People | Motion Research Group | University of Waterloo


	Research Areas Kinematics and Dynamics of Multibody Systems Computational Methods for Analysis and Design Mechatronic and Robotic Systems Advanced Vehicle Systems Mechanisms and Machinery Biomechanics and Sports Engineering Kinematics and Dynamics of Multibody Systems A. Izadbakhsh, J. McPhee, and S. Birkett, Dynamic Modeling and Experimental Testing of a Piano Action Mechanism with a Flexible Hammer Shank, to appear in ASME J. Comp. Non. Dyn., v.3, 2008. M. Leger, and J. McPhee, Selection of Modeling Coordinates for Forward Dynamic Multibody Simulations, Multibody Syst. Dyn., v.18, 277-297, 2007. Y. Gonthier, 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, 10 pages, 2007. J. McPhee and S. Redmond, Modelling Multibody Systems with Indirect Coordinates, Comp. Meth. Appl. Mech. Eng., v.195, 6942-6957, 2006. J. McPhee, Unified Modelling Theories for the Dynamics of Multidisciplinary Multibody Systems, to appear in Advances in Computational Multibody Systems, J. Ambrosio, ed., Springer-Verlag, 2005, pp.129-158. C. Schmitke and J. McPhee, Modelling Mechatronic Multibody Systems using Symbolic Subsystem Models, submitted to Multibody System Dynamics, 2003. J. McPhee, Virtual Prototyping of Multibody Systems with Linear Graph Theory and Symbolic Computing, in Virtual Nonlinear Multibody Systems, W. Schiehlen and M. Valasek, eds., Kluwer Academic, 2003, pp.37-56. J. McPhee, Two Different Methods for Simulating the Motion of Variable-Mass Multibody Systems, in Advanced Multibody System Dynamics: Simulation and Software Tools, W. Schiehlen, ed., Kluwer Academic, 1993, pp.385-390. J. McPhee, 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, no.1, 2004, pp.1-23. Y. Gonthier, J. McPhee, J.-C. Piedboeuf, and C. Lange, A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction, Multibody System Dynamics, vol.11, no.3, 2004, pp.209-233. C. Schmitke and J. McPhee, Effective use of Subsystem Models in Multibody and Mechatronic System Dynamics, International Journal for Multiscale Computational Engineering, vol.1, no.2, 2003, pp.139-159. E. Zahariev and J. McPhee, Stabilization of Constraints of Multibody System Dynamics, Mechanics of Structures and Machines, vol.31, no.1, 2003, pp.25-55. Y. He 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, 2003, pp.397-408. S. Redmond and J. McPhee, Modelling Multibody Systems with Indirect Coordinates, submitted to Computer Methods in Applied Mechanics and Engineering, 2004. J. McPhee, Graph-Theoretic Modelling of Multibody Systems , invited lecture for NATO ASI Workshop on Virtual Nonlinear Multibody Systems , Prague, Czech Republic, June 2002. C. Schmitke and J. McPhee, Effective Use of Subsystem Models in Multibody and Mechatronic System Dynamics, submitted to International Journal of Computational Civil and Structural Engineering, 2002. E. Zahariev and J. McPhee, Dynamics of Multibody Systems with Multiple Constraints, submitted to Mathematical and Computer Modelling of Dynamical Systems, 2002. J. McPhee, P. Shi, and J.-C. Piedboeuf, Dynamics of Multibody Systems using Virtual Work and Symbolic Programming , Mathematical and Computer Modelling of Dynamical Systems , vol.8, no.2, 2002, pp.137-156. Y. Gonthier, J. McPhee, J.-C. Piedboeuf, and C. Lange, A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction, submitted to Multibody System Dynamics, 2002. E. Zahariev and J. McPhee, Stabilization of Constraints of Multibody System Dynamics, to appear in Mechanics of Structures and Machines, 2002. T. Geike 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 Parallel Mechanisms and Manipulators , Quebec City, Canada, October 2002. P. Shi, 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. J. McPhee, 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., September 2001. P. Shi and J. McPhee, Dynamics of Flexible Multibody Systems using Virtual Work and Linear Graph Theory, Multibody System Dynamics, vol.4, pp.355-381, 2000. J. McPhee and P. Shi, 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, 20-24 June, 1999, pp.1258-1263. J.J. McPhee, Automatic Generation of Motion Equations for Planar Mechanical Systems Using the New Set of ``Branch Co-ordinates'' , Mechanism and Machine Theory , vol.33, no.6, pp.805-823, 1998. J.J. McPhee, A Unified Graph-Theoretic Approach to Formulating Multibody Dynamics Equations in Absolute or Joint Coordinates , Journal of the Franklin Institute, vol.334B, no.3, pp.431-445, 1997. J.J. McPhee, On the Use of Linear Graph Theory in Multibody System Dynamics, Nonlinear Dynamics, vol.9, pp.73-90, 1996. J.J. McPhee, 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, no.2, pp.201-213, 1996. J.J. McPhee, Two Different Methods for Simulating the Motion of Variable-Mass Multibody Systems, in Advanced Multibody System Dynamics: Simulation and Software Tools , edited by W. Schiehlen, Kluwer Academic, pp.385-390, 1993. J.J. McPhee 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, no.8, pp.1711-1725, 1991. J.J. McPhee and R.N. Dubey, Dynamics of Multibody Systems with Known Configuration Changes, Journal of Applied Mechanics, vol.58, no.1, pp.215-221, 1991. Computational Methods for Analysis and Design C. Schmitke, K. Morency, and J. McPhee, Using Graph Theory and Symbolic Computing to Generate Efficient Models for Multibody Vehicle Dynamics, to appear in J. Multibody Dyn., 2008. Y. He and J. McPhee, Application of Optimization Algorithms and Multibody Dynamics to Ground Vehicle Suspension Design, Int. J. Heavy Veh. Sys., v.14, 158-192, 2007. Y. He and J. McPhee, Application of SQP and Dynamic Mode Tracking to the Identification of the Critical Speed of Rail Vehicles, Int. J. Heavy Veh. Sys., v.14, 193-212, 2007. W. Zhou, D. Jeffery, G. Reid, C. Schmitke, and J. McPhee, Implicit Reduced Involutive Forms and Their Application to Engineering Multibody Systems, in Lecture Notes in Computer Science, v.3519, H. Li, P. Olver, and G. Sommer, eds., Springer-Verlag, 31-43, 2005. Y. He and J. McPhee, Mechatronic Vehicle Design via Multidisciplinary Optimization, CSME Forum, University of Western Ontario, London, June 2004, pp.504-513. W. Zhou, D. Jeffrey, G. Reid, C. Schmitke, and J. McPhee, Implicit Reduced Involutive Forms and Their Application to Engineering Multibody Systems, International Workshop on Geometric Invariance and Applications in Engineering, Xi’an, China, May 2004. Y. He and J. McPhee, Application of Optimization Algorithms and Multibody Dynamics to Ground Vehicle Suspension Design, submitted to Journal of Sound and Vibration, 2003. E. Zahariev 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, no.4, 2003, pp.417-436. J. McPhee, P. Shi, and J.-C. Piedboeuf, Dynamics of Multibody Systems using Virtual Work and Symbolic Programming , Mathematical and Computer Modelling of Dynamical Systems , vol.8, no.2, 2002, pp.137-156. P. Shi and J. McPhee, Symbolic Programming of a Graph-Theoretic Approach to Flexible Multibody Dynamics, Mechanics of Structures and Machines, vol.30, no.1, pp.123-154, 2002. Y. He and J. McPhee, Comparative Study of Optimization Algorithms used in Ground Vehicle Suspension Design, submitted to Journal of Sound and Vibration, 2002. P. Shi, J. McPhee, and G. Heppler, Polynomial Shape Functions and Numerical Methods for Flexible Multibody Dynamics , Mechanics of Structures and Machines , vol.29, no.1, pp.43-64, 2000. C. Good and J. McPhee, Dynamics of Mountain Bicycles with Rear Suspensions: Design Optimization, Sports Engineering , vol.3, no.1, pp.49-56, 2000. A. Seth and J. McPhee, Prediction of Optimal Arm Motions using a Genetic Algorithm, Proceedings of 17th Canadian Congress of Applied Mechanics, Hamilton, Ontario, 30 May - 3 June, 1999. J. Heilig and J. McPhee, Determination of Minimum-Time Manoeuvres for a Robotic Manipulator using Numerical Optimization Methods, Mechanics of Structures and Machines , vol.27, no.2, pp.185-201, 1999. A.E. Baumal, J.J. McPhee, and P.H. Calamai, Genetic Algorithm Optimization for Active Vehicle Suspension Design , Mechanics in Design, edited by S.A. Meguid, Proceedings of C.S.M.E. Forum, pp.455-464, 1996. Winner of award for Best Paper Lead-authored by a Student. O.M. Oshinowo and J.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. J.J. McPhee and C.E. Wells, Automated Symbolic Analysis of Mechanical System Dynamics, MapleTech , vol.3, no.1, pp.48-56, 1996. C.E. Wells and J. McPhee, A Symbolic Toolbox for Investigating the Structure of Multibody Dynamics Equations, Mechanics in Design, edited by S.A. Meguid, Proceedings of C.S.M.E. Forum, pp.75-84, 1996. A.E. Baumal and J.J. McPhee, Feller-Buncher Planar Motion Boom Numerical Optimization Project , Technical Report for Timberjack Inc., Woodstock, Ontario, 1996. [Link to the page on this topic] [Top] Mechatronic and Robotic Systems C. Schmitke and J. McPhee, Using Linear Graph Theory and the Principle of Orthogonality to Model Multibody, Multi-Domain Systems, Adv. Eng. Infor., v.22, 147160, 2008. M. Peasgood, C. Clark, and J. McPhee, Complete and Scalable Multi-Robot Roadmap Coordination Planning, IEEE Trans. Robotics, v.24, 283-292, 2008. Y. He and J. McPhee, A Design Methodology for Mechatronic Vehicles: Application of MDO, Multibody Dynamics, and Genetic Algorithms, Veh. Sys. Dyn., 697-733, 2005. J.P. Hauschild, 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, July 2004, pp.683-692 M. Scherrer and J. McPhee, Dynamic Modelling of Electromechanical Multibody Systems, Multibody System Dynamics, vol.9, no.1, 2003, pp.87-115. T. Geike and J. McPhee, Inverse Dynamic Analysis of Parallel Manipulators with Full Mobility, Mechanism and Machine Theory, vol.38, no.6, 2003, pp.549-562. L. Sass, 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, no.3, 2004, pp.209-250. M. Scherrer and J. McPhee, Dynamic Modelling of Electromechanical Multibody Systems, to appear in Multibody System Dynamics, 2003. T. Geike and J. McPhee, Inverse Dynamic Analysis of Parallel Manipulators with Full Mobility, to appear in Mechanism and Machine Theory, 2003. C. Schmitke and J. McPhee, Effective use of Subsystem Models in Multibody and Mechatronic System Dynamics, submitted to International Journal of Computational Civil and Structural Engineering, 2002. T. Geike 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 Parallel Mechanisms and Manipulators , Quebec City, Canada, October 2002. M. Makatchev, J. McPhee, S.K. Tso, and S. Lang, Modelling, Control, and Interface for a Four-Wheel-Steering Mobile Robot, to appear in IEEE Transactions on Systems, Man, and Cybernetics, Part A, 2002. T. Geike 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, July 2002, pp.49-58. P. Shi, J. McPhee, and G. Heppler, Design and Control of an Experimental Facility for Emulating Space-Based Robotic Manipulators, Proceedings of International Symposium on Robotics, Montreal, 2000, pp.481-486. M. Makatchev, S. Lang, S. Tso, and J. McPhee, Cross-Coupling Control for Slippage Minimization of a Four-Wheel-Steering Mobile Robot, Proceedings of International Symposium on Robotics, Montreal, 2000, pp.42-47. D. Lovekin, G. Heppler, and J. McPhee, Design and Analysis of a Facility for Free-floating Flexible Manipulators, Transactions of the CSME, vol.24, no.2, pp.375-390, 2000. J. Heilig and J. McPhee, Determination of Minimum-Time Manoeuvres for a Robotic Manipulator using Numerical Optimization Methods, Mechanics of Structures and Machines , vol.27, no.2, pp.185-201, 1999. D. Horvath, S. Williams, and J. McPhee, Design and Implementation of a Walking Robot, Proceedings of International Conference on Field and Service Robotics, Canberra, Australia, pp.137-144, Dec. 1997. [Link to the page on this topic] [Top] Advanced Vehicle Systems H. Vogt, C. Schmitke, K. Jalali, and J. McPhee, Real-Time Dynamics Simulation of an Electric Vehicle with In-Wheel Motors, to appear in Int. J. Veh. Auto. Sys. N. Azad, A. Khajepour and J. McPhee, A Survey on Stability Enhancement Strategies for Articulated Steer Vehicles, to appear in Int. J. Heavy Veh. Sys. N. L. Azad, A. Khajepour, and J. McPhee, Articulated Steer Vehicles: Dynamics and Control, VDM Verlag, 2008. (ISBN: 978-3-8364-5665-4) K. Jalali, 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, Proc. SAE World Congress, Detroit, 8 pages, 2008. N. Azad, A. Khajepour and J. McPhee, Robust Variable Structure Control for Stabilization of Articulated Steer Vehicles by Torque Vectoring, Int. J. Heavy Veh. Sys., v.14, 331-354, 2007. N. Azad, A. Khajepour and J. McPhee, Robust State Feedback Stabilization of Articulated Steer Vehicles, Veh. Sys. Dyn., v.45, 249-275, 2007. N. Azad, A. Khajepour and J. McPhee, The Effects of Locking Differentials on the Snaking Mode of Articulated Steer Vehicles, Int. J. Veh. Sys. Model. Test., v.2, 101-127, 2007. N. Azad, 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., v.1, 106-130, 2005. Y. He, N. Lashgarian, 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, June 2004, pp.962-971. Y. He and J. McPhee, Multidisciplinary Optimization of Multibody Systems with Application to the Design of Rail Vehicles, to appear in Multibody System Dynamics, 2005. Y. He and J. McPhee, Multidisciplinary Design Optimization of Mechatronic Vehicles with Active Suspensions, to appear in Journal of Sound and Vibration, 2005. Y. He and J. McPhee, A Design Methodology for Mechatronic Vehicles: Application of Multidisciplinary Optimization, Multibody Dynamics, and Genetic Algorithms, submitted to Vehicle System Dynamics, 2004. Y. He, A. Khajepour, J. McPhee, and X. Wang, Dynamic Modeling and Stability Analysis of Articulated Frame Steer Vehicles, International Journal of Heavy Vehicle Systems, vol.12, no.1, 2004, pp.28-59. Y. He and J. McPhee, Optimization of Curving Performance of Rail Vehicles, submitted to Vehicle System Dynamics, 2003. A. Baumal 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, no.3, 2002, pp.311-322. Winner of Award for Best Paper of 2002. Y. He and J. McPhee, Optimization of the Lateral Stability of Rail Vehicles, Vehicle System Dynamics, vol.38, no.5, 2002, pp.361-390 Y. He and J. McPhee, Application of SQP and Dynamic Mode Tracking to the Identification of the Critical Speed of Rail Vehicles, submitted to International Journal of Vehicle Design, 2004. A. Baumal and J. McPhee, On the Use of Numerical Optimization to Maximize the Critical Velocity of a Simple Rail Vehicle , to appear in Transactions of the CSME, 2002. Y. He and J. McPhee, Application of SQP and Dynamic Mode Tracking to the Identification of the Critical Speed of Rail Vehicles, submitted to Journal of Sound and Vibration , 2002. I. Bruulsema and J. McPhee, Dynamic Modelling and Design Optimization of Automotive Suspension Systems, submitted to Transactions of the CSME, 2001. Y. He and J. McPhee, Design Optimization of Rail Vehicles with Passive and Active Suspensions: A Combined Approach using Genetic Algorithms and Multibody Dynamics, Proceedings of the 17th IAVSD Symposium on the Dynamics of Vehicles on Road and Tracks, Denmark, August 2001. A.E. Baumal, J.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. J.J. McPhee 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. R.J. Anderson and J.J. McPhee, Use of a Model Reduction Procedure to Speed Up Time-Domain Simulations of Rail Vehicles , Vehicle System Dynamics, Supplement to vol.23, pp.20-33, 1994 [Link to the page on this topic] [Top] Mechanisms and Machinery Y. Liu and J. McPhee, Automated Kinematic Synthesis of Planar Mechanisms with Revolute Joints, Mech.-Based Des. Struct. Mach., v.35, 405-445, 2007. J. Cain, D. Staley, G. Heppler and J. McPhee, Stability Analysis of a Dynamically Tuned Gyroscope, J. Guid. Cont. Dyn., v.29, 965-969, 2006. M. Hirschkorn, J. McPhee, and S. Birkett, Dynamic Modelling and Experimental Testing of a Piano Action Mechanism, ASME Journal of Computational and Nonlinear Dynamics, v.1, 47-55, 2006. Y. Liu and J. McPhee, Automated Type Synthesis of Planar Mechanisms using Numeric Optimization with Genetic Algorithms, to appear in ASME Journal of Mechanical Design, 2005. M. Hirschkorn, Dynamic Model of a Piano Action Mechanisms, a thesis presented to the University of Waterloo in fulfilment of the thesis requirement for the degree of Master of Applied Science in Systems Design Engineering, 2004. Y. Liu and J. McPhee, Type Synthesis of Planar Multibody Systems using Topology as a Design Variable, Proceedings of 11th World Congress in Mechanism and Machine Science, Tianjin, China, August 18-21, 2003. M. Hirschkorn, S. Birkett, and J. McPhee, Kinematic Model of a Piano Action Mechanism, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), Calgary, Canada, June 1-6, 2003. J. McPhee, Expert Report on Quadco Equipment Inc. versus Timberjack Inc., File No. T-867-96 , Trial Division, Federal Court of Canada, September 2001. [Link to the page on this topic] [Top] Biomechanics and Sports Engineering M. Millard, J. McPhee, and E. Kubica, Multi-step Forward Dynamic Gait Simulation, to appear in Computational Methods in Applied Sciences, edited by E. Onate, Springer, 2008. M. McQueen and J. McPhee, Design of an Ice Hockey Test Machine, Int. Sports Eng. Assoc., France, 6 pages, 2008. W. Peterson and J. McPhee, Comparison of Impulse-Momentum and Finite Element Models for Impact between Golf Ball and Clubhead, World Sci. Cong. Golf, Phoenix, 6 pages, 2008. C. Good, D. Viano, J. McPhee, J. Ronsky, and J. Pieper, Motorized Shoulder Belt Tensioning: Modeling and Performance for a Diverse Occupant Population, Proc. SAE World Congress, Detroit, 8 pages, 2008. M. Peasgood, E. Kubica, and J. McPhee, Stabilization of a Dynamic Walking Gait Simulation, ASME J. Comp. Non. Dyn., v.2, 65-72, 2007. A. Seth, J. McPhee, and M. Pandy, Multijoint Coordination of Vertical Arm Movement, Applied Bionics and Biomechanics, vol.1, no.1, 2003, pp.45-56. C. Good and J. McPhee, Dynamics of Mountain Bicycles with Rear Suspensions: Design Optimization, Sports Engineering , vol.3, no.1, pp.49-56, 2000. C. Good and J. McPhee, Dynamics of Mountain Bicycles with Rear Suspensions: Modelling and Simulation, Sports Engineering, vol.2, no.3, pp.129-144, 1999. A. Seth and J. McPhee, A Predictive Control Method for Human Motion Simulation, Proceedings of Workshop on Biomechanics Meets Robotics: Modelling and Simulation , Heidelberg, Germany, November 1999. A. Seth and J. McPhee, Modelling Human Upper Limb Biomechanics using Graph Theory, Proceedings of 2nd International Conference on Graphs and Mechanics, Gliwice, Poland, October 1999. A. Seth and J. McPhee, Prediction of Optimal Arm Motions using a Genetic Algorithm, Proceedings of 17th Canadian Congress of Applied Mechanics, Hamilton, Ontario, 30 May - 3 June, 1999. M.G. Ishac, G.C. Andrews, J. McPhee, A.E. Patla, and D.A. Winter, 3D Analysis of Human Locomotion Using Dual-Vectors and Graph Theory, Proceedings of the 3rd North American Conference on Biomechanics (NACOB'98), Waterloo, Ontario, Canada, 14-18 August 1998. J. McPhee and G.C. Andrews, Effect of Sidespin and Wind on Projectile Trajectory, with Particular Application to Golf, American Journal of Physics, vol.56, no.10, pp.933-939, 1988. [Top]

	[ Motion Research Group ] [ Systems Design Engineering \| University of Waterloo ] [ 200 University Avenue West \| Waterloo, Ontario, Canada \| N2L 3G1 ]