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State
Computer Science Department
Electrical and Computer
Engineering Program
Rachid Manseur
Associate Professor
Director of Engineering Development
Office:: 109
Snygg, SUNY
Tel: 315-312-2693
E-mail: rachid.manseur@oswego.edu
Fall 2012 TEACHING INFORMATION
Office hours: Monday/Wednesday 9:00 – 10:00 and Tuesday 11:00 am-12:00 noon or by appointment at other times
CSC 222 – Computer Organization & Programming - Tuesday/Thursday, 8:00-10:40 am in Snygg 322
CSC 495 – Software Engineering I – Monday/Wednesday/Friday 10:20 am-11:15 am in Snygg 103.
ACTIVITIES
Development of an Electrical and Computer Engineering Program at SUNY Oswego – Final Approval Imminent
Development and first time delivery of a new Embedded Systems Track in Computer Science
Educational visualization and computational software development and improvement.
Learning to survive in lake-effect weather systems – i.e. Wind and Snow in bulk quantities.
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
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.
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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.
8/31/2012.