State University of New York
at Oswego
Computer Science Department
Rachid Manseur
Associate Professor
Director of Engineering Development
Office:: 119
Snygg, SUNY
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
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.
R. Manseur, “Robot Modeling and Kinematics.” published by
Delmar Learning/
R. Manseur, “Virtual Reality in Science and
Engineering Education,” IEEE/ASEE Frontiers in Education Conference FIE
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,
R. Manseur, “Interactive Visualization Tools for
Robotics.” Proceedings of the
E. Schwartz, R. Manseur,
K. Doty, "Non-Commensurate Manipulator Jacobian” Proceedings
of the IASTED International Conference on Robotics and Applications.
R. Manseur, “An ABET-based Seminar Course.” Proceedings of the IEEE/ASEE Frontiers in Education Conference.
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.
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.