{"id":57,"date":"2022-10-06T11:14:14","date_gmt":"2022-10-06T15:14:14","guid":{"rendered":"https:\/\/carleton.ca\/johnhayes\/?page_id=57"},"modified":"2025-11-02T18:36:55","modified_gmt":"2025-11-02T23:36:55","slug":"teaching-and-research","status":"publish","type":"page","link":"https:\/\/carleton.ca\/johnhayes\/teaching-and-research\/","title":{"rendered":"Teaching and Research"},"content":{"rendered":"

Carleton Undergraduate Courses Taught<\/h2>\n
    \n
  1. ECOR 1010, Introduction to Engineering.<\/li>\n
  2. MAAE 2001, Engineering Graphical Design.<\/li>\n
  3. MAAE 2101, Engineering Dynamics.<\/li>\n
  4. MAAE 2202, Mechanics of Solids I.<\/li>\n
  5. MAAE 3004, Dynamics of Machinery,
    \nProject Tutorial<\/a>.\n<\/li>\n
  6. MAAE 3901, Mech & Aero Engineering Lab.<\/li>\n
  7. AERO 4003, Aerospace Systems Design.<\/li>\n
  8. MECH 4503, Introduction to Robotics,\u00a0
    \n    Lecture Notes<\/a>.<\/li>\n
  9. MECH 4805, Measurement and Data Systems.<\/li>\n
  10. MAAE 4907, Carleton University Simulator Project.<\/li>\n
  11. ECOR 4995, Professional Practice.<\/li>\n<\/ol>\n

    Carleton Graduate Courses Taught<\/h2>\n
      \n
    1. MECH 5305, Robotics.<\/li>\n
    2. BIOM 5315, Biomedical Robotics.<\/li>\n
    3. MECH 5501, Advanced Dynamics.<\/li>\n
    4. MECH 5507, Advanced Kinematics.\n

      Lecture Notes:\u00a0
      \n      Chapter 1, Introduction<\/a>;
      \n      Chapter 2, Geometry<\/a>;
      \n      Chapter 3; Analytic Projective Geometry<\/a>;
      \n      Chapter 4, Computing Gr\u00f6bner Bases<\/a>;\u00a0
      \n      Chapter 5, Rigid Body Displacements<\/a>;\u00a0
      \n      Chapter 6, Kinematic Analysis<\/a>;\u00a0
      \n      Chapter 7, Kinematic Synthesis<\/a>;\u00a0
      \n      Chapter 8, New Methods for Kinematic Synthesis<\/a>.
      \nLecture on 4R Algebraic IO Equation Derivation:\u00a0      4R Algebraic I-O Equation<\/a>.
      \nPresentation on Continuous Approximate Synthesis Using Freudenstein:\u00a0      Continuous Approximate Synthesis of Planar Function-generators Minimising The Design Error<\/a>.
      \nPresentation on Multi-Modal Synthesis Using Algebraic IO Equations:\u00a0      Multi-modal Continuous Approximate Algebraic Input-output Synthesis of Planar Four-bar Function Generators<\/a>.
      \nLecture on Kinematic Calibration:\u00a0      Kinematic Calibration<\/a>.
      \nLecture on Kinematic Mapping Applications:\u00a0      Kinematic Mapping Applications<\/a>.
      \n      References<\/a>.\n<\/li>\n<\/ol>\n

      Graduate Students Completed<\/h2>\n

      Ph.D.<\/h3>\n
        \n
      1. Zachary A. Copeland, Ph.D., April 16, 2024,\u00a0Continuous Approximate Kinematic Synthesis of Planar, Spherical, and Spatial Four-bar Function Generating Mechanisms.<\/a><\/li>\n
      2. Mirja Rotzoll, Ph.D., May 03, 2023,\u00a0Algebraic Input-output Equations of Four-bar Kinematic Chains: Planar; Spherical; Spatial.<\/a><\/li>\n

        \"\"<\/p>\n

      3. James D. Robinson, Ph.D., May 17, 2012,\u00a0Algebraic Screw Pairs<\/a>.<\/li>\n
      4. Abraham Weiss, Ph.D., November 02, 2010,\u00a0Generalized Mathematical Modelling of a Novel Singularity-free Class of Six Degree of Freedom Motion Platform<\/a>.<\/li>\n
      5. Pranchalee Poonyapak, Ph.D., May 07, 2010,\u00a0Predictive Model for Temperature-induced Deformation of Robot Mechanical Systems<\/a>.<\/li>\n
      6. Alexis Gigue, Ph.D., December 22, 2009,\u00a0Multiobjective Kinematic Trajectory Planning: an Application to the Captive Trajectory Simulation (CTS) System<\/a>.<\/li>\n<\/ol>\n

        M.A.Sc.<\/h3>\n
          \n
        1. Mikayla Micomonaco, 2019,\u00a0Large Angle Washout Algorithms for Flight Simulators<\/a>.<\/li>\n
        2. Erin J.E. Austen, 2019,\u00a0Development of Kinematic and Dynamic Models for the Argo J5 Rover<\/a>.<\/li>\n
        3. Zachary A. Copeland, 2017,\u00a0A Completely Generalized and Algorithmic Approach to Identifying the Maximum Area Inscribing Ellipse of an Asymmetric Convex Quadrangle<\/a>.<\/li>\n
        4. Katie DiCola, 2016,\u00a0Kinematic Calibration of Serial Robots<\/a>.<\/li>\n
        5. Chao-Chia (David) Lu, 2014,\u00a0Relative Measurements for Kinematic Calibration<\/a>.<\/li>\n
        6. Stefan Radacina Rusu, 2011, winner of the University Medal for Research at the Master’s Level<\/strong>,\u00a0Real-time Localization in Large-scale Underground Environments Using RFID-based Node Maps<\/a>.<\/li>\n
        7. Andrew Dobson, 2010,\u00a0Geometric Form Finding Method for Prismatic Tensegrity Systems<\/a>.<\/li>\n
        8. Jesse Linseman, 2010,\u00a0A UKF-based Orientation Estimator for the Atlas Platform<\/a>.<\/li>\n
        9. Beverly Bradley, 2008,\u00a0The Design, Implementation, and Validation of a 3D Laser Light-sectioning Scanner for Biomedical Purposes<\/a>.<\/li>\n
        10. James D. Robinson, 2008,\u00a0Direct and Inverse Kinematics of a New Class of Serial-parallel Hybrid Manipulator<\/a>.<\/li>\n
        11. Nicholas Spooner, 2006,\u00a0Surgical Robotics \u2013 Visually Autonomous Cauterization System (VACS) Conceptual Design<\/a>.<\/li>\n
        12. Timothy J. Luu, 2005,\u00a0Integrated Type and Approximate Dimensional Synthesis of Four-bar Planar Mechanisms for Rigid Body Guidance<\/a>.<\/li>\n
        13. Andrew A. Fratpietro, 2004,\u00a0Relative Measurement for Kinematic Calibration Using Digital Image Processing<\/a>.<\/li>\n
        14. Nicholas W. Simpson, 2004,\u00a0Kinematic Calibration of Six-axis Serial Robots Using the Relative Measurement Concept<\/a>.<\/li>\n<\/ol>\n

          M.Eng.<\/h3>\n
            \n
          1. Monarch Vyas, 2013,\u00a0Matlab GUI for Synthesis of Four-bar Planar Mechanisms for Rigid Body Guidance.<\/i><\/li>\n
          2. John B. Holland, 2005,\u00a0Dynamics of Spherical Linkages.<\/i><\/li>\n
          3. Xiaobin Wang, 2005,\u00a0Dynamics of Flexible Multi-body Systems.<\/i><\/li>\n<\/ol>\n

            Undergraduate Research Assistants<\/h3>\n
              \n
            1. Allyssia (Ally) Colla, 2025, Chebyshev-Gr\u00fcbler-Kutzbach Mobility Criterion Revisited.<\/i><\/li>\n
            2. Sydney M. Shelp, 2024, MAAE 3004, Dynamics of Machinery Course Pack.<\/i><\/li>\n
            3. Twe Tar O. Hninn, 2023-2024,\u00a0Extreme Angular Velocity and Acceleration Implications for Maximum Shaking Force and Moment in 4R Four-bar Linkages.<\/i><\/li>\n
            4. Beatrix Levin, 2021,\u00a0Differential Kinematics of Spherical 4R Four-bar Linkages.<\/i><\/li>\n
            5. Quinn Bucciol, 2021,\u00a0The Six Distinct Functions Generated with a Single Planar Four-bar Linkage.<\/i><\/li>\n
            6. Atena Iraei, 2021,\u00a0Differential Kinematics of Planar Four-bar Linkages Using the Algebraic IO Equation.<\/i><\/li>\n
            7. Alia Nichol, 2021,\u00a0Velocity and Acceleration Ratio Extrema of Planar Four-bar Linkages Using the Algebraic IO Equation.<\/i><\/li>\n
            8. Mohammad Almalak, 2021,\u00a0Tensegrity-based Double Tetrahedron Cable-actuated Motion Platform.<\/i><\/li>\n
            9. Senah Qwai, 2020-2021,\u00a0Exploring Trends in Psychological and Social Barriers to Success in Online Learning for Undergraduate Engineering Students Split Along Biological Sex Lines.<\/i><\/li>\n
            10. Alia Nichol, 2020-2021,\u00a0Kinematic Synthesis and Analysis of Mechanical Systems.<\/i><\/li>\n
            11. Fyriale Bolo, 2017,\u00a0Sternal Wire Torque Wrench Design and Analysis.<\/i><\/li>\n
            12. Owen Roberts, 2010,\u00a0Algebraic Screw Pair Prototype.<\/i><\/li>\n
            13. Craig Clanachan, 2009,\u00a0The Contact Curve Between an Omni-wheel and a Sphere.<\/i><\/li>\n
            14. Christine Harkness, 2008,\u00a0An Optical Method for Estimating the Orientation of a Sphere.<\/i><\/li>\n
            15. Andrew Matheson, 2008,\u00a0Rotation Characteristics of an Omni-wheel.<\/i><\/li>\n
            16. Fraser Howden, 2006,\u00a0Multibody Dynamic System Force Analysis.<\/i><\/li>\n
            17. Jordan McIntosh, 2006,\u00a0Dynamic Deformation in a Reciprocating Flexible Beam.<\/i><\/li>\n
            18. Gordon Wynn, 2006,\u00a0Measuring Omni-wheel Induced Vibration and Slip.<\/i><\/li>\n
            19. Janelle Zeeb, 2006,\u00a0Motion Capture of the Tennis Serve.<\/i><\/li>\n
            20. Andrey Zakurdaev, 2006,\u00a0Temperature Induced Deformation in Mechanical Systems.<\/i><\/li>\n
            21. Janelle Zeeb, 2005,\u00a0MAAE 5507 Lecture Notes.<\/i><\/li>\n
            22. Tabassum Aziz, 2005,\u00a0Repeatability of Industrial Robots.<\/i><\/li>\n
            23. Tabassum Aziz, 2004,\u00a0Pro\/E Manual for Rapid Prototyping.<\/i><\/li>\n
            24. Umer Ahmed, 2004,\u00a0Patent Application for Novel Actuation for Orientation Control.<\/i><\/li>\n
            25. Tabassum Aziz, 2003,\u00a0State-of-the-art in 3D Printers.<\/i><\/li>\n
            26. Sean McTavish, 2003,\u00a0Interactive Software-based Training Environment for Design.<\/i><\/li>\n
            27. Marc-Andr\u00e9 M\u00fcller, 2003,\u00a0Descriptive Geometry Applications to Mechanical Systems.<\/i><\/li>\n
            28. Andrea Bajaj and Charles Boivin, 1998,\u00a0Kinetics of a 3-legged Platform with Holonomic Higher Pairs.<\/i><\/li>\n
            29. John Chan and Jonathan Shum, 1997,\u00a0Kinematics of a 3-legged Platform with Holonomic Higher Pairs.<\/i><\/li>\n<\/ol>\n

              Internship-Carleton University Research Experience for Undergraduate Students (I-CUREUS)<\/h3>\n
                \n
              1. Atena Iraei, 2021,\u00a0Velocity and Acceleration Ratios in Planar Four-bar Linkages.<\/i><\/li>\n
              2. Alia Nichol, 2020-2021,\u00a0Design Parameter Space of Planar RRRP Linkages.<\/i><\/li>\n<\/ol>\n

                Student as Partner Program (SaPP) Undergraduate Students<\/h3>\n
                  \n
                1. Sydney M. Shelp, 2024, MAAE 3004, Dynamics of Machinery Course Pack.<\/i><\/li>\n
                2. Senah Qwai, 2021,\u00a0Exploring Trends in Psychological and Social Barriers to Success in Online Learning for Undergraduate Engineering Students Split Along Biological Sex Lines.<\/i><\/li>\n
                3. Alia Nichol, 2020,\u00a0MAAE 3004, Dynamics of Machinery: Project Development and Testing; Project Notes.<\/i><\/li>\n<\/ol>\n

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

                    Carleton Undergraduate Courses Taught ECOR 1010, Introduction to Engineering. MAAE 2001, Engineering Graphical Design. MAAE 2101, Engineering Dynamics. MAAE 2202, Mechanics of Solids I. MAAE 3004, Dynamics of Machinery, Project Tutorial. MAAE 3901, Mech & Aero Engineering Lab. AERO 4003, Aerospace Systems Design. MECH 4503, Introduction to Robotics,\u00a0 Lecture Notes. MECH 4805, Measurement and Data […]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"\nTeaching and Research - John Hayes<\/title>\n<meta name=\"description\" content=\"Carleton Undergraduate Courses Taught ECOR 1010, Introduction to Engineering. 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