State University of New York at Oswego

Computer Science Department

 

Rachid Manseur

Associate Professor

Director of Engineering Development

 

 

Office::           119 Snygg, SUNY Oswego, Oswego, NY 13126

Tel:                  315-312-2693

E-mail:            manseur@oswego.edu

 

 

SPRING 2007 TEACHING INFORMATION

Office hours:  Tuesday/Thursday 2:00 – 3:00 pm, by appointment at other times

CSC 323 – Embedded Control Systems  Tuesday 3:55-5:15 pm, in Snygg 107

Thursday 3:55 – 5:15 pm, in Snygg 322

 

ACTIVITIES

            Development of an Electrical and Computer Engineering Program at SUNY Oswego

            Development and first time delivery of a new course on Embedded Systems Control.

            Educational visualization software development and improvement.

            Getting a better understanding of lake-effect weather systems – i.e. Wind and Snow in bulk quantities.

 

RESEARCH INTERESTS

            Robotics - Digital Design - Embedded Systems - Modeling and Visualization Software Development

            Engineering Education - Program, Curriculum, Course and Laboratory Development

 

CREATIVE ACTIVITIES & PUBLICATIONS

Books:            

Robot Modeling and Kinematics, Thomson-Delmar Learning, April 2006, ISBN: 1-58450-851-5.

This textbook includes software for numeric and symbolic computation in robotics as well as modeling and visualization software for interactive simulation of robotic arms.

 

Software:

RModelo – A Robot modeling and visualization program that generates an animated 3D computer graphics model of any robot manipulator from its user-provided Denavit-Hartenberg parameters.

SKEG – Symbolic Kinematics Equations Generator.  A program that generates the kinematic equations of robotic arms in symbolic form and in standard robotics notation.

DHSim - DHsim.exe is a program that generates a VRML scene that takes a reference frame in sequence through each of the four geometric transformations described by the Denavit-Hartenberg parameters.

KAP5 - KAP5.exe solves the inverse kinematics of the general five-revolute-joint robot manipulator.  The user describes a 5R robot arm.  KAP5 can generate a pose matrix and compute joint angles for the robot to reach that pose matrix.

KAP6R - KAP6R.exe computes the forward and inverse kinematics of the general 6R robot arm.  This program is based on a numerical iterative method to search for several inverse kinematics solutions. 

POSRPY - The Program POSRPY.exe creates a VRML file that allows direct visualization of the translation and rotation of an object from a fixed reference frame to a pose described by user-supplied position coordinates and RPY angles.

PUMAsim - The PUMA 560 is a very popular industrial robot arm often used to illustrate robotics computations and control techniques.  The program PUMAsim.exe supplied in this folder generates a virtual model of PUMA robot with moving joints.  The user supplies an initial and a final configuration.

RPYsim - This program computes the rotation matrix that corresponds to a user-supplied set of RPY angles and provides a VRML model showing a reference frame undergo the three canonical rotations described by the RPY angles.

ZYZSim - ZYZ angles provide a way to describe the orientation of an object with three angles.  This program ZYZSim.exe generates a virtual reference frame that rotates into an orientation described by user-supplied ZYZ angles.

 

Example Publications

 

R. Manseur, “Modeling and Visualization of Robotic Arms”, GVE 2007, IASTED International Conference on Graphics and Visualization in Engineering. Clearwater, Florida, Jan 3-5, 2007.

 

R. Manseur, “Robot Modeling and Kinematics.” published by Delmar Learning/Charles River Media under ISBN 1-58450-851-5. April 2006. This textbook integrates virtual reality simulations and animations of robotics systems for visualization as well as symbolic and numeric computation software to enhance and facilitate learning.

 

R. Manseur, “Virtual Reality in Science and Engineering Education,” IEEE/ASEE Frontiers in Education Conference FIE 2005, Indianapolis, Indiana, October 19-22, 2005.

 

L. Solari, R. Manseur, “A Software Package for Kinematic Analysis of General Robot Manipulators,” Proceedings of the Florida Conference on Recent Advances in Robotics, FCRAR 2005, Gainesville, Florida, May 7-8, 2005.

 

R. Minnett, R. Manseur, “Robot-Draw 2.0: An Interactive Visualization Tool for Modeling Robots,” Proceedings of the Florida Conference on Recent Advances in Robotics, FCRAR 2005, Gainesville, Florida, May 7-8, 2005.

 

R. Manseur, “Interactive Visualization Tools for Robotics Education.” Proceedings of the International Conference in Engineering Education, ICEE 2004, Gainesville, Florida, October 2004.

 

R. Manseur, “Interactive Visualization Tools for Robotics.” Proceedings of the Florida Conference on Recent Advances in Robotics. Orlando, Florida, May 6-7, 2004.

 

E. Schwartz, R. Manseur, K. Doty, "Non-Commensurate Manipulator Jacobian  Proceedings of the IASTED International Conference on Robotics and Applications. Salzburg, Austria. June 25-27, 2003.

 

R. Manseur, “An ABET-based Seminar Course.” Proceedings of the IEEE/ASEE Frontiers in Education Conference. Boulder, Colorado, November 5-8, 2003.

 

D. Eaton, M. Bobbitt, G. Jarvis, N. Matzer, M. Bloechl, A. Loggins, C. Hunt, J. Showalter, R. Manseur, “The Nautilus: Evolution of an Autonomous Underwater Vehicle,” 6th Annual Association of Unmanned Vehicle Systems International-Unmanned Underwater Vehicle Competition Journal Paper. San Diego, CA, July 2003. 9 pages.

 

E. Schwartz, R. Manseur, K. Doty, "Non-Commensurate Systems in Robotics" International Journal of Robotics and Automation, Volume 17, No. 2, pp 86-92. 2002.

 

D. Eaton, M. Bobbitt, M. Reid, G. Jarvis, S. Frame, J. Dowling, , M. Bloechl, M. Mentzer, R. Manseur, “The Nautilus-Sub Autonomous Underwater Vehicle” Journal paper for the Association of Unmanned Vehicle Systems-Unmanned Underwater Vehicle Competition. July 2002.

 

M. Robinette, R. Manseur, "Robot-Draw, a visualization tool for robotics education." IEEE Transactions on Education, Vol. 44 No. 1, pp 29-34. February 2001

 

This page is maintained by Rachid Manseur.

2/12/2008.