{"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":"2026-05-06T08:50:51","modified_gmt":"2026-05-06T12:50:51","slug":"teaching-and-research","status":"publish","type":"page","link":"https:\/\/carleton.ca\/johnhayes\/teaching-and-research\/","title":{"rendered":"Teaching and Research"},"content":{"rendered":"\n
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\n Teaching and Research\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
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\n \n
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\n \n 1.\n <\/span>\n\n \n Carleton Undergraduate Courses Taught\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 2.\n <\/span>\n\n \n Carleton Graduate Courses Taught\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 3.\n <\/span>\n\n \n Graduate Students Completed\n <\/a>\n <\/div>\n\n
\n \n
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\n \n 3.1\n <\/span>\n\n \n Ph.D.\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 3.2\n <\/span>\n\n \n M.A.Sc.\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 3.3\n <\/span>\n\n \n M.Eng.\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 3.4\n <\/span>\n\n \n Undergraduate Research Assistants\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 3.5\n <\/span>\n\n \n Internship-Carleton University Research Experience for Undergraduate Students (I-CUREUS)\n <\/a>\n <\/div>\n\n <\/div>\n \n
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\n \n 3.6\n <\/span>\n\n \n Student as Partner Program (SaPP) Undergraduate Students\n <\/a>\n <\/div>\n\n <\/div>\n <\/div>\n\n <\/div>\n \n
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\n \n 4.\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

Carleton Undergraduate Courses Taught<\/h2>\n\n\n\n
    \n
  1. ECOR 1010, Introduction to Engineering.<\/li>\n\n\n\n
  2. MAAE 2001, Engineering Graphical Design.<\/li>\n\n\n\n
  3. MAAE 2101, Engineering Dynamics.<\/li>\n\n\n\n
  4. MAAE 2202, Mechanics of Solids I.<\/li>\n\n\n\n
  5. MAAE 3004, Dynamics of Machinery,

    Project Tutorial<\/a>.
    <\/li>\n\n\n\n
  6. MAAE 3901, Mech & Aero Engineering Lab.<\/li>\n\n\n\n
  7. AERO 4003, Aerospace Systems Design.<\/li>\n\n\n\n
  8. MECH 4503, Introduction to Robotics, 

    Lecture Notes<\/a>.<\/li>\n\n\n\n
  9. MECH 4805, Measurement and Data Systems.<\/li>\n\n\n\n
  10. MAAE 4907, Carleton University Simulator Project.<\/li>\n\n\n\n
  11. ECOR 4995, Professional Practice.<\/li>\n<\/ol>\n\n\n\n

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

      Lecture Notes: 

      Chapter 1, Introduction<\/a>;

      Chapter 2, Geometry<\/a>;

      Chapter 3; Analytic Projective Geometry<\/a>;

      Chapter 4, Computing Gr\u00f6bner Bases<\/a>; 

      Chapter 5, Rigid Body Displacements<\/a>; 

      Chapter 6, Kinematic Analysis<\/a>; 

      Chapter 7, Kinematic Synthesis<\/a>; 

      Chapter 8, New Methods for Kinematic Synthesis<\/a>.

      Lecture on 4R Algebraic IO Equation Derivation:       4R Algebraic I-O Equation<\/a>.

      Presentation on Continuous Approximate Synthesis Using Freudenstein:       Continuous Approximate Synthesis of Planar Function-generators Minimising The Design Error<\/a>.

      Presentation on Multi-Modal Synthesis Using Algebraic IO Equations:       Multi-modal Continuous Approximate Algebraic Input-output Synthesis of Planar Four-bar Function Generators<\/a>.

      Lecture on Kinematic Calibration:       Kinematic Calibration<\/a>.

      Lecture on Kinematic Mapping Applications:       Kinematic Mapping Applications<\/a>.

      References<\/a>.
      <\/p><\/li>\n<\/ol>\n\n\n\n

      Graduate Students Completed<\/h2>\n\n\n\n

      Ph.D.<\/h3>\n\n\n\n
        \n
      1. Zachary A. Copeland, Ph.D., April 16, 2024, Continuous Approximate Kinematic Synthesis of Planar, Spherical, and Spatial Four-bar Function Generating Mechanisms.<\/a><\/li>\n\n\n\n
      2. Mirja Rotzoll, Ph.D., May 03, 2023,\u00a0Algebraic Input-output Equations of Four-bar Kinematic Chains: Planar; Spherical; Spatial.<\/a>\"\"<\/img><\/li>\n\n\n\n
      3. James D. Robinson, Ph.D., May 17, 2012, Algebraic Screw Pairs<\/a>.<\/li>\n\n\n\n
      4. Abraham Weiss, Ph.D., November 02, 2010, Generalized Mathematical Modelling of a Novel Singularity-free Class of Six Degree of Freedom Motion Platform<\/a>.<\/li>\n\n\n\n
      5. Pranchalee Poonyapak, Ph.D., May 07, 2010, Predictive Model for Temperature-induced Deformation of Robot Mechanical Systems<\/a>.<\/li>\n\n\n\n
      6. Alexis Gigue, Ph.D., December 22, 2009, Multiobjective Kinematic Trajectory Planning: an Application to the Captive Trajectory Simulation (CTS) System<\/a>.<\/li>\n<\/ol>\n\n\n\n

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

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

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

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

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

                  Technical Interests<\/h2>\n\n\n\n
                    \n
                  • Geometry: algebraic geometry; descriptive geometry; discrete geometry; combinatorial group theory.<\/li>\n\n\n\n
                  • Kinematic geometry: kinematic mapping; dual quaternions; screw 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
                  • Metrology and instrumentation.<\/li>\n\n\n\n
                  • Industrial process automation.<\/li>\n\n\n\n
                  • Mechatronics.<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"

                    Carleton Undergraduate Courses Taught Carleton Graduate Courses Taught Graduate Students Completed Ph.D. M.A.Sc. M.Eng. Undergraduate Research Assistants Internship-Carleton University Research Experience for Undergraduate Students (I-CUREUS) Student as Partner Program (SaPP) Undergraduate Students Technical Interests<\/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-57","page","type-page","status-publish","hentry"],"acf":{"cu_post_thumbnail":""},"_links":{"self":[{"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages\/57","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=57"}],"version-history":[{"count":5,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages\/57\/revisions"}],"predecessor-version":[{"id":729,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/pages\/57\/revisions\/729"}],"wp:attachment":[{"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/media?parent=57"}],"wp:term":[{"taxonomy":"cu_page_type","embeddable":true,"href":"https:\/\/carleton.ca\/johnhayes\/wp-json\/wp\/v2\/cu_page_type?post=57"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}