10 citations · 11 across the 8 of their papers we have counts for
8 papers
PROD: Palpative Reconstruction of Deformable Objects through Elastostatic Signed Distance Functions
Hamza El-Kebir
We introduce PROD (Palpative Reconstruction of Deformables), a novel method for reconstructing the shape and mechanical properties of deformable objects using elastostatic signed d…
Sum-of-Squares Data-driven Robustly Stabilizing and Contracting Controller Synthesis for Polynomial Nonlinear Systems
Hamza El-Kebir, Melkior Ornik
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares progr…
Viability under Degraded Control Authority
Hamza El-Kebir, Richard Berlin, Joseph Bentsman +1
In this work, we solve the problem of quantifying and mitigating control authority degradation in real time. Here, our target systems are controlled nonlinear affine-in-control evo…
Minimally Invasive Live Tissue High-fidelity Thermophysical Modeling using Real-time Thermography
Hamza El-Kebir, Junren Ran, Yongseok Lee +7
We present a novel thermodynamic parameter estimation framework for energy-based surgery on live tissue, with direct applications to tissue characterization during electrosurgery.…
Infinite-Dimensional Adaptive Boundary Observer for Inner-Domain Temperature Estimation of 3D Electrosurgical Processes using Surface Thermography Sensing
Hamza El-Kebir, Junren Ran, Martin Ostoja-Starzewski +3
We present a novel 3D adaptive observer framework for use in the determination of subsurface organic tissue temperatures in electrosurgery. The observer structure leverages pointwi…
Online Guaranteed Reachable Set Approximation for Systems with Changed Dynamics and Control Authority
Hamza El-Kebir, Ani Pirosmanishvili, Melkior Ornik
This work presents a method of efficiently computing inner and outer approximations of forward reachable sets for nonlinear control systems with changed dynamics and diminished con…
Physics-based Learning of Parameterized Thermodynamics from Real-time Thermography
Hamza El-Kebir, Yongseok Lee, Joseph Bentsman
Progress in automatic control of thermal processes and real-time estimation of heat penetration into live tissue has long been limited by the difficulty of obtaining high-fidelity…
Lodestar: An Integrated Embedded Real-Time Control Engine
Hamza El-Kebir, Joseph Bentsman, Melkior Ornik
In this work we present Lodestar, an integrated engine for rapid real-time control system development. Using a functional block diagram paradigm, Lodestar allows for complex multi-…