on Systems, Man, and Cybernetics,
pp. 802-807, San Diego, CA, Oct. 5-8, 2014.
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K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts,
"Modifying the Kinematic Structure of an Anthropomorphic Arm to Improve Fault Tolerance,"
IEEE International Conference on Robotics and Automation (ICRA2015),
pp. 1455-1460, Seattle, WA, May 26-30, 2015.