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About me

Welcome! I am a Mechanical Engineering Ph.D. candidate at Southern Methodist University with a deep focus on dynamics, control systems, and haptics. Backed by over five years of prior industry experience as an Automation Engineer, my goal is to translate complex control theory into functional, real-world robotic systems.

As a Research Assistant in the Systems Lab, my primary work focuses on a Haptic-Enabled Virtual Palpation System for 3D Elastography Medical Imaging. I am actively developing the SMU Haptic Glove, engineering its kinematics, dynamics, and nonlinear control architecture to advance medical diagnostics.

I am passionate about engineering education, leading senior undergraduate students as a Teaching Assistant for both the Control Lab and the Elements of Mechanical Engineering Measurement Lab.

Research Interests

Dynamics & Nonlinear Control
Medical Robotics & Haptics
Mechatronics
Medical Image Processing

Education

🎓 Ph.D. in Mechanical Engineering
Southern Methodist University (SMU), Present
🎓 M.Sc. in Mechanical/Mechatronics Engineering
Jordan University of Science and Technology (JUST), 2022
🎓 B.Sc. in Mechatronics Engineering
University of Jordan (JU), 2018

Archive Layout with Content

A variety of common markup showing how the theme styles them.

Header one

Header two

Header three

Header four

Header five

Header six

Blockquotes

Single line blockquote:

Quotes are cool.

Tables

Entry	Item
John Doe	2016	Description of the item in the list
Jane Doe	2019	Description of the item in the list
Doe Doe	2022	Description of the item in the list

Header1	Header2	Header3
cell1	cell2	cell3
cell4	cell5	cell6
cell1	cell2	cell3
cell4	cell5	cell6
Foot1	Foot2	Foot3

Definition Lists

Definition List Title: Definition list division.
Startup: A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model.
#dowork: Coined by Rob Dyrdek and his personal body guard Christopher “Big Black” Boykins, “Do Work” works as a self motivator, to motivating your friends.
Do It Live: I’ll let Bill O’Reilly explain this one.

Unordered Lists (Nested)

List item one
- List item one
  - List item one
  - List item two
  - List item three
  - List item four
- List item two
- List item three
- List item four
List item two
List item three
List item four

Ordered List (Nested)

List item one
1. List item one
  1. List item one
  2. List item two
  3. List item three
  4. List item four
2. List item two
3. List item three
4. List item four
List item two
List item three
List item four

Buttons

Make any link standout more when applying the .btn class.

Notices

Watch out! You can also add notices by appending {: .notice} to a paragraph.

HTML Tags

Address Tag

1 Infinite Loop
Cupertino, CA 95014
United States

Anchor Tag (aka. Link)

This is an example of a link.

Abbreviation Tag

The abbreviation CSS stands for “Cascading Style Sheets”.

Cite Tag

“Code is poetry.” —Automattic

Code Tag

You will learn later on in these tests that word-wrap: break-word; will be your best friend.

Strike Tag

This tag will let you ~~strikeout text~~.

Emphasize Tag

The emphasize tag should italicize text.

Insert Tag

This tag should denote inserted text.

Keyboard Tag

This scarcely known tag emulates keyboard text, which is usually styled like the <code> tag.

Preformatted Tag

This tag styles large blocks of code.

.post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}

Quote Tag

Developers, developers, developers… –Steve Ballmer

Strong Tag

This tag shows bold text.

Subscript Tag

Getting our science styling on with H₂O, which should push the “2” down.

Superscript Tag

Still sticking with science and Isaac Newton’s E = MC², which should lift the 2 up.

Variable Tag

This allows you to denote variables.

Page Not Found

Sorry, but the page you were trying to view does not exist.

About me

Welcome! I am a Mechanical Engineering Ph.D. candidate at Southern Methodist University with a deep focus on dynamics, control systems, and haptics. Backed by over five years of prior industry experience as an Automation Engineer, my goal is to translate complex control theory into functional, real-world robotic systems.

As a Research Assistant in the Systems Lab, my primary work focuses on a Haptic-Enabled Virtual Palpation System for 3D Elastography Medical Imaging. I am actively developing the SMU Haptic Glove, engineering its kinematics, dynamics, and nonlinear control architecture to advance medical diagnostics.

I am passionate about engineering education, leading senior undergraduate students as a Teaching Assistant for both the Control Lab and the Elements of Mechanical Engineering Measurement Lab.

Research Interests

Dynamics & Nonlinear Control
Medical Robotics & Haptics
Mechatronics
Medical Image Processing

Education

🎓 Ph.D. in Mechanical Engineering
Southern Methodist University (SMU), Present
🎓 M.Sc. in Mechanical/Mechatronics Engineering
Jordan University of Science and Technology (JUST), 2022
🎓 B.Sc. in Mechatronics Engineering
University of Jordan (JU), 2018

Archive Layout with Content

A variety of common markup showing how the theme styles them. # Header one ## Header two ### Header three #### Header four ##### Header five ###### Header six ## Blockquotes Single line blockquote: > Quotes are cool. ## Tables | Entry | Item | | | -------- | ------ | ------------------------------------------------------------ | | [John Doe](#) | 2016 | Description of the item in the list | | [Jane Doe](#) | 2019 | Description of the item in the list | | [Doe Doe](#) | 2022 | Description of the item in the list | | Header1 | Header2 | Header3 | |:--------|:-------:|--------:| | cell1 | cell2 | cell3 | | cell4 | cell5 | cell6 | |-----------------------------| | cell1 | cell2 | cell3 | | cell4 | cell5 | cell6 | |=============================| | Foot1 | Foot2 | Foot3 | ## Definition Lists Definition List Title : Definition list division. Startup : A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model. #dowork : Coined by Rob Dyrdek and his personal body guard Christopher "Big Black" Boykins, "Do Work" works as a self motivator, to motivating your friends. Do It Live : I'll let Bill O'Reilly [explain](https://www.youtube.com/watch?v=O_HyZ5aW76c "We'll Do It Live") this one. ## Unordered Lists (Nested) * List item one * List item one * List item one * List item two * List item three * List item four * List item two * List item three * List item four * List item two * List item three * List item four ## Ordered List (Nested) 1. List item one 1. List item one 1. List item one 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four ## Buttons Make any link standout more when applying the `.btn` class. ## Notices **Watch out!** You can also add notices by appending `{: .notice}` to a paragraph. {: .notice} ## HTML Tags ### Address Tag

1 Infinite Loop
Cupertino, CA 95014
United States

### Anchor Tag (aka. Link) This is an example of a [link](https://github.com "GitHub"). ### Abbreviation Tag The abbreviation CSS stands for "Cascading Style Sheets". *[CSS]: Cascading Style Sheets ### Cite Tag "Code is poetry." ---Automattic ### Code Tag You will learn later on in these tests that `word-wrap: break-word;` will be your best friend. ### Strike Tag This tag will let you ~~strikeout text~~. ### Emphasize Tag The emphasize tag should _italicize_ text. ### Insert Tag This tag should denote inserted text. ### Keyboard Tag This scarcely known tag emulates keyboard text, which is usually styled like the `

` tag. ### Preformatted Tag This tag styles large blocks of code..post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}
### Quote Tag Developers, developers, developers… –Steve Ballmer ### Strong Tag This tag shows **bold text**. ### Subscript Tag Getting our science styling on with H₂O, which should push the "2" down. ### Superscript Tag Still sticking with science and Isaac Newton's E = MC², which should lift the 2 up. ### Variable Tag This allows you to denote variables. {% include base_path %} {% for post in site.pages %} {% include archive-single.html %} {% endfor %} </div> </article> </div> Awards & Fellowships

 {% include base_path %} {% for post in site.awards reversed %} {% include archive-single-award.html %}
 {% endfor %}
 Posts by Category

 {% include base_path %} {% include group-by-array collection=site.posts field="categories" %} {% for category in group_names %} {% assign posts = group_items[forloop.index0] %}{{ category }}
{% for post in posts %} {% include archive-single.html %} {% endfor %} {% endfor %}
 Posts by Collection

 {% include base_path %} {% capture written_label %}'None'{% endcapture %} {% for collection in site.collections %} {% unless collection.output == false or collection.label == "posts" %} {% capture label %}{{ collection.label }}{% endcapture %} {% if label != written_label %}{{ label }}
{% capture written_label %}{{ label }}{% endcapture %} {% endif %} {% endunless %} {% for post in collection.docs %} {% unless collection.output == false or collection.label == "posts" %} {% include archive-single.html %} {% endunless %} {% endfor %} {% endfor %}
 CV

 {% include base_path %} {% include cv-template.html %} Download CV as PDF View Markdown CV


 CV

 {% include base_path %} Education ====== * Ph.D in Version Control Theory, GitHub University, 2018 (expected) * M.S. in Jekyll, GitHub University, 2014 * B.S. in GitHub, GitHub University, 2012 Work experience ====== * Spring 2024: Academic Pages Collaborator * GitHub University * Duties includes: Updates and improvements to template * Supervisor: The Users * Fall 2015: Research Assistant * GitHub University * Duties included: Merging pull requests * Supervisor: Professor Hub * Summer 2015: Research Assistant * GitHub University * Duties included: Tagging issues * Supervisor: Professor Git Skills ====== * Skill 1 * Skill 2 * Sub-skill 2.1 * Sub-skill 2.2 * Sub-skill 2.3 * Skill 3 Publications ======{% for post in site.publications reversed %} {% include archive-single-cv.html %} {% endfor %}
Talks ======{% for post in site.talks reversed %} {% include archive-single-talk-cv.html %} {% endfor %}
Teaching ======{% for post in site.teaching reversed %} {% include archive-single-cv.html %} {% endfor %}
Service and leadership ====== * Currently signed in to 43 different slack teams
 

 /* * This file controls what is imported from /_sass * * Note that the files are processed in the order they are imported, so they are partly sorted by the dependencies. Also, the first two lines of the file are required by Jekyll. */ @import "vendor/breakpoint/breakpoint", "themes", "theme/{{ site.site_theme | default: 'default' | append: '_light' }}", "theme/{{ site.site_theme | default: 'default' | append: '_dark' }}", "include/mixins", "vendor/susy/susy", "layout/reset", "layout/base", "include/utilities", "layout/tables", "layout/buttons", "layout/notices", "layout/masthead", "layout/navigation", "layout/footer", "syntax", "layout/forms", "layout/page", "layout/archive", "layout/sidebar", "layout/json_cv", "vendor/font-awesome/fontawesome", "vendor/font-awesome/solid", "vendor/font-awesome/brands" ;
 

 { "name": {{ site.title | jsonify }}, "short_name": {{ site.name | jsonify }}, "description": {{ site.description | jsonify }}, "start_url": "{{ site.baseurl | default: '/' }}", "lang": {{ site.locale | default: "en" | jsonify }}, "icons": [ { "src": "/images/favicon-192x192.png", "sizes": "192x192", "type": "image/png" }, { "src": "/images/favicon-512x512.png", "sizes": "512x512", "type": "image/png" } ] }
 Markdown

 {% include toc %} ## Locations of key files/directories * Basic config options: _config.yml * Top navigation bar config: _data/navigation.yml * Single pages: _pages/ * Collections of pages are .md or .html files in: * _publications/ * _portfolio/ * _posts/ * _teaching/ * _talks/ * Footer: _includes/footer.html * Static files (like PDFs): /files/ * Profile image (can set in _config.yml): images/profile.png ## Tips and hints * Name a file ".md" to have it render in markdown, name it ".html" to render in HTML. * Go to the [commit list](https://github.com/academicpages/academicpages.github.io/commits/master) (on your repo) to find the last version GitHub built with Jekyll. * Green check: successful build * Orange circle: building * Red X: error * No icon: not built * Academic Pages uses [Jekyll Kramdown](https://jekyllrb.com/docs/configuration/markdown/), GitHub Flavored Markdown (GFM) parser, which is similar to the version of Markdown used on GitHub, but may have some minor differences. * Some of emoji supported on GitHub should be supposed via the [Jemoji](https://github.com/jekyll/jemoji) plugin :computer:. * The best list of the supported emoji can be found in the [Emojis for Jekyll via Jemoji](https://www.fabriziomusacchio.com/blog/2021-08-16-emojis_for_Jekyll/#computer) blog post. * While GitHub Pages prevents server side code from running, client-side scripts are supported. * This means that Google Analytics is supported, and [the wiki](https://github.com/academicpages/academicpages.github.io/wiki/Adding-Google-Analytics) should contain the most up-to-date information on getting it working. * Your CV can be written using either Markdown ([preview](https://academicpages.github.io/cv/)) or generated via JSON ([preview](https://academicpages.github.io/cv-json/)) and the layouts are slightly different. You can update the path to the one being used in `_data/navigation.yml` with the JSON formatted CV being hidden by default. * The [Liquid syntax guide](https://shopify.github.io/liquid/tags/control-flow/) is a useful guide for those that want to add functionality to the template or to become contributors to the [template on GitHub](https://github.com/academicpages/academicpages.github.io). ## MathJax Support for MathJax (version 3.* via [jsDelivr](https://www.jsdelivr.com/), [documentation](https://docs.mathjax.org/en/latest/)) is included in the template: $$ \displaylines{ \nabla \cdot E= \frac{\rho}{\epsilon_0} \\\ \nabla \cdot B=0 \\\ \nabla \times E= -\partial_tB \\\ \nabla \times B = \mu_0 \left(J + \varepsilon_0 \partial_t E \right) } $$ The default delimiters of `$$...$$` and `\\[...\\]` are supported for displayed mathematics, while `\\(...\\)` should be used for in-line mathematics (ex., \\(a^2 + b^2 = c^2\\)) **Note** that since Academic Pages uses Markdown which cases some interference with MathJax and LaTeX for escaping characters and new lines, although [some workarounds exist](https://math.codidact.com/posts/278763/278772#answer-278772). In some cases, such as when you are including MathJax in a `citation` field for publications, it may be necessary to use `\(...\)` for inline delineation. ## Mermaid diagrams Academic Pages includes support for [Mermaid diagrams](https://mermaid.js.org/) (version 11.* via [jsDelivr](https://www.jsdelivr.com/)) and in addition to their [tutorials](https://mermaid.js.org/ecosystem/tutorials.html) and [GitHub documentation](https://github.com/mermaid-js/mermaid) the basic syntax is as follows: ```markdown ```mermaid graph LR A-->B ``` ``` Which produces the following plot with the [default theme](https://mermaid.js.org/config/theming.html) applied: ```mermaid graph LR A-->B ``` While a more advanced plot with the `forest` theme applied looks like the following: ```mermaid --- config: theme: 'forest' --- graph TD; A-->B; A-->C; B-->D; C-->D; ``` ## Plotly Academic Pages includes support for Plotly diagrams via a hook in the Markdown code elements, although those that are comfortable with HTML and JavaScript can also access it [via those routes](https://plotly.com/javascript/getting-started/). Plotly is included via an `npm` [package](https://www.npmjs.com/package/plotly.js?activeTab=readme) and is distributed as part of the minimized JavaScript that is part of the template. In order to render a Plotly plot via Markdown the relevant plot data need to be added as follows: ```markdown ```plotly { "data": [ { "x": [1, 2, 3, 4], "y": [10, 15, 13, 17], "type": "scatter" }, { "x": [1, 2, 3, 4], "y": [16, 5, 11, 9], "type": "scatter" } ] } ``` ``` **Important!** Since the data is parsed as JSON *all* of the keys will need to be quoted for the plot to render. The use of a tool like [JSONLint](https://jsonlint.com/) to check syntax is highly recommended. {: .notice} Which produces the following: ```plotly { "data": [ { "x": [1, 2, 3, 4], "y": [10, 15, 13, 17], "type": "scatter" }, { "x": [1, 2, 3, 4], "y": [16, 5, 11, 9], "type": "scatter" } ] } ``` Essentially what is taking place is that the [Plotly attributes](https://plotly.com/javascript/reference/index/) are being taken from the code block as JSON data, parsed, and passed to Plotly along with a theme that matches the current site theme (i.e., a light theme, or a dark theme). This allows all plots that can be described via the `data` attribute to rendered with some limitations for the theme of the plot. ```plotly { "data": [ { "x": [1, 2, 3, 4, 5], "y": [1, 6, 3, 6, 1], "mode": "markers", "type": "scatter", "name": "Team A", "text": ["A-1", "A-2", "A-3", "A-4", "A-5"], "marker": { "size": 12 } }, { "x": [1.5, 2.5, 3.5, 4.5, 5.5], "y": [4, 1, 7, 1, 4], "mode": "markers", "type": "scatter", "name": "Team B", "text": ["B-a", "B-b", "B-c", "B-d", "B-e"], "marker": { "size": 12 } } ], "layout": { "xaxis": { "range": [ 0.75, 5.25 ] }, "yaxis": { "range": [0, 8] }, "title": {"text": "Data Labels Hover"} } } ``` ```plotly { "data": [{ "x": [1, 2, 3], "y": [4, 5, 6], "type": "scatter" }, { "x": [20, 30, 40], "y": [50, 60, 70], "xaxis": "x2", "yaxis": "y2", "type": "scatter" }], "layout": { "grid": { "rows": 1, "columns": 2, "pattern": "independent" }, "title": { "text": "Simple Subplot" } } } ``` ```plotly { "data": [{ "z": [[10, 10.625, 12.5, 15.625, 20], [5.625, 6.25, 8.125, 11.25, 15.625], [2.5, 3.125, 5.0, 8.125, 12.5], [0.625, 1.25, 3.125, 6.25, 10.625], [0, 0.625, 2.5, 5.625, 10]], "type": "contour" }], "layout": { "title": { "text": "Basic Contour Plot" } } } ``` ## Markdown guide Academic Pages uses [kramdown](https://kramdown.gettalong.org/index.html) for Markdown rendering, which has some differences from other Markdown implementations such as GitHub's. In addition to this guide, please see the [kramdown Syntax page](https://kramdown.gettalong.org/syntax.html) for full documentation. ### Header three #### Header four ##### Header five ###### Header six ## Blockquotes Single line blockquote: > Quotes are cool. ## Tables ### Table 1 | Entry | Item | | | -------- | ------ | ------------------------------------------------------------ | | [John Doe](#) | 2016 | Description of the item in the list | | [Jane Doe](#) | 2019 | Description of the item in the list | | [Doe Doe](#) | 2022 | Description of the item in the list | ### Table 2 | Header1 | Header2 | Header3 | |:--------|:-------:|--------:| | cell1 | cell2 | cell3 | | cell4 | ce ll5 | cell6 | |-----------------------------| | cell1 | cell2 | cell3 | | cell4 | cell5 | cell6 | |=============================| | Foot1 | Foot2 | Foot3 | ## Definition Lists Definition List Title : Definition list division. Startup : A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model. #dowork : Coined by Rob Dyrdek and his personal body guard Christopher "Big Black" Boykins, "Do Work" works as a self motivator, to motivating your friends. Do It Live : I'll let Bill O'Reilly [explain](https://www.youtube.com/watch?v=O_HyZ5aW76c "We'll Do It Live") this one. ## Unordered Lists (Nested) * List item one * List item one * List item one * List item two * List item three * List item four * List item two * List item three * List item four * List item two * List item three * List item four ## Ordered List (Nested) 1. List item one 1. List item one 1. List item one 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four ## Buttons Make any link standout more when applying the `.btn` class. ## Notices Basic notices or call-outs are supported using the following syntax: ```markdown **Watch out!** You can also add notices by appending `{: .notice}` to the line following paragraph. {: .notice} ``` which wil render as: **Watch out!** You can also add notices by appending `{: .notice}` to the line following paragraph. {: .notice} ### Footnotes Footnotes can be useful for clarifying points in the text, or citing information.[^1] Markdown support numeric footnotes, as well as text as long as the values are unique.[^note] ```markdown This is the regular text.[^1] This is more regular text.[^note] [^1]: This is the footnote itself. [^note]: This is another footnote. ``` [^1]: Such as this footnote. [^note]: When using text for footnotes markers, no spaces are permitted in the name. ## HTML Tags ### Address Tag 1 Infinite Loop
 Cupertino, CA 95014
 United States
### Anchor Tag (aka. Link) This is an example of a [link](https://github.com "GitHub"). ### Abbreviation Tag The abbreviation CSS stands for "Cascading Style Sheets". *[CSS]: Cascading Style Sheets ### Cite Tag "Code is poetry." ---Automattic ### Code Tag You will learn later on in these tests that `word-wrap: break-word;` will be your best friend. You can also write larger blocks of code with syntax highlighting supported for some languages, such as Python: ```python print('Hello World!') ``` or R: ```R print("Hello World!", quote = FALSE) ``` ### Details Tag (collapsible sections) The HTML `` tag works well with Markdown and allows you to include collapsible sections, see [W3Schools](https://www.w3schools.com/tags/tag_details.asp) for more information on how to use the tag.  Collapsed by default
 This section was collapsed by default! 
 The source code: ```HTML  Collapsed by default
 This section was collapsed by default! 
 ``` Or, you can leave a section open by default by including the `open` attribute in the tag:  Open by default
 This section is open by default thanks to open in the <details open> tag! 
 ### Emphasize Tag The emphasize tag should _italicize_ text. ### Insert Tag This tag should denote inserted text. ### Keyboard Tag This scarcely known tag emulates keyboard text, which is usually styled like the `` tag. ### Preformatted Tag This tag styles large blocks of code..post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}
### Quote Tag Developers, developers, developers… –Steve Ballmer ### Strike Tag This tag will let you strikeout text. ### Strong Tag This tag shows **bold text**. ### Subscript Tag Getting our science styling on with H₂O, which should push the "2" down. ### Superscript Tag Still sticking with science and Isaac Newton's E = MC², which should lift the 2 up. ### Variable Tag This allows you to denote variables. *** **Footnotes** The footnotes in the page will be returned following this line, return to the section on Markdown Footnotes. </div> </article> </div> Page not in menu

 This is a page not in the menu. You can use markdown in this page. Heading 1 ====== Heading 2 ======
 Page Archive

 {% include base_path %} {% for post in site.pages %} {% include archive-single.html %} {% endfor %}
 Portfolio

 {% include base_path %} {% for post in site.portfolio %} {% include archive-single.html %} {% endfor %}
 Publications

 {% if site.author.googlescholar %}You can also find my articles on my Google Scholar profile.
{% endif %} {% include base_path %}  {% if site.publication_category %} {% for category in site.publication_category %} {% assign title_shown = false %} {% for post in site.publications reversed %} {% if post.category != category[0] %} {% continue %} {% endif %} {% unless title_shown %}{{ category[1].title }}
 {% assign title_shown = true %} {% endunless %} {% include archive-single-pub.html %} {% endfor %} {% endfor %} {% else %} {% for post in site.publications reversed %} {% include archive-single-pub.html %} {% endfor %} {% endif %}
 Sitemap

 {% include base_path %} A list of all the posts and pages found on the site. For you robots out there, there is an [XML version]({{ base_path }}/sitemap.xml) available for digesting as well.Pages
{% for post in site.pages %} {% include archive-single.html %} {% endfor %}Posts
{% for post in site.posts %} {% include archive-single.html %} {% endfor %} {% capture written_label %}'None'{% endcapture %} {% for collection in site.collections %} {% unless collection.output == false or collection.label == "posts" %} {% capture label %}{{ collection.label }}{% endcapture %} {% if label != written_label %}{{ label }}
{% capture written_label %}{{ label }}{% endcapture %} {% endif %} {% endunless %} {% for post in collection.docs %} {% unless collection.output == false or collection.label == "posts" %} {% include archive-single.html %} {% endunless %} {% endfor %} {% endfor %}
 Posts by Tags

 {% include base_path %} {% include group-by-array collection=site.posts field="tags" %} {% for tag in group_names %} {% assign posts = group_items[forloop.index0] %}{{ tag }}
{% for post in posts %} {% include archive-single.html %} {% endfor %} {% endfor %}
 Talk map


This map is generated from a Jupyter Notebook file in talkmap.ipynb, which mines the location fields in the .md files in _talks/.


 Teaching

 {% include base_path %} {% for post in site.teaching reversed %} {% include archive-single.html %} {% endfor %}
 Terms and Privacy Policy

 {% include base_path %} {% include toc %} ## Privacy Policy The privacy of my visitors is extremely important. This Privacy Policy outlines the types of personal information that is received and collected and how it is used. First and foremost, I will never share your email address or any other personal information to anyone without your direct consent. ### Log Files Like many other websites, this site uses log files to help learn about when, from where, and how often traffic flows to this site. The information in these log files include: * Internet Protocol addresses (IP) * Types of browser * Internet Service Provider (ISP) * Date and time stamp * Referring and exit pages * Number of clicks All of this information is not linked to anything that is personally identifiable. ### Cookies and Web Beacons When you visit this site "convenience" cookies are stored on your computer when you submit a comment to help you log in faster to [Disqus](https://disqus.com) the next time you leave a comment. Third-party advertisers may also place and read cookies on your browser and/or use web beacons to collect information. This site has no access or control over these cookies. You should review the respective privacy policies on any and all third-party ad servers for more information regarding their practices and how to opt-out. If you wish to disable cookies, you may do so through your web browser options. Instructions for doing so can be found on the specific web browsers' websites. #### Google Analytics Google Analytics is a web analytics tool I use to help understand how visitors engage with this website. It reports website trends using cookies and web beacons without identifying individual visitors. You can read [Google Analytics Privacy Policy](https://www.google.com/analytics/learn/privacy.html).
 Blog posts

 {% include base_path %} {% capture written_year %}'None'{% endcapture %} {% for post in site.posts %} {% capture year %}{{ post.date | date: '%Y' }}{% endcapture %} {% if year != written_year %}{{ year }}
{% capture written_year %}{{ year }}{% endcapture %} {% endif %} {% include archive-single.html %} {% endfor %}
 

 @import "jekyll-theme-primer";
 


 


 


 


 


 


 


 


 


 

 {"/about/":"https://ammaryacoub.github.io/","/about.html":"https://ammaryacoub.github.io/","/resume-json":"https://ammaryacoub.github.io/cv-json/","/resume":"https://ammaryacoub.github.io/cv/","/md/":"https://ammaryacoub.github.io/markdown/","/markdown.html":"https://ammaryacoub.github.io/markdown/","/nmp/":"https://ammaryacoub.github.io/non-menu-page/","/nmp.html":"https://ammaryacoub.github.io/non-menu-page/","/wordpress/blog-posts/":"https://ammaryacoub.github.io/year-archive/"}
 Markdown Generator

 # Markdown Generator This directory contains various ways of creating Markdown for your site. In general, filenames that end with `.ipynb` or `.py` are similar, but may contain different documentation or are intended to be run from with GitHub when deploying your site. ## Python Scripts The .py files are Python scripts that that can be run from the command line (ex., `python3 publications.py publications.csv`) with the objective of also ensuring that they have reduced requirements for packages, which may allow them to run when deploying your site from within GitHub. ## Jupyter Notebooks These .ipynb files are Jupyter notebook files that convert a TSV containing structured data about talks (`talks.tsv`) or presentations (`presentations.tsv`) into individual markdown files that will be properly formatted for the academicpages template. The notebooks contain a lot of documentation about the process.
 

 {% if page.xsl %}{% endif %}<feed xmlns="http://www.w3.org/2005/Atom" {% if site.lang %}xml:lang="{{ site.lang }}"{% endif %}>Jekyll<link href="{{ '/' | absolute_url }}" rel="alternate" type="text/html" {% if site.lang %}hreflang="{{ site.lang }}" {% endif %}/>{{ site.time | date_to_xmlschema }}{{ page.url | absolute_url | xml_escape }}{% assign title = site.title | default: site.name %}{% if page.collection != "posts" %}{% assign collection = page.collection | capitalize %}{% assign title = title | append: " | " | append: collection %}{% endif %}{% if page.category %}{% assign category = page.category | capitalize %}{% assign title = title | append: " | " | append: category %}{% endif %}{% if title %}{{ title | smartify | xml_escape }}{% endif %}{% if site.description %}{{ site.description | xml_escape }}{% endif %}{% if site.author %}{{ site.author.name | default: site.author | xml_escape }}{% if site.author.email %}{{ site.author.email | xml_escape }}{% endif %}{% if site.author.uri %}{{ site.author.uri | xml_escape }}{% endif %}{% endif %}{% if page.tags %}{% assign posts = site.tags[page.tags] %}{% else %}{% assign posts = site[page.collection] %}{% endif %}{% if page.category %}{% assign posts = posts | where: "categories", page.category %}{% endif %}{% unless site.show_drafts %}{% assign posts = posts | where_exp: "post", "post.draft != true" %}{% endunless %}{% assign posts = posts | sort: "date" | reverse %}{% assign posts_limit = site.feed.posts_limit | default: 10 %}{% for post in posts limit: posts_limit %}<entry{% if post.lang %}{{" "}}xml:lang="{{ post.lang }}"{% endif %}>{% assign post_title = post.title | smartify | strip_html | normalize_whitespace | xml_escape %}{{ post_title }}

{{ post.date | date_to_xmlschema }}{{ post.last_modified_at | default: post.date | date_to_xmlschema }}{{ post.id | absolute_url | xml_escape }}{% assign excerpt_only = post.feed.excerpt_only | default: site.feed.excerpt_only %}{% unless excerpt_only %}<![CDATA[{{ post.content | strip }}]]>{% endunless %}{% assign post_author = post.author | default: post.authors[0] | default: site.author %}{% assign post_author = site.data.authors[post_author] | default: post_author %}{% assign post_author_email = post_author.email | default: nil %}{% assign post_author_uri = post_author.uri | default: nil %}{% assign post_author_name = post_author.name | default: post_author %}{{ post_author_name | default: "" | xml_escape }}{% if post_author_email %}{{ post_author_email | xml_escape }}{% endif %}{% if post_author_uri %}{{ post_author_uri | xml_escape }}{% endif %}{% if post.category %}{% elsif post.categories %}{% for category in post.categories %}{% endfor %}{% endif %}{% for tag in post.tags %}{% endfor %}{% assign post_summary = post.description | default: post.excerpt %}{% if post_summary and post_summary != empty %}<![CDATA[{{ post_summary | strip_html | normalize_whitespace }}]]>
{% endif %}{% assign post_image = post.image.path | default: post.image %}{% if post_image %}{% unless post_image contains "://" %}{% assign post_image = post_image | absolute_url %}{% endunless %}{% endif %}</entry>{% endfor %}</feed>
 

  {% if page.xsl %} {% endif %} {% assign collections = site.collections | where_exp:'collection','collection.output != false' %}{% for collection in collections %}{% assign docs = collection.docs | where_exp:'doc','doc.sitemap != false' %}{% for doc in docs %} {{ doc.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if doc.last_modified_at or doc.date %}{{ doc.last_modified_at | default: doc.date | date_to_xmlschema }} {% endif %} {% endfor %}{% endfor %}{% assign pages = site.html_pages | where_exp:'doc','doc.sitemap != false' | where_exp:'doc','doc.url != "/404.html"' %}{% for page in pages %} {{ page.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if page.last_modified_at %}{{ page.last_modified_at | date_to_xmlschema }} {% endif %} {% endfor %}{% assign static_files = page.static_files | where_exp:'page','page.sitemap != false' | where_exp:'page','page.name != "404.html"' %}{% for file in static_files %} {{ file.path | replace:'/index.html','/' | absolute_url | xml_escape }} {{ file.modified_time | date_to_xmlschema }}  {% endfor %}

 

 Sitemap: {{ "sitemap.xml" | absolute_url }}

Awards & Fellowships

Best Teaching Assistant Award

Received: May 2026

Recognized with the Best Teaching Assistant Award from the Mechanical Engineering Department at Southern Methodist University for excellence in teaching laboratory sessions and enhancing students’ hands-on learning experience.

Frederick E. Terman Award

Received: May 2026

Recipient of the Frederick E. Terman Award, presented by the Lyle School of Engineering at SMU in recognition of outstanding scholastic achievement and contributions to the engineering school community. The award honors the legacy of Dr. Frederick E. Terman and is given to graduate students who exemplify academic excellence and leadership.

Dean’s Dissertation Fellowship

Received: April 2026

Selected as a recipient of the Dean’s Dissertation Fellowship for the 2026–27 academic year. The fellowship supports outstanding doctoral students during the final stage of their dissertation research and recognizes academic and research achievement. View the official list of fellows

Second Place Award – Graduate Research Day Poster Competition

Received: June 2022

Poster Awarded Second Place in the Graduate Research Day Poster Competition, organized by the Graduate School at Jordan University of Science and Technology, in recognition of outstanding research presentation.

Posts by Category

Posts by Collection

awards

Second Place Award – Graduate Research Day Poster Competition

Published: June 01, 2022

Poster Awarded Second Place in the Graduate Research Day Poster Competition, organized by the Graduate School at Jordan University of Science and Technology, in recognition of outstanding research presentation.

Dean’s Dissertation Fellowship

Published: April 30, 2026

Selected as a recipient of the Dean’s Dissertation Fellowship for the 2026–27 academic year. The fellowship supports outstanding doctoral students during the final stage of their dissertation research and recognizes academic and research achievement. View the official list of fellows

Frederick E. Terman Award

Published: May 04, 2026

Recipient of the Frederick E. Terman Award, presented by the Lyle School of Engineering at SMU in recognition of outstanding scholastic achievement and contributions to the engineering school community. The award honors the legacy of Dr. Frederick E. Terman and is given to graduate students who exemplify academic excellence and leadership.

Best Teaching Assistant Award

Published: May 04, 2026

Recognized with the Best Teaching Assistant Award from the Mechanical Engineering Department at Southern Methodist University for excellence in teaching laboratory sessions and enhancing students’ hands-on learning experience.

portfolio

Portfolio item number 1

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

Portfolio item number 2

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

publications

Magnetically Actuated Millimeter-Scale Biped

Published in Robotics and Autonomous Systems , 2025

Recommended citation: Cox, A., Asadi, F., Yacoub, A., Beskok, S., & Hurmuzlu, Y. (2025). Magnetically actuated millimeter-scale biped. Robotics and Autonomous Systems, 190, 104985
Download Paper | Download Bibtex

Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors

Published in The 5th Modeling, Estimation and Control Conference (MECC 2025), 2025

This paper presents an analysis of the precision of fingertip location for a 7 degrees of freedom (DOF) pneumatic haptic glove developed at SMU for 3D elastographic imaging virtual palpation.The 2D workspace for each finger and the 3D workspace for the glove are calculated from the actuator positions using closed-form expressions based on design geometry. The fingertip locations are measured using a 5-camera OptiTrack motion capture, and the results are compared with the fingertip positions obtained using the linear sensors integrated in the design of each finger joint.This work is an essential step in the development of a virtual palpation system of 3D elastographic medical images.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.
Download Paper | Download Bibtex

Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Published in 65th IEEE Conference on Decision and Control, 2026

Pneumatic actuators exhibit strong nonlinearities and considerable uncertainties that include time-varying friction, making precise force tracking control challenging. This is exacerbated in small-scale cylinders, where internal friction can represent a significant percentage of the maximum output force. To address these issues, this paper presents an adaptive sliding mode control method with friction compensation (ASMC-FC). The controller integrates online parameter adaptation for managing slow-varying friction uncertainties with sliding mode control (SMC) to ensure robustness against unmodeled dynamics and rapidly changing uncertain parameters. Experimental validation is conducted on a double-acting, single-rod small pneumatic cylinder. The results demonstrate that the proposed approach offers better force tracking and increased robustness compared to standard SMC.

Recommended citation: Yacoub, A., Hurmuzlu, Y & Richer, E. Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder
Download Paper

Design and Kinematics Analysis for the SMU Haptic Glove

Published in Mechanism and Machine Theory, 2026

This paper presents the mechanical design and kinematic analysis of SMU Haptic Glove, which incorporates seven degrees of freedom (DOF) that are pneumatically actuated and developed for 3D elastographic imaging virtual palpation. This paper outlines the mechanical design of the SMU Haptic Glove The two-dimensional workspace for each finger and the glove’s three-dimensional workspace are determined from the actuator positions using closed-form expressions based on the design geometry and are measured using embedded linear sensors.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469
Download Paper | Download Bibtex

Modeling and Compensation of Static Friction to Improve Force Tracking Performance in Miniature Pneumatic Cylinders

Published in IEEE Transactions on Control Systems Technology, 2026

Haptic gloves require actuators capable of precise force trajectory tracking. Pneumatic actuators exhibit high force to weight ratio performance; however, their usage is often limited by high nonlinearities and friction-induced uncertainties. This study investigates the position and pressure-dependent static friction in small-scale pneumatic actuators. A new stiction model is proposed that explicitly incorporates these dependencies to accurately characterize static friction effects. In order to exploit this model, a sliding mode controller (SMC) with estimated friction compensation is developed and experimentally validated. When actuator force is estimated using pressure measurements, results show that incorporating the friction model significantly reduces amplitude errors compared to uncompensated control.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Adaptive Robust Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder.
Download Paper

Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control

Published in American Control Conference (ACC), 2026

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control. American Control Conference (ACC).
Download Paper

teaching

Elements of Mechanical Engineering Measurements Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2025

I guided senior students in experimental design, data acquisition, and system integration utilizing tools like LabVIEW. I offered comprehensive support for final projects and extended my mentorship beyond my formal duties, teaching students how to use Arduino-based platforms and encouraging them to apply these tools to develop their ideas.

Control Systems Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2026

Served as a Graduate Teaching Assistant for the Control Systems Laboratory in the Mechanical Engineering Department at Southern Methodist University. Assisted in delivering hands-on laboratory sessions focused on fundamental control systems concepts, including system modeling, time-domain response, feedback control, and stability analysis. Students implemented and validated control algorithms using MATLAB/Simulink and Quanser hardware platforms, including the QUBE-Servo 3 and QAreo 2 systems.

Intro to Mechatronics Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2026

I supported the design and testing of laboratory experiments prior to implementation and provided detailed feedback to enhance student learning.

CV

Your Sidebar Name

none@example.org

https://academicpages.github.io

Earth, , US

Google Scholar ORCID GitHub

Summary

Currently employed at Red Brick University. Short biography for the left-hand sidebar

Education

Ph.D in Version Control Theory

2018

GitHub University
M.S. in Jekyll

2014

GitHub University
B.S. in GitHub

2012

GitHub University

Publications

Paper Title Number 1

2009

Journal 1

This paper is about the number 1. The number 2 is left for future work.

View Publication
Paper Title Number 2

2010

Journal 1

This paper is about the number 2. The number 3 is left for future work.

View Publication
Paper Title Number 3

2015

Journal 1

This paper is about the number 3. The number 4 is left for future work.

View Publication
Paper Title Number 4

2024

GitHub Journal of Bugs

This paper is about fixing template issue #693.

View Publication

Presentations

Talk 1 on Relevant Topic in Your Field

2012

UC San Francisco, Department of Testing

San Francisco, CA, USA
Tutorial 1 on Relevant Topic in Your Field

2013

UC-Berkeley Institute for Testing Science

Berkeley, CA, USA
Talk 2 on Relevant Topic in Your Field

2014

London School of Testing

London, UK
Conference Proceeding talk 3 on Relevant Topic in Your Field

2014

Testing Institute of America 2014 Annual Conference

Los Angeles, CA, USA

Teaching

Teaching experience 1

2014

University 1, Department

Role: Undergraduate course
Teaching experience 2

2015

University 1, Department

Role: Workshop

Portfolio

Portfolio item number 1

Portfolio

Short description of portfolio item number 1

View Project

Download CV as PDF View Markdown CV

CV

Education

Ph.D in Version Control Theory, GitHub University, 2018 (expected)
M.S. in Jekyll, GitHub University, 2014
B.S. in GitHub, GitHub University, 2012

Work experience

Spring 2024: Academic Pages Collaborator
- GitHub University
- Duties includes: Updates and improvements to template
- Supervisor: The Users
Fall 2015: Research Assistant
- GitHub University
- Duties included: Merging pull requests
- Supervisor: Professor Hub
Summer 2015: Research Assistant
- GitHub University
- Duties included: Tagging issues
- Supervisor: Professor Git

Skills

Skill 1
Skill 2
- Sub-skill 2.1
- Sub-skill 2.2
- Sub-skill 2.3
Skill 3

Publications

Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control

Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control. American Control Conference (ACC).

Modeling and Compensation of Static Friction to Improve Force Tracking Performance in Miniature Pneumatic Cylinders

Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Adaptive Robust Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder.

Design and Kinematics Analysis for the SMU Haptic Glove

Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469

Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Yacoub, A., Hurmuzlu, Y & Richer, E. Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors

Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.

Magnetically Actuated Millimeter-Scale Biped

Cox, A., Asadi, F., Yacoub, A., Beskok, S., & Hurmuzlu, Y. (2025). Magnetically actuated millimeter-scale biped. Robotics and Autonomous Systems, 190, 104985

Talks

Teaching

Intro to Mechatronics Laboratory

Control Systems Laboratory

Elements of Mechanical Engineering Measurements Laboratory

Service and leadership

Currently signed in to 43 different slack teams

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{ "name": "Ammar's Homepage", "short_name": "Ammar H. Yacoub", "description": "Your Name's academic portfolio", "start_url": "/", "lang": "en-US", "icons": [ { "src": "/images/favicon-192x192.png", "sizes": "192x192", "type": "image/png" }, { "src": "/images/favicon-512x512.png", "sizes": "512x512", "type": "image/png" } ] }

Markdown

Locations of key files/directories

Basic config options: _config.yml
Top navigation bar config: _data/navigation.yml
Single pages: _pages/
Collections of pages are .md or .html files in:
- _publications/
- _portfolio/
- _posts/
- _teaching/
- _talks/
Footer: _includes/footer.html
Static files (like PDFs): /files/
Profile image (can set in _config.yml): images/profile.png

Tips and hints

Name a file “.md” to have it render in markdown, name it “.html” to render in HTML.
Go to the commit list (on your repo) to find the last version GitHub built with Jekyll.
- Green check: successful build
- Orange circle: building
- Red X: error
- No icon: not built
Academic Pages uses Jekyll Kramdown, GitHub Flavored Markdown (GFM) parser, which is similar to the version of Markdown used on GitHub, but may have some minor differences.
- Some of emoji supported on GitHub should be supposed via the Jemoji plugin .
- The best list of the supported emoji can be found in the Emojis for Jekyll via Jemoji blog post.
While GitHub Pages prevents server side code from running, client-side scripts are supported.
- This means that Google Analytics is supported, and the wiki should contain the most up-to-date information on getting it working.
Your CV can be written using either Markdown (preview) or generated via JSON (preview) and the layouts are slightly different. You can update the path to the one being used in _data/navigation.yml with the JSON formatted CV being hidden by default.
The Liquid syntax guide is a useful guide for those that want to add functionality to the template or to become contributors to the template on GitHub.

MathJax

Support for MathJax (version 3.* via jsDelivr, documentation) is included in the template:

\[\displaylines{ \nabla \cdot E= \frac{\rho}{\epsilon_0} \\\ \nabla \cdot B=0 \\\ \nabla \times E= -\partial_tB \\\ \nabla \times B = \mu_0 \left(J + \varepsilon_0 \partial_t E \right) }\]

The default delimiters of $$...$$ and \\[...\\] are supported for displayed mathematics, while \$...\$ should be used for in-line mathematics (ex., $a^2 + b^2 = c^2$)

Note that since Academic Pages uses Markdown which cases some interference with MathJax and LaTeX for escaping characters and new lines, although some workarounds exist. In some cases, such as when you are including MathJax in a citation field for publications, it may be necessary to use $...$ for inline delineation.

Mermaid diagrams

Academic Pages includes support for Mermaid diagrams (version 11.* via jsDelivr) and in addition to their tutorials and GitHub documentation the basic syntax is as follows:

    ```mermaid
    graph LR
    A-->B
    ```

Which produces the following plot with the default theme applied:

graph LR
A-->B

While a more advanced plot with the forest theme applied looks like the following:

---
config:
  theme: 'forest'
---
graph TD;
    A-->B;
    A-->C;
    B-->D;
    C-->D;

Plotly

Academic Pages includes support for Plotly diagrams via a hook in the Markdown code elements, although those that are comfortable with HTML and JavaScript can also access it via those routes. Plotly is included via an npm package and is distributed as part of the minimized JavaScript that is part of the template.

In order to render a Plotly plot via Markdown the relevant plot data need to be added as follows:

    ```plotly
    {
      "data": [
        {
          "x": [1, 2, 3, 4],
          "y": [10, 15, 13, 17],
          "type": "scatter"
        },
        {
          "x": [1, 2, 3, 4],
          "y": [16, 5, 11, 9],
          "type": "scatter"
        }
      ]
    }
    ```

Important! Since the data is parsed as JSON all of the keys will need to be quoted for the plot to render. The use of a tool like JSONLint to check syntax is highly recommended.

Which produces the following:

{
  "data": [
    {
      "x": [1, 2, 3, 4],
      "y": [10, 15, 13, 17],
      "type": "scatter"
    },
    {
      "x": [1, 2, 3, 4],
      "y": [16, 5, 11, 9],
      "type": "scatter"
    }
  ]
}

Essentially what is taking place is that the Plotly attributes are being taken from the code block as JSON data, parsed, and passed to Plotly along with a theme that matches the current site theme (i.e., a light theme, or a dark theme). This allows all plots that can be described via the data attribute to rendered with some limitations for the theme of the plot.

{
  "data": [
    {
      "x": [1, 2, 3, 4, 5],
      "y": [1, 6, 3, 6, 1],
      "mode": "markers",
      "type": "scatter",
      "name": "Team A",
      "text": ["A-1", "A-2", "A-3", "A-4", "A-5"],
      "marker": { "size": 12 }
    },
    {
      "x": [1.5, 2.5, 3.5, 4.5, 5.5],
      "y": [4, 1, 7, 1, 4],
      "mode": "markers",
      "type": "scatter",
      "name": "Team B",
      "text": ["B-a", "B-b", "B-c", "B-d", "B-e"],
      "marker": { "size": 12 }
    }    
  ],
  "layout": {
    "xaxis": {
      "range": [ 0.75, 5.25 ]
    },
    "yaxis": {
      "range": [0, 8]
    },
    "title": {"text": "Data Labels Hover"}
  }
}

{
  "data": [{
      "x": [1, 2, 3],
      "y": [4, 5, 6],
      "type": "scatter"
    },
    {
      "x": [20, 30, 40],
      "y": [50, 60, 70],
      "xaxis": "x2",
      "yaxis": "y2",
      "type": "scatter"
  }],
  "layout": {
    "grid": {
      "rows": 1,
      "columns": 2,
      "pattern": "independent"
    },
    "title": {
      "text": "Simple Subplot"
    }    
  }
}

{
  "data": [{
		"z": [[10, 10.625, 12.5, 15.625, 20],
          [5.625, 6.25, 8.125, 11.25, 15.625],
          [2.5, 3.125, 5.0, 8.125, 12.5],
          [0.625, 1.25, 3.125, 6.25, 10.625],
          [0, 0.625, 2.5, 5.625, 10]],
		"type": "contour"
	}],
  "layout": {
    "title": {
      "text": "Basic Contour Plot"
    }
  }
}

Markdown guide

Academic Pages uses kramdown for Markdown rendering, which has some differences from other Markdown implementations such as GitHub’s. In addition to this guide, please see the kramdown Syntax page for full documentation.

Header three

Header four

Header five

Header six

Blockquotes

Single line blockquote:

Quotes are cool.

Tables

Table 1

Entry	Item
John Doe	2016	Description of the item in the list
Jane Doe	2019	Description of the item in the list
Doe Doe	2022	Description of the item in the list

Table 2

Header1	Header2	Header3
cell1	cell2	cell3
cell4	ce
ll5	cell6
cell1	cell2	cell3
cell4	cell5	cell6
Foot1	Foot2	Foot3

Definition Lists

Definition List Title: Definition list division.
Startup: A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model.
#dowork: Coined by Rob Dyrdek and his personal body guard Christopher “Big Black” Boykins, “Do Work” works as a self motivator, to motivating your friends.
Do It Live: I’ll let Bill O’Reilly explain this one.

Unordered Lists (Nested)

List item one
- List item one
  - List item one
  - List item two
  - List item three
  - List item four
- List item two
- List item three
- List item four
List item two
List item three
List item four

Ordered List (Nested)

List item one
1. List item one
  1. List item one
  2. List item two
  3. List item three
  4. List item four
2. List item two
3. List item three
4. List item four
List item two
List item three
List item four

Buttons

Make any link standout more when applying the .btn class.

Notices

Basic notices or call-outs are supported using the following syntax:

**Watch out!** You can also add notices by appending `{: .notice}` to the line following paragraph.
{: .notice}

which wil render as:

Watch out! You can also add notices by appending {: .notice} to the line following paragraph.

Footnotes

Footnotes can be useful for clarifying points in the text, or citing information.¹ Markdown support numeric footnotes, as well as text as long as the values are unique.²

This is the regular text.[^1] This is more regular text.[^note]

[^1]: This is the footnote itself.
[^note]: This is another footnote.

HTML Tags

Address Tag

1 Infinite Loop
Cupertino, CA 95014
United States

Anchor Tag (aka. Link)

This is an example of a link.

Abbreviation Tag

The abbreviation CSS stands for “Cascading Style Sheets”.

Cite Tag

“Code is poetry.” —Automattic

Code Tag

You will learn later on in these tests that word-wrap: break-word; will be your best friend.

You can also write larger blocks of code with syntax highlighting supported for some languages, such as Python:

print('Hello World!')

or R:

print("Hello World!", quote = FALSE)

Details Tag (collapsible sections)

The HTML <details> tag works well with Markdown and allows you to include collapsible sections, see W3Schools for more information on how to use the tag.

Collapsed by default

This section was collapsed by default!

The source code:

<details>
  <summary>Collapsed by default</summary>
  This section was collapsed by default!
</details>

Or, you can leave a section open by default by including the open attribute in the tag:

Open by default

This section is open by default thanks to open in the <details open> tag!

Emphasize Tag

The emphasize tag should italicize text.

Insert Tag

This tag should denote inserted text.

Keyboard Tag

This scarcely known tag emulates keyboard text, which is usually styled like the <code> tag.

Preformatted Tag

This tag styles large blocks of code.

.post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}

Quote Tag

Developers, developers, developers… –Steve Ballmer

Strike Tag

This tag will let you ~~strikeout text~~.

Strong Tag

This tag shows bold text.

Subscript Tag

Getting our science styling on with H₂O, which should push the “2” down.

Superscript Tag

Still sticking with science and Isaac Newton’s E = MC², which should lift the 2 up.

Variable Tag

This allows you to denote variables.

Footnotes

The footnotes in the page will be returned following this line, return to the section on Markdown Footnotes.

Such as this footnote. ↩
When using text for footnotes markers, no spaces are permitted in the name. ↩

Page not in menu

This is a page not in the menu. You can use markdown in this page.

Heading 1

Heading 2

Page Archive

Page Not Found

Sorry, but the page you were trying to view does not exist.

About me

Welcome! I am a Mechanical Engineering Ph.D. candidate at Southern Methodist University with a deep focus on dynamics, control systems, and haptics. Backed by over five years of prior industry experience as an Automation Engineer, my goal is to translate complex control theory into functional, real-world robotic systems.

As a Research Assistant in the Systems Lab, my primary work focuses on a Haptic-Enabled Virtual Palpation System for 3D Elastography Medical Imaging. I am actively developing the SMU Haptic Glove, engineering its kinematics, dynamics, and nonlinear control architecture to advance medical diagnostics.

I am passionate about engineering education, leading senior undergraduate students as a Teaching Assistant for both the Control Lab and the Elements of Mechanical Engineering Measurement Lab.

Research Interests

Dynamics & Nonlinear Control
Medical Robotics & Haptics
Mechatronics
Medical Image Processing

Education

🎓 Ph.D. in Mechanical Engineering
Southern Methodist University (SMU), Present
🎓 M.Sc. in Mechanical/Mechatronics Engineering
Jordan University of Science and Technology (JUST), 2022
🎓 B.Sc. in Mechatronics Engineering
University of Jordan (JU), 2018

Archive Layout with Content

A variety of common markup showing how the theme styles them.

Header one

Header two

Header three

Header four

Header five

Header six

Blockquotes

Single line blockquote:

Quotes are cool.

Tables

Entry	Item
John Doe	2016	Description of the item in the list
Jane Doe	2019	Description of the item in the list
Doe Doe	2022	Description of the item in the list

Header1	Header2	Header3
cell1	cell2	cell3
cell4	cell5	cell6
cell1	cell2	cell3
cell4	cell5	cell6
Foot1	Foot2	Foot3

Definition Lists

Definition List Title: Definition list division.
Startup: A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model.
#dowork: Coined by Rob Dyrdek and his personal body guard Christopher “Big Black” Boykins, “Do Work” works as a self motivator, to motivating your friends.
Do It Live: I’ll let Bill O’Reilly explain this one.

Unordered Lists (Nested)

List item one
- List item one
  - List item one
  - List item two
  - List item three
  - List item four
- List item two
- List item three
- List item four
List item two
List item three
List item four

Ordered List (Nested)

List item one
1. List item one
  1. List item one
  2. List item two
  3. List item three
  4. List item four
2. List item two
3. List item three
4. List item four
List item two
List item three
List item four

Buttons

Make any link standout more when applying the .btn class.

Notices

Watch out! You can also add notices by appending {: .notice} to a paragraph.

HTML Tags

Address Tag

1 Infinite Loop
Cupertino, CA 95014
United States

Anchor Tag (aka. Link)

This is an example of a link.

Abbreviation Tag

The abbreviation CSS stands for “Cascading Style Sheets”.

Cite Tag

“Code is poetry.” —Automattic

Code Tag

You will learn later on in these tests that word-wrap: break-word; will be your best friend.

Strike Tag

This tag will let you ~~strikeout text~~.

Emphasize Tag

The emphasize tag should italicize text.

Insert Tag

This tag should denote inserted text.

Keyboard Tag

This scarcely known tag emulates keyboard text, which is usually styled like the <code> tag.

Preformatted Tag

This tag styles large blocks of code.

.post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}

Quote Tag

Developers, developers, developers… –Steve Ballmer

Strong Tag

This tag shows bold text.

Subscript Tag

Getting our science styling on with H₂O, which should push the “2” down.

Superscript Tag

Still sticking with science and Isaac Newton’s E = MC², which should lift the 2 up.

Variable Tag

This allows you to denote variables.

Page Not Found

Sorry, but the page you were trying to view does not exist.

About me

Welcome! I am a Mechanical Engineering Ph.D. candidate at Southern Methodist University with a deep focus on dynamics, control systems, and haptics. Backed by over five years of prior industry experience as an Automation Engineer, my goal is to translate complex control theory into functional, real-world robotic systems.

As a Research Assistant in the Systems Lab, my primary work focuses on a Haptic-Enabled Virtual Palpation System for 3D Elastography Medical Imaging. I am actively developing the SMU Haptic Glove, engineering its kinematics, dynamics, and nonlinear control architecture to advance medical diagnostics.

I am passionate about engineering education, leading senior undergraduate students as a Teaching Assistant for both the Control Lab and the Elements of Mechanical Engineering Measurement Lab.

Research Interests

Dynamics & Nonlinear Control
Medical Robotics & Haptics
Mechatronics
Medical Image Processing

Education

🎓 Ph.D. in Mechanical Engineering
Southern Methodist University (SMU), Present
🎓 M.Sc. in Mechanical/Mechatronics Engineering
Jordan University of Science and Technology (JUST), 2022
🎓 B.Sc. in Mechatronics Engineering
University of Jordan (JU), 2018

Archive Layout with Content

A variety of common markup showing how the theme styles them. # Header one ## Header two ### Header three #### Header four ##### Header five ###### Header six ## Blockquotes Single line blockquote: > Quotes are cool. ## Tables | Entry | Item | | | -------- | ------ | ------------------------------------------------------------ | | [John Doe](#) | 2016 | Description of the item in the list | | [Jane Doe](#) | 2019 | Description of the item in the list | | [Doe Doe](#) | 2022 | Description of the item in the list | | Header1 | Header2 | Header3 | |:--------|:-------:|--------:| | cell1 | cell2 | cell3 | | cell4 | cell5 | cell6 | |-----------------------------| | cell1 | cell2 | cell3 | | cell4 | cell5 | cell6 | |=============================| | Foot1 | Foot2 | Foot3 | ## Definition Lists Definition List Title : Definition list division. Startup : A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model. #dowork : Coined by Rob Dyrdek and his personal body guard Christopher "Big Black" Boykins, "Do Work" works as a self motivator, to motivating your friends. Do It Live : I'll let Bill O'Reilly [explain](https://www.youtube.com/watch?v=O_HyZ5aW76c "We'll Do It Live") this one. ## Unordered Lists (Nested) * List item one * List item one * List item one * List item two * List item three * List item four * List item two * List item three * List item four * List item two * List item three * List item four ## Ordered List (Nested) 1. List item one 1. List item one 1. List item one 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four ## Buttons Make any link standout more when applying the `.btn` class. ## Notices **Watch out!** You can also add notices by appending `{: .notice}` to a paragraph. {: .notice} ## HTML Tags ### Address Tag

1 Infinite Loop
Cupertino, CA 95014
United States

### Anchor Tag (aka. Link) This is an example of a [link](https://github.com "GitHub"). ### Abbreviation Tag The abbreviation CSS stands for "Cascading Style Sheets". *[CSS]: Cascading Style Sheets ### Cite Tag "Code is poetry." ---Automattic ### Code Tag You will learn later on in these tests that `word-wrap: break-word;` will be your best friend. ### Strike Tag This tag will let you ~~strikeout text~~. ### Emphasize Tag The emphasize tag should _italicize_ text. ### Insert Tag This tag should denote inserted text. ### Keyboard Tag This scarcely known tag emulates keyboard text, which is usually styled like the `

` tag. ### Preformatted Tag This tag styles large blocks of code..post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}
### Quote Tag Developers, developers, developers… –Steve Ballmer ### Strong Tag This tag shows **bold text**. ### Subscript Tag Getting our science styling on with H₂O, which should push the "2" down. ### Superscript Tag Still sticking with science and Isaac Newton's E = MC², which should lift the 2 up. ### Variable Tag This allows you to denote variables. {% include base_path %} {% for post in site.pages %} {% include archive-single.html %} {% endfor %} </div> </article> </div> Awards & Fellowships

 {% include base_path %} {% for post in site.awards reversed %} {% include archive-single-award.html %}
 {% endfor %}
 Posts by Category

 {% include base_path %} {% include group-by-array collection=site.posts field="categories" %} {% for category in group_names %} {% assign posts = group_items[forloop.index0] %}{{ category }}
{% for post in posts %} {% include archive-single.html %} {% endfor %} {% endfor %}
 Posts by Collection

 {% include base_path %} {% capture written_label %}'None'{% endcapture %} {% for collection in site.collections %} {% unless collection.output == false or collection.label == "posts" %} {% capture label %}{{ collection.label }}{% endcapture %} {% if label != written_label %}{{ label }}
{% capture written_label %}{{ label }}{% endcapture %} {% endif %} {% endunless %} {% for post in collection.docs %} {% unless collection.output == false or collection.label == "posts" %} {% include archive-single.html %} {% endunless %} {% endfor %} {% endfor %}
 CV

 {% include base_path %} {% include cv-template.html %} Download CV as PDF View Markdown CV


 CV

 {% include base_path %} Education ====== * Ph.D in Version Control Theory, GitHub University, 2018 (expected) * M.S. in Jekyll, GitHub University, 2014 * B.S. in GitHub, GitHub University, 2012 Work experience ====== * Spring 2024: Academic Pages Collaborator * GitHub University * Duties includes: Updates and improvements to template * Supervisor: The Users * Fall 2015: Research Assistant * GitHub University * Duties included: Merging pull requests * Supervisor: Professor Hub * Summer 2015: Research Assistant * GitHub University * Duties included: Tagging issues * Supervisor: Professor Git Skills ====== * Skill 1 * Skill 2 * Sub-skill 2.1 * Sub-skill 2.2 * Sub-skill 2.3 * Skill 3 Publications ======{% for post in site.publications reversed %} {% include archive-single-cv.html %} {% endfor %}
Talks ======{% for post in site.talks reversed %} {% include archive-single-talk-cv.html %} {% endfor %}
Teaching ======{% for post in site.teaching reversed %} {% include archive-single-cv.html %} {% endfor %}
Service and leadership ====== * Currently signed in to 43 different slack teams
 

 /* * This file controls what is imported from /_sass * * Note that the files are processed in the order they are imported, so they are partly sorted by the dependencies. Also, the first two lines of the file are required by Jekyll. */ @import "vendor/breakpoint/breakpoint", "themes", "theme/{{ site.site_theme | default: 'default' | append: '_light' }}", "theme/{{ site.site_theme | default: 'default' | append: '_dark' }}", "include/mixins", "vendor/susy/susy", "layout/reset", "layout/base", "include/utilities", "layout/tables", "layout/buttons", "layout/notices", "layout/masthead", "layout/navigation", "layout/footer", "syntax", "layout/forms", "layout/page", "layout/archive", "layout/sidebar", "layout/json_cv", "vendor/font-awesome/fontawesome", "vendor/font-awesome/solid", "vendor/font-awesome/brands" ;
 

 { "name": {{ site.title | jsonify }}, "short_name": {{ site.name | jsonify }}, "description": {{ site.description | jsonify }}, "start_url": "{{ site.baseurl | default: '/' }}", "lang": {{ site.locale | default: "en" | jsonify }}, "icons": [ { "src": "/images/favicon-192x192.png", "sizes": "192x192", "type": "image/png" }, { "src": "/images/favicon-512x512.png", "sizes": "512x512", "type": "image/png" } ] }
 Markdown

 {% include toc %} ## Locations of key files/directories * Basic config options: _config.yml * Top navigation bar config: _data/navigation.yml * Single pages: _pages/ * Collections of pages are .md or .html files in: * _publications/ * _portfolio/ * _posts/ * _teaching/ * _talks/ * Footer: _includes/footer.html * Static files (like PDFs): /files/ * Profile image (can set in _config.yml): images/profile.png ## Tips and hints * Name a file ".md" to have it render in markdown, name it ".html" to render in HTML. * Go to the [commit list](https://github.com/academicpages/academicpages.github.io/commits/master) (on your repo) to find the last version GitHub built with Jekyll. * Green check: successful build * Orange circle: building * Red X: error * No icon: not built * Academic Pages uses [Jekyll Kramdown](https://jekyllrb.com/docs/configuration/markdown/), GitHub Flavored Markdown (GFM) parser, which is similar to the version of Markdown used on GitHub, but may have some minor differences. * Some of emoji supported on GitHub should be supposed via the [Jemoji](https://github.com/jekyll/jemoji) plugin :computer:. * The best list of the supported emoji can be found in the [Emojis for Jekyll via Jemoji](https://www.fabriziomusacchio.com/blog/2021-08-16-emojis_for_Jekyll/#computer) blog post. * While GitHub Pages prevents server side code from running, client-side scripts are supported. * This means that Google Analytics is supported, and [the wiki](https://github.com/academicpages/academicpages.github.io/wiki/Adding-Google-Analytics) should contain the most up-to-date information on getting it working. * Your CV can be written using either Markdown ([preview](https://academicpages.github.io/cv/)) or generated via JSON ([preview](https://academicpages.github.io/cv-json/)) and the layouts are slightly different. You can update the path to the one being used in `_data/navigation.yml` with the JSON formatted CV being hidden by default. * The [Liquid syntax guide](https://shopify.github.io/liquid/tags/control-flow/) is a useful guide for those that want to add functionality to the template or to become contributors to the [template on GitHub](https://github.com/academicpages/academicpages.github.io). ## MathJax Support for MathJax (version 3.* via [jsDelivr](https://www.jsdelivr.com/), [documentation](https://docs.mathjax.org/en/latest/)) is included in the template: $$ \displaylines{ \nabla \cdot E= \frac{\rho}{\epsilon_0} \\\ \nabla \cdot B=0 \\\ \nabla \times E= -\partial_tB \\\ \nabla \times B = \mu_0 \left(J + \varepsilon_0 \partial_t E \right) } $$ The default delimiters of `$$...$$` and `\\[...\\]` are supported for displayed mathematics, while `\\(...\\)` should be used for in-line mathematics (ex., \\(a^2 + b^2 = c^2\\)) **Note** that since Academic Pages uses Markdown which cases some interference with MathJax and LaTeX for escaping characters and new lines, although [some workarounds exist](https://math.codidact.com/posts/278763/278772#answer-278772). In some cases, such as when you are including MathJax in a `citation` field for publications, it may be necessary to use `\(...\)` for inline delineation. ## Mermaid diagrams Academic Pages includes support for [Mermaid diagrams](https://mermaid.js.org/) (version 11.* via [jsDelivr](https://www.jsdelivr.com/)) and in addition to their [tutorials](https://mermaid.js.org/ecosystem/tutorials.html) and [GitHub documentation](https://github.com/mermaid-js/mermaid) the basic syntax is as follows: ```markdown ```mermaid graph LR A-->B ``` ``` Which produces the following plot with the [default theme](https://mermaid.js.org/config/theming.html) applied: ```mermaid graph LR A-->B ``` While a more advanced plot with the `forest` theme applied looks like the following: ```mermaid --- config: theme: 'forest' --- graph TD; A-->B; A-->C; B-->D; C-->D; ``` ## Plotly Academic Pages includes support for Plotly diagrams via a hook in the Markdown code elements, although those that are comfortable with HTML and JavaScript can also access it [via those routes](https://plotly.com/javascript/getting-started/). Plotly is included via an `npm` [package](https://www.npmjs.com/package/plotly.js?activeTab=readme) and is distributed as part of the minimized JavaScript that is part of the template. In order to render a Plotly plot via Markdown the relevant plot data need to be added as follows: ```markdown ```plotly { "data": [ { "x": [1, 2, 3, 4], "y": [10, 15, 13, 17], "type": "scatter" }, { "x": [1, 2, 3, 4], "y": [16, 5, 11, 9], "type": "scatter" } ] } ``` ``` **Important!** Since the data is parsed as JSON *all* of the keys will need to be quoted for the plot to render. The use of a tool like [JSONLint](https://jsonlint.com/) to check syntax is highly recommended. {: .notice} Which produces the following: ```plotly { "data": [ { "x": [1, 2, 3, 4], "y": [10, 15, 13, 17], "type": "scatter" }, { "x": [1, 2, 3, 4], "y": [16, 5, 11, 9], "type": "scatter" } ] } ``` Essentially what is taking place is that the [Plotly attributes](https://plotly.com/javascript/reference/index/) are being taken from the code block as JSON data, parsed, and passed to Plotly along with a theme that matches the current site theme (i.e., a light theme, or a dark theme). This allows all plots that can be described via the `data` attribute to rendered with some limitations for the theme of the plot. ```plotly { "data": [ { "x": [1, 2, 3, 4, 5], "y": [1, 6, 3, 6, 1], "mode": "markers", "type": "scatter", "name": "Team A", "text": ["A-1", "A-2", "A-3", "A-4", "A-5"], "marker": { "size": 12 } }, { "x": [1.5, 2.5, 3.5, 4.5, 5.5], "y": [4, 1, 7, 1, 4], "mode": "markers", "type": "scatter", "name": "Team B", "text": ["B-a", "B-b", "B-c", "B-d", "B-e"], "marker": { "size": 12 } } ], "layout": { "xaxis": { "range": [ 0.75, 5.25 ] }, "yaxis": { "range": [0, 8] }, "title": {"text": "Data Labels Hover"} } } ``` ```plotly { "data": [{ "x": [1, 2, 3], "y": [4, 5, 6], "type": "scatter" }, { "x": [20, 30, 40], "y": [50, 60, 70], "xaxis": "x2", "yaxis": "y2", "type": "scatter" }], "layout": { "grid": { "rows": 1, "columns": 2, "pattern": "independent" }, "title": { "text": "Simple Subplot" } } } ``` ```plotly { "data": [{ "z": [[10, 10.625, 12.5, 15.625, 20], [5.625, 6.25, 8.125, 11.25, 15.625], [2.5, 3.125, 5.0, 8.125, 12.5], [0.625, 1.25, 3.125, 6.25, 10.625], [0, 0.625, 2.5, 5.625, 10]], "type": "contour" }], "layout": { "title": { "text": "Basic Contour Plot" } } } ``` ## Markdown guide Academic Pages uses [kramdown](https://kramdown.gettalong.org/index.html) for Markdown rendering, which has some differences from other Markdown implementations such as GitHub's. In addition to this guide, please see the [kramdown Syntax page](https://kramdown.gettalong.org/syntax.html) for full documentation. ### Header three #### Header four ##### Header five ###### Header six ## Blockquotes Single line blockquote: > Quotes are cool. ## Tables ### Table 1 | Entry | Item | | | -------- | ------ | ------------------------------------------------------------ | | [John Doe](#) | 2016 | Description of the item in the list | | [Jane Doe](#) | 2019 | Description of the item in the list | | [Doe Doe](#) | 2022 | Description of the item in the list | ### Table 2 | Header1 | Header2 | Header3 | |:--------|:-------:|--------:| | cell1 | cell2 | cell3 | | cell4 | ce ll5 | cell6 | |-----------------------------| | cell1 | cell2 | cell3 | | cell4 | cell5 | cell6 | |=============================| | Foot1 | Foot2 | Foot3 | ## Definition Lists Definition List Title : Definition list division. Startup : A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model. #dowork : Coined by Rob Dyrdek and his personal body guard Christopher "Big Black" Boykins, "Do Work" works as a self motivator, to motivating your friends. Do It Live : I'll let Bill O'Reilly [explain](https://www.youtube.com/watch?v=O_HyZ5aW76c "We'll Do It Live") this one. ## Unordered Lists (Nested) * List item one * List item one * List item one * List item two * List item three * List item four * List item two * List item three * List item four * List item two * List item three * List item four ## Ordered List (Nested) 1. List item one 1. List item one 1. List item one 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four 2. List item two 3. List item three 4. List item four ## Buttons Make any link standout more when applying the `.btn` class. ## Notices Basic notices or call-outs are supported using the following syntax: ```markdown **Watch out!** You can also add notices by appending `{: .notice}` to the line following paragraph. {: .notice} ``` which wil render as: **Watch out!** You can also add notices by appending `{: .notice}` to the line following paragraph. {: .notice} ### Footnotes Footnotes can be useful for clarifying points in the text, or citing information.[^1] Markdown support numeric footnotes, as well as text as long as the values are unique.[^note] ```markdown This is the regular text.[^1] This is more regular text.[^note] [^1]: This is the footnote itself. [^note]: This is another footnote. ``` [^1]: Such as this footnote. [^note]: When using text for footnotes markers, no spaces are permitted in the name. ## HTML Tags ### Address Tag 1 Infinite Loop
 Cupertino, CA 95014
 United States
### Anchor Tag (aka. Link) This is an example of a [link](https://github.com "GitHub"). ### Abbreviation Tag The abbreviation CSS stands for "Cascading Style Sheets". *[CSS]: Cascading Style Sheets ### Cite Tag "Code is poetry." ---Automattic ### Code Tag You will learn later on in these tests that `word-wrap: break-word;` will be your best friend. You can also write larger blocks of code with syntax highlighting supported for some languages, such as Python: ```python print('Hello World!') ``` or R: ```R print("Hello World!", quote = FALSE) ``` ### Details Tag (collapsible sections) The HTML `` tag works well with Markdown and allows you to include collapsible sections, see [W3Schools](https://www.w3schools.com/tags/tag_details.asp) for more information on how to use the tag.  Collapsed by default
 This section was collapsed by default! 
 The source code: ```HTML  Collapsed by default
 This section was collapsed by default! 
 ``` Or, you can leave a section open by default by including the `open` attribute in the tag:  Open by default
 This section is open by default thanks to open in the <details open> tag! 
 ### Emphasize Tag The emphasize tag should _italicize_ text. ### Insert Tag This tag should denote inserted text. ### Keyboard Tag This scarcely known tag emulates keyboard text, which is usually styled like the `` tag. ### Preformatted Tag This tag styles large blocks of code..post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}
### Quote Tag Developers, developers, developers… –Steve Ballmer ### Strike Tag This tag will let you strikeout text. ### Strong Tag This tag shows **bold text**. ### Subscript Tag Getting our science styling on with H₂O, which should push the "2" down. ### Superscript Tag Still sticking with science and Isaac Newton's E = MC², which should lift the 2 up. ### Variable Tag This allows you to denote variables. *** **Footnotes** The footnotes in the page will be returned following this line, return to the section on Markdown Footnotes. </div> </article> </div> Page not in menu

 This is a page not in the menu. You can use markdown in this page. Heading 1 ====== Heading 2 ======
 Page Archive

 {% include base_path %} {% for post in site.pages %} {% include archive-single.html %} {% endfor %}
 Portfolio

 {% include base_path %} {% for post in site.portfolio %} {% include archive-single.html %} {% endfor %}
 Publications

 {% if site.author.googlescholar %}You can also find my articles on my Google Scholar profile.
{% endif %} {% include base_path %}  {% if site.publication_category %} {% for category in site.publication_category %} {% assign title_shown = false %} {% for post in site.publications reversed %} {% if post.category != category[0] %} {% continue %} {% endif %} {% unless title_shown %}{{ category[1].title }}
 {% assign title_shown = true %} {% endunless %} {% include archive-single-pub.html %} {% endfor %} {% endfor %} {% else %} {% for post in site.publications reversed %} {% include archive-single-pub.html %} {% endfor %} {% endif %}
 Sitemap

 {% include base_path %} A list of all the posts and pages found on the site. For you robots out there, there is an [XML version]({{ base_path }}/sitemap.xml) available for digesting as well.Pages
{% for post in site.pages %} {% include archive-single.html %} {% endfor %}Posts
{% for post in site.posts %} {% include archive-single.html %} {% endfor %} {% capture written_label %}'None'{% endcapture %} {% for collection in site.collections %} {% unless collection.output == false or collection.label == "posts" %} {% capture label %}{{ collection.label }}{% endcapture %} {% if label != written_label %}{{ label }}
{% capture written_label %}{{ label }}{% endcapture %} {% endif %} {% endunless %} {% for post in collection.docs %} {% unless collection.output == false or collection.label == "posts" %} {% include archive-single.html %} {% endunless %} {% endfor %} {% endfor %}
 Posts by Tags

 {% include base_path %} {% include group-by-array collection=site.posts field="tags" %} {% for tag in group_names %} {% assign posts = group_items[forloop.index0] %}{{ tag }}
{% for post in posts %} {% include archive-single.html %} {% endfor %} {% endfor %}
 Talk map


This map is generated from a Jupyter Notebook file in talkmap.ipynb, which mines the location fields in the .md files in _talks/.


 Teaching

 {% include base_path %} {% for post in site.teaching reversed %} {% include archive-single.html %} {% endfor %}
 Terms and Privacy Policy

 {% include base_path %} {% include toc %} ## Privacy Policy The privacy of my visitors is extremely important. This Privacy Policy outlines the types of personal information that is received and collected and how it is used. First and foremost, I will never share your email address or any other personal information to anyone without your direct consent. ### Log Files Like many other websites, this site uses log files to help learn about when, from where, and how often traffic flows to this site. The information in these log files include: * Internet Protocol addresses (IP) * Types of browser * Internet Service Provider (ISP) * Date and time stamp * Referring and exit pages * Number of clicks All of this information is not linked to anything that is personally identifiable. ### Cookies and Web Beacons When you visit this site "convenience" cookies are stored on your computer when you submit a comment to help you log in faster to [Disqus](https://disqus.com) the next time you leave a comment. Third-party advertisers may also place and read cookies on your browser and/or use web beacons to collect information. This site has no access or control over these cookies. You should review the respective privacy policies on any and all third-party ad servers for more information regarding their practices and how to opt-out. If you wish to disable cookies, you may do so through your web browser options. Instructions for doing so can be found on the specific web browsers' websites. #### Google Analytics Google Analytics is a web analytics tool I use to help understand how visitors engage with this website. It reports website trends using cookies and web beacons without identifying individual visitors. You can read [Google Analytics Privacy Policy](https://www.google.com/analytics/learn/privacy.html).
 Blog posts

 {% include base_path %} {% capture written_year %}'None'{% endcapture %} {% for post in site.posts %} {% capture year %}{{ post.date | date: '%Y' }}{% endcapture %} {% if year != written_year %}{{ year }}
{% capture written_year %}{{ year }}{% endcapture %} {% endif %} {% include archive-single.html %} {% endfor %}
 

 @import "jekyll-theme-primer";
 


 


 


 


 


 


 


 


 


 

 {"/about/":"https://ammaryacoub.github.io/","/about.html":"https://ammaryacoub.github.io/","/resume-json":"https://ammaryacoub.github.io/cv-json/","/resume":"https://ammaryacoub.github.io/cv/","/md/":"https://ammaryacoub.github.io/markdown/","/markdown.html":"https://ammaryacoub.github.io/markdown/","/nmp/":"https://ammaryacoub.github.io/non-menu-page/","/nmp.html":"https://ammaryacoub.github.io/non-menu-page/","/wordpress/blog-posts/":"https://ammaryacoub.github.io/year-archive/"}
 Markdown Generator

 # Markdown Generator This directory contains various ways of creating Markdown for your site. In general, filenames that end with `.ipynb` or `.py` are similar, but may contain different documentation or are intended to be run from with GitHub when deploying your site. ## Python Scripts The .py files are Python scripts that that can be run from the command line (ex., `python3 publications.py publications.csv`) with the objective of also ensuring that they have reduced requirements for packages, which may allow them to run when deploying your site from within GitHub. ## Jupyter Notebooks These .ipynb files are Jupyter notebook files that convert a TSV containing structured data about talks (`talks.tsv`) or presentations (`presentations.tsv`) into individual markdown files that will be properly formatted for the academicpages template. The notebooks contain a lot of documentation about the process.
 

 {% if page.xsl %}{% endif %}<feed xmlns="http://www.w3.org/2005/Atom" {% if site.lang %}xml:lang="{{ site.lang }}"{% endif %}>Jekyll<link href="{{ '/' | absolute_url }}" rel="alternate" type="text/html" {% if site.lang %}hreflang="{{ site.lang }}" {% endif %}/>{{ site.time | date_to_xmlschema }}{{ page.url | absolute_url | xml_escape }}{% assign title = site.title | default: site.name %}{% if page.collection != "posts" %}{% assign collection = page.collection | capitalize %}{% assign title = title | append: " | " | append: collection %}{% endif %}{% if page.category %}{% assign category = page.category | capitalize %}{% assign title = title | append: " | " | append: category %}{% endif %}{% if title %}{{ title | smartify | xml_escape }}{% endif %}{% if site.description %}{{ site.description | xml_escape }}{% endif %}{% if site.author %}{{ site.author.name | default: site.author | xml_escape }}{% if site.author.email %}{{ site.author.email | xml_escape }}{% endif %}{% if site.author.uri %}{{ site.author.uri | xml_escape }}{% endif %}{% endif %}{% if page.tags %}{% assign posts = site.tags[page.tags] %}{% else %}{% assign posts = site[page.collection] %}{% endif %}{% if page.category %}{% assign posts = posts | where: "categories", page.category %}{% endif %}{% unless site.show_drafts %}{% assign posts = posts | where_exp: "post", "post.draft != true" %}{% endunless %}{% assign posts = posts | sort: "date" | reverse %}{% assign posts_limit = site.feed.posts_limit | default: 10 %}{% for post in posts limit: posts_limit %}<entry{% if post.lang %}{{" "}}xml:lang="{{ post.lang }}"{% endif %}>{% assign post_title = post.title | smartify | strip_html | normalize_whitespace | xml_escape %}{{ post_title }}

{{ post.date | date_to_xmlschema }}{{ post.last_modified_at | default: post.date | date_to_xmlschema }}{{ post.id | absolute_url | xml_escape }}{% assign excerpt_only = post.feed.excerpt_only | default: site.feed.excerpt_only %}{% unless excerpt_only %}<![CDATA[{{ post.content | strip }}]]>{% endunless %}{% assign post_author = post.author | default: post.authors[0] | default: site.author %}{% assign post_author = site.data.authors[post_author] | default: post_author %}{% assign post_author_email = post_author.email | default: nil %}{% assign post_author_uri = post_author.uri | default: nil %}{% assign post_author_name = post_author.name | default: post_author %}{{ post_author_name | default: "" | xml_escape }}{% if post_author_email %}{{ post_author_email | xml_escape }}{% endif %}{% if post_author_uri %}{{ post_author_uri | xml_escape }}{% endif %}{% if post.category %}{% elsif post.categories %}{% for category in post.categories %}{% endfor %}{% endif %}{% for tag in post.tags %}{% endfor %}{% assign post_summary = post.description | default: post.excerpt %}{% if post_summary and post_summary != empty %}<![CDATA[{{ post_summary | strip_html | normalize_whitespace }}]]>
{% endif %}{% assign post_image = post.image.path | default: post.image %}{% if post_image %}{% unless post_image contains "://" %}{% assign post_image = post_image | absolute_url %}{% endunless %}{% endif %}</entry>{% endfor %}</feed>
 

  {% if page.xsl %} {% endif %} {% assign collections = site.collections | where_exp:'collection','collection.output != false' %}{% for collection in collections %}{% assign docs = collection.docs | where_exp:'doc','doc.sitemap != false' %}{% for doc in docs %} {{ doc.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if doc.last_modified_at or doc.date %}{{ doc.last_modified_at | default: doc.date | date_to_xmlschema }} {% endif %} {% endfor %}{% endfor %}{% assign pages = site.html_pages | where_exp:'doc','doc.sitemap != false' | where_exp:'doc','doc.url != "/404.html"' %}{% for page in pages %} {{ page.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if page.last_modified_at %}{{ page.last_modified_at | date_to_xmlschema }} {% endif %} {% endfor %}{% assign static_files = page.static_files | where_exp:'page','page.sitemap != false' | where_exp:'page','page.name != "404.html"' %}{% for file in static_files %} {{ file.path | replace:'/index.html','/' | absolute_url | xml_escape }} {{ file.modified_time | date_to_xmlschema }}  {% endfor %}

 

 Sitemap: {{ "sitemap.xml" | absolute_url }}

Awards & Fellowships

Best Teaching Assistant Award

Received: May 2026

Recognized with the Best Teaching Assistant Award from the Mechanical Engineering Department at Southern Methodist University for excellence in teaching laboratory sessions and enhancing students’ hands-on learning experience.

Frederick E. Terman Award

Received: May 2026

Recipient of the Frederick E. Terman Award, presented by the Lyle School of Engineering at SMU in recognition of outstanding scholastic achievement and contributions to the engineering school community. The award honors the legacy of Dr. Frederick E. Terman and is given to graduate students who exemplify academic excellence and leadership.

Dean’s Dissertation Fellowship

Received: April 2026

Selected as a recipient of the Dean’s Dissertation Fellowship for the 2026–27 academic year. The fellowship supports outstanding doctoral students during the final stage of their dissertation research and recognizes academic and research achievement. View the official list of fellows

Second Place Award – Graduate Research Day Poster Competition

Received: June 2022

Poster Awarded Second Place in the Graduate Research Day Poster Competition, organized by the Graduate School at Jordan University of Science and Technology, in recognition of outstanding research presentation.

Posts by Category

Posts by Collection

awards

Second Place Award – Graduate Research Day Poster Competition

Published: June 01, 2022

Poster Awarded Second Place in the Graduate Research Day Poster Competition, organized by the Graduate School at Jordan University of Science and Technology, in recognition of outstanding research presentation.

Dean’s Dissertation Fellowship

Published: April 30, 2026

Selected as a recipient of the Dean’s Dissertation Fellowship for the 2026–27 academic year. The fellowship supports outstanding doctoral students during the final stage of their dissertation research and recognizes academic and research achievement. View the official list of fellows

Frederick E. Terman Award

Published: May 04, 2026

Recipient of the Frederick E. Terman Award, presented by the Lyle School of Engineering at SMU in recognition of outstanding scholastic achievement and contributions to the engineering school community. The award honors the legacy of Dr. Frederick E. Terman and is given to graduate students who exemplify academic excellence and leadership.

Best Teaching Assistant Award

Published: May 04, 2026

Recognized with the Best Teaching Assistant Award from the Mechanical Engineering Department at Southern Methodist University for excellence in teaching laboratory sessions and enhancing students’ hands-on learning experience.

portfolio

Portfolio item number 1

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

Portfolio item number 2

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

publications

Magnetically Actuated Millimeter-Scale Biped

Published in Robotics and Autonomous Systems , 2025

Recommended citation: Cox, A., Asadi, F., Yacoub, A., Beskok, S., & Hurmuzlu, Y. (2025). Magnetically actuated millimeter-scale biped. Robotics and Autonomous Systems, 190, 104985
Download Paper | Download Bibtex

Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors

Published in The 5th Modeling, Estimation and Control Conference (MECC 2025), 2025

This paper presents an analysis of the precision of fingertip location for a 7 degrees of freedom (DOF) pneumatic haptic glove developed at SMU for 3D elastographic imaging virtual palpation.The 2D workspace for each finger and the 3D workspace for the glove are calculated from the actuator positions using closed-form expressions based on design geometry. The fingertip locations are measured using a 5-camera OptiTrack motion capture, and the results are compared with the fingertip positions obtained using the linear sensors integrated in the design of each finger joint.This work is an essential step in the development of a virtual palpation system of 3D elastographic medical images.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.
Download Paper | Download Bibtex

Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Published in 65th IEEE Conference on Decision and Control, 2026

Pneumatic actuators exhibit strong nonlinearities and considerable uncertainties that include time-varying friction, making precise force tracking control challenging. This is exacerbated in small-scale cylinders, where internal friction can represent a significant percentage of the maximum output force. To address these issues, this paper presents an adaptive sliding mode control method with friction compensation (ASMC-FC). The controller integrates online parameter adaptation for managing slow-varying friction uncertainties with sliding mode control (SMC) to ensure robustness against unmodeled dynamics and rapidly changing uncertain parameters. Experimental validation is conducted on a double-acting, single-rod small pneumatic cylinder. The results demonstrate that the proposed approach offers better force tracking and increased robustness compared to standard SMC.

Recommended citation: Yacoub, A., Hurmuzlu, Y & Richer, E. Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder
Download Paper

Design and Kinematics Analysis for the SMU Haptic Glove

Published in Mechanism and Machine Theory, 2026

This paper presents the mechanical design and kinematic analysis of SMU Haptic Glove, which incorporates seven degrees of freedom (DOF) that are pneumatically actuated and developed for 3D elastographic imaging virtual palpation. This paper outlines the mechanical design of the SMU Haptic Glove The two-dimensional workspace for each finger and the glove’s three-dimensional workspace are determined from the actuator positions using closed-form expressions based on the design geometry and are measured using embedded linear sensors.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469
Download Paper | Download Bibtex

Modeling and Compensation of Static Friction to Improve Force Tracking Performance in Miniature Pneumatic Cylinders

Published in IEEE Transactions on Control Systems Technology, 2026

Haptic gloves require actuators capable of precise force trajectory tracking. Pneumatic actuators exhibit high force to weight ratio performance; however, their usage is often limited by high nonlinearities and friction-induced uncertainties. This study investigates the position and pressure-dependent static friction in small-scale pneumatic actuators. A new stiction model is proposed that explicitly incorporates these dependencies to accurately characterize static friction effects. In order to exploit this model, a sliding mode controller (SMC) with estimated friction compensation is developed and experimentally validated. When actuator force is estimated using pressure measurements, results show that incorporating the friction model significantly reduces amplitude errors compared to uncompensated control.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Adaptive Robust Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder.
Download Paper

Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control

Published in American Control Conference (ACC), 2026

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control. American Control Conference (ACC).
Download Paper

teaching

Elements of Mechanical Engineering Measurements Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2025

I guided senior students in experimental design, data acquisition, and system integration utilizing tools like LabVIEW. I offered comprehensive support for final projects and extended my mentorship beyond my formal duties, teaching students how to use Arduino-based platforms and encouraging them to apply these tools to develop their ideas.

Control Systems Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2026

Served as a Graduate Teaching Assistant for the Control Systems Laboratory in the Mechanical Engineering Department at Southern Methodist University. Assisted in delivering hands-on laboratory sessions focused on fundamental control systems concepts, including system modeling, time-domain response, feedback control, and stability analysis. Students implemented and validated control algorithms using MATLAB/Simulink and Quanser hardware platforms, including the QUBE-Servo 3 and QAreo 2 systems.

Intro to Mechatronics Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2026

I supported the design and testing of laboratory experiments prior to implementation and provided detailed feedback to enhance student learning.

CV

Your Sidebar Name

none@example.org

https://academicpages.github.io

Earth, , US

Google Scholar ORCID GitHub

Summary

Currently employed at Red Brick University. Short biography for the left-hand sidebar

Education

Ph.D in Version Control Theory

2018

GitHub University
M.S. in Jekyll

2014

GitHub University
B.S. in GitHub

2012

GitHub University

Publications

Paper Title Number 1

2009

Journal 1

This paper is about the number 1. The number 2 is left for future work.

View Publication
Paper Title Number 2

2010

Journal 1

This paper is about the number 2. The number 3 is left for future work.

View Publication
Paper Title Number 3

2015

Journal 1

This paper is about the number 3. The number 4 is left for future work.

View Publication
Paper Title Number 4

2024

GitHub Journal of Bugs

This paper is about fixing template issue #693.

View Publication

Presentations

Talk 1 on Relevant Topic in Your Field

2012

UC San Francisco, Department of Testing

San Francisco, CA, USA
Tutorial 1 on Relevant Topic in Your Field

2013

UC-Berkeley Institute for Testing Science

Berkeley, CA, USA
Talk 2 on Relevant Topic in Your Field

2014

London School of Testing

London, UK
Conference Proceeding talk 3 on Relevant Topic in Your Field

2014

Testing Institute of America 2014 Annual Conference

Los Angeles, CA, USA

Teaching

Teaching experience 1

2014

University 1, Department

Role: Undergraduate course
Teaching experience 2

2015

University 1, Department

Role: Workshop

Portfolio

Portfolio item number 1

Portfolio

Short description of portfolio item number 1

View Project

Download CV as PDF View Markdown CV

CV

Education

Ph.D in Version Control Theory, GitHub University, 2018 (expected)
M.S. in Jekyll, GitHub University, 2014
B.S. in GitHub, GitHub University, 2012

Work experience

Spring 2024: Academic Pages Collaborator
- GitHub University
- Duties includes: Updates and improvements to template
- Supervisor: The Users
Fall 2015: Research Assistant
- GitHub University
- Duties included: Merging pull requests
- Supervisor: Professor Hub
Summer 2015: Research Assistant
- GitHub University
- Duties included: Tagging issues
- Supervisor: Professor Git

Skills

Skill 1
Skill 2
- Sub-skill 2.1
- Sub-skill 2.2
- Sub-skill 2.3
Skill 3

Publications

Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control

Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control. American Control Conference (ACC).

Modeling and Compensation of Static Friction to Improve Force Tracking Performance in Miniature Pneumatic Cylinders

Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Adaptive Robust Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder.

Design and Kinematics Analysis for the SMU Haptic Glove

Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469

Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Yacoub, A., Hurmuzlu, Y & Richer, E. Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors

Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.

Magnetically Actuated Millimeter-Scale Biped

Cox, A., Asadi, F., Yacoub, A., Beskok, S., & Hurmuzlu, Y. (2025). Magnetically actuated millimeter-scale biped. Robotics and Autonomous Systems, 190, 104985

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{ "name": "Ammar's Homepage", "short_name": "Ammar H. Yacoub", "description": "Your Name's academic portfolio", "start_url": "/", "lang": "en-US", "icons": [ { "src": "/images/favicon-192x192.png", "sizes": "192x192", "type": "image/png" }, { "src": "/images/favicon-512x512.png", "sizes": "512x512", "type": "image/png" } ] }

Markdown

Locations of key files/directories

Basic config options: _config.yml
Top navigation bar config: _data/navigation.yml
Single pages: _pages/
Collections of pages are .md or .html files in:
- _publications/
- _portfolio/
- _posts/
- _teaching/
- _talks/
Footer: _includes/footer.html
Static files (like PDFs): /files/
Profile image (can set in _config.yml): images/profile.png

Tips and hints

Name a file “.md” to have it render in markdown, name it “.html” to render in HTML.
Go to the commit list (on your repo) to find the last version GitHub built with Jekyll.
- Green check: successful build
- Orange circle: building
- Red X: error
- No icon: not built
Academic Pages uses Jekyll Kramdown, GitHub Flavored Markdown (GFM) parser, which is similar to the version of Markdown used on GitHub, but may have some minor differences.
- Some of emoji supported on GitHub should be supposed via the Jemoji plugin .
- The best list of the supported emoji can be found in the Emojis for Jekyll via Jemoji blog post.
While GitHub Pages prevents server side code from running, client-side scripts are supported.
- This means that Google Analytics is supported, and the wiki should contain the most up-to-date information on getting it working.
Your CV can be written using either Markdown (preview) or generated via JSON (preview) and the layouts are slightly different. You can update the path to the one being used in _data/navigation.yml with the JSON formatted CV being hidden by default.
The Liquid syntax guide is a useful guide for those that want to add functionality to the template or to become contributors to the template on GitHub.

MathJax

Support for MathJax (version 3.* via jsDelivr, documentation) is included in the template:

\[\displaylines{ \nabla \cdot E= \frac{\rho}{\epsilon_0} \\\ \nabla \cdot B=0 \\\ \nabla \times E= -\partial_tB \\\ \nabla \times B = \mu_0 \left(J + \varepsilon_0 \partial_t E \right) }\]

The default delimiters of $$...$$ and \\[...\\] are supported for displayed mathematics, while \$...\$ should be used for in-line mathematics (ex., $a^2 + b^2 = c^2$)

Note that since Academic Pages uses Markdown which cases some interference with MathJax and LaTeX for escaping characters and new lines, although some workarounds exist. In some cases, such as when you are including MathJax in a citation field for publications, it may be necessary to use $...$ for inline delineation.

Mermaid diagrams

Academic Pages includes support for Mermaid diagrams (version 11.* via jsDelivr) and in addition to their tutorials and GitHub documentation the basic syntax is as follows:

    ```mermaid
    graph LR
    A-->B
    ```

Which produces the following plot with the default theme applied:

graph LR
A-->B

While a more advanced plot with the forest theme applied looks like the following:

---
config:
  theme: 'forest'
---
graph TD;
    A-->B;
    A-->C;
    B-->D;
    C-->D;

Plotly

Academic Pages includes support for Plotly diagrams via a hook in the Markdown code elements, although those that are comfortable with HTML and JavaScript can also access it via those routes. Plotly is included via an npm package and is distributed as part of the minimized JavaScript that is part of the template.

In order to render a Plotly plot via Markdown the relevant plot data need to be added as follows:

    ```plotly
    {
      "data": [
        {
          "x": [1, 2, 3, 4],
          "y": [10, 15, 13, 17],
          "type": "scatter"
        },
        {
          "x": [1, 2, 3, 4],
          "y": [16, 5, 11, 9],
          "type": "scatter"
        }
      ]
    }
    ```

Important! Since the data is parsed as JSON all of the keys will need to be quoted for the plot to render. The use of a tool like JSONLint to check syntax is highly recommended.

Which produces the following:

{
  "data": [
    {
      "x": [1, 2, 3, 4],
      "y": [10, 15, 13, 17],
      "type": "scatter"
    },
    {
      "x": [1, 2, 3, 4],
      "y": [16, 5, 11, 9],
      "type": "scatter"
    }
  ]
}

Essentially what is taking place is that the Plotly attributes are being taken from the code block as JSON data, parsed, and passed to Plotly along with a theme that matches the current site theme (i.e., a light theme, or a dark theme). This allows all plots that can be described via the data attribute to rendered with some limitations for the theme of the plot.

{
  "data": [
    {
      "x": [1, 2, 3, 4, 5],
      "y": [1, 6, 3, 6, 1],
      "mode": "markers",
      "type": "scatter",
      "name": "Team A",
      "text": ["A-1", "A-2", "A-3", "A-4", "A-5"],
      "marker": { "size": 12 }
    },
    {
      "x": [1.5, 2.5, 3.5, 4.5, 5.5],
      "y": [4, 1, 7, 1, 4],
      "mode": "markers",
      "type": "scatter",
      "name": "Team B",
      "text": ["B-a", "B-b", "B-c", "B-d", "B-e"],
      "marker": { "size": 12 }
    }    
  ],
  "layout": {
    "xaxis": {
      "range": [ 0.75, 5.25 ]
    },
    "yaxis": {
      "range": [0, 8]
    },
    "title": {"text": "Data Labels Hover"}
  }
}

{
  "data": [{
      "x": [1, 2, 3],
      "y": [4, 5, 6],
      "type": "scatter"
    },
    {
      "x": [20, 30, 40],
      "y": [50, 60, 70],
      "xaxis": "x2",
      "yaxis": "y2",
      "type": "scatter"
  }],
  "layout": {
    "grid": {
      "rows": 1,
      "columns": 2,
      "pattern": "independent"
    },
    "title": {
      "text": "Simple Subplot"
    }    
  }
}

{
  "data": [{
		"z": [[10, 10.625, 12.5, 15.625, 20],
          [5.625, 6.25, 8.125, 11.25, 15.625],
          [2.5, 3.125, 5.0, 8.125, 12.5],
          [0.625, 1.25, 3.125, 6.25, 10.625],
          [0, 0.625, 2.5, 5.625, 10]],
		"type": "contour"
	}],
  "layout": {
    "title": {
      "text": "Basic Contour Plot"
    }
  }
}

Markdown guide

Academic Pages uses kramdown for Markdown rendering, which has some differences from other Markdown implementations such as GitHub’s. In addition to this guide, please see the kramdown Syntax page for full documentation.

Header three

Header four

Header five

Header six

Blockquotes

Single line blockquote:

Quotes are cool.

Tables

Table 1

Entry	Item
John Doe	2016	Description of the item in the list
Jane Doe	2019	Description of the item in the list
Doe Doe	2022	Description of the item in the list

Table 2

Header1	Header2	Header3
cell1	cell2	cell3
cell4	ce
ll5	cell6
cell1	cell2	cell3
cell4	cell5	cell6
Foot1	Foot2	Foot3

Definition Lists

Definition List Title: Definition list division.
Startup: A startup company or startup is a company or temporary organization designed to search for a repeatable and scalable business model.
#dowork: Coined by Rob Dyrdek and his personal body guard Christopher “Big Black” Boykins, “Do Work” works as a self motivator, to motivating your friends.
Do It Live: I’ll let Bill O’Reilly explain this one.

Unordered Lists (Nested)

List item one
- List item one
  - List item one
  - List item two
  - List item three
  - List item four
- List item two
- List item three
- List item four
List item two
List item three
List item four

Ordered List (Nested)

List item one
1. List item one
  1. List item one
  2. List item two
  3. List item three
  4. List item four
2. List item two
3. List item three
4. List item four
List item two
List item three
List item four

Buttons

Make any link standout more when applying the .btn class.

Notices

Basic notices or call-outs are supported using the following syntax:

**Watch out!** You can also add notices by appending `{: .notice}` to the line following paragraph.
{: .notice}

which wil render as:

Watch out! You can also add notices by appending {: .notice} to the line following paragraph.

Footnotes

Footnotes can be useful for clarifying points in the text, or citing information.¹ Markdown support numeric footnotes, as well as text as long as the values are unique.²

This is the regular text.[^1] This is more regular text.[^note]

[^1]: This is the footnote itself.
[^note]: This is another footnote.

HTML Tags

Address Tag

1 Infinite Loop
Cupertino, CA 95014
United States

Anchor Tag (aka. Link)

This is an example of a link.

Abbreviation Tag

The abbreviation CSS stands for “Cascading Style Sheets”.

Cite Tag

“Code is poetry.” —Automattic

Code Tag

You will learn later on in these tests that word-wrap: break-word; will be your best friend.

You can also write larger blocks of code with syntax highlighting supported for some languages, such as Python:

print('Hello World!')

or R:

print("Hello World!", quote = FALSE)

Details Tag (collapsible sections)

The HTML <details> tag works well with Markdown and allows you to include collapsible sections, see W3Schools for more information on how to use the tag.

Collapsed by default

This section was collapsed by default!

The source code:

<details>
  <summary>Collapsed by default</summary>
  This section was collapsed by default!
</details>

Or, you can leave a section open by default by including the open attribute in the tag:

Open by default

This section is open by default thanks to open in the <details open> tag!

Emphasize Tag

The emphasize tag should italicize text.

Insert Tag

This tag should denote inserted text.

Keyboard Tag

This scarcely known tag emulates keyboard text, which is usually styled like the <code> tag.

Preformatted Tag

This tag styles large blocks of code.

.post-title {
  margin: 0 0 5px;
  font-weight: bold;
  font-size: 38px;
  line-height: 1.2;
  and here's a line of some really, really, really, really long text, just to see how the PRE tag handles it and to find out how it overflows;
}

Quote Tag

Developers, developers, developers… –Steve Ballmer

Strike Tag

This tag will let you ~~strikeout text~~.

Strong Tag

This tag shows bold text.

Subscript Tag

Getting our science styling on with H₂O, which should push the “2” down.

Superscript Tag

Still sticking with science and Isaac Newton’s E = MC², which should lift the 2 up.

Variable Tag

This allows you to denote variables.

Footnotes

The footnotes in the page will be returned following this line, return to the section on Markdown Footnotes.

Such as this footnote. ↩
When using text for footnotes markers, no spaces are permitted in the name. ↩

Page not in menu

This is a page not in the menu. You can use markdown in this page.

Heading 1

Heading 2

Page Archive

{% include base_path %} {% for post in site.pages %} {% include archive-single.html %} {% endfor %}

Portfolio

{% include base_path %} {% for post in site.portfolio %} {% include archive-single.html %} {% endfor %}

Publications

{% if site.author.googlescholar %}

You can also find my articles on my Google Scholar profile.

{% endif %} {% include base_path %} {% if site.publication_category %} {% for category in site.publication_category %} {% assign title_shown = false %} {% for post in site.publications reversed %} {% if post.category != category[0] %} {% continue %} {% endif %} {% unless title_shown %}

{% assign title_shown = true %} {% endunless %} {% include archive-single-pub.html %} {% endfor %} {% endfor %} {% else %} {% for post in site.publications reversed %} {% include archive-single-pub.html %} {% endfor %} {% endif %}

Sitemap

{% include base_path %} A list of all the posts and pages found on the site. For you robots out there, there is an [XML version]({{ base_path }}/sitemap.xml) available for digesting as well.

Pages

{% for post in site.pages %} {% include archive-single.html %} {% endfor %}

Posts

{% for post in site.posts %} {% include archive-single.html %} {% endfor %} {% capture written_label %}'None'{% endcapture %} {% for collection in site.collections %} {% unless collection.output == false or collection.label == "posts" %} {% capture label %}{{ collection.label }}{% endcapture %} {% if label != written_label %}

{% capture written_label %}{{ label }}{% endcapture %} {% endif %} {% endunless %} {% for post in collection.docs %} {% unless collection.output == false or collection.label == "posts" %} {% include archive-single.html %} {% endunless %} {% endfor %} {% endfor %}

Posts by Tags

{% include base_path %} {% include group-by-array collection=site.posts field="tags" %} {% for tag in group_names %} {% assign posts = group_items[forloop.index0] %}

{% for post in posts %} {% include archive-single.html %} {% endfor %} {% endfor %}

Talk map

This map is generated from a Jupyter Notebook file in talkmap.ipynb, which mines the location fields in the .md files in _talks/.

Teaching

{% include base_path %} {% for post in site.teaching reversed %} {% include archive-single.html %} {% endfor %}

Terms and Privacy Policy

{% include base_path %} {% include toc %} ## Privacy Policy The privacy of my visitors is extremely important. This Privacy Policy outlines the types of personal information that is received and collected and how it is used. First and foremost, I will never share your email address or any other personal information to anyone without your direct consent. ### Log Files Like many other websites, this site uses log files to help learn about when, from where, and how often traffic flows to this site. The information in these log files include: * Internet Protocol addresses (IP) * Types of browser * Internet Service Provider (ISP) * Date and time stamp * Referring and exit pages * Number of clicks All of this information is not linked to anything that is personally identifiable. ### Cookies and Web Beacons When you visit this site "convenience" cookies are stored on your computer when you submit a comment to help you log in faster to [Disqus](https://disqus.com) the next time you leave a comment. Third-party advertisers may also place and read cookies on your browser and/or use web beacons to collect information. This site has no access or control over these cookies. You should review the respective privacy policies on any and all third-party ad servers for more information regarding their practices and how to opt-out. If you wish to disable cookies, you may do so through your web browser options. Instructions for doing so can be found on the specific web browsers' websites. #### Google Analytics Google Analytics is a web analytics tool I use to help understand how visitors engage with this website. It reports website trends using cookies and web beacons without identifying individual visitors. You can read [Google Analytics Privacy Policy](https://www.google.com/analytics/learn/privacy.html).

Blog posts

{% include base_path %} {% capture written_year %}'None'{% endcapture %} {% for post in site.posts %} {% capture year %}{{ post.date | date: '%Y' }}{% endcapture %} {% if year != written_year %}

{% capture written_year %}{{ year }}{% endcapture %} {% endif %} {% include archive-single.html %} {% endfor %}

@import "jekyll-theme-primer";

{"/about/":"https://ammaryacoub.github.io/","/about.html":"https://ammaryacoub.github.io/","/resume-json":"https://ammaryacoub.github.io/cv-json/","/resume":"https://ammaryacoub.github.io/cv/","/md/":"https://ammaryacoub.github.io/markdown/","/markdown.html":"https://ammaryacoub.github.io/markdown/","/nmp/":"https://ammaryacoub.github.io/non-menu-page/","/nmp.html":"https://ammaryacoub.github.io/non-menu-page/","/wordpress/blog-posts/":"https://ammaryacoub.github.io/year-archive/"}

Markdown Generator

# Markdown Generator This directory contains various ways of creating Markdown for your site. In general, filenames that end with `.ipynb` or `.py` are similar, but may contain different documentation or are intended to be run from with GitHub when deploying your site. ## Python Scripts The .py files are Python scripts that that can be run from the command line (ex., `python3 publications.py publications.csv`) with the objective of also ensuring that they have reduced requirements for packages, which may allow them to run when deploying your site from within GitHub. ## Jupyter Notebooks These .ipynb files are Jupyter notebook files that convert a TSV containing structured data about talks (`talks.tsv`) or presentations (`presentations.tsv`) into individual markdown files that will be properly formatted for the academicpages template. The notebooks contain a lot of documentation about the process.

{% if page.xsl %}{% endif %}<feed xmlns="http://www.w3.org/2005/Atom" {% if site.lang %}xml:lang="{{ site.lang }}"{% endif %}>Jekyll<link href="{{ '/' | absolute_url }}" rel="alternate" type="text/html" {% if site.lang %}hreflang="{{ site.lang }}" {% endif %}/>{{ site.time | date_to_xmlschema }}{{ page.url | absolute_url | xml_escape }}{% assign title = site.title | default: site.name %}{% if page.collection != "posts" %}{% assign collection = page.collection | capitalize %}{% assign title = title | append: " | " | append: collection %}{% endif %}{% if page.category %}{% assign category = page.category | capitalize %}{% assign title = title | append: " | " | append: category %}{% endif %}{% if title %}{{ title | smartify | xml_escape }}{% endif %}{% if site.description %}{{ site.description | xml_escape }}{% endif %}{% if site.author %}{{ site.author.name | default: site.author | xml_escape }}{% if site.author.email %}{{ site.author.email | xml_escape }}{% endif %}{% if site.author.uri %}{{ site.author.uri | xml_escape }}{% endif %}{% endif %}{% if page.tags %}{% assign posts = site.tags[page.tags] %}{% else %}{% assign posts = site[page.collection] %}{% endif %}{% if page.category %}{% assign posts = posts | where: "categories", page.category %}{% endif %}{% unless site.show_drafts %}{% assign posts = posts | where_exp: "post", "post.draft != true" %}{% endunless %}{% assign posts = posts | sort: "date" | reverse %}{% assign posts_limit = site.feed.posts_limit | default: 10 %}{% for post in posts limit: posts_limit %}<entry{% if post.lang %}{{" "}}xml:lang="{{ post.lang }}"{% endif %}>{% assign post_title = post.title | smartify | strip_html | normalize_whitespace | xml_escape %}{{ post_title }} {{ post.date | date_to_xmlschema }}{{ post.last_modified_at | default: post.date | date_to_xmlschema }}{{ post.id | absolute_url | xml_escape }}{% assign excerpt_only = post.feed.excerpt_only | default: site.feed.excerpt_only %}{% unless excerpt_only %}<![CDATA[{{ post.content | strip }}]]>{% endunless %}{% assign post_author = post.author | default: post.authors[0] | default: site.author %}{% assign post_author = site.data.authors[post_author] | default: post_author %}{% assign post_author_email = post_author.email | default: nil %}{% assign post_author_uri = post_author.uri | default: nil %}{% assign post_author_name = post_author.name | default: post_author %}{{ post_author_name | default: "" | xml_escape }}{% if post_author_email %}{{ post_author_email | xml_escape }}{% endif %}{% if post_author_uri %}{{ post_author_uri | xml_escape }}{% endif %}{% if post.category %}{% elsif post.categories %}{% for category in post.categories %}{% endfor %}{% endif %}{% for tag in post.tags %}{% endfor %}{% assign post_summary = post.description | default: post.excerpt %}{% if post_summary and post_summary != empty %}

<![CDATA[{{ post_summary | strip_html | normalize_whitespace }}]]>

{% endif %}{% assign post_image = post.image.path | default: post.image %}{% if post_image %}{% unless post_image contains "://" %}{% assign post_image = post_image | absolute_url %}{% endunless %}{% endif %}</entry>{% endfor %}</feed>

{% if page.xsl %} {% endif %} {% assign collections = site.collections | where_exp:'collection','collection.output != false' %}{% for collection in collections %}{% assign docs = collection.docs | where_exp:'doc','doc.sitemap != false' %}{% for doc in docs %} {{ doc.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if doc.last_modified_at or doc.date %}{{ doc.last_modified_at | default: doc.date | date_to_xmlschema }} {% endif %} {% endfor %}{% endfor %}{% assign pages = site.html_pages | where_exp:'doc','doc.sitemap != false' | where_exp:'doc','doc.url != "/404.html"' %}{% for page in pages %} {{ page.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if page.last_modified_at %}{{ page.last_modified_at | date_to_xmlschema }} {% endif %} {% endfor %}{% assign static_files = page.static_files | where_exp:'page','page.sitemap != false' | where_exp:'page','page.name != "404.html"' %}{% for file in static_files %} {{ file.path | replace:'/index.html','/' | absolute_url | xml_escape }} {{ file.modified_time | date_to_xmlschema }} {% endfor %}

Sitemap: {{ "sitemap.xml" | absolute_url }}

Portfolio

Portfolio item number 1

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

Portfolio item number 2

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

Publications

You can also find my articles on my Google Scholar profile.

Under Review

Modeling and Compensation of Static Friction to Improve Force Tracking Performance in Miniature Pneumatic Cylinders

Submitted to IEEE Transactions on Control Systems Technology, 2026

Haptic gloves require actuators capable of precise force trajectory tracking. Pneumatic actuators exhibit high force to weight ratio performance; however, their usage is often limited by high nonlinearities and friction-induced uncertainties. This study investigates the position and pressure-dependent static friction in small-scale pneumatic actuators. A new stiction model is proposed that explicitly incorporates these dependencies to accurately characterize static friction effects. In order to exploit this model, a sliding mode controller (SMC) with estimated friction compensation is developed and experimentally validated. When actuator force is estimated using pressure measurements, results show that incorporating the friction model significantly reduces amplitude errors compared to uncompensated control.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Adaptive Robust Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder.
Download Paper

Design and Kinematics Analysis for the SMU Haptic Glove

Submitted to Mechanism and Machine Theory, 2026

This paper presents the mechanical design and kinematic analysis of SMU Haptic Glove, which incorporates seven degrees of freedom (DOF) that are pneumatically actuated and developed for 3D elastographic imaging virtual palpation. This paper outlines the mechanical design of the SMU Haptic Glove The two-dimensional workspace for each finger and the glove’s three-dimensional workspace are determined from the actuator positions using closed-form expressions based on the design geometry and are measured using embedded linear sensors.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469
Download Paper | Download Bibtex

Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Submitted to 65th IEEE Conference on Decision and Control, 2026

Pneumatic actuators exhibit strong nonlinearities and considerable uncertainties that include time-varying friction, making precise force tracking control challenging. This is exacerbated in small-scale cylinders, where internal friction can represent a significant percentage of the maximum output force. To address these issues, this paper presents an adaptive sliding mode control method with friction compensation (ASMC-FC). The controller integrates online parameter adaptation for managing slow-varying friction uncertainties with sliding mode control (SMC) to ensure robustness against unmodeled dynamics and rapidly changing uncertain parameters. Experimental validation is conducted on a double-acting, single-rod small pneumatic cylinder. The results demonstrate that the proposed approach offers better force tracking and increased robustness compared to standard SMC.

Recommended citation: Yacoub, A., Hurmuzlu, Y & Richer, E. Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder
Download Paper

Journal Articles

Magnetically Actuated Millimeter-Scale Biped

Published in Robotics and Autonomous Systems , 2025

This paper presents a novel approach to studying bipedal locomotion using magnetically actuated miniature robots. Traditional bipedal locomotion machines are expensive and complex. In contrast, we introduce “Big Foot”, a lightweight 0.3 g robot designed to explore fundamental concepts of bipedal locomotion without requiring complex hardware.

Recommended citation: Cox, A., Asadi, F., Yacoub, A., Beskok, S., & Hurmuzlu, Y. (2025). Magnetically actuated millimeter-scale biped. Robotics and Autonomous Systems, 190, 104985
Download Paper | Download Bibtex

Conference Papers

Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control

Published in American Control Conference (ACC), 2026

Static friction, also known as stiction, is a primary source of tracking error in pneumatic cylinders, which significantly limits their use in high-precision force control tasks. This paper presents a detailed experimental study of the static friction behavior of a small pneumatic cylinder, examining how the friction force depends on piston position and supply pressure. Based on these findings, a new static friction model that considers pressure and position is developed to accurately represent the stiction phenomenon. Additionally, a Sliding Mode Controller (SMC) is designed and implemented to produce a desired output force. The SMC’s performance is evaluated experimentally both with and without the proposed friction compensation model. Results show that the SMC with the integrated compensation reduces steady-state force tracking errors compared to the uncompensated controller.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control. American Control Conference (ACC).
Download Paper

Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors

Published in The 5th Modeling, Estimation and Control Conference (MECC 2025), 2025

This paper presents an analysis of the precision of fingertip location for a 7 degrees of freedom (DOF) pneumatic haptic glove developed at SMU for 3D elastographic imaging virtual palpation.The 2D workspace for each finger and the 3D workspace for the glove are calculated from the actuator positions using closed-form expressions based on design geometry. The fingertip locations are measured using a 5-camera OptiTrack motion capture, and the results are compared with the fingertip positions obtained using the linear sensors integrated in the design of each finger joint.This work is an essential step in the development of a virtual palpation system of 3D elastographic medical images.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.
Download Paper | Download Bibtex

Sitemap

{% include base_path %} A list of all the posts and pages found on the site. For you robots out there, there is an [XML version]({{ base_path }}/sitemap.xml) available for digesting as well.

Pages

{% for post in site.pages %} {% include archive-single.html %} {% endfor %}

Posts

{% for post in site.posts %} {% include archive-single.html %} {% endfor %} {% capture written_label %}'None'{% endcapture %} {% for collection in site.collections %} {% unless collection.output == false or collection.label == "posts" %} {% capture label %}{{ collection.label }}{% endcapture %} {% if label != written_label %}

{% capture written_label %}{{ label }}{% endcapture %} {% endif %} {% endunless %} {% for post in collection.docs %} {% unless collection.output == false or collection.label == "posts" %} {% include archive-single.html %} {% endunless %} {% endfor %} {% endfor %}

Posts by Tags

{% include base_path %} {% include group-by-array collection=site.posts field="tags" %} {% for tag in group_names %} {% assign posts = group_items[forloop.index0] %}

{% for post in posts %} {% include archive-single.html %} {% endfor %} {% endfor %}

Talk map

This map is generated from a Jupyter Notebook file in talkmap.ipynb, which mines the location fields in the .md files in _talks/.

Teaching

{% include base_path %} {% for post in site.teaching reversed %} {% include archive-single.html %} {% endfor %}

Terms and Privacy Policy

{% include base_path %} {% include toc %} ## Privacy Policy The privacy of my visitors is extremely important. This Privacy Policy outlines the types of personal information that is received and collected and how it is used. First and foremost, I will never share your email address or any other personal information to anyone without your direct consent. ### Log Files Like many other websites, this site uses log files to help learn about when, from where, and how often traffic flows to this site. The information in these log files include: * Internet Protocol addresses (IP) * Types of browser * Internet Service Provider (ISP) * Date and time stamp * Referring and exit pages * Number of clicks All of this information is not linked to anything that is personally identifiable. ### Cookies and Web Beacons When you visit this site "convenience" cookies are stored on your computer when you submit a comment to help you log in faster to [Disqus](https://disqus.com) the next time you leave a comment. Third-party advertisers may also place and read cookies on your browser and/or use web beacons to collect information. This site has no access or control over these cookies. You should review the respective privacy policies on any and all third-party ad servers for more information regarding their practices and how to opt-out. If you wish to disable cookies, you may do so through your web browser options. Instructions for doing so can be found on the specific web browsers' websites. #### Google Analytics Google Analytics is a web analytics tool I use to help understand how visitors engage with this website. It reports website trends using cookies and web beacons without identifying individual visitors. You can read [Google Analytics Privacy Policy](https://www.google.com/analytics/learn/privacy.html).

Blog posts

{% include base_path %} {% capture written_year %}'None'{% endcapture %} {% for post in site.posts %} {% capture year %}{{ post.date | date: '%Y' }}{% endcapture %} {% if year != written_year %}

{% capture written_year %}{{ year }}{% endcapture %} {% endif %} {% include archive-single.html %} {% endfor %}

@import "jekyll-theme-primer";

{"/about/":"https://ammaryacoub.github.io/","/about.html":"https://ammaryacoub.github.io/","/resume-json":"https://ammaryacoub.github.io/cv-json/","/resume":"https://ammaryacoub.github.io/cv/","/md/":"https://ammaryacoub.github.io/markdown/","/markdown.html":"https://ammaryacoub.github.io/markdown/","/nmp/":"https://ammaryacoub.github.io/non-menu-page/","/nmp.html":"https://ammaryacoub.github.io/non-menu-page/","/wordpress/blog-posts/":"https://ammaryacoub.github.io/year-archive/"}

Markdown Generator

# Markdown Generator This directory contains various ways of creating Markdown for your site. In general, filenames that end with `.ipynb` or `.py` are similar, but may contain different documentation or are intended to be run from with GitHub when deploying your site. ## Python Scripts The .py files are Python scripts that that can be run from the command line (ex., `python3 publications.py publications.csv`) with the objective of also ensuring that they have reduced requirements for packages, which may allow them to run when deploying your site from within GitHub. ## Jupyter Notebooks These .ipynb files are Jupyter notebook files that convert a TSV containing structured data about talks (`talks.tsv`) or presentations (`presentations.tsv`) into individual markdown files that will be properly formatted for the academicpages template. The notebooks contain a lot of documentation about the process.

{% if page.xsl %}{% endif %}<feed xmlns="http://www.w3.org/2005/Atom" {% if site.lang %}xml:lang="{{ site.lang }}"{% endif %}>Jekyll<link href="{{ '/' | absolute_url }}" rel="alternate" type="text/html" {% if site.lang %}hreflang="{{ site.lang }}" {% endif %}/>{{ site.time | date_to_xmlschema }}{{ page.url | absolute_url | xml_escape }}{% assign title = site.title | default: site.name %}{% if page.collection != "posts" %}{% assign collection = page.collection | capitalize %}{% assign title = title | append: " | " | append: collection %}{% endif %}{% if page.category %}{% assign category = page.category | capitalize %}{% assign title = title | append: " | " | append: category %}{% endif %}{% if title %}{{ title | smartify | xml_escape }}{% endif %}{% if site.description %}{{ site.description | xml_escape }}{% endif %}{% if site.author %}{{ site.author.name | default: site.author | xml_escape }}{% if site.author.email %}{{ site.author.email | xml_escape }}{% endif %}{% if site.author.uri %}{{ site.author.uri | xml_escape }}{% endif %}{% endif %}{% if page.tags %}{% assign posts = site.tags[page.tags] %}{% else %}{% assign posts = site[page.collection] %}{% endif %}{% if page.category %}{% assign posts = posts | where: "categories", page.category %}{% endif %}{% unless site.show_drafts %}{% assign posts = posts | where_exp: "post", "post.draft != true" %}{% endunless %}{% assign posts = posts | sort: "date" | reverse %}{% assign posts_limit = site.feed.posts_limit | default: 10 %}{% for post in posts limit: posts_limit %}<entry{% if post.lang %}{{" "}}xml:lang="{{ post.lang }}"{% endif %}>{% assign post_title = post.title | smartify | strip_html | normalize_whitespace | xml_escape %}{{ post_title }} {{ post.date | date_to_xmlschema }}{{ post.last_modified_at | default: post.date | date_to_xmlschema }}{{ post.id | absolute_url | xml_escape }}{% assign excerpt_only = post.feed.excerpt_only | default: site.feed.excerpt_only %}{% unless excerpt_only %}<![CDATA[{{ post.content | strip }}]]>{% endunless %}{% assign post_author = post.author | default: post.authors[0] | default: site.author %}{% assign post_author = site.data.authors[post_author] | default: post_author %}{% assign post_author_email = post_author.email | default: nil %}{% assign post_author_uri = post_author.uri | default: nil %}{% assign post_author_name = post_author.name | default: post_author %}{{ post_author_name | default: "" | xml_escape }}{% if post_author_email %}{{ post_author_email | xml_escape }}{% endif %}{% if post_author_uri %}{{ post_author_uri | xml_escape }}{% endif %}{% if post.category %}{% elsif post.categories %}{% for category in post.categories %}{% endfor %}{% endif %}{% for tag in post.tags %}{% endfor %}{% assign post_summary = post.description | default: post.excerpt %}{% if post_summary and post_summary != empty %}

<![CDATA[{{ post_summary | strip_html | normalize_whitespace }}]]>

{% endif %}{% assign post_image = post.image.path | default: post.image %}{% if post_image %}{% unless post_image contains "://" %}{% assign post_image = post_image | absolute_url %}{% endunless %}{% endif %}</entry>{% endfor %}</feed>

{% if page.xsl %} {% endif %} {% assign collections = site.collections | where_exp:'collection','collection.output != false' %}{% for collection in collections %}{% assign docs = collection.docs | where_exp:'doc','doc.sitemap != false' %}{% for doc in docs %} {{ doc.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if doc.last_modified_at or doc.date %}{{ doc.last_modified_at | default: doc.date | date_to_xmlschema }} {% endif %} {% endfor %}{% endfor %}{% assign pages = site.html_pages | where_exp:'doc','doc.sitemap != false' | where_exp:'doc','doc.url != "/404.html"' %}{% for page in pages %} {{ page.url | replace:'/index.html','/' | absolute_url | xml_escape }} {% if page.last_modified_at %}{{ page.last_modified_at | date_to_xmlschema }} {% endif %} {% endfor %}{% assign static_files = page.static_files | where_exp:'page','page.sitemap != false' | where_exp:'page','page.name != "404.html"' %}{% for file in static_files %} {{ file.path | replace:'/index.html','/' | absolute_url | xml_escape }} {{ file.modified_time | date_to_xmlschema }} {% endfor %}

Sitemap: {{ "sitemap.xml" | absolute_url }}

Lyle Autonomous & Applied Artificial Intelligence Laboratory

less than 1 minute read

Published: April 24, 2026

I contributed to the launch of the Lyle Autonomous & Applied Artificial Intelligence Laboratory (LAIL) at Southern Methodist University.

I played a key role in overseeing the installation and configuration of the laboratory equipment, helping prepare the space for student use and research activities. I also organized and deployed the technical demonstrations presented during the laboratory opening, showcasing the lab’s capabilities in autonomous systems and applied artificial intelligence.

This experience allowed me to combine technical problem-solving, leadership, and hands-on engineering while contributing to a new innovation space at SMU.

❮ ❯

Second Place Award – Graduate Research Day Poster Competition

Published: June 01, 2022

Poster Awarded Second Place in the Graduate Research Day Poster Competition, organized by the Graduate School at Jordan University of Science and Technology, in recognition of outstanding research presentation.

Dean’s Dissertation Fellowship

Published: April 30, 2026

Selected as a recipient of the Dean’s Dissertation Fellowship for the 2026–27 academic year. The fellowship supports outstanding doctoral students during the final stage of their dissertation research and recognizes academic and research achievement. View the official list of fellows

Frederick E. Terman Award

Published: May 04, 2026

Recipient of the Frederick E. Terman Award, presented by the Lyle School of Engineering at SMU in recognition of outstanding scholastic achievement and contributions to the engineering school community. The award honors the legacy of Dr. Frederick E. Terman and is given to graduate students who exemplify academic excellence and leadership.

Best Teaching Assistant Award

Published: May 04, 2026

Recognized with the Best Teaching Assistant Award from the Mechanical Engineering Department at Southern Methodist University for excellence in teaching laboratory sessions and enhancing students’ hands-on learning experience.

Portfolio item number 1

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

Portfolio item number 2

Published: May 18, 2026

This is an item in your portfolio. It can be have images or nice text. If you name the file .md, it will be parsed as markdown. If you name the file .html, it will be parsed as HTML.

Magnetically Actuated Millimeter-Scale Biped

Published in Robotics and Autonomous Systems , 2025

Recommended citation: Cox, A., Asadi, F., Yacoub, A., Beskok, S., & Hurmuzlu, Y. (2025). Magnetically actuated millimeter-scale biped. Robotics and Autonomous Systems, 190, 104985
Download Paper | Download Bibtex

Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors

Published in The 5th Modeling, Estimation and Control Conference (MECC 2025), 2025

This paper presents an analysis of the precision of fingertip location for a 7 degrees of freedom (DOF) pneumatic haptic glove developed at SMU for 3D elastographic imaging virtual palpation.The 2D workspace for each finger and the 3D workspace for the glove are calculated from the actuator positions using closed-form expressions based on design geometry. The fingertip locations are measured using a 5-camera OptiTrack motion capture, and the results are compared with the fingertip positions obtained using the linear sensors integrated in the design of each finger joint.This work is an essential step in the development of a virtual palpation system of 3D elastographic medical images.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.
Download Paper | Download Bibtex

Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder

Published in 65th IEEE Conference on Decision and Control, 2026

Pneumatic actuators exhibit strong nonlinearities and considerable uncertainties that include time-varying friction, making precise force tracking control challenging. This is exacerbated in small-scale cylinders, where internal friction can represent a significant percentage of the maximum output force. To address these issues, this paper presents an adaptive sliding mode control method with friction compensation (ASMC-FC). The controller integrates online parameter adaptation for managing slow-varying friction uncertainties with sliding mode control (SMC) to ensure robustness against unmodeled dynamics and rapidly changing uncertain parameters. Experimental validation is conducted on a double-acting, single-rod small pneumatic cylinder. The results demonstrate that the proposed approach offers better force tracking and increased robustness compared to standard SMC.

Recommended citation: Yacoub, A., Hurmuzlu, Y & Richer, E. Adaptive Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder
Download Paper

Design and Kinematics Analysis for the SMU Haptic Glove

Published in Mechanism and Machine Theory, 2026

This paper presents the mechanical design and kinematic analysis of SMU Haptic Glove, which incorporates seven degrees of freedom (DOF) that are pneumatically actuated and developed for 3D elastographic imaging virtual palpation. This paper outlines the mechanical design of the SMU Haptic Glove The two-dimensional workspace for each finger and the glove’s three-dimensional workspace are determined from the actuator positions using closed-form expressions based on the design geometry and are measured using embedded linear sensors.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. Design and Kinematic Analyses of the SMU Haptic Glove. Available at SSRN 6350469
Download Paper | Download Bibtex

Modeling and Compensation of Static Friction to Improve Force Tracking Performance in Miniature Pneumatic Cylinders

Published in IEEE Transactions on Control Systems Technology, 2026

Haptic gloves require actuators capable of precise force trajectory tracking. Pneumatic actuators exhibit high force to weight ratio performance; however, their usage is often limited by high nonlinearities and friction-induced uncertainties. This study investigates the position and pressure-dependent static friction in small-scale pneumatic actuators. A new stiction model is proposed that explicitly incorporates these dependencies to accurately characterize static friction effects. In order to exploit this model, a sliding mode controller (SMC) with estimated friction compensation is developed and experimentally validated. When actuator force is estimated using pressure measurements, results show that incorporating the friction model significantly reduces amplitude errors compared to uncompensated control.

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Adaptive Robust Sliding Mode Control with Friction Compensation for Force Tracking of a Small Pneumatic Cylinder.
Download Paper

Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control

Published in American Control Conference (ACC), 2026

Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2026). Static Friction Modeling and Compensation for Improved Force Tracking in Pneumatic Cylinders using Sliding Mode Control. American Control Conference (ACC).
Download Paper

Elements of Mechanical Engineering Measurements Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2025

I guided senior students in experimental design, data acquisition, and system integration utilizing tools like LabVIEW. I offered comprehensive support for final projects and extended my mentorship beyond my formal duties, teaching students how to use Arduino-based platforms and encouraging them to apply these tools to develop their ideas.

Control Systems Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2026

Served as a Graduate Teaching Assistant for the Control Systems Laboratory in the Mechanical Engineering Department at Southern Methodist University. Assisted in delivering hands-on laboratory sessions focused on fundamental control systems concepts, including system modeling, time-domain response, feedback control, and stability analysis. Students implemented and validated control algorithms using MATLAB/Simulink and Quanser hardware platforms, including the QUBE-Servo 3 and QAreo 2 systems.

Intro to Mechatronics Laboratory

Graduate Teaching Assistant, Southern Methodist University, Mechanical Engineering, 2026

I supported the design and testing of laboratory experiments prior to implementation and provided detailed feedback to enhance student learning.