**Rachid Manseur**

**ELECTRICAL & COMPUTER ENGINEERING**

Associate Professor

Director of Engineering Development

Interim Chair

**Office::** 298
Shineman, SUNY Oswego, Oswego, NY 13126

**Tel**: 315-312-2693

**E-mail**: rachid.manseur@oswego.edu

**Spring 2014 TEACHING
INFORMATION**

**Office hours**: Monday & Thursday 9:30 – 11:00 am by appointment at
other times

**ECE375– Microprocessor Applications**
–

Tuesday/Thursday, 2:20-5:00 pm in Shineman 404.

**ACTIVITIES**

Engineering Program Development at SUNY Oswego –

Educational visualization and computational software development and improvement.

Working on a couple of books as time permits

**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.

A second edition is in progress.

**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, **“Software-Aided Design of Robot
Mechanisms,” Proceedings of
the International Conference on Advance Robotics, ICAR 2013, Montevideo,
Uruguay, Nov, 25-29, 2013.

Z. Manseur, E. Schwartz, **R. Manseur**, K. Doty, “A Computational Algebra for Numbers
with Physical Units.” International Journal of Computing and Mathematical
Applications. Vol. 5, No. 1,
January-June 2011, pp. 21-34.

.

K. C, Eichhorn,
C. B. Thompson, D. Vampola, F. Messere,
**R.Manseur****, **“Infusing Communication Skills
in an Engineering Curriculum.”
Proceedings of the American Society for Engineering Education
ASEE-Annual meeting, Louisville, KY, June 20-23, 2010.

**R. Manseur**, A. Ieta, Z. Manseur, “Reforming Mathematics
Requirements for a Modern Engineering Education.” Panel
Discussion - Proceedings of the IEEE Frontiers in Education Conference, San
Antonio, Tx, October 15-18, 2009.

**R. Manseur, **Z. Manseur, “A Synchronous Distance Learning
Program Implementation in Engineering and Mathematic.” Proceedings of the IEEE Frontiers in
Education Conference, San Antonio, Tx,
October 15-18, 2009.

**R. Manseur**, A. Ieta, “Integration of an Innovative
Engineering Program in a

A. Ieta, **R. Manseur**, T.E. Doyle, “Effective Criteria for Teaching and
Learning.” Proceedings of the ASEE Annual Conference &
Exposition.

**R. Manseur**, “Modeling and Visualization of Robotic Arms”,
*GVE *2007, IASTED International Conference on Graphics and Visualization
in Engineering.

**R**. **Manseur**, “Virtual Reality in Science and Engineering
Education,” IEEE/ASEE Frontiers in Education Conference FIE 2005,

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

E. Schwartz, **R. Manseur**,
K. Doty, "Non-Commensurate Manipulator Jacobian” Proceedings of the IASTED
International Conference on Robotics and Applications.

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.

**Undergraduate
Students Publications:**

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.

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.

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.

1/20/2014.