1. Peer Reviewed Journal Articles
  2. Peer Reviewed Chapters in Edited Archival Books
  3. Peer Reviewed Conference Proceedings Papers (fully reviewed by at least two referees):
  4. Peer Reviewed Extended Abstracts:
  5. Books
  6. Theses
  7. Technical Reports
  8. Internal Technical Papers
  9. Articles in Non-Refereed Publications
  10. Technical Interests

Peer Reviewed Journal Articles

  1. M. Rotzoll, M.H. Regan, M.L. Husty, M.J.D. Hayes, 2023, “Kinematic Geometry of Spatial RSSR Mechanisms”, Mechanism and Machine Theory, Vol. 185, July 2023.
  2. M.J.D. Hayes, M. Rotzoll, Q. Bucciol, Z.A. Copeland, 2023, “Planar and Spherical Four-bar Linkage vi–vj Algebraic Input-output Equations”, Mechanism and Machine Theory, Vol. 182, April 2023.
  3. Z.A. Copeland, M.J.D. Hayes, 2023, “Multi-modal Continuous Approximate Synthesis of Planar Four-bar Function Generators”, International Journal of Mechanisms and Robotic Systems, Vol. 5, No. 3, pp. 246-269.
  4. M. Rotzoll, M.J.D. Hayes, M.L. Husty, December, 2020, “An Algebraic Input-output Equation for Planar RRRP and PRRP Linkages”, Transactions of the Canadian Society for Mechanical Engineering,
    https://doi.org/10.1139/tcsme-2019-0156
  5. J.M. Schwering, M.J.E. Kanevsky, M.J.D. Hayes, R.G. Langlois, December, 2019, “Atlas Motion Platform Split-axle Mecanum Wheel Design”, Transactions of the Canadian Society for Mechanical Engineering,
    https://doi.org/10.1139/tcsme-2019-0169
  6. Z. Copeland, B. Jung, M.J.D. Hayes, R.G. Langlois, 2016, “Full-scale Atlas Motion Platform: Structure, Actuation, and Control”, International Journal of Mechanisms and Robotic Systems, Vol. 3, Nos. 2/3, pp. 94-112.
  7. A. Guigue, M.J.D. Hayes, July 2016, “Continuous Approximate Synthesis of Planar Function-generators Minimising the Design Error”, Mechanism and Machine Theory, Vol. 101, pp. 158-167, DOI: 10.1016/j.mechmachtheory.2016.03.012.
  8. J.J. Plumpton, M.J.D. Hayes, R.G. Langlois, B.V. Burlton, 2014, “Atlas Motion Platform Mecanum Wheel Jacobian in the Velocity and Static Force Domains” , Transactions of the Canadian Society for Mechanical Engineering, Vol. 38, No. 2., pp.251-261.
  9. A. Weiss, R.G. Langlois, M.J.D. Hayes, 2014, “Dynamics and Vibration Analysis of the Interface Between a Non-rigid Sphere and Omnidirectional Wheel Actuators” , Robotica, Vol. 33, Issue 9, pp. 1850-1868, May, 2014.
  10. J.D. Robinson, M.J.D. Hayes, 2011, “The Dynamics of a Single Algebraic Screw Pair”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 35, No. 4, pp. 491-503.
  11. A. Weiss, R.G. Langlois, M.J.D. Hayes, 2011, “Unified Treatment of the Kinematic Interface Between a Sphere and Omnidirectional Wheel Actuators”, ASME Journal of Mechanisms and Robotics, Vol. 3, No. 4.
  12. M.J.D. Hayes, R.G. Langlois, A. Weiss, 2011, “Atlas Motion Platform Generalized Kinematic Model”, Meccanica, Vol. 46, No. 1, pp. 17-25, DOI: 10.1007/s11012-010-9374-0.
  13. A. Guigue, M. Ahmadi, R.G. Langlois, M.J.D. Hayes, December 2010, “Pareto Optimality and Multiobjective Trajectory Planning for a 7-DOF Redundant Manipulator”, IEEE Transactions on Robotics, Vol. 26, No. 4, pp. 1094-1099.
  14. A. Guigue, M. Ahmadi, M.J.D. Hayes, R.G. Langlois, 2009, “A Discrete Dynamic Programming Approximation to the Multiobjective Deterministic Finite Horizon Optimal Control Problem”, SIAM J. Control Optim. Vol. 48, No. 4, pp. 2581-2599.
  15. B.D. Bradley, A.D.C. Chan, M.J.D. Hayes, 2009, “A 3D Scanning System for Biomedical Purposes”, Int. J. Advanced Media and Communications, Vol. 3, Nos. 1/2, pp. 35-54.
  16. A. Weiss, R.G. Langlois, M.J.D. Hayes, 2009, “The Effects of Dual-row Omnidirectional Wheels on the Kinematics of the Atlas Spherical Motion Platform”, Mechanism and Machine Theory, Vol. 44, No. 2, pp. 349-358.
  17. M.A. Swartz, M.J.D. Hayes, December 2007, “Kinematic and Dynamic Analysis of a Spatial One-DOF Foldable Tensegrity Mechanism”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 31, No. 4, pp. 421-431.
  18. R.G. Langlois, M.J.D. Hayes, April 2006, “Reciprocating Excitation of a Flexible Beam: Benchmark Study”, Mechanism and Machine Theory, Vol. 41, No. 4, pp. 359-381.
  19. M.J.D. Hayes, R.G. Langlois, December 2005, “Atlas: a Novel Kinematic Architecture for Six DOF Motion Platforms”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 29, No. 4, pp. 701-709.
  20. J.D. Robinson, J.B. Holland, M.J.D. Hayes, R.G. Langlois, December 2005, “Velocity-level Kinematics of the Atlas Spherical Orienting Device Using Omni-Wheels”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 29, No. 4, pp. 691-700.
  21. J.B. Holland, M.J.D. Hayes, R.G. Langlois, December 2005, “A Slip Model for the Spherical Actuation of the Atlas Motion Platform”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 29, No. 4, pp. 711-720.
  22. M.J.D. Hayes, P.J. Zsombor-Murray, C. Chen, September 2004, “Unified Kinematic Analysis of General Planar Parallel Manipulators”, ASME Journal of Mechanical Design, Vol. 126, No. 5, pp. 866-874.
  23. P.J. Zsombor-Murray, M.J.D. Hayes, M.L. Husty, May 2004, “Extreme Distance to a Spatial Circle”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 221-235.
  24. M.J.D. Hayes, M.L. Husty, 2003, “On the Kinematic Constraint Surfaces of General Three-legged Planar Robots”, Mechanism and Machine Theory, Vol. 38, No. 5, pp. 379-394.
  25. M.J.D. Hayes, M.L. Husty, P.J. Zsombor-Murray, March 2002, “Singular Configurations of Wrist-partitioned 6R Serial Robots: a Geometric Perspective for Users”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 26, No. 1, pp. 41-55.
  26. M.J.D. Hayes, M.L. Husty, P.J. Zsombor-Murray, 1999, “Solving the Forward Kinematics of a Planar 3-legged Platform With Holonomic Higher Pairs”, ASME Journal of Mechanical Design, Vol. 121, No. 2, pp. 212-219.

Peer Reviewed Chapters in Edited Archival Books

Note: papers presented at a conference were peer reviewed by at least two referees. The presenting author is underlined.

  1. M.J.D. Hayes, T.T.O. Hninn, R.A. Irani, June 30 – July 4, 2024, “Angular Velocity and Acceleration Extrema: Implications for Force Analysis in Planar 4R Mechanisms”, 19th International Symposium on Advances in Robot Kinematics, ARK 2024, Ljubljana, Slovenia, eds. J. Lenarčič, M.L. Husty, Springer, Cham, Switzerland, pp. 213-221.
  2. M.J.D. Hayes, M. Rotzoll, Z. Copeland, June 26-30, 2022, “Spherical 4R Linkage Algebraic vi–vj Input-output Equations”, 18th International Symposium on Advances in Robot Kinematics, ARK 2022, Bilbao, Spain, eds. O. Altuzarra, A. Kecksméthy, Springer, Cham, Switzerland, pp. 311-318.
  3. Z. Copeland, M.J.D. Hayes, May 19-21, 2022, “Multi-modal Continuous Approximate Algebraic Input-output Synthesis of Planar Four-bar Function Generators”, Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics, South Dakota School of Mines & Technology, Rapid City, SD, United States, eds. P. Larochelle, J.M. McCarthy, Springer, Cham, Switzerland, pp. 10-19.
  4. M.J.D. Hayes, M. Rotzoll, C. Ingalls, M. Pfurner, September 7-10, 2020, “Design Parameter Space of Spherical Four-bar Linkages”, New Trends in Mechanism and Machine Science: EuCoMeS, Cluj-Napoca, Romania, eds. D. Pisla, B. Corves, C. Vaida, Springer, Cham, Switzerland, pp. 19-27.
  5. M. Rotzoll, M.J.D. Hayes, M.L. Husty, M. Pfurner, June 28 – July 2, 2020, “A General Method for Determining Algebraic Input-output Equations for Planar and Spherical 4R Linkages”, Advances in Robot Kinematics 2020, Lubljana, Slovenia, eds. J. Lenarčič, B. Siciliano, Springer, Cham, Switzerland, pp. 90-97.
  6. M.J.D. Hayes, M. Rotzoll, M.L. Husty, June 30 – July 04, 2019, “Design Parameter Space of Planar Four-bar Linkages”, in Advances in Mechanism and Machine Science, ed. T. Uhl, Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, Springer, Cham, Switzerland, pp. 229-238.
  7. M.J.D. Hayes, Z.A. Copeland, P.J. Zsombor-Murray, A. Gfrerrer, June 30 – July 04, 2019, “Largest Area Ellipse Inscribing an Arbitrary Convex Quadrangle”, in Advances in Mechanism and Machine Science, ed. T. Uhl, Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, Springer, Cham, Switzerland, pp. 239-248.
  8. M.J.D. Hayes, M.L. Husty, M. Pfurner, July 1-5, 2018, “Input-output Equation for Planar Four-bar Linkages”, Advances in Robot Kinematics 2018, Bologna, Italy, eds. J. Lenarčič, V. Parenti-Castelli, Springer, New York, pp. 12-19.
  9. Z. Copeland, B. Jung, M.J.D. Hayes, R.G. Langlois, June 2-4, 2015, “Atlas Motion Platform Full-scale Prototype: Structural Design; Actuation; Motion Control “, Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics (MEDER), 2015, Aalborg University, Aalborg, Denmark, eds. S. Bai, M. Ceccarelli, Springer, New York, pp. 249-259.
  10. T.J. Luu, M.J.D. Hayes, June 24-28, 2012, “Integrated Type And Dimensional Synthesis of Planar Four-bar Mechanisms”, Latest Advances in Robot Kinematics, Innsbruck, Austria, eds. J. Lenarčič, M.L. Husty, Springer, New York, pp. 317-324.
  11. J.D. Robinson, M.J.D. Hayes, June 24-28, 2012, “Velocity Level Kinematic Analysis of Serial nA-chains”, Latest Advances in Robot Kinematics, Innsbruck, Austria, eds. J. Lenarčič, M.L. Husty, Springer, New York, pp. 389-396.
  12. M.J.D. Hayes, R. Boudreau, J.A. Carretero, R.P. Podhorodeski, 2010, “Contributions to the Promotion of Mechanism and Machine Science by the IFToMM Canadian Community (CCToMM)”, Technology Developments: the Role of Mechanism and Machine Science and IFToMM, Volume 1, Springer, Germany, pp. 257-264.
  13. M.J.D. Hayes, July 5-8, 2010, “Reconfgurable Planar Three-legged Parallel Manipulators”, RoManSy 2010: 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Udine, Italy, eds. V. Parenti-Castelli, W. Schiehlen, ROMANSY 18: Robot Design, Dynamics and Control, Springer, Vienna-New York, pp. 417-424.
  14. R. Beranek, M.J.D. Hayes, June 27 – July 1, 2010, “Position Level Kinematics of the Atlas Motion Platform”, Advances in Robot Kinematics: Motion in Man and Machine, Piran-Portorož, Slovenia, eds. J. Lenarčič, M.M. Stanišić, Springer, New York, pp. 385-392.
  15. M.J.D. Hayes, T.J. Luu, X.-W. Chang, June 28 – July 1, 2004, “Kinematic Mapping Application to Approximate Type and Dimension Synthesis of Planar Mechanisms”, On Advances in Robot Kinematics, Sestri Levante, Italy, eds. J. Lenarčič, C. Galletti, Kluwer Academic Publishers, Dordrecht, pp. 41-48.
  16. M.J.D. Hayes, M.L. Husty, June, 2000, “Workspace Characterisation of Planar Three-legged Platforms with Holonomic Higher Pairs”, Advances in Robot Kinematics, Piran-Portorož, Slovenia, eds. J. Lenarčič, M.M. Stanišić, Kluwer Academic Publishers, Dordrecht, pp. 267-276.
  17. M.L. Husty, M.J.D. Hayes, H. Loibnegger, Sept. 25, 1999, “The General Singularity Surface of Planar Three-legged Platforms”, Advances in Multibody Systems and Mechatronics, eds. A. Kecksméthy, Martin Schneider, Christoph Woernle, Manfred Hiller, Gerhard-Mercator-Universität, Duisburg, Germany, pp. 203-214.
  18. M.J.D. Hayes, P.J. Zsombor-Murray, July 1998, “Inverse Kinematics of a Planar Manipulator with Holonomic Higher Pairs”, Advances in Robot Kinematics: Analysis and Control, Strobl, Austria, eds. J. Lenarčič, M.L. Husty, Kluwer Academic Publishers, Dordrecht, pp. 59-68.
  19. M.J.D. Hayes, M.L. Husty, P.J. Zsombor-Murray, P., 1997, “Solving the Forward Kinematics of a Planar 3-legged Platform With Holonomic Higher Pairs”, Computational Methods in Mechanisms, eds. J. Angeles, E. Zakhariev, E., NATO Advanced Study Institute, vol. 2, pp. 525-534.
  20. M.J.D. Hayes, P.J. Zsombor-Murray, June 1996, “Kinematic Mapping of 3-legged Planar Platforms With Holonomic Higher Pairs”, Recent Advances in Robot Kinematics, Piran-Portorož, Slovenia, eds. J. Lenarčič, V. Parenti-Castelli, Kluwer Academic Publishers, Dordrecht, pp. 421-430.

Peer Reviewed Conference Proceedings Papers (fully reviewed by at least two referees):

Note: presenting author is underlined.

  1. M.J.D. Hayes, M. Rotzoll, June 19-20, 2023, “Dimensional Kinematic Synthesis of Angular Velocity Function Generators”, 12th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Université Laval, Québec, QC, Canada.
  2. M. Rotzoll, Q. Bucciol, M.J.D. Hayes, December 6-10, 2021, “Algebraic Input-output Angle Equation Derivation Algorithm for the Six Distinct Angle Pairings in Arbitrary Planar 4R Linkages”, 20th International Conference on Advanced Robotics, ICAR 2021, Ljubljana, Slovenia.
  3. M.J.D. Hayes, M. Rotzoll, A.E. Iraei, A. Nichol, Q. Bucciol, December 6-10, 2021, “Algebraic Differential Kinematics of Planar 4R Linkages”, 20th International Conference on Advanced Robotics, ICAR 2021, Ljubljana, Slovenia.
  4. S. Qwai, L.D. Richardson, M.J.D. Hayes, June 3-4, 2021, “An Examination of Psychological Academic Challenges for Engineering and Design Post-secondary Students During COVID-19”, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Ontario Tech University, Oshawa, ON, Canada.
  5. M. Rotzoll, M.J.D. Hayes, June 3-4, 2021, “A General Method for Determining Algebraic Input-output Equations for the Slider-crank and the Bennett Linkage”, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Ontario Tech University, Oshawa, ON, Canada.
  6. A. Nichol, M. Rotzoll, M.J.D. Hayes, June 3-4, 2021, “Planar RRRP Mechanism Design Parameter Space”, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Ontario Tech University, Oshawa, ON, Canada.
  7. M.J.D. Hayes, M. Rotzoll, June 3-4, 2021, “Mobility Classification in the Design Parameter Space of Spherical 4R Linkages”, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Ontario Tech University, Oshawa, ON, Canada.
  8. Z. Copeland, M. Rotzoll, M.J.D. Hayes, June 3-4, 2021, “Concurrent Type and Dimensional Continuous Approximate Function Generator Synthesis for All Planar Four-bar Mechanisms”, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Ontario Tech University, Oshawa, ON, Canada.
  9. M. Micomonaco, R. Irani, M.J.D. Hayes, R.G. Langlois, October 6-8, 2020, “Performance of Recent Large-angle Extensions to Classical Simulator Washout Algorithms”, Proceedings of the 76th Vertical Flight Society International Forum, 2020, Virginia Beach, VA, U.S.A.
  10. Z. Copeland, M.J.D. Hayes, June 24-27, 2020, “Coupler Pose Curves for Planar 4R Mechanisms”, Parallel 2020: Proceedings of the 4th International Workshop on Fundamental Issues, Applications, and Future Research Directions for Parallel Mechanisms/Manipulators/Machines, Belfast, United Kingdom
  11. M. Rotzoll, M.J.D. Hayes, M.L. Husty, May 16-17, 2019, “An Algebraic Input-output Equation for Planar RRRP and PRRP Linkages”, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, École de technologie supérieure, Montréal, QC, Canada.
  12. J.M. Schwering, M.J.E. Kanevsky, M.J.D. Hayes, R.G. Langlois, May 16-17, 2019, “Atlas Motion Platform Split-axle Mecanum Wheel Design”, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, École de technologie supérieure, Montréal, QC, Canada.
  13. M. Micomonaco, M.J.D. Hayes, R. Irani, R.G. Langlois, May 16-17, 2019, “Classical Washout Using Quaternions”, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, École de technologie supérieure, Montréal, QC, Canada.
  14. M.J.D. Hayes, A. Gfrerrer, May 16-17, 2019, “Cross Ratio, Harmonic Sequence, and Largest Area Ellipses Inscribing Specific Quadrangles”, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, École de technologie supérieure, Montréal, QC, Canada.
  15. R.A. Irani, N. Schut, M.J.D. Hayes, and R.G. Langlois, October 11-13, 2017, “A Novel Flight Simulator Capable of Unbounded Rotation”, Proceedings of the 2017 IEEE International Symposium on Systems Engineering (ISSE), Vienna, Austria.
  16. M. Hobin, Z. Copeland, M.J.D. Hayes, June 26-29, 2016, “Atlas Motion Platform: Redesign of Actuation System Components”, Proceedings of the 2016 CSME International Congress, Kelowna, BC, Canada.
  17. M.J.D. Hayes, June 26-29, 2016, “Maximum Area Ellipses Inscribing Specific Quadrilaterals”, Proceedings of the 2016 CSME International Congress, Kelowna, BC, Canada.
  18. C.-C. D. Lu, M.J.D. Hayes, Oct. 25-30, 2015, “Robot Calibration Using Relative Measurements”, Proceedings of the 14th IFToMM World Congress, Taipei, Taiwan.
  19. A. Guigue, M.J.D. Hayes, May 28-29, 2015, “Continuous Approximate Synthesis of Planar Function-generators Minimising the Design Error”, Proceedings of the 8th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Carleton University, Ottawa, ON, Canada.
  20. J.J. Plumpton, M.J.D. Hayes, R.G. Langlois, B.V. Burlton, May 30-31, 2013, “Atlas Motion Platform Mecanum Wheel Jacobian in the Velocity and Static Force Domains”, Proceedings of the 7th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, École de technologie supérieure, Montréal, QC, Canada.
  21. C.-C. D. Lu, M.J.D. Hayes, May 30-31, 2013, “Kinematic Calibration of 6R Serial Manipulators Using Relative Measurements”, Proceedings of the 7th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, École de technologie supérieure, Montréal, QC, Canada.
  22. M.J.D. Hayes, R.G. Langlois, June 4-6, 2012, “Atlas Motion Platform: Full-scale Prototype”, Proceedings of the 2012 CSME International Congress, Winnipeg, MA, Canada.
  23. R. Ahmad, P. Toonders, M.J.D. Hayes, R.G. Langlois, June 4-6, 2012, “Atlas Mecanum Wheel Jacobian Empirical Validation”, Proceedings of the 2012 CSME International Congress, Winnipeg, MA, Canada.
  24. M.J.D. Hayes, S. Radacina Rusu, June 19-23, 2011, “Quadric Surface Fitting Applications to Approximate Dimensional Synthesis”, 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico.
  25. J.D. Robinson, M.J.D. Hayes, June 2-3, 2011, “The Dynamics of a Single Algebraic Screw Pair”, Proceedings of the 6th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, McGill University, Montreal, QC, Canada.
  26. S. Radacina Rusu, M.J.D. Hayes, J.A. Marshall, May 22-25, 2011 “Experiments in Real-time Map-based Underground Global Positioning”, in Proceedings of the CIM Conference & Exhibition, Montreal, QC, Canada.
  27. S. Radacina Rusu, M.J.D. Hayes, J.A. Marshall, May 8-11, 2011 “Localization in Large-scale Underground Environments with RFID”, in Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, Niagara Falls, ON, Canada.
  28. J.D. Robinson, M.J.D. Hayes, August 15-18, 2010, “The Kinematics of A-pair Jointed Serial Linkages”, Proceedings of the ASME IDETC/CIE 2010, Montreal, QC, Canada.
  29. J.D. Robinson, M.J.D. Hayes, June 7-9, 2010, “Reachable Workspace Comparison of Revolute Pair Jointed and Algebraic Screw Pair Jointed Kinematic Chains”, Proceedings of the 2010 CSME Forum, Victoria, BC, Canada.
  30. A.A. Dobson, M.J.D. Hayes, May 4-6, 2010, “Tensegrity Platforms and Geometric Form Finding”, ASTRO 2010 Conference, Canada’s Future in Space – A Mission in Collaboration, Toronto, ON, Canada.
  31. M.J.D. Hayes, R.G. Langlois, A. Weiss, September 21-22, 2008, “Atlas Motion Platform Generalized Kinematic Model”, Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier, France, pp. 227-234.
  32. P. Poonyapak, J.M.J. McDill, M.J.D. Hayes, September 15-17, 2008, “Experimental Error in Measuring Temperature-induced Deformation in a Single-link System”, Proceedings of the RAAD 2008, 17th International Workshop on Robotics in Alpe-Adria-Danube Region, Ancona, Italy, on CD.
  33. B.D. Bradley, A.D.C. Chan, M.J.D. Hayes, June 10-13, 2008, “Calibration of a Simple, Low Cost, 3D Laser Light-sectioning Scanner System for Biomedical Purposes”, Canadian Medical & Biological Engineering Society 31st Annual Conference (CMBEC 31), Montreal, QC, Canada, on CD.
  34. A. Weiss, M.J.D. Hayes, R.G. Langlois, June 5-8, 2008, “Kinematics of an Atlas Platform with Redundant Contact Points”, Proceedings of the 2008 CSME Forum, Ottawa, ON, Canada.
  35. B.D. Bradley, M.J.D. Hayes, A.D.C. Chan, May 12-15, 2008, “A Simple, Low Cost, 3D Scanning System Using the Laser Light-sectioning Method”, IEEE International Instrumentation and Measurement Technology Conference (I2MTC) 2008, Victoria, BC, Canada, on CD.
  36. B.D. Bradley, A.D.C. Chan, M.J.D. Hayes, May 9-10, 2008, “A 3D Scanning System for Biomedical Purposes Using The Laser Light-sectioning Method and Elliptical Fourier Descriptors”, IEEE Medical Measurements and Applications (MeMeA) 2008, Ottawa, ON, Canada, on CD.
  37. P. Poonyapak, M.J.D. Hayes, J.M.J. McDill, June 18-21, 2007, “Temperature-induced Deformation in a Mechanical System”, 12th IFToMM World Congress, Besançon, France, on CD.
  38. M.A. Swartz, M.J.D. Hayes, May 31-June 1, 2007, “Kinematic and Dynamic Analysis of a Spatial One-DOF Foldable Tensegrity Mechanism”, Proceedings of the 4th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.
  39. A. Guigue, M. Ahmadi, M.J.D. Hayes, R.G. Langlois, F. C. Tang, April 10-14, 2007, “A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria”, 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, on CD.
  40. M.A. Swartz, M.J.D. Hayes, R.G. Langlois, May 21-24, 2006, “A Complete Kinematic and Dynamic Model for Spherical Actuation of the Atlas Motion Platform”, Proceedings of the 2006 CSME Forum, Kananaskis, AB, Canada, on CD.
  41. P. Poonyapak, M.J.D. Hayes, February 21-26, 2006, “Towards a Predictive Model for Temperature-induced Deformation of an Industrial Robot”, Proceedings of EuCoMeS, the first European Conference on Mechanism Science Obergurgl (Austria), on CD.
  42. M.J.D. Hayes, R.G. Langlois, May 26-27, 2005, “Atlas: a Novel Kinematic Architecture for Six DOF Motion Platforms”, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.
  43. J.D. Robinson, J.B. Holland, M.J.D. Hayes, R.G. Langlois, May 26-27, 2005, “Velocity-level Kinematics of the Atlas Spherical Orienting Device Using Omni-wheels”, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.
  44. J.B. Holland, M.J.D. Hayes, R.G. Langlois, May 26-27, 2005, “A Slip Model for the Spherical Actuation of the Atlas Motion Platform”, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.
  45. M.J.D. Hayes, P.J. Zsombor-Murrary, June 1-4, 2004, “Towards Integrated Type and Dimensional Synthesis of Mechanisms for Rigid Body Guidance”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 53-61.
  46. M.J.D. Hayes, R.G. Langlois, T.W. Pearce, C.-L. Tan, J.A. Gaydos, June 1-4, 2004, “Carleton University Simulator Project (CUSP)”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 266-274.
  47. A.A. Fratpietro, M.J.D. Hayes, June 1-4, 2004,  Winner of the 2004 CSME Forum Best Paper Award , “Relative Measurement for Kinematic Calibration Using Digital Image Processing”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 758-767.
  48. N.W. Simpson, M.J.D. Hayes, June 1-4, 2004, “Simulation of a Kinematic Calibration Procedure that Employs the Relative Measurement Concept”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 62-71.
  49. H.C. Chao, T.W. Pearce, M.J.D. Hayes, June 1-4, 2004, “Use of the HLA in a Real-time Multi-vehicle Simulator”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 1184-1193.
  50. N. Spooner, K. Seidler, A. Feldman, R.G. Langlois, M.J.D. Hayes, T. Pearce, June 1-4, 2004, “Development of the Several Integrated Degree-of-freedom Demonstrator (SIDFreD) Simulator”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 684-692.
  51. X. Wang, R.G. Langlois, M.J.D. Hayes, June 1-4, 2004, “Dynamic Test and Simulation of a Flexible Beam in Motion”, Proceedings of the 2004 CSME Forum, University of Western Ontario, London, ON, Canada, pp. 896-902.
  52. P.J. Zsombor-Murray, M.J.D. Hayes, M.L. Husty, May 30, 2003, “Extreme Distance to a Spatial Circle”, Proceedings of the 2nd CCToMM Symposium on Mechanisims, Machines, and Mechatronics, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.
  53. M.J.D. Hayes, Oct. 2002, “Architecture Independent Workspace Analysis of Planar Three-legged Manipulators”, in Proceedings of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Québec, QC, Canada, pp. 57-66.
  54. M.J.D. Hayes and P.J. Zsombor-Murray, Sept. 29 – Oct. 2, 2002, “Solving the Burmester Problem Using Kinematic Mapping”, in Proc. of the ASME Design Engineering Technical Conferences: Mechanisms Conference, Montréal, QC, Canada, on CD.
  55. K. English, M.J.D. Hayes, M. Leitner, C. Sallinger, May, 2002, “Kinematic Calibration of Six-axis Robots”, Proceedings of the 2002 CSME Forum, Queen’s University, Kingston, ON, Canada, on CD.
  56. P.J. Zsombor-Murrary, C. Chen, M.J.D. Hayes, May, 2002, “Direct Kinematic Mapping for General Planar Parallel Manipulators”, Proceedings of the 2002 CSME Forum, Queen’s University, Kingston, ON, Canada, on CD.
  57. M.J.D. Hayes, K. Parsa, J. Angeles, June 1999, “The Effect of Data-set Cardinality on the Design and Structural Errors of Four-bar Function-generators”, Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms (IFToMM), Oulu, Finland, pp. 437-442.
  58. M.J.D. Hayes, P.J. Zsombor-Murray, May 1996, “A Planar Parallel Manipulator with Holonomic Higher Pairs: Inverse Kinematics”, Proceedings of the 1996 CSME Forum, Symposium on the Theory of Machines and Mechanisms,, Hamilton, ON, Canada, pp. 109-116.

Peer Reviewed Extended Abstracts:

Note: presenting author is underlined.

  1. E. Austen, M.J.D. Hayes, June 17-19, 2019, “Application of the Denavit-Hartenburg Convention to a Four-wheel Rover to Obtain a 3D Kinematic Model”, Canadian Aeronautics and Space Institute (CASI), ASTRO 2019 Conference, Laval, QC, Canada.
  2. E. Austen, M. Faragalli, M.J.D. Hayes, May 15-17, 2018, “Traversability Characterisation of a Four-wheel Rover”, Canadian Aeronautics and Space Institute (CASI), ASTRO 2018 Conference, Québec, QC, Canada.
  3. P. Poonyapak, J.M.J. McDill, M.J.D. Hayes, July 15-18, 2008,  Winner of the ICWES14 Best Poster Award , “Improving Robot Efficiency to Reduce Energy Consumption”, ICWES14, International Network of Women Engineers and Scientists, Lille, France.
  4. N. Spooner, M. J. D. Hayes, R. Masters, T. Mussivand, August 17-20. 2006, “Surgical Robotics – Visually Autonomous Cauterization System (VACS)”, 16th World Congress of the World Society of Cardio-Thoracic Surgeons, Ottawa, ON, Canada.
  5. T. Luu, M.J.D. Hayes, May 26-27, 2005, “Integrated Type and Approximate Dimensional Synthesis of Four-bar Planar Mechanisms for Rigid Body Guidance”, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.
  6. A.A. Fratpietro, M.J.D. Hayes, June 2003, “Angle Extraction Using Digital Image Processing”, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), University of Calgary, Calgary, AB, Canada.
  7. M.J.D. Hayes, P.J. Zsombor-Murray, A. Gfrerrer, June 2003, “Largest Ellipse Inscribing an Arbitrary Polygon”, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), University of Calgary, Calgary, AB, Canada.
  8. L. Martinez, M.J.D. Hayes, June 2003, “CUSP Kinematic Model Development”, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), University of Calgary, Calgary, AB, Canada.
  9. N.W. Simpson, M.J.D. Hayes, June 2003, “Kinematic Calibration of Industrial Manipulators”, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), University of Calgary, Calgary, AB, Canada.
  10. P.J. Zsombor-Murray, M.J.D. Hayes, M.L. Husty, June 2003, “Elementary Kinematics from an Advanced Standpoint”, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003), University of Calgary, Calgary, AB, Canada.
  11. M.J.D. Hayes, R.G. Langlois, R.J. Kind, Feb. 2003, “Mechanical and Aerospace Engineering Capstone Design Projects at Carleton University”, in Proceedings of the CSME International Conference on the Future of Engineering Education (ICFEE), Concordia University, Montréal, QC, Canada.
  12. M.J.D. Hayes, M.J. Bibby, Feb. 2003, “A Novel Approach to Designing Engineers”, in Proceedings of the CSME International Conference on the Future of Engineering Education (ICFEE), Concordia University, Montréal, QC, Canada.
  13. M.J.D. Hayes, M. Leitner, P. O’Leary, R. Ofner, C. Sallinger, June, 2001, “An Integrated Optical-robotic Measurement System”, Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001), St. John’s, NL, Canada, pp. 287-288.
  14. M. Leitner, M.J.D. Hayes, R. Ofner, C. Sallinger, P. O’Leary, June, 2001, “Thermal Effects and Consequences for Repeatability of an Industrial Robot”, Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001), St. John’s, NL, Canada, pp. 299-300.
  15. M.J.D. Hayes, M.L. Husty, P.J. Zsombor-Murrary., June, 2001, “Towards Workspace Analysis of Platforms with Three Arbitrary Legs”, Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001), St. John’s, NL, Canada, pp. 355-356.
  16. M.J.D. Hayes, M.L. Husty, P.J. Zsombor-Murrary, June 1999, “Kinematic Mapping of Planar Stewart-Gough Platforms”, Proceedings of the 17th Canadian Congress of Applied Mechanics (CANCAM 1999), Hamilton, ON, Canada, pp. 319-320.
  17. P.J. Zsombor-Murrary, M.J.D. Hayes, June 1999, “Grassmannian Reduction of Quadratic Forms”, Proceedings of the 17th Canadian Congress of Applied Mechanics (CANCAM 1999), Hamilton, ON, Canada, pp. 313-314.

Books

  1. Hayes, M.J.D., Bibby, M.J., Turgeon, M., McTavish, S., 2002, Introduction to Engineering, Pearson Custom Publishing, Boston, MA, U.S.A..

Theses

  1. Hayes, M.J.D., 1999, Kinematics of General Planar Stewart-Gough Platforms, Ph.D. thesis, Dep’t. of Mech. Eng., McGill University, Montréal, Qué, Canada.
  2. Hayes, M.J.D., 1996, Kinematic Analysis of Planar Parallel Platforms With Holonomic Higher Pairs, M.Eng. thesis, Dep’t. of Mech. Eng., McGill University, Montréal, Qué, Canada.

Technical Reports

  1. A.A. Fratpietro, N.W. Simpson, M.J.D. Hayes, January 31 2003, Advances in Robot Kinematic Calibration, Department of Mechechanical & Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada.
  2. M.J.D. Hayes, M. Leitner, P.L. O’Leary, R. Ofner, C. Sallinger, August 25, 2000, Cable Connector Profile Measurement Using Laser Light Plane Sectioning, Technical Report, Institute for Automation, University of Leoben.
  3. M. Leitner, M.J.D. Hayes, R. Ofner, C. Sallinger, July 21, 2000, Repeatability of Industrial Robots, Technical Report, Institute for Automation, University of Leoben.
  4. M.J.D. Hayes, M.L. Husty, May 31, 2000, Classification of Singular Configurations of the KUKA KR-15/2 Six-axis Serial Robot, Technical Report, Institute for Automation, University of Leoben.

Internal Technical Papers

  1. M.J.D. Hayes, W.O.J. Moser, April 1996, Computing Gröbner Bases, McGill Internal Report.
  2. M.J.D. Hayes, W.O.J. Moser, Nov. 1995, A Mapping of Plane Kinematics, McGill Internal Report.
  3. M.J.D. Hayes, Aug. 1995, Applied Electronics and Instrumentation Lab Manual C, McGill Internal Publication.
  4. M.J.D. Hayes, Aug. 1994, Applied Electronics and Instrumentation Lab Manual B, McGill Internal Publication.
  5. M.J.D. Hayes, April 1994, BD Implementation of Bresenham’s Straight Line Algorithm, McGill Internal Report.
  6. P. Gervasi, M.J.D. Hayes, B. Mu, Dec. 1993, Parallel Manipulators, McGill Internal Report.
  7. M.J.D. Hayes, Dec. 1993, Model Steam Engine Instrumentation, McGill Internal Report.
  8. M.J.D. Hayes, Aug. 1993, Applied Electronics and Instrumentation Lab Manual A, McGill Internal Publication.

Articles in Non-Refereed Publications

  1. M.J.D. Hayes, May 2003, An Industrially Relevant 4th Year Capstone Design Project Paradigm, CSME Bulletin.
  2. M.J.D. Hayes, September 2002, Committee for Student Affairs News, CSME Bulletin.
  3. M.J.D. Hayes, April 2002, Committee for Student Affairs News, CSME Bulletin.
  4. M.J.D. Hayes, February 2002, Vojislav (Voya) Latinovic Retires as Chair of the Student Design Committee, CSME Bulletin.
  5. M.J.D. Hayes, October 2001, Shake the Tree, CSME Bulletin.
  6. M.J.D. Hayes, January 2000, Open Letter from the Chair of Student Affairs, CSME Bulletin.

Technical Interests

  • Kinematic Geometry: kinematic mapping; quaternions; screw theory.
  • Geometry: algebraic geometry; descriptive geometry; discrete geometry; combinatorial group theory.
  • Mathematics: Grassmannian formulations; Gröbner basis theory; abstract algebra (commutative ring, ideal, variety theory).
  • Industrial process automation.
  • Mechatronics.
  • Metrology and instrumentation.

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