{"id":19,"date":"2022-01-10T10:49:06","date_gmt":"2022-01-10T15:49:06","guid":{"rendered":"https:\/\/carleton.ca\/johnhayes\/?page_id=19"},"modified":"2026-05-26T07:25:52","modified_gmt":"2026-05-26T11:25:52","slug":"publications","status":"publish","type":"page","link":"https:\/\/carleton.ca\/johnhayes\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"\n
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\n Publications\n <\/h1>\n \n \n <\/header>\n\n <\/div>\n\n <\/div>\n\n <\/div>\n<\/section>\n\n\n\n\n
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\n Table of Contents\n <\/h2>\n
\n
\n \n
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\n \n 1.\n <\/span>\n\n \n Peer Reviewed Journal Articles\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 2.\n <\/span>\n\n \n Peer Reviewed Chapters in Edited Archival Books\n <\/a>\n <\/div>\n\n <\/div>\n \n
\n
\n \n 3.\n <\/span>\n\n \n Peer Reviewed Conference Proceedings Papers (fully reviewed by at least two referees):\n <\/a>\n <\/div>\n\n <\/div>\n \n
\n
\n \n 4.\n <\/span>\n\n \n Peer Reviewed Extended Abstracts:\n <\/a>\n <\/div>\n\n <\/div>\n \n
\n
\n \n 5.\n <\/span>\n\n \n Books\n <\/a>\n <\/div>\n\n <\/div>\n \n
\n
\n \n 6.\n <\/span>\n\n \n Theses\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 7.\n <\/span>\n\n \n Technical Reports\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 8.\n <\/span>\n\n \n Unpublished Technical Papers\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 9.\n <\/span>\n\n \n Articles in Non-Refereed Publications\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 10.\n <\/span>\n\n \n Technical Interests\n <\/a>\n <\/div>\n\n <\/div>\n <\/div>\n\n <\/div>\n<\/div>\n\n\n\n

Peer Reviewed Journal Articles<\/h2>\n\n\n\n
    \n
  1. M. Rotzoll, M.H. Regan, M.L. Husty, M.J.D. Hayes, 2023, “Kinematic Geometry of Spatial RSSR Mechanisms”<\/a>, Mechanism and Machine Theory<\/i>, Vol. 185, July 2023.<\/li>\n\n\n\n
  2. M.J.D. Hayes, M. Rotzoll, Q. Bucciol, Z.A. Copeland, 2023, “Planar and Spherical Four-bar Linkage v<\/i>i<\/sub>–v<\/i>j<\/sub> Algebraic Input-output Equations”<\/a>, Mechanism and Machine Theory<\/i>, Vol. 182, April 2023.<\/li>\n\n\n\n
  3. Z.A. Copeland, M.J.D. Hayes, 2023, “Multi-modal Continuous Approximate Synthesis of Planar Four-bar Function Generators”<\/a>, International Journal of Mechanisms and Robotic Systems<\/i>, Vol. 5, No. 3, pp. 246-269.<\/li>\n\n\n\n
  4. M. Rotzoll, M.J.D. Hayes, M.L. Husty, December, 2020, “An Algebraic Input-output Equation for Planar RRRP and PRRP Linkages”<\/a>, Transactions of the Canadian Society for Mechanical Engineering,<\/i>
    https:\/\/doi.org\/10.1139\/tcsme-2019-0156<\/li>\n\n\n\n
  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”<\/a>, Transactions of the Canadian Society for Mechanical Engineering,<\/i>
    https:\/\/doi.org\/10.1139\/tcsme-2019-0169<\/li>\n\n\n\n
  6. Z. Copeland, B. Jung, M.J.D. Hayes, R.G. Langlois, 2016, “Full-scale Atlas Motion Platform: Structure, Actuation, and Control”<\/a>, International Journal of Mechanisms and Robotic Systems<\/i>, Vol. 3, Nos. 2\/3, pp. 94-112.<\/li>\n\n\n\n
  7. A. Guigue, M.J.D. Hayes, July 2016, “Continuous Approximate Synthesis of Planar Function-generators Minimising the Design Error”<\/a>, Mechanism and Machine Theory<\/i>, Vol. 101, pp. 158-167, DOI: 10.1016\/j.mechmachtheory.2016.03.012.<\/li>\n\n\n\n
  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” <\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 38, No. 2., pp.251-261.<\/li>\n\n\n\n
  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” <\/a>, Robotica<\/i>, Vol. 33, Issue 9, pp. 1850-1868, May, 2014.<\/li>\n\n\n\n
  10. J.D. Robinson, M.J.D. Hayes, 2011, “The Dynamics of a Single Algebraic Screw Pair”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 35, No. 4, pp. 491-503.<\/li>\n\n\n\n
  11. A. Weiss, R.G. Langlois, M.J.D. Hayes, 2011, “Unified Treatment of the Kinematic Interface Between a Sphere and Omnidirectional Wheel Actuators”<\/a>, ASME Journal of Mechanisms and Robotics<\/i>, Vol. 3, No. 4.<\/li>\n\n\n\n
  12. M.J.D. Hayes, R.G. Langlois, A. Weiss, 2011, “Atlas Motion Platform Generalized Kinematic Model”<\/a>, Meccanica<\/i>, Vol. 46, No. 1, pp. 17-25, DOI: 10.1007\/s11012-010-9374-0.<\/li>\n\n\n\n
  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”<\/a>, IEEE Transactions on Robotics<\/i>, Vol. 26, No. 4, pp. 1094-1099.<\/li>\n\n\n\n
  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”<\/a>, SIAM J. Control Optim.<\/i> Vol. 48, No. 4, pp. 2581-2599.<\/li>\n\n\n\n
  15. B.D. Bradley, A.D.C. Chan, M.J.D. Hayes, 2009, “A 3D Scanning System for Biomedical Purposes”<\/a>, Int. J. Advanced Media and Communications<\/i>, Vol. 3, Nos. 1\/2, pp. 35-54.<\/li>\n\n\n\n
  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”<\/a>, Mechanism and Machine Theory<\/i>, Vol. 44, No. 2, pp. 349-358.<\/li>\n\n\n\n
  17. M.A. Swartz, M.J.D. Hayes, December 2007, “Kinematic and Dynamic Analysis of a Spatial One-DOF Foldable Tensegrity Mechanism”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 31, No. 4, pp. 421-431.<\/li>\n\n\n\n
  18. R.G. Langlois, M.J.D. Hayes, April 2006, “Reciprocating Excitation of a Flexible Beam: Benchmark Study”<\/a>, Mechanism and Machine Theory<\/i>, Vol. 41, No. 4, pp. 359-381.<\/li>\n\n\n\n
  19. M.J.D. Hayes, R.G. Langlois, December 2005, “Atlas: a Novel Kinematic Architecture for Six DOF Motion Platforms”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 29, No. 4, pp. 701-709.<\/li>\n\n\n\n
  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”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 29, No. 4, pp. 691-700.<\/li>\n\n\n\n
  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”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 29, No. 4, pp. 711-720.<\/li>\n\n\n\n
  22. M.J.D. Hayes, P.J. Zsombor-Murray, C. Chen, September 2004, “Unified Kinematic Analysis of General Planar Parallel Manipulators”<\/a>, ASME Journal of Mechanical Design<\/i>, Vol. 126, No. 5, pp. 866-874.<\/li>\n\n\n\n
  23. P.J. Zsombor-Murray, M.J.D. Hayes, M.L. Husty, May 2004, “Extreme Distance to a Spatial Circle”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 28, No. 2A, pp. 221-235.<\/li>\n\n\n\n
  24. M.J.D. Hayes, M.L. Husty, 2003, “On the Kinematic Constraint Surfaces of General Three-legged Planar Robots”<\/a>, Mechanism and Machine Theory<\/i>, Vol. 38, No. 5, pp. 379-394.<\/li>\n\n\n\n
  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”<\/a>, Transactions of the Canadian Society for Mechanical Engineering<\/i>, Vol. 26, No. 1, pp. 41-55.<\/li>\n\n\n\n
  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”<\/a>, ASME Journal of Mechanical Design<\/i>, Vol. 121, No. 2, pp. 212-219.<\/li>\n<\/ol>\n\n\n\n

    Peer Reviewed Chapters in Edited Archival Books<\/h2>\n\n\n\n

    Note: papers presented at a conference were peer reviewed by at least two referees. The presenting author is underlined<\/u>.<\/p>\n\n\n\n

      \n
    1. M.J.D. Hayes<\/u>, M. Rotzoll, June 19-20, 2025, “The Algebraic Parametric Coupler Point Curve Equation”<\/a>, Universit\u00e9 d’Ottawa, Ottawa, ON, Canada, Proceedings of the 13th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, eds. E. Lanteigne, S. Nokleby, Springer, Cham, Switzerland, pp. 1-15.<\/li>\n\n\n\n
    2. M.J.D. Hayes, A. Colla<\/u>, June 19-20, 2025, “The Chebyshev-Gr\u00fcbler-Kutzbach Mobility Criterion Revisited”<\/a>, Universit\u00e9 d’Ottawa, Ottawa, ON, Canada, Proceedings of the 13th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, eds. E. Lanteigne, S. Nokleby, Springer, Cham, Switzerland, pp. 28-39.<\/li>\n\n\n\n
    3. M.J.D. Hayes<\/u>, 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”<\/a>, 19th International Symposium on Advances in Robot Kinematics<\/i>, ARK 2024, Ljubljana, Slovenia, eds. J. Lenar\u010di\u010d, M.L. Husty, Springer, Cham, Switzerland, pp. 213-221.<\/li>\n\n\n\n
    4. M.J.D. Hayes<\/u>, M. Rotzoll, Z. Copeland, June 26-30, 2022, “Spherical 4R Linkage Algebraic v<\/i>i<\/sub>–v<\/i>j<\/sub> Input-output Equations”<\/a>, 18th International Symposium on Advances in Robot Kinematics<\/i>, ARK 2022, Bilbao, Spain, eds. O. Altuzarra, A. Kecksm\u00e9thy, Springer, Cham, Switzerland, pp. 311-318.<\/li>\n\n\n\n
    5. Z. Copeland, M.J.D. Hayes<\/u>, May 19-21, 2022, “Multi-modal Continuous Approximate Algebraic Input-output Synthesis of Planar Four-bar Function Generators”<\/a>, Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics<\/i>, South Dakota School of Mines & Technology, Rapid City, SD, United States, eds. P. Larochelle, J.M. McCarthy, Springer, Cham, Switzerland, pp. 10-19.<\/li>\n\n\n\n
    6. M.J.D. Hayes<\/u>, M. Rotzoll, C. Ingalls, M. Pfurner, September 7-10, 2020, “Design Parameter Space of Spherical Four-bar Linkages”<\/a>, New Trends in Mechanism and Machine Science: EuCoMeS<\/i>, Cluj-Napoca, Romania, eds. D. Pisla, B. Corves, C. Vaida, Springer, Cham, Switzerland, pp. 19-27.<\/li>\n\n\n\n
    7. M. Rotzoll<\/u>, 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”<\/a>, Advances in Robot Kinematics 2020<\/i>, Lubljana, Slovenia, eds. J. Lenar\u010di\u010d, B. Siciliano, Springer, Cham, Switzerland, pp. 90-97.<\/li>\n\n\n\n
    8. M.J.D. Hayes, M. Rotzoll<\/u>, M.L. Husty, June 30 – July 04, 2019, “Design Parameter Space of Planar Four-bar Linkages”<\/a>, in Advances in Mechanism and Machine Science<\/i>, ed. T. Uhl, Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, Springer, Cham, Switzerland, pp. 229-238.<\/li>\n\n\n\n
    9. M.J.D. Hayes<\/u>, Z.A. Copeland, P.J. Zsombor-Murray, A. Gfrerrer, June 30 – July 04, 2019, “Largest Area Ellipse Inscribing an Arbitrary Convex Quadrangle”<\/a>, in Advances in Mechanism and Machine Science<\/i>, ed. T. Uhl, Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, Springer, Cham, Switzerland, pp. 239-248.<\/li>\n\n\n\n
    10. M.J.D. Hayes<\/u>, M.L. Husty, M. Pfurner, July 1-5, 2018, “Input-output Equation for Planar Four-bar Linkages”<\/a>, Advances in Robot Kinematics 2018<\/i>, Bologna, Italy, eds. J. Lenar\u010di\u010d, V. Parenti-Castelli, Springer, New York, pp. 12-19.<\/li>\n\n\n\n
    11. Z. Copeland<\/u>, B. Jung, M.J.D. Hayes, R.G. Langlois, June 2-4, 2015, “Atlas Motion Platform Full-scale Prototype: Structural Design; Actuation; Motion Control “<\/a>, Recent Advances in Mechanism Design for Robotics<\/i>: 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.<\/li>\n\n\n\n
    12. T.J. Luu, M.J.D. Hayes<\/u>, June 24-28, 2012, “Integrated Type And Dimensional Synthesis of Planar Four-bar Mechanisms”<\/a>, Latest Advances in Robot Kinematics<\/i>, Innsbruck, Austria, eds. J. Lenar\u010di\u010d, M.L. Husty, Springer, New York, pp. 317-324.<\/li>\n\n\n\n
    13. J.D. Robinson<\/u>, M.J.D. Hayes, June 24-28, 2012, “Velocity Level Kinematic Analysis of Serial nA-chains”<\/a>, Latest Advances in Robot Kinematics<\/i>, Innsbruck, Austria, eds. J. Lenar\u010di\u010d, M.L. Husty, Springer, New York, pp. 389-396.<\/li>\n\n\n\n
    14. 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)”<\/a>, Technology Developments: the Role of Mechanism and Machine Science and IFToMM, Volume 1<\/i>, Springer, Germany, pp. 257-264.<\/li>\n\n\n\n
    15. M.J.D. Hayes<\/u>, July 5-8, 2010, “Reconfgurable Planar Three-legged Parallel Manipulators”<\/a>, RoManSy 2010: 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control<\/i>, Udine, Italy, eds. V. Parenti-Castelli, W. Schiehlen, ROMANSY 18: Robot Design, Dynamics and Control<\/i>, Springer, Vienna-New York, pp. 417-424.<\/li>\n\n\n\n
    16. R. Beranek, M.J.D. Hayes<\/u>, June 27 – July 1, 2010, “Position Level Kinematics of the Atlas Motion Platform”<\/a>, Advances in Robot Kinematics: Motion in Man and Machine<\/i>, Piran-Portoro\u017e, Slovenia, eds. J. Lenar\u010di\u010d, M.M. Stani\u0161ic\u0301, Springer, New York, pp. 385-392.<\/li>\n\n\n\n
    17. M.J.D. Hayes<\/u>, T.J. Luu, X.-W. Chang, June 28 – July 1, 2004, “Kinematic Mapping Application to Approximate Type and Dimension Synthesis of Planar Mechanisms”<\/a>, On Advances in Robot Kinematics<\/i>, Sestri Levante, Italy, eds. J. Lenar\u010di\u010d, C. Galletti, Kluwer Academic Publishers, Dordrecht, pp. 41-48.<\/li>\n\n\n\n
    18. M.J.D. Hayes<\/u>, M.L. Husty, June, 2000, “Workspace Characterisation of Planar Three-legged Platforms with Holonomic Higher Pairs”<\/a>, Advances in Robot Kinematics<\/i>, Piran-Portoro\u017e, Slovenia, eds. J. Lenar\u010di\u010d, M.M. Stani\u0161ic\u0301, Kluwer Academic Publishers, Dordrecht, pp. 267-276.<\/li>\n\n\n\n
    19. M.L. Husty<\/u>, M.J.D. Hayes, H. Loibnegger, Sept. 25, 1999, “The General Singularity Surface of Planar Three-legged Platforms”<\/a>, Advances in Multibody Systems and Mechatronics<\/i>, eds. A. Kecksm\u00e9thy, Martin Schneider, Christoph Woernle, Manfred Hiller, Gerhard-Mercator-Universit\u00e4t, Duisburg, Germany, pp. 203-214.<\/li>\n\n\n\n
    20. M.J.D. Hayes<\/u>, P.J. Zsombor-Murray, July 1998, “Inverse Kinematics of a Planar Manipulator with Holonomic Higher Pairs”<\/a>, Advances in Robot Kinematics: Analysis and Control<\/i>, Strobl, Austria, eds. J. Lenar\u010di\u010d, M.L. Husty, Kluwer Academic Publishers, Dordrecht, pp. 59-68.<\/li>\n\n\n\n
    21. M.J.D. Hayes, M.L. Husty<\/u>, P.J. Zsombor-Murray, P., 1997, “Solving the Forward Kinematics of a Planar 3-legged Platform With Holonomic Higher Pairs”<\/a>, Computational Methods in Mechanisms<\/i>, eds. J. Angeles, E. Zakhariev, E., NATO Advanced Study Institute, vol. 2, pp. 525-534.<\/li>\n\n\n\n
    22. M.J.D. Hayes<\/u>, P.J. Zsombor-Murray, June 1996, “Kinematic Mapping of 3-legged Planar Platforms With Holonomic Higher Pairs”<\/a>, Recent Advances in Robot Kinematics<\/i>, Piran-Portoro\u017e, Slovenia, eds. J. Lenar\u010di\u010d, V. Parenti-Castelli, Kluwer Academic Publishers, Dordrecht, pp. 421-430.<\/li>\n<\/ol>\n\n\n\n

      Peer Reviewed Conference Proceedings Papers (fully reviewed by at least two referees):<\/h2>\n\n\n\n

      Note: presenting author is underlined<\/u>.<\/p>\n\n\n\n

        \n
      1. M.J.D. Hayes<\/u>, M. Rotzoll, June 19-20, 2023, “Dimensional Kinematic Synthesis of Angular Velocity Function Generators”<\/a>, 12th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Universit\u00e9 Laval, Qu\u00e9bec, QC, Canada.<\/li>\n\n\n\n
      2. M. Rotzoll<\/u>, 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”<\/a>, 20th International Conference on Advanced Robotics, ICAR 2021<\/i>, Ljubljana, Slovenia.<\/li>\n\n\n\n
      3. M.J.D. Hayes<\/u>, M. Rotzoll, A.E. Iraei, A. Nichol, Q. Bucciol, December 6-10, 2021, “Algebraic Differential Kinematics of Planar 4R Linkages”<\/a>, 20th International Conference on Advanced Robotics, ICAR 2021<\/i>, Ljubljana, Slovenia.<\/li>\n\n\n\n
      4. S. Qwai<\/u>, 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”<\/a>, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Ontario Tech University, Oshawa, ON, Canada.<\/li>\n\n\n\n
      5. M. Rotzoll<\/u>, 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”<\/a>, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Ontario Tech University, Oshawa, ON, Canada.<\/li>\n\n\n\n
      6. A. Nichol<\/u>, M. Rotzoll, M.J.D. Hayes, June 3-4, 2021, “Planar RRRP Mechanism Design Parameter Space”<\/a>, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Ontario Tech University, Oshawa, ON, Canada.<\/li>\n\n\n\n
      7. M.J.D. Hayes<\/u>, M. Rotzoll, June 3-4, 2021, “Mobility Classification in the Design Parameter Space of Spherical 4R Linkages”<\/a>, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Ontario Tech University, Oshawa, ON, Canada.<\/li>\n\n\n\n
      8. Z. Copeland<\/u>, 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”<\/a>, 11th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Ontario Tech University, Oshawa, ON, Canada.<\/li>\n\n\n\n
      9. M. Micomonaco, R. Irani, M.J.D. Hayes, R.G. Langlois<\/u>, October 6-8, 2020, “Performance of Recent Large-angle Extensions to Classical Simulator Washout Algorithms”<\/a>, Proceedings of the 76th Vertical Flight Society International Forum, 2020<\/i>, Virginia Beach, VA, U.S.A.<\/li>\n\n\n\n
      10. Z. Copeland<\/u>, M.J.D. Hayes, June 24-27, 2020, “Coupler Pose Curves for Planar 4R Mechanisms”<\/a>, Parallel 2020<\/i>: Proceedings of the 4th International Workshop on Fundamental Issues, Applications, and Future Research Directions for Parallel Mechanisms\/Manipulators\/Machines, Belfast, United Kingdom<\/li>\n\n\n\n
      11. M. Rotzoll<\/u>, M.J.D. Hayes, M.L. Husty, May 16-17, 2019, “An Algebraic Input-output Equation for Planar RRRP and PRRP Linkages”<\/a>, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, \u00c9cole de technologie sup\u00e9rieure, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
      12. J.M. Schwering<\/u>, M.J.E. Kanevsky, M.J.D. Hayes, R.G. Langlois, May 16-17, 2019, “Atlas Motion Platform Split-axle Mecanum Wheel Design”<\/a>, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, \u00c9cole de technologie sup\u00e9rieure, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
      13. M. Micomonaco<\/u>, M.J.D. Hayes, R. Irani, R.G. Langlois, May 16-17, 2019, “Classical Washout Using Quaternions”<\/a>, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, \u00c9cole de technologie sup\u00e9rieure, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
      14. M.J.D. Hayes<\/u>, A. Gfrerrer, May 16-17, 2019, “Cross Ratio, Harmonic Sequence, and Largest Area Ellipses Inscribing Specific Quadrangles”<\/a>, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, \u00c9cole de technologie sup\u00e9rieure, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
      15. R.A. Irani, N. Schut<\/u>, M.J.D. Hayes, and R.G. Langlois, October 11-13, 2017, “A Novel Flight Simulator Capable of Unbounded Rotation”<\/a>, Proceedings of the 2017 IEEE International Symposium on Systems Engineering (ISSE)<\/i>, Vienna, Austria.<\/li>\n\n\n\n
      16. M. Hobin<\/u>, Z. Copeland, M.J.D. Hayes, June 26-29, 2016, “Atlas Motion Platform: Redesign of Actuation System Components”<\/a>, Proceedings of the 2016 CSME International Congress<\/i>, Kelowna, BC, Canada.<\/li>\n\n\n\n
      17. M.J.D. Hayes<\/u>, June 26-29, 2016, “Maximum Area Ellipses Inscribing Specific Quadrilaterals”<\/a>, Proceedings of the 2016 CSME International Congress<\/i>, Kelowna, BC, Canada.<\/li>\n\n\n\n
      18. C.-C. D. Lu<\/u>, M.J.D. Hayes, Oct. 25-30, 2015, “Robot Calibration Using Relative Measurements”<\/a>, Proceedings of the 14th IFToMM World Congress<\/i>, Taipei, Taiwan.<\/li>\n\n\n\n
      19. A. Guigue, M.J.D. Hayes<\/u>, May 28-29, 2015, “Continuous Approximate Synthesis of Planar Function-generators Minimising the Design Error”<\/a>, Proceedings of the 8th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Carleton University, Ottawa, ON, Canada.<\/li>\n\n\n\n
      20. J.J. Plumpton<\/u>, 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”<\/a>, Proceedings of the 7th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, \u00c9cole de technologie sup\u00e9rieure, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
      21. C.-C. D. Lu<\/u>, M.J.D. Hayes, May 30-31, 2013, “Kinematic Calibration of 6R Serial Manipulators Using Relative Measurements”<\/a>, Proceedings of the 7th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, \u00c9cole de technologie sup\u00e9rieure, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
      22. M.J.D. Hayes, R.G. Langlois<\/u>, June 4-6, 2012, “Atlas Motion Platform: Full-scale Prototype”<\/a>, Proceedings of the 2012 CSME International Congress<\/i>, Winnipeg, MA, Canada.<\/li>\n\n\n\n
      23. R. Ahmad, P. Toonders, M.J.D. Hayes<\/u>, R.G. Langlois, June 4-6, 2012, “Atlas Mecanum Wheel Jacobian Empirical Validation”<\/a>, Proceedings of the 2012 CSME International Congress<\/i>, Winnipeg, MA, Canada.<\/li>\n\n\n\n
      24. M.J.D. Hayes<\/u>, S. Radacina Rusu, June 19-23, 2011, “Quadric Surface Fitting Applications to Approximate Dimensional Synthesis”<\/a>, 13th World Congress in Mechanism and Machine Science<\/i>, Guanajuato, Mexico.<\/li>\n\n\n\n
      25. J.D. Robinson<\/u>, M.J.D. Hayes, June 2-3, 2011, “The Dynamics of a Single Algebraic Screw Pair”<\/a>, Proceedings of the 6th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, McGill University, Montreal, QC, Canada.<\/li>\n\n\n\n
      26. S. Radacina Rusu<\/u>, M.J.D. Hayes, J.A. Marshall, May 22-25, 2011 “Experiments in Real-time Map-based Underground Global Positioning”<\/a>, in Proceedings of the CIM Conference & Exhibition<\/i>, Montreal, QC, Canada.<\/li>\n\n\n\n
      27. S. Radacina Rusu<\/u>, M.J.D. Hayes, J.A. Marshall, May 8-11, 2011 “Localization in Large-scale Underground Environments with RFID”<\/a>, in Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering<\/i>, Niagara Falls, ON, Canada.<\/li>\n\n\n\n
      28. J.D. Robinson<\/u>, M.J.D. Hayes, August 15-18, 2010, “The Kinematics of A-pair Jointed Serial Linkages”<\/a>, Proceedings of the ASME IDETC\/CIE 2010<\/i>, Montreal, QC, Canada.<\/li>\n\n\n\n
      29. J.D. Robinson, M.J.D. Hayes<\/u>, June 7-9, 2010, “Reachable Workspace Comparison of Revolute Pair Jointed and Algebraic Screw Pair Jointed Kinematic Chains”<\/a>, Proceedings of the 2010 CSME Forum<\/i>, Victoria, BC, Canada.<\/li>\n\n\n\n
      30. A.A. Dobson<\/u>, M.J.D. Hayes, May 4-6, 2010, “Tensegrity Platforms and Geometric Form Finding”<\/a>, ASTRO 2010 Conference, Canada’s Future in Space – A Mission in Collaboration<\/i>, Toronto, ON, Canada.<\/li>\n\n\n\n
      31. M.J.D. Hayes<\/u>, R.G. Langlois, A. Weiss, September 21-22, 2008, “Atlas Motion Platform Generalized Kinematic Model”<\/a>, Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators<\/i>, Montpellier, France, pp. 227-234.<\/li>\n\n\n\n
      32. P. Poonyapak, J.M.J. McDill, M.J.D. Hayes<\/u>, September 15-17, 2008, “Experimental Error in Measuring Temperature-induced Deformation in a Single-link System”<\/a>, Proceedings of the RAAD 2008, 17th International Workshop on Robotics in Alpe-Adria-Danube Region<\/i>, Ancona, Italy, on CD.<\/li>\n\n\n\n
      33. B.D. Bradley<\/u>, 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”<\/a>, Canadian Medical & Biological Engineering Society 31st Annual Conference (CMBEC 31)<\/i>, Montreal, QC, Canada, on CD.<\/li>\n\n\n\n
      34. A. Weiss<\/u>, M.J.D. Hayes, R.G. Langlois, June 5-8, 2008, “Kinematics of an Atlas Platform with Redundant Contact Points”<\/a>, Proceedings of the 2008 CSME Forum<\/i>, Ottawa, ON, Canada.<\/li>\n\n\n\n
      35. B.D. Bradley<\/u>, 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”<\/a>, IEEE International Instrumentation and Measurement Technology Conference (I2MTC) 2008<\/i>, Victoria, BC, Canada, on CD.<\/li>\n\n\n\n
      36. B.D. Bradley<\/u>, 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”<\/a>, IEEE Medical Measurements and Applications (MeMeA) 2008<\/i>, Ottawa, ON, Canada, on CD.<\/li>\n\n\n\n
      37. P. Poonyapak<\/u>, M.J.D. Hayes, J.M.J. McDill, June 18-21, 2007, “Temperature-induced Deformation in a Mechanical System”<\/a>, 12th IFToMM World Congress<\/i>, Besan\u00e7on, France, on CD.<\/li>\n\n\n\n
      38. M.A. Swartz<\/u>, M.J.D. Hayes, May 31-June 1, 2007, “Kinematic and Dynamic Analysis of a Spatial One-DOF Foldable Tensegrity Mechanism”<\/a>, Proceedings of the 4th CCToMM Symposium on Mechanisms, Machines, and Mechatronics<\/i>, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.<\/li>\n\n\n\n
      39. A. Guigue<\/u>, 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”<\/a>, 2007 IEEE International Conference on Robotics and Automation<\/i>, Rome, Italy, on CD.<\/li>\n\n\n\n
      40. M.A. Swartz<\/u>, 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”<\/a>, Proceedings of the 2006 CSME Forum<\/i>, Kananaskis, AB, Canada, on CD.<\/li>\n\n\n\n
      41. P. Poonyapak<\/u>, M.J.D. Hayes, February 21-26, 2006, “Towards a Predictive Model for Temperature-induced Deformation of an Industrial Robot”<\/a>, Proceedings of EuCoMeS, the first European Conference on Mechanism Science, Obergurgl, Austria<\/i>, on CD.<\/li>\n\n\n\n
      42. M.J.D. Hayes, R.G. Langlois<\/u>, May 26-27, 2005, “Atlas: a Novel Kinematic Architecture for Six DOF Motion Platforms”<\/a>, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics<\/i>, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.<\/li>\n\n\n\n
      43. J.D. Robinson<\/u>, 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”<\/a>, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics<\/i>, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.<\/li>\n\n\n\n
      44. J.B. Holland, M.J.D. Hayes<\/u>, R.G. Langlois, May 26-27, 2005, “A Slip Model for the Spherical Actuation of the Atlas Motion Platform”<\/a>, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics<\/i>, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.<\/li>\n\n\n\n
      45. M.J.D. Hayes<\/u>, P.J. Zsombor-Murrary, June 1-4, 2004, “Towards Integrated Type and Dimensional Synthesis of Mechanisms for Rigid Body Guidance”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 53-61.<\/li>\n\n\n\n
      46. M.J.D. Hayes<\/u>, R.G. Langlois, T.W. Pearce, C.-L. Tan, J.A. Gaydos, June 1-4, 2004, “Carleton University Simulator Project (CUSP)”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 266-274.<\/li>\n\n\n\n
      47. A.A. Fratpietro<\/u>, M.J.D. Hayes, June 1-4, 2004,  Winner of the 2004 CSME Forum Best Paper Award <\/b>, “Relative Measurement for Kinematic Calibration Using Digital Image Processing”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 758-767.<\/li>\n\n\n\n
      48. N.W. Simpson<\/u>, M.J.D. Hayes, June 1-4, 2004, “Simulation of a Kinematic Calibration Procedure that Employs the Relative Measurement Concept”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 62-71.<\/li>\n\n\n\n
      49. H.C. Chao<\/u>, T.W. Pearce, M.J.D. Hayes, June 1-4, 2004, “Use of the HLA in a Real-time Multi-vehicle Simulator”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 1184-1193.<\/li>\n\n\n\n
      50. N. Spooner<\/u>, 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”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 684-692.<\/li>\n\n\n\n
      51. X. Wang, R.G. Langlois<\/u>, M.J.D. Hayes, June 1-4, 2004, “Dynamic Test and Simulation of a Flexible Beam in Motion”<\/a>, Proceedings of the 2004 CSME Forum<\/i>, University of Western Ontario, London, ON, Canada, pp. 896-902.<\/li>\n\n\n\n
      52. P.J. Zsombor-Murray, M.J.D. Hayes<\/u>, M.L. Husty, May 30, 2003, “Extreme Distance to a Spatial Circle”<\/a>, Proceedings of the 2nd CCToMM Symposium on Mechanisims, Machines, and Mechatronics<\/i>, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.<\/li>\n\n\n\n
      53. M.J.D. Hayes<\/u>, Oct. 2002, “Architecture Independent Workspace Analysis of Planar Three-legged Manipulators”<\/a>, in Proceedings of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators<\/i>, Qu\u00e9bec, QC, Canada, pp. 57-66.<\/li>\n\n\n\n
      54. M.J.D. Hayes and P.J. Zsombor-Murray<\/u>, Sept. 29 – Oct. 2, 2002, “Solving the Burmester Problem Using Kinematic Mapping”<\/a>, in Proc. of the ASME Design Engineering Technical Conferences: Mechanisms Conference<\/i>, Montr\u00e9al, QC, Canada, on CD.<\/li>\n\n\n\n
      55. K. English, M.J.D. Hayes<\/u>, M. Leitner, C. Sallinger, May, 2002, “Kinematic Calibration of Six-axis Robots”<\/a>, Proceedings of the 2002 CSME Forum<\/i>, Queen’s University, Kingston, ON, Canada, on CD.<\/li>\n\n\n\n
      56. P.J. Zsombor-Murrary, C. Chen, M.J.D. Hayes<\/u>, May, 2002, “Direct Kinematic Mapping for General Planar Parallel Manipulators”<\/a>, Proceedings of the 2002 CSME Forum<\/i>, Queen’s University, Kingston, ON, Canada, on CD.<\/li>\n\n\n\n
      57. M.J.D. Hayes, K. Parsa, J. Angeles<\/u>, June 1999, “The Effect of Data-set Cardinality on the Design and Structural Errors of Four-bar Function-generators”<\/a>, Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms (IFToMM)<\/i>, Oulu, Finland, pp. 437-442.<\/li>\n\n\n\n
      58. M.J.D. Hayes<\/u>, P.J. Zsombor-Murray, May 1996, “A Planar Parallel Manipulator with Holonomic Higher Pairs: Inverse Kinematics”<\/a>, Proceedings of the 1996 CSME Forum, Symposium on the Theory of Machines and Mechanisms,<\/i>, Hamilton, ON, Canada, pp. 109-116.<\/li>\n<\/ol>\n\n\n\n

        Peer Reviewed Extended Abstracts:<\/h2>\n\n\n\n

        Note: presenting author is underlined<\/u>.<\/p>\n\n\n\n

          \n
        1. E. Austen<\/u>, 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<\/i>, Laval, QC, Canada.<\/li>\n\n\n\n
        2. E. Austen<\/u>, 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<\/i>, Qu\u00e9bec, QC, Canada.<\/li>\n\n\n\n
        3. P. Poonyapak<\/u>, J.M.J. McDill, M.J.D. Hayes, July 15-18, 2008,  Winner of the ICWES14 Best Poster Award <\/b>, “Improving Robot Efficiency to Reduce Energy Consumption”<\/a>, ICWES14, International Network of Women Engineers and Scientists<\/i>, Lille, France.<\/li>\n\n\n\n
        4. N. Spooner<\/u>, 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.<\/li>\n\n\n\n
        5. T. Luu<\/u>, M.J.D. Hayes, May 26-27, 2005, “Integrated Type and Approximate Dimensional Synthesis of Four-bar Planar Mechanisms for Rigid Body Guidance”<\/a>, Proceedings of the 3rd CCToMM Symposium on Mechanisims, Machines, and Mechatronics<\/i>, Canadian Space Agency, Saint-Hubert, QC, Canada, on CD.<\/li>\n\n\n\n
        6. A.A. Fratpietro<\/u>, M.J.D. Hayes, June 2003, “Angle Extraction Using Digital Image Processing”<\/a>, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003)<\/i>, University of Calgary, Calgary, AB, Canada.<\/li>\n\n\n\n
        7. M.J.D. Hayes<\/u>, P.J. Zsombor-Murray, A. Gfrerrer, June 2003, “Largest Ellipse Inscribing an Arbitrary Polygon”<\/a>, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003)<\/i>, University of Calgary, Calgary, AB, Canada.<\/li>\n\n\n\n
        8. L. Martinez<\/u>, M.J.D. Hayes, June 2003, “CUSP Kinematic Model Development”<\/a>, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003)<\/i>, University of Calgary, Calgary, AB, Canada.<\/li>\n\n\n\n
        9. N.W. Simpson<\/u>, M.J.D. Hayes, June 2003, “Kinematic Calibration of Industrial Manipulators”<\/a>, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003)<\/i>, University of Calgary, Calgary, AB, Canada.<\/li>\n\n\n\n
        10. P.J. Zsombor-Murray<\/u>, M.J.D. Hayes, M.L. Husty, June 2003, “Elementary Kinematics from an Advanced Standpoint”<\/a>, Proceedings of the 19th Canadian Congress of Applied Mechanics (CANCAM 2003)<\/i>, University of Calgary, Calgary, AB, Canada.<\/li>\n\n\n\n
        11. M.J.D. Hayes<\/u>, R.G. Langlois, R.J. Kind, Feb. 2003, “Mechanical and Aerospace Engineering Capstone Design Projects at Carleton University”<\/a>, in Proceedings of the CSME International Conference on the Future of Engineering Education (ICFEE)<\/i>, Concordia University, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
        12. M.J.D. Hayes<\/u>, M.J. Bibby, Feb. 2003, “A Novel Approach to Designing Engineers”<\/a>, in Proceedings of the CSME International Conference on the Future of Engineering Education (ICFEE)<\/i>, Concordia University, Montr\u00e9al, QC, Canada.<\/li>\n\n\n\n
        13. M.J.D. Hayes<\/u>, M. Leitner, P. O’Leary, R. Ofner, C. Sallinger, June, 2001, “An Integrated Optical-robotic Measurement System”<\/a>, Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001)<\/i>, St. John’s, NL, Canada, pp. 287-288.<\/li>\n\n\n\n
        14. M. Leitner<\/u>, M.J.D. Hayes, R. Ofner, C. Sallinger, P. O’Leary, June, 2001, “Thermal Effects and Consequences for Repeatability of an Industrial Robot”<\/a>, Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001)<\/i>, St. John’s, NL, Canada, pp. 299-300.<\/li>\n\n\n\n
        15. M.J.D. Hayes<\/u>, M.L. Husty, P.J. Zsombor-Murrary., June, 2001, “Towards Workspace Analysis of Platforms with Three Arbitrary Legs”<\/a>, Proceedings of the 18th Canadian Congress of Applied Mechanics (CANCAM 2001)<\/i>, St. John’s, NL, Canada, pp. 355-356.<\/li>\n\n\n\n
        16. M.J.D. Hayes<\/u>, M.L. Husty, P.J. Zsombor-Murrary, June 1999, “Kinematic Mapping of Planar Stewart-Gough Platforms”<\/a>, Proceedings of the 17th Canadian Congress of Applied Mechanics (CANCAM 1999)<\/i>, Hamilton, ON, Canada, pp. 319-320.<\/li>\n\n\n\n
        17. P.J. Zsombor-Murrary<\/u>, M.J.D. Hayes, June 1999, “Grassmannian Reduction of Quadratic Forms”<\/a>, Proceedings of the 17th Canadian Congress of Applied Mechanics (CANCAM 1999)<\/i>, Hamilton, ON, Canada, pp. 313-314.<\/li>\n<\/ol>\n\n\n\n

          Books<\/h2>\n\n\n\n
            \n
          1. Hayes, M.J.D., Bibby, M.J., Turgeon, M., McTavish, S., 2002, Introduction to Engineering<\/i>, Pearson Custom Publishing, Boston, MA, U.S.A..<\/li>\n<\/ol>\n\n\n\n

            Theses<\/h2>\n\n\n\n
              \n
            1. Hayes, M.J.D., 1999, Kinematics of General Planar Stewart-Gough Platforms<\/i><\/a>, Ph.D. thesis, Dep’t. of Mech. Eng., McGill University, Montr\u00e9al, Qu\u00e9, Canada.<\/li>\n\n\n\n
            2. Hayes, M.J.D., 1996, Kinematic Analysis of Planar Parallel Platforms With Holonomic Higher Pairs<\/i><\/a>, M.Eng. thesis, Dep’t. of Mech. Eng., McGill University, Montr\u00e9al, Qu\u00e9, Canada.<\/li>\n<\/ol>\n\n\n\n

              Technical Reports<\/h2>\n\n\n\n
                \n
              1. N.W. Simpson, M.J.D. Hayes, September 26, 2003, Validation of a Kinematic Calibration Procedure that Employs the Relative Measurement Concept<\/a>, Department of Mechechanical & Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada.<\/li>\n\n\n\n
              2. A.A. Fratpietro, M.J.D. Hayes, September 26, 2003, Cost Analysis of a Camera-Based Robot Calibration System<\/a>, Department of Mechechanical & Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada.<\/li>\n\n\n\n
              3. A.A. Fratpietro, N.W. Simpson, M.J.D. Hayes, January 31, 2003, Advances in Robot Kinematic Calibration<\/a>, Department of Mechechanical & Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada.<\/li>\n\n\n\n
              4. M.J.D. Hayes, P.L. O’Leary, April 12, 2001, Kinematic Calibration Procedure for Serial Robots with Six Revolute Axes<\/a>, Technical Report, Institut f\u00fcr Automation, Montanuniversit\u00e4t Leoben.<\/li>\n\n\n\n
              5. 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<\/a>, Technical Report, Institute for Automation, University of Leoben.<\/li>\n\n\n\n
              6. M. Leitner, M.J.D. Hayes, R. Ofner, C. Sallinger, July 21, 2000, Repeatability of Industrial Robots<\/a>, Technical Report, Institute for Automation, University of Leoben.<\/li>\n\n\n\n
              7. M.J.D. Hayes, M.L. Husty, May 31, 2000, Classification of Singular Configurations of the KUKA KR-15\/2 Six-axis Serial Robot<\/a>, Technical Report, Institute for Automation, University of Leoben.<\/li>\n<\/ol>\n\n\n\n

                Unpublished Technical Papers<\/h2>\n\n\n\n
                  \n
                1. M.J.D. Hayes, W.O.J. Moser, April 1996, Computing Gr\u00f6bner Bases<\/a>, McGill Internal Report.<\/li>\n\n\n\n
                2. M.J.D. Hayes, Nov. 1995, A Mapping of Plane Kinematics<\/a>, McGill Internal Report.<\/li>\n\n\n\n
                3. M.J.D. Hayes, Aug. 1995, Applied Electronics and Instrumentation Lab Manual C<\/i>, McGill Internal Publication.<\/li>\n\n\n\n
                4. M.J.D. Hayes, Aug. 1994, Applied Electronics and Instrumentation Lab Manual B<\/i>, McGill Internal Publication.<\/li>\n\n\n\n
                5. M.J.D. Hayes, April 1994, BD Implementation of Bresenham’s Straight Line Algorithm<\/i>, McGill Internal Report.<\/li>\n\n\n\n
                6. P. Gervasi, M.J.D. Hayes, B. Mu, Dec. 1993, Parallel Manipulators<\/i>, McGill Internal Report.<\/li>\n\n\n\n
                7. M.J.D. Hayes, Dec. 1993, Model Steam Engine Instrumentation<\/i>, McGill Internal Report.<\/li>\n\n\n\n
                8. M.J.D. Hayes, Aug. 1993, Applied Electronics and Instrumentation Lab Manual A<\/i>, McGill Internal Publication.<\/li>\n<\/ol>\n\n\n\n

                  Articles in Non-Refereed Publications<\/h2>\n\n\n\n
                    \n
                  1. M.J.D. Hayes, August 2004, Student Paper and Design Competitions, CSME Forum 2004, University of Western Ontario<\/a>, CSME Bulletin.<\/li>\n\n\n\n
                  2. M.J.D. Hayes, May 2003, An Industrially Relevant 4th Year Capstone Design Project Paradigm<\/a>, CSME Bulletin.<\/li>\n\n\n\n
                  3. M.J.D. Hayes, September 2002, Mechanical Engineering Student Today; President of the CSME Tomorrow<\/a>, CSME Bulletin.<\/li>\n\n\n\n
                  4. M.J.D. Hayes, April 2002, Committee for Student Affairs News<\/a>, CSME Bulletin.<\/li>\n\n\n\n
                  5. M.J.D. Hayes, February 2002, Vojislav (Voya) Latinovic Retires as Chair of the Student Design Committee<\/a>, CSME Bulletin.<\/li>\n\n\n\n
                  6. M.J.D. Hayes, October 2001, Shake the Tree<\/a>, CSME Bulletin.<\/li>\n\n\n\n
                  7. M.J.D. Hayes, January 2000, Open Letter from the Chair of Student Affairs<\/a>, CSME Bulletin.<\/li>\n<\/ol>\n\n\n\n

                    Technical Interests<\/h2>\n\n\n\n
                      \n
                    • Kinematic Geometry: kinematic mapping; quaternions; screw theory.<\/li>\n\n\n\n
                    • Geometry: algebraic geometry; descriptive geometry; discrete geometry; combinatorial group theory.<\/li>\n\n\n\n
                    • Mathematics: Grassmannian formulations; Gr\u00f6bner basis theory; abstract algebra (commutative ring, ideal, variety theory).<\/li>\n\n\n\n
                    • Industrial process automation.<\/li>\n\n\n\n
                    • Mechatronics.<\/li>\n\n\n\n
                    • Metrology and instrumentation.<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"

                      Peer Reviewed Journal Articles 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. Peer Reviewed Conference Proceedings Papers (fully reviewed by at least two referees): Note: presenting author is underlined. Peer Reviewed Extended Abstracts: Note: presenting author is underlined. Books Theses […]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"_cu_dining_location_slug":"","footnotes":"","_links_to":"","_links_to_target":""},"cu_page_type":[],"class_list":["post-19","page","type-page","status-publish","hentry"],"acf":{"cu_post_thumbnail":""},"_links":{"self":[{"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages\/19","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/comments?post=19"}],"version-history":[{"count":5,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages\/19\/revisions"}],"predecessor-version":[{"id":735,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages\/19\/revisions\/735"}],"wp:attachment":[{"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/media?parent=19"}],"wp:term":[{"taxonomy":"cu_page_type","embeddable":true,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/cu_page_type?post=19"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}